[pdal] 01/13: New upstream version 1.6.0

Bas Couwenberg sebastic at debian.org
Sat Oct 14 09:10:25 UTC 2017


This is an automated email from the git hooks/post-receive script.

sebastic pushed a commit to branch master
in repository pdal.

commit d742e795b1c2a2266b73e77f73f79cda243369a2
Author: Bas Couwenberg <sebastic at xs4all.nl>
Date:   Fri Oct 13 19:29:16 2017 +0200

    New upstream version 1.6.0
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 vendor/eigen/Eigen/src/Core/TriangularMatrix.h     |  1102 +-
 vendor/eigen/Eigen/src/Core/VectorBlock.h          |    27 +-
 vendor/eigen/Eigen/src/Core/VectorwiseOp.h         |   339 +-
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 vendor/eigen/Eigen/src/Core/arch/AVX/PacketMath.h  |   633 +
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 .../Eigen/src/Core/arch/AVX512/MathFunctions.h     |   396 +
 .../eigen/Eigen/src/Core/arch/AVX512/PacketMath.h  |  1316 ++
 vendor/eigen/Eigen/src/Core/arch/AltiVec/Complex.h |   354 +-
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 vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h |   333 +
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 vendor/eigen/Eigen/src/Core/arch/NEON/Complex.h    |   251 +-
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 vendor/eigen/Eigen/src/Core/arch/NEON/PacketMath.h |   413 +-
 vendor/eigen/Eigen/src/Core/arch/SSE/Complex.h     |    99 +-
 .../eigen/Eigen/src/Core/arch/SSE/MathFunctions.h  |   113 +-
 vendor/eigen/Eigen/src/Core/arch/SSE/PacketMath.h  |   416 +-
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 vendor/eigen/Eigen/src/Core/arch/ZVector/Complex.h |   394 +
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 .../eigen/Eigen/src/Core/arch/ZVector/PacketMath.h |   945 ++
 .../Eigen/src/Core/functors/AssignmentFunctors.h   |   168 +
 .../eigen/Eigen/src/Core/functors/BinaryFunctors.h |   482 +
 .../Eigen/src/Core/functors/NullaryFunctors.h      |   188 +
 vendor/eigen/Eigen/src/Core/functors/StlFunctors.h |   132 +
 .../Eigen/src/Core/functors/TernaryFunctors.h      |    25 +
 .../eigen/Eigen/src/Core/functors/UnaryFunctors.h  |   792 +
 .../src/Core/products/GeneralBlockPanelKernel.h    |  2244 ++-
 .../Eigen/src/Core/products/GeneralMatrixMatrix.h  |   371 +-
 .../Core/products/GeneralMatrixMatrixTriangular.h  |   145 +-
 .../products/GeneralMatrixMatrixTriangular_BLAS.h  |   141 +
 .../src/Core/products/GeneralMatrixMatrix_BLAS.h   |   115 +
 .../Eigen/src/Core/products/GeneralMatrixVector.h  |   305 +-
 .../src/Core/products/GeneralMatrixVector_BLAS.h   |   129 +
 .../eigen/Eigen/src/Core/products/Parallelizer.h   |    67 +-
 .../src/Core/products/SelfadjointMatrixMatrix.h    |   335 +-
 .../Core/products/SelfadjointMatrixMatrix_BLAS.h   |   275 +
 .../src/Core/products/SelfadjointMatrixVector.h    |   127 +-
 .../Core/products/SelfadjointMatrixVector_BLAS.h   |   111 +
 .../Eigen/src/Core/products/SelfadjointProduct.h   |    26 +-
 .../src/Core/products/SelfadjointRank2Update.h     |     8 +-
 .../src/Core/products/TriangularMatrixMatrix.h     |   138 +-
 .../Core/products/TriangularMatrixMatrix_BLAS.h    |   302 +
 .../src/Core/products/TriangularMatrixVector.h     |   182 +-
 .../Core/products/TriangularMatrixVector_BLAS.h    |   241 +
 .../src/Core/products/TriangularSolverMatrix.h     |    73 +-
 .../Core/products/TriangularSolverMatrix_BLAS.h    |   151 +
 .../src/Core/products/TriangularSolverVector.h     |    24 +-
 vendor/eigen/Eigen/src/Core/util/BlasUtil.h        |   204 +-
 vendor/eigen/Eigen/src/Core/util/Constants.h       |   174 +-
 .../Eigen/src/Core/util/DisableStupidWarnings.h    |    39 +-
 .../Eigen/src/Core/util/ForwardDeclarations.h      |   134 +-
 vendor/eigen/Eigen/src/Core/util/MKL_support.h     |    50 +-
 vendor/eigen/Eigen/src/Core/util/Macros.h          |   544 +-
 vendor/eigen/Eigen/src/Core/util/Memory.h          |   562 +-
 vendor/eigen/Eigen/src/Core/util/Meta.h            |   351 +-
 .../Eigen/src/Core/util/ReenableStupidWarnings.h   |    13 +
 vendor/eigen/Eigen/src/Core/util/StaticAssert.h    |    40 +-
 vendor/eigen/Eigen/src/Core/util/XprHelper.h       |   582 +-
 .../Eigen/src/Eigenvalues/ComplexEigenSolver.h     |    25 +-
 vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur.h  |    19 +-
 .../Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h   |    91 +
 vendor/eigen/Eigen/src/Eigenvalues/EigenSolver.h   |   113 +-
 .../Eigen/src/Eigenvalues/GeneralizedEigenSolver.h |   197 +-
 .../GeneralizedSelfAdjointEigenSolver.h            |     3 +-
 .../src/Eigenvalues/HessenbergDecomposition.h      |    15 +-
 vendor/eigen/Eigen/src/Eigenvalues/RealQZ.h        |    46 +-
 vendor/eigen/Eigen/src/Eigenvalues/RealSchur.h     |    41 +-
 .../Eigen/src/Eigenvalues/RealSchur_LAPACKE.h      |    77 +
 .../Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h |   273 +-
 .../Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h   |    90 +
 .../Eigen/src/Eigenvalues/Tridiagonalization.h     |    39 +-
 vendor/eigen/Eigen/src/Geometry/AlignedBox.h       |    96 +-
 vendor/eigen/Eigen/src/Geometry/AngleAxis.h        |    85 +-
 vendor/eigen/Eigen/src/Geometry/EulerAngles.h      |    22 +-
 vendor/eigen/Eigen/src/Geometry/Homogeneous.h      |   290 +-
 vendor/eigen/Eigen/src/Geometry/Hyperplane.h       |    64 +-
 vendor/eigen/Eigen/src/Geometry/OrthoMethods.h     |    58 +-
 vendor/eigen/Eigen/src/Geometry/ParametrizedLine.h |    60 +-
 vendor/eigen/Eigen/src/Geometry/Quaternion.h       |   227 +-
 vendor/eigen/Eigen/src/Geometry/Rotation2D.h       |    85 +-
 vendor/eigen/Eigen/src/Geometry/RotationBase.h     |    48 +-
 vendor/eigen/Eigen/src/Geometry/Scaling.h          |    38 +-
 vendor/eigen/Eigen/src/Geometry/Transform.h        |   262 +-
 vendor/eigen/Eigen/src/Geometry/Translation.h      |    60 +-
 vendor/eigen/Eigen/src/Geometry/Umeyama.h          |    19 +-
 .../eigen/Eigen/src/Geometry/arch/Geometry_SSE.h   |    86 +-
 .../eigen/Eigen/src/Householder/BlockHouseholder.h |    77 +-
 vendor/eigen/Eigen/src/Householder/Householder.h   |     7 +-
 .../Eigen/src/Householder/HouseholderSequence.h    |    55 +-
 .../IterativeLinearSolvers/BasicPreconditioners.h  |   129 +-
 .../Eigen/src/IterativeLinearSolvers/BiCGSTAB.h    |    97 +-
 .../src/IterativeLinearSolvers/ConjugateGradient.h |   137 +-
 .../IterativeLinearSolvers/IncompleteCholesky.h    |   400 +
 .../src/IterativeLinearSolvers/IncompleteLUT.h     |   138 +-
 .../IterativeLinearSolvers/IterativeSolverBase.h   |   340 +-
 .../LeastSquareConjugateGradient.h                 |   216 +
 .../src/IterativeLinearSolvers/SolveWithGuess.h    |   115 +
 vendor/eigen/Eigen/src/Jacobi/Jacobi.h             |    78 +-
 vendor/eigen/Eigen/src/LU/Determinant.h            |     2 +-
 vendor/eigen/Eigen/src/LU/FullPivLU.h              |   314 +-
 vendor/eigen/Eigen/src/LU/InverseImpl.h            |   415 +
 vendor/eigen/Eigen/src/LU/PartialPivLU.h           |   252 +-
 vendor/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h   |    83 +
 vendor/eigen/Eigen/src/LU/arch/Inverse_SSE.h       |    47 +-
 vendor/eigen/Eigen/src/MetisSupport/MetisSupport.h |    18 +-
 vendor/eigen/Eigen/src/OrderingMethods/Amd.h       |    83 +-
 .../eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h |   412 +-
 vendor/eigen/Eigen/src/OrderingMethods/Ordering.h  |    51 +-
 .../eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h  |   155 +-
 .../Eigen/src/PardisoSupport/PardisoSupport.h      |   249 +-
 vendor/eigen/Eigen/src/QR/ColPivHouseholderQR.h    |   281 +-
 .../Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h     |    97 +
 .../Eigen/src/QR/CompleteOrthogonalDecomposition.h |   562 +
 vendor/eigen/Eigen/src/QR/FullPivHouseholderQR.h   |   192 +-
 vendor/eigen/Eigen/src/QR/HouseholderQR.h          |   119 +-
 vendor/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h  |    68 +
 .../Eigen/src/SPQRSupport/SuiteSparseQRSupport.h   |   123 +-
 vendor/eigen/Eigen/src/SVD/BDCSVD.h                |  1231 ++
 vendor/eigen/Eigen/src/SVD/JacobiSVD.h             |   390 +-
 vendor/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h     |    90 +
 vendor/eigen/Eigen/src/SVD/SVDBase.h               |   313 +
 .../eigen/Eigen/src/SVD/UpperBidiagonalization.h   |   328 +-
 .../Eigen/src/SparseCholesky/SimplicialCholesky.h  |   272 +-
 .../src/SparseCholesky/SimplicialCholesky_impl.h   |    34 +-
 vendor/eigen/Eigen/src/SparseCore/AmbiVector.h     |    98 +-
 .../eigen/Eigen/src/SparseCore/CompressedStorage.h |   139 +-
 .../SparseCore/ConservativeSparseSparseProduct.h   |   216 +-
 .../Eigen/src/SparseCore/MappedSparseMatrix.h      |   164 +-
 vendor/eigen/Eigen/src/SparseCore/SparseAssign.h   |   216 +
 vendor/eigen/Eigen/src/SparseCore/SparseBlock.h    |   682 +-
 vendor/eigen/Eigen/src/SparseCore/SparseColEtree.h |    44 +-
 .../Eigen/src/SparseCore/SparseCompressedBase.h    |   341 +
 .../Eigen/src/SparseCore/SparseCwiseBinaryOp.h     |   666 +-
 .../Eigen/src/SparseCore/SparseCwiseUnaryOp.h      |   155 +-
 .../Eigen/src/SparseCore/SparseDenseProduct.h      |   417 +-
 .../Eigen/src/SparseCore/SparseDiagonalProduct.h   |   228 +-
 vendor/eigen/Eigen/src/SparseCore/SparseDot.h      |    17 +-
 vendor/eigen/Eigen/src/SparseCore/SparseFuzzy.h    |    29 +-
 vendor/eigen/Eigen/src/SparseCore/SparseMap.h      |   305 +
 vendor/eigen/Eigen/src/SparseCore/SparseMatrix.h   |   641 +-
 .../eigen/Eigen/src/SparseCore/SparseMatrixBase.h  |   268 +-
 .../eigen/Eigen/src/SparseCore/SparsePermutation.h |   170 +-
 vendor/eigen/Eigen/src/SparseCore/SparseProduct.h  |   291 +-
 vendor/eigen/Eigen/src/SparseCore/SparseRedux.h    |    12 +-
 vendor/eigen/Eigen/src/SparseCore/SparseRef.h      |   397 +
 .../Eigen/src/SparseCore/SparseSelfAdjointView.h   |   559 +-
 .../eigen/Eigen/src/SparseCore/SparseSolverBase.h  |   124 +
 .../SparseCore/SparseSparseProductWithPruning.h    |    86 +-
 .../eigen/Eigen/src/SparseCore/SparseTranspose.h   |    99 +-
 .../Eigen/src/SparseCore/SparseTriangularView.h    |   252 +-
 vendor/eigen/Eigen/src/SparseCore/SparseUtil.h     |   106 +-
 vendor/eigen/Eigen/src/SparseCore/SparseVector.h   |   212 +-
 vendor/eigen/Eigen/src/SparseCore/SparseView.h     |   230 +-
 .../eigen/Eigen/src/SparseCore/TriangularSolver.h  |   117 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU.h         |   221 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLUImpl.h     |    10 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU_Memory.h  |    15 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU_Structs.h |     3 +-
 .../Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h |    69 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU_Utils.h   |    10 +-
 .../Eigen/src/SparseLU/SparseLU_column_bmod.h      |     7 +-
 .../eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h |    38 +-
 .../Eigen/src/SparseLU/SparseLU_copy_to_ucol.h     |     7 +-
 .../Eigen/src/SparseLU/SparseLU_gemm_kernel.h      |    93 +-
 .../Eigen/src/SparseLU/SparseLU_heap_relax_snode.h |    21 +-
 .../Eigen/src/SparseLU/SparseLU_kernel_bmod.h      |    52 +-
 .../eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h |     6 +-
 .../eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h  |    44 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h  |    12 +-
 vendor/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h  |     7 +-
 .../Eigen/src/SparseLU/SparseLU_relax_snode.h      |    12 +-
 vendor/eigen/Eigen/src/SparseQR/SparseQR.h         |   187 +-
 vendor/eigen/Eigen/src/StlSupport/StdDeque.h       |     2 +-
 vendor/eigen/Eigen/src/StlSupport/StdList.h        |     4 +-
 vendor/eigen/Eigen/src/StlSupport/StdVector.h      |     5 +
 vendor/eigen/Eigen/src/StlSupport/details.h        |    16 +-
 .../Eigen/src/SuperLUSupport/SuperLUSupport.h      |   209 +-
 .../Eigen/src/UmfPackSupport/UmfPackSupport.h      |   314 +-
 vendor/eigen/Eigen/src/misc/Image.h                |     2 -
 vendor/eigen/Eigen/src/misc/Kernel.h               |     4 +-
 vendor/eigen/Eigen/src/misc/RealSvd2x2.h           |    55 +
 vendor/eigen/Eigen/src/misc/blas.h                 |   418 +-
 vendor/eigen/Eigen/src/misc/lapack.h               |   152 +
 vendor/eigen/Eigen/src/misc/lapacke.h              | 16291 +++++++++++++++++++
 vendor/eigen/Eigen/src/misc/lapacke_mangling.h     |    17 +
 .../eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h  |   203 +-
 .../eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h   |   467 +-
 vendor/eigen/Eigen/src/plugins/BlockMethods.h      |  1269 +-
 .../eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h |    75 +-
 .../eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h  |   205 +-
 .../eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h |    29 +-
 .../eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h  |   115 +-
 vendor/kazhdan/Allocator.h                         |   165 +
 vendor/kazhdan/Array.h                             |   116 +
 vendor/kazhdan/BSplineData.h                       |   471 +
 vendor/kazhdan/BSplineData.inl                     |   546 +
 vendor/kazhdan/BinaryNode.h                        |    70 +
 vendor/kazhdan/CMakeLists.txt                      |    16 +
 vendor/kazhdan/Factor.cpp                          |   264 +
 vendor/kazhdan/Factor.h                            |    50 +
 vendor/kazhdan/Geometry.cpp                        |   122 +
 vendor/kazhdan/Geometry.h                          |   414 +
 vendor/kazhdan/Geometry.inl                        |   591 +
 vendor/kazhdan/MAT.h                               |    48 +
 vendor/kazhdan/MAT.inl                             |   220 +
 vendor/kazhdan/MarchingCubes.cpp                   |  1025 ++
 vendor/kazhdan/MarchingCubes.h                     |   147 +
 vendor/kazhdan/MemoryUsage.h                       |   166 +
 vendor/kazhdan/Mesh.h                              |    82 +
 vendor/kazhdan/MultiGridOctreeData.Evaluation.inl  |  1151 ++
 vendor/kazhdan/MultiGridOctreeData.IsoSurface.inl  |  1141 ++
 .../MultiGridOctreeData.SortedTreeNodes.inl        |   357 +
 vendor/kazhdan/MultiGridOctreeData.System.inl      |  2279 +++
 .../MultiGridOctreeData.WeightedSamples.inl        |   444 +
 vendor/kazhdan/MultiGridOctreeData.h               |   994 ++
 vendor/kazhdan/MultiGridOctreeData.inl             |   706 +
 vendor/kazhdan/MyTime.h                            |    51 +
 vendor/kazhdan/Octree.h                            |   184 +
 vendor/kazhdan/Octree.inl                          |  1145 ++
 vendor/kazhdan/PPolynomial.h                       |   113 +
 vendor/kazhdan/PPolynomial.inl                     |   470 +
 vendor/kazhdan/Ply.h                               |   943 ++
 vendor/kazhdan/PoissonRecon.h                      |   532 +
 vendor/kazhdan/Polynomial.h                        |   100 +
 vendor/kazhdan/Polynomial.inl                      |   378 +
 vendor/kazhdan/SparseMatrix.h                      |   194 +
 vendor/kazhdan/SparseMatrix.inl                    |   508 +
 vendor/kazhdan/SurfaceTrimmer.h                    |   424 +
 vendor/kazhdan/SurfaceTrimmerMain.cpp              |   220 +
 vendor/kazhdan/point_source/AsciiPointSource.h     |    57 +
 vendor/kazhdan/point_source/AsciiPointSource.inl   |   103 +
 vendor/kazhdan/point_source/BinaryPointSource.h    |    61 +
 vendor/kazhdan/point_source/BinaryPointSource.inl  |   129 +
 vendor/kazhdan/point_source/MemoryPointSource.h    |    79 +
 vendor/kazhdan/point_source/PlyPointSource.h       |    80 +
 vendor/kazhdan/point_source/PlyPointSource.inl     |   311 +
 vendor/kazhdan/point_source/PointSource.h          |    77 +
 .../kazhdan/point_source/TransformedPointSource.h  |    88 +
 vendor/rply/LICENSE                                |    20 -
 vendor/rply/etc/convert.c                          |   130 -
 vendor/rply/etc/dump.c                             |    44 -
 vendor/rply/etc/input.ply                          |    16 -
 vendor/rply/etc/sconvert.c                         |    64 -
 vendor/rply/manual/manual.html                     |  1137 --
 vendor/rply/manual/reference.css                   |    54 -
 vendor/rply/manual/rply.png                        |   Bin 6232 -> 0 bytes
 vendor/rply/rply.c                                 |  1616 --
 vendor/rply/rply.h                                 |   378 -
 vendor/rply/rplyfile.h                             |    68 -
 1041 files changed, 106152 insertions(+), 48798 deletions(-)

diff --git a/.gitignore b/.gitignore
index 2b1cc7c..f1a71ec 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,6 +35,7 @@ install_manifest.txt
 #
 # visual studio cruft
 #
+/.vs*
 Debug/
 Release/
 RelWithDebInfo/
@@ -51,6 +52,12 @@ ipch/
 *.sln.docstates
 
 #
+# intellij, clion
+#
+.idea
+*.iml
+
+#
 # doxygen cruft
 #
 doc/doxygen/html
@@ -69,8 +76,10 @@ test/data/local
 #
 .DS_Store
 
-_build
-build
+/_build*
+/build*
+/*local*.bat
+/*local*.sh
 Makefile
 doc/build
 bin/
@@ -144,8 +153,9 @@ test/data/sbet/pipeline.xml
 
 python/*.egg*
 python/build/*
-python/pdal/libpdalpython.so
-python/pdal/libpdalpython.cpp
+python/dist/*
+python/pdal/libpdalpython*
+python/pdal/libpdalpython*
 test/data/*.json
 test/data/pipeline/*.json
 test/data/filters/*.json
diff --git a/.travis.yml b/.travis.yml
index a2b2451..a9d93e7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,30 +1,19 @@
 # .travis.yml
 # Configure Travis CI service for http://github.com/PDAL
-language: cpp
 
+sudo: required
 
-sudo:
-    required
+services: docker
 
-services:
-    docker
-
-compiler:
-  - gcc
-
-env:
-  - PDAL_OPTIONAL_COMPONENTS=all
-  - PDAL_OPTIONAL_COMPONENTS=none
-
-
-before_install: ./scripts/ci/before_install.sh
+before_install:
+  - docker pull alpine:edge
 
 script:
-    docker run -v $TRAVIS_BUILD_DIR:/pdal -e CXX="$CXX" -e CC="$CC" -e PDAL_OPTIONAL_COMPONENTS="$PDAL_OPTIONAL_COMPONENTS" -t pdal/dependencies:latest /bin/sh -c "/pdal/scripts/ci/script.sh"
+  - docker run -v $TRAVIS_BUILD_DIR:/pdal -t alpine:edge /bin/sh -c "/pdal/scripts/ci/script.sh"
 
 after_success:
   - echo "secure travis:" "$TRAVIS_SECURE_ENV_VARS"
-  - sh -c 'if test "$TRAVIS_SECURE_ENV_VARS" = "true" -a "$TRAVIS_BRANCH" = "1.5-maintenance" -a "$PDAL_OPTIONAL_COMPONENTS" = "all"; then echo "publish website"; ./scripts/ci/build_docs.sh; ./scripts/ci/add_deploy_key.sh; ./scripts/ci/deploy_website.sh $TRAVIS_BUILD_DIR/doc/build /tmp; fi'
+  - sh -c 'if test "$TRAVIS_SECURE_ENV_VARS" = "true" -a "$TRAVIS_BRANCH" = "1.6-maintenance"; then echo "publish website"; ./scripts/ci/build_docs.sh; ./scripts/ci/add_deploy_key.sh; ./scripts/ci/deploy_website.sh $TRAVIS_BUILD_DIR/doc/build /tmp; fi'
 
 notifications:
   on_success: always
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a91cee1..05281e2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,14 +28,14 @@ mark_as_advanced(CMAKE_VERBOSE_MAKEFILE)
 
 # the next line is the ONLY place in the entire pdal system where
 # the version info is hard-coded
-set(PDAL_VERSION_STRING "1.5.0" CACHE STRING "PDAL version" FORCE)
+set(PDAL_VERSION_STRING "1.6.0" CACHE STRING "PDAL version" FORCE)
 
 DISSECT_VERSION()
 GET_OS_INFO()
 SET_INSTALL_DIRS()
 
-set(PDAL_API_VERSION "4")
-set(PDAL_BUILD_VERSION "5.1.0")
+set(PDAL_API_VERSION "5")
+set(PDAL_BUILD_VERSION "6.1.0")
 
 # Name of C++ library
 
@@ -56,15 +56,18 @@ else()
     set(PDAL_BASE_LIB_NAME pdal_base)
 endif()
 set(PDAL_UTIL_LIB_NAME pdal_util)
-set(PDAL_PLANG_LIB_NAME pdal_plang)
 set(PDAL_BOOST_LIB_NAME pdal_boost)
-#set(PDAL_ARBITER_LIB_NAME pdal_arbiter)
+set(PDAL_KAZHDAN_LIB_NAME pdal_kazhdan)
 
 set(CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
 
 set(PDAL_OUTPUT_LIB_DIR "${PDAL_BINARY_DIR}/${PDAL_LIB_INSTALL_DIR}")
 set(PDAL_OUTPUT_BIN_DIR "${PDAL_BINARY_DIR}/${PDAL_BIN_INSTALL_DIR}")
-set(PDAL_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${PDAL_LIB_INSTALL_DIR}")
+
+# allow override of PDAL_PLUGIN_INSTALL_PATH path
+if (NOT PDAL_PLUGIN_INSTALL_PATH)
+    set(PDAL_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${PDAL_LIB_INSTALL_DIR}")
+endif()
 file(MAKE_DIRECTORY "${PDAL_OUTPUT_LIB_DIR}")
 file(MAKE_DIRECTORY "${PDAL_OUTPUT_BIN_DIR}")
 
@@ -115,14 +118,11 @@ include(${PDAL_CMAKE_DIR}/threads.cmake)
 include(${PDAL_CMAKE_DIR}/zlib.cmake)
 include(${PDAL_CMAKE_DIR}/test.cmake)
 include(${PDAL_CMAKE_DIR}/ctest.cmake)
-include(${PDAL_CMAKE_DIR}/curl.cmake)
-if (CURL_FOUND)
-    set(PDAL_ARBITER_LIB_NAME pdal_arbiter)
-endif()
-include(${PDAL_CMAKE_DIR}/rply.cmake)
 include(${PDAL_CMAKE_DIR}/json.cmake)
 include(${PDAL_CMAKE_DIR}/libxml2.cmake)
 include(${PDAL_CMAKE_DIR}/dimension.cmake)
+include(${PDAL_CMAKE_DIR}/python.cmake)
+include(${PDAL_CMAKE_DIR}/arbiter.cmake)
 
 #------------------------------------------------------------------------------
 # generate the pdal_defines.h header
@@ -146,6 +146,8 @@ endif()
 
 set(pdal_defines_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pdal_defines.h.in")
 set(pdal_defines_h "${CMAKE_CURRENT_BINARY_DIR}/include/pdal/pdal_defines.h")
+include(CheckIncludeFiles)
+check_include_files(execinfo.h PDAL_HAVE_EXECINFO_H)
 configure_file(${pdal_defines_h_in} ${pdal_defines_h})
 
 #------------------------------------------------------------------------------
@@ -169,16 +171,12 @@ endif()
 add_subdirectory(dimbuilder)
 add_subdirectory(vendor/pdalboost)
 add_subdirectory(vendor/arbiter)
-
+add_subdirectory(vendor/kazhdan)
 if (NOT PDAL_HAVE_JSONCPP)
     add_subdirectory(vendor/jsoncpp/dist)
 endif()
 add_subdirectory(pdal/util)
-add_subdirectory(tools)
-if (BUILD_PLUGIN_PYTHON)
-    set(PYTHON_VERSION_STRING "something" CACHE STRING "Python version" FORCE)
-    add_subdirectory(pdal/plang)
-endif()
+#add_subdirectory(tools)
 add_subdirectory(apps)
 
 #
@@ -248,6 +246,7 @@ target_link_libraries(${PDAL_BASE_LIB_NAME}
         ${PDAL_REEXPORT}
         ${PDAL_UTIL_LIB_NAME}
         ${PDAL_ARBITER_LIB_NAME}
+        ${PDAL_KAZHDAN_LIB_NAME}
     ${JSON_CPP_LINK_TYPE}
         ${PDAL_JSONCPP_LIB_NAME}
     INTERFACE
diff --git a/CPackConfig.cmake b/CPackConfig.cmake
new file mode 100644
index 0000000..557bc3a
--- /dev/null
+++ b/CPackConfig.cmake
@@ -0,0 +1,81 @@
+# This file will be configured to contain variables for CPack. These variables
+# should be set in the CMake list file of the project before CPack module is
+# included. The list of available CPACK_xxx variables and their associated
+# documentation may be obtained using
+#  cpack --help-variable-list
+#
+# Some variables are common to all generators (e.g. CPACK_PACKAGE_NAME)
+# and some are specific to a generator
+# (e.g. CPACK_NSIS_EXTRA_INSTALL_COMMANDS). The generator specific variables
+# usually begin with CPACK_<GENNAME>_xxxx.
+
+
+SET(CPACK_BINARY_7Z "")
+SET(CPACK_BINARY_BUNDLE "")
+SET(CPACK_BINARY_CYGWIN "")
+SET(CPACK_BINARY_DEB "OFF")
+SET(CPACK_BINARY_DRAGNDROP "")
+SET(CPACK_BINARY_IFW "OFF")
+SET(CPACK_BINARY_NSIS "OFF")
+SET(CPACK_BINARY_OSXX11 "")
+SET(CPACK_BINARY_PACKAGEMAKER "")
+SET(CPACK_BINARY_RPM "OFF")
+SET(CPACK_BINARY_STGZ "ON")
+SET(CPACK_BINARY_TBZ2 "OFF")
+SET(CPACK_BINARY_TGZ "ON")
+SET(CPACK_BINARY_TXZ "OFF")
+SET(CPACK_BINARY_TZ "ON")
+SET(CPACK_BINARY_WIX "")
+SET(CPACK_BINARY_ZIP "")
+SET(CPACK_CMAKE_GENERATOR "Unix Makefiles")
+SET(CPACK_COMPONENT_UNSPECIFIED_HIDDEN "TRUE")
+SET(CPACK_COMPONENT_UNSPECIFIED_REQUIRED "TRUE")
+SET(CPACK_GENERATOR "STGZ;TGZ;TZ")
+SET(CPACK_INSTALL_CMAKE_PROJECTS "/PDAL;PDAL;ALL;/")
+SET(CPACK_INSTALL_PREFIX "/usr/local")
+SET(CPACK_MODULE_PATH "/PDAL/cmake/modules")
+SET(CPACK_NSIS_DISPLAY_NAME "PDAL 1.6.6")
+SET(CPACK_NSIS_INSTALLER_ICON_CODE "")
+SET(CPACK_NSIS_INSTALLER_MUI_ICON_CODE "")
+SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES")
+SET(CPACK_NSIS_PACKAGE_NAME "PDAL 1.6.6")
+SET(CPACK_OUTPUT_CONFIG_FILE "/PDAL/CPackConfig.cmake")
+SET(CPACK_PACKAGE_DEFAULT_LOCATION "/")
+SET(CPACK_PACKAGE_DESCRIPTION_FILE "/usr/share/cmake-3.5/Templates/CPack.GenericDescription.txt")
+SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "PDAL built using CMake")
+SET(CPACK_PACKAGE_FILE_NAME "PDAL-1.6.6-Linux")
+SET(CPACK_PACKAGE_INSTALL_DIRECTORY "PDAL 1.6.6")
+SET(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "PDAL 1.6.6")
+SET(CPACK_PACKAGE_NAME "PDAL")
+SET(CPACK_PACKAGE_RELOCATABLE "true")
+SET(CPACK_PACKAGE_VENDOR "PDAL Development Team")
+SET(CPACK_PACKAGE_VERSION "1.6.6")
+SET(CPACK_PACKAGE_VERSION_MAJOR "1")
+SET(CPACK_PACKAGE_VERSION_MINOR "6")
+SET(CPACK_PACKAGE_VERSION_PATCH "6")
+SET(CPACK_RESOURCE_FILE_LICENSE "/PDAL/LICENSE.txt")
+SET(CPACK_RESOURCE_FILE_README "/usr/share/cmake-3.5/Templates/CPack.GenericDescription.txt")
+SET(CPACK_RESOURCE_FILE_WELCOME "/usr/share/cmake-3.5/Templates/CPack.GenericWelcome.txt")
+SET(CPACK_SET_DESTDIR "OFF")
+SET(CPACK_SOURCE_7Z "")
+SET(CPACK_SOURCE_CYGWIN "")
+SET(CPACK_SOURCE_GENERATOR "TBZ2;TGZ")
+SET(CPACK_SOURCE_IGNORE_FILES "/\\.gitattributes;/\\.vagrant;/\\.DS_Store;/CVS/;/\\.git/;\\.swp$;~$;\\.\\#;/\\#;CMakeScripts/;CMakeCache.txt;.xcodeproj;build.make;_CPack_Packages;cmake_install.cmake;Testing;PDAL.build/;/bin/;/lib/;/build/;Makefile;CMakeFiles;CTestTestfile.cmake;/test/data/local/;/doc/doxygen/;/doc/build/;/doc/presentations/;/doc/_static/logo/dongle/;/doc/_static/logo/sticker/;/cmake/examples/;/include/pdal/pdal_defines.h;.gz2;.bz2")
+SET(CPACK_SOURCE_OUTPUT_CONFIG_FILE "/PDAL/CPackSourceConfig.cmake")
+SET(CPACK_SOURCE_PACKAGE_FILE_NAME "PDAL-1.6.0-src")
+SET(CPACK_SOURCE_TBZ2 "")
+SET(CPACK_SOURCE_TGZ "")
+SET(CPACK_SOURCE_TXZ "")
+SET(CPACK_SOURCE_TZ "")
+SET(CPACK_SOURCE_ZIP "")
+SET(CPACK_SYSTEM_NAME "Linux")
+SET(CPACK_TOPLEVEL_TAG "Linux")
+SET(CPACK_WIX_SIZEOF_VOID_P "8")
+
+if(NOT CPACK_PROPERTIES_FILE)
+  set(CPACK_PROPERTIES_FILE "/PDAL/CPackProperties.cmake")
+endif()
+
+if(EXISTS ${CPACK_PROPERTIES_FILE})
+  include(${CPACK_PROPERTIES_FILE})
+endif()
diff --git a/CPackSourceConfig.cmake b/CPackSourceConfig.cmake
new file mode 100644
index 0000000..a01b048
--- /dev/null
+++ b/CPackSourceConfig.cmake
@@ -0,0 +1,86 @@
+# This file will be configured to contain variables for CPack. These variables
+# should be set in the CMake list file of the project before CPack module is
+# included. The list of available CPACK_xxx variables and their associated
+# documentation may be obtained using
+#  cpack --help-variable-list
+#
+# Some variables are common to all generators (e.g. CPACK_PACKAGE_NAME)
+# and some are specific to a generator
+# (e.g. CPACK_NSIS_EXTRA_INSTALL_COMMANDS). The generator specific variables
+# usually begin with CPACK_<GENNAME>_xxxx.
+
+
+SET(CPACK_BINARY_7Z "")
+SET(CPACK_BINARY_BUNDLE "")
+SET(CPACK_BINARY_CYGWIN "")
+SET(CPACK_BINARY_DEB "OFF")
+SET(CPACK_BINARY_DRAGNDROP "")
+SET(CPACK_BINARY_IFW "OFF")
+SET(CPACK_BINARY_NSIS "OFF")
+SET(CPACK_BINARY_OSXX11 "")
+SET(CPACK_BINARY_PACKAGEMAKER "")
+SET(CPACK_BINARY_RPM "OFF")
+SET(CPACK_BINARY_STGZ "ON")
+SET(CPACK_BINARY_TBZ2 "OFF")
+SET(CPACK_BINARY_TGZ "ON")
+SET(CPACK_BINARY_TXZ "OFF")
+SET(CPACK_BINARY_TZ "ON")
+SET(CPACK_BINARY_WIX "")
+SET(CPACK_BINARY_ZIP "")
+SET(CPACK_CMAKE_GENERATOR "Unix Makefiles")
+SET(CPACK_COMPONENT_UNSPECIFIED_HIDDEN "TRUE")
+SET(CPACK_COMPONENT_UNSPECIFIED_REQUIRED "TRUE")
+SET(CPACK_GENERATOR "TBZ2;TGZ")
+SET(CPACK_IGNORE_FILES "/\\.gitattributes;/\\.vagrant;/\\.DS_Store;/CVS/;/\\.git/;\\.swp$;~$;\\.\\#;/\\#;CMakeScripts/;CMakeCache.txt;.xcodeproj;build.make;_CPack_Packages;cmake_install.cmake;Testing;PDAL.build/;/bin/;/lib/;/build/;Makefile;CMakeFiles;CTestTestfile.cmake;/test/data/local/;/doc/doxygen/;/doc/build/;/doc/presentations/;/doc/_static/logo/dongle/;/doc/_static/logo/sticker/;/cmake/examples/;/include/pdal/pdal_defines.h;.gz2;.bz2")
+SET(CPACK_INSTALLED_DIRECTORIES "/PDAL;/")
+SET(CPACK_INSTALL_CMAKE_PROJECTS "")
+SET(CPACK_INSTALL_PREFIX "/usr/local")
+SET(CPACK_MODULE_PATH "/PDAL/cmake/modules")
+SET(CPACK_NSIS_DISPLAY_NAME "PDAL 1.6.6")
+SET(CPACK_NSIS_INSTALLER_ICON_CODE "")
+SET(CPACK_NSIS_INSTALLER_MUI_ICON_CODE "")
+SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES")
+SET(CPACK_NSIS_PACKAGE_NAME "PDAL 1.6.6")
+SET(CPACK_OUTPUT_CONFIG_FILE "/PDAL/CPackConfig.cmake")
+SET(CPACK_PACKAGE_DEFAULT_LOCATION "/")
+SET(CPACK_PACKAGE_DESCRIPTION_FILE "/usr/share/cmake-3.5/Templates/CPack.GenericDescription.txt")
+SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "PDAL built using CMake")
+SET(CPACK_PACKAGE_FILE_NAME "PDAL-1.6.0-src")
+SET(CPACK_PACKAGE_INSTALL_DIRECTORY "PDAL 1.6.6")
+SET(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "PDAL 1.6.6")
+SET(CPACK_PACKAGE_NAME "PDAL")
+SET(CPACK_PACKAGE_RELOCATABLE "true")
+SET(CPACK_PACKAGE_VENDOR "PDAL Development Team")
+SET(CPACK_PACKAGE_VERSION "1.6.6")
+SET(CPACK_PACKAGE_VERSION_MAJOR "1")
+SET(CPACK_PACKAGE_VERSION_MINOR "6")
+SET(CPACK_PACKAGE_VERSION_PATCH "6")
+SET(CPACK_RESOURCE_FILE_LICENSE "/PDAL/LICENSE.txt")
+SET(CPACK_RESOURCE_FILE_README "/usr/share/cmake-3.5/Templates/CPack.GenericDescription.txt")
+SET(CPACK_RESOURCE_FILE_WELCOME "/usr/share/cmake-3.5/Templates/CPack.GenericWelcome.txt")
+SET(CPACK_SET_DESTDIR "OFF")
+SET(CPACK_SOURCE_7Z "")
+SET(CPACK_SOURCE_CYGWIN "")
+SET(CPACK_SOURCE_GENERATOR "TBZ2;TGZ")
+SET(CPACK_SOURCE_IGNORE_FILES "/\\.gitattributes;/\\.vagrant;/\\.DS_Store;/CVS/;/\\.git/;\\.swp$;~$;\\.\\#;/\\#;CMakeScripts/;CMakeCache.txt;.xcodeproj;build.make;_CPack_Packages;cmake_install.cmake;Testing;PDAL.build/;/bin/;/lib/;/build/;Makefile;CMakeFiles;CTestTestfile.cmake;/test/data/local/;/doc/doxygen/;/doc/build/;/doc/presentations/;/doc/_static/logo/dongle/;/doc/_static/logo/sticker/;/cmake/examples/;/include/pdal/pdal_defines.h;.gz2;.bz2")
+SET(CPACK_SOURCE_INSTALLED_DIRECTORIES "/PDAL;/")
+SET(CPACK_SOURCE_OUTPUT_CONFIG_FILE "/PDAL/CPackSourceConfig.cmake")
+SET(CPACK_SOURCE_PACKAGE_FILE_NAME "PDAL-1.6.0-src")
+SET(CPACK_SOURCE_TBZ2 "")
+SET(CPACK_SOURCE_TGZ "")
+SET(CPACK_SOURCE_TOPLEVEL_TAG "Linux-Source")
+SET(CPACK_SOURCE_TXZ "")
+SET(CPACK_SOURCE_TZ "")
+SET(CPACK_SOURCE_ZIP "")
+SET(CPACK_STRIP_FILES "")
+SET(CPACK_SYSTEM_NAME "Linux")
+SET(CPACK_TOPLEVEL_TAG "Linux-Source")
+SET(CPACK_WIX_SIZEOF_VOID_P "8")
+
+if(NOT CPACK_PROPERTIES_FILE)
+  set(CPACK_PROPERTIES_FILE "/PDAL/CPackProperties.cmake")
+endif()
+
+if(EXISTS ${CPACK_PROPERTIES_FILE})
+  include(${CPACK_PROPERTIES_FILE})
+endif()
diff --git a/ChangeLog b/ChangeLog
index 30e3d56..3625eb7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,4 +1,1827 @@
+2017-10-12
+	* Howard Butler <howard at hobu.co> require LASzip 3.1.1+ for PDAL 1.6+ (10:39:03)
+
+2017-10-11
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1702 from PDAL/1.6-docs-chambbj (14:45:20)
+	* Howard Butler <howard at hobu.co> point to 1.6-maintenance branch for website publish (14:25:11)
+	* Howard Butler <howard at hobu.co> doc tweaks in preparation for 1.6 (14:24:46)
+
+2017-09-26
+	* Bradley J Chambers <brad.chambers at gmail.com> Move the HAG tutorial to the filters.hag stage docs (14:15:56)
+	* Bradley J Chambers <brad.chambers at gmail.com> Refining the HAG text, but also thinking it could just be part of filters.hag stage documentation (09:55:52)
+	* Bradley J Chambers <brad.chambers at gmail.com> Convert back to tutorials, we'll just remove the coding part of it (09:43:27)
+	* Bradley J Chambers <brad.chambers at gmail.com> remove pcl note (09:42:22)
+	* Mateusz Łoskot <mateusz at loskot.net> Refine ignore patterns for build directory (#1685) (08:23:43)
+
+2017-09-25
+	* Bradley J Chambers <brad.chambers at gmail.com> Normalized heights tutorial (as written anyway) is more of a development topic (15:18:28)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix typo in OGR writer docs (15:16:45)
+	* Howard Butler <howard at hobu.co> No longer warn for out-of-range ReturnNumber and NumberOfReturns for readers.las and writers.las (#1682) (14:36:37)
+	* chambbj <brad.chambers at gmail.com> Remove BufferReader where it is no longer necessary (#1684) (14:34:28)
+
+2017-09-22
+	* Bradley J Chambers <brad.chambers at gmail.com> Light formatting and eliminate pdal/dependencies from the Travis dicussion, instead citing Alpine (11:35:48)
+	* Bradley J Chambers <brad.chambers at gmail.com> Point users to other types of documentation depending on where they've landed (10:54:22)
+	* Bradley J Chambers <brad.chambers at gmail.com> Clarify what the tutorials section is all about, and redirect other users via Note (10:25:13)
+	* Bradley J Chambers <brad.chambers at gmail.com> Grouping sampling files (and missed ground pipelines) (10:14:50)
+	* Bradley J Chambers <brad.chambers at gmail.com> Group clipping files (10:12:29)
+	* Bradley J Chambers <brad.chambers at gmail.com> Group normalized heights files (10:10:46)
+	* Bradley J Chambers <brad.chambers at gmail.com> Group ground tutorial and all iamges in a folder (10:08:19)
+	* Bradley J Chambers <brad.chambers at gmail.com> libLAS migration guide may be more applicable to API (09:37:35)
+	* Bradley J Chambers <brad.chambers at gmail.com> Move any docs related to writing code from tutorials to development (09:25:38)
+
+2017-10-10
+	* Howard Butler <howard at hobu.co> increment versions in preparation for 1.6.0 release (17:22:48)
+	* Connor Manning <connor at hobu.co> Fix dimension-name lookup in GreyhoundReader to work for proprietary dims. (16:22:36)
+	* Howard Butler <howard at hobu.co> use LASzip 3.1.1 for pdal/dependencies docker image (14:31:30)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (14:30:12)
+	* Howard Butler <howard at hobu.co> Fix #1689 and support PDAL.metadata.pdalargs option as per docs (#1700) (13:44:27)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:41:49)
+	* Piero Toffanin <pt at masseranolabs.com> Updated smrf's out directory parameter reference (#1699) (08:28:52)
+
+2017-10-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1698 from PDAL/logfix (12:59:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:45:35)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set failbit on bad DimRange parse. (11:45:03)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1697 from PDAL/build-pdal-python-package-on-master-branch (09:45:42)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1696 from PDAL/sample-filter-masking-issue (09:44:40)
+	* Bradley J Chambers <brad.chambers at gmail.com> Build PDAL Python package for Docker images on master branch (09:27:50)
+
+2017-10-04
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove random shuffle of points (13:24:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Centralize logging changes. (11:31:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set debug based on log level. (10:16:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:10:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow filters.ferry to create new dimensions with default initialization. Allow filters.ferry to copy data from a single source to multiple destinations. Error if an attempt is made to set a destination dimension more than once. Close #1694 (09:09:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix text of error message. (06:09:45)
+
+2017-10-02
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (17:58:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fixes to laszip writing. (16:37:36)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (13:52:17)
+	* Grisha <gr.pomadchin at gmail.com> Remove AutoDerivation (#1692) (10:05:42)
+
+2017-09-29
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (14:33:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1690 from spatialhast/patch-1 (10:40:38)
+	* Alexander <spatial.hast at gmail.com> typo fix (10:31:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Error if an attempt is made to reference missing color ramp. Load blue_orange color ramp. Close #1688 (09:27:36)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:04:41)
+
+2017-09-28
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow metadata to deal with pointers. (18:02:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Provide a simple wordexp() type function. (12:06:19)
+
+2017-09-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make an easier way to extract spaces. (14:06:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change string vector to ProgramArgs::parse() to const. (09:44:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1686 from visr/patch-1 (06:21:58)
+	* Martijn Visser <mgvisser at gmail.com> use readers.text in readers.text example pipeline (02:32:49)
+
+2017-09-21
+	* chambbj <brad.chambers at gmail.com> Add Alpine build scripts for Travis and Docker Hub (#1683) (14:09:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix for LAS 1.4 (14:01:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:26:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Have lasdump use new laszip interface. (11:23:27)
+	* Pete Gadomski <pete.gadomski at gmail.com> Change 'filters.change' to 'filters.{cpd|icp}' (#1672) (11:17:07)
+	* chambbj <brad.chambers at gmail.com> Bump Eigen version from 3.2.8 to 3.3.4 (#1681) (11:16:48)
+	* chambbj <brad.chambers at gmail.com> Change fcntl.h include path (#1680) (11:16:31)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (10:20:10)
+
+2017-09-20
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1679 from PDAL/issue/1271-plugin-loading (13:21:03)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1678 from PDAL/issue/1677-no-approximate-in-ground-kernel (13:20:26)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1676 from PDAL/issue/1674-dead-args (13:20:14)
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove KernelFactory and move all kernel plugin loading to StageFactory (10:25:51)
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove approximate option from ground kernel (10:01:08)
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove 2D and output filename options from delta kernel (09:53:13)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (07:37:13)
+
+2017-09-19
+	* Howard Butler <howard at hobu.co> Enable streaming for filters.colorinterp where possible. (#1675) (13:58:25)
+	* Howard Butler <howard at hobu.co> Merge branch 'post1.6' of github.com:PDAL/PDAL (13:48:20)
+	* Howard Butler <howard at hobu.co> metadata and srs support for Matlab stages (#1669) (13:47:28)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Write all the points instead of the same one over and over. (12:57:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:57:15)
+
+2017-09-18
+	* Howard Butler <howard at hobu.co> laszip directory in FindLASzip.cmake (14:38:39)
+
+2017-09-17
+	* Howard Butler <howard at hobu.co> more laszip churn (20:33:05)
+	* Howard Butler <howard at hobu.co> change how we find LASzip (18:39:32)
+
+2017-09-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Enable streaming for filters.colorinterp where possible. Add tests for filters.colorinterp Close #1609 (10:29:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/post1.6' (09:39:56)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set FixedPointTable to 0 on reset. (09:38:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:52:35)
+
+2017-09-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow simple callbacks for non-streaming mode. (12:35:35)
+	* Howard Butler <howard at hobu.co> update LASzip build/install (08:50:34)
+
+2017-09-13
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (21:35:19)
+	* Howard Butler <howard at hobu.co> Implement support for LASzip 3.1.0 (#1668) (21:28:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:57:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Initialize HeaderVals to avoid errors. (16:57:02)
+	* Howard Butler <howard at hobu.co> require LASzip 3.1.0 for pdal/dependencies (16:57:01)
+	* Connor Manning <connor at hobu.co> Greyhound reader updates (#1667) (16:40:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update to changed API. (15:28:35)
+
+2017-09-12
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. (12:26:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add missing comma . (12:16:04)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/laszip' into laszip (12:08:26)
+
+2017-09-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge branch 'master' into laszip (14:29:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (11:53:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Doc updates. (07:58:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (07:29:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove unused data. (07:29:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use functions/constants and simplify code. (07:28:33)
+
+2017-09-08
+	* Howard Butler <howard at hobu.co> remove dead code (13:15:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Roll back 23963719ae107176bb076628ca467fdf4c4d3b59 (11:20:06)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:33:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge branch 'master' into laszip (10:32:30)
+	* Grisha <gr.pomadchin at gmail.com> Fix publish scripts to correspond HOWTORELEASE.txt (#1665) (08:44:22)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove XML pipeline support. Close #1666 (07:54:37)
+
+2017-09-07
+	* Grisha <gr.pomadchin at gmail.com> PDAL scala (#1492) (16:39:12)
+	* Howard Butler <howard at hobu.co> SQLite updates to support GPKG (#1654) (16:38:42)
+	* Howard Butler <howard at hobu.co> add ignore_vlr option to readers.las #1651 (#1664) (16:12:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow all datatypes for writers.gdal raster output. Allow specification of the writers.gdal nodata value. (08:59:47)
+
+2017-09-05
+	* Howard Butler <howard at hobu.co> metadata and srs support for Matlab stages (07:36:45)
+
+2017-09-01
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1662 from PDAL/arbiter-cmake (14:27:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update build to make curl/arbiter relationship more clear. (08:38:33)
+
+2017-08-31
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1658 from PDAL/execinfo-guards (14:23:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:50:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't repeat test. (09:50:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use good logic to parse dimension names. Close #1659 (06:48:46)
+
+2017-08-30
+	* Bradley J Chambers <brad.chambers at gmail.com> It is enough to check for PDAL_HAVE_EXECINFO_H (15:15:53)
+	* Bradley J Chambers <brad.chambers at gmail.com> Check for execinfo/backtrace (15:01:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:43:19)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Increase the number of allowable proprietary dimensions to 4095. Throw an error if an attempt is made to assign more than 4095 proprietary dims. Close #1657 (12:41:40)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1656 from jasonbeverage/cmakelibs (12:04:03)
+	* Jason Beverage <jasonbeverage at gmail.com> Changed pdal_util to @PDAL_UTIL_LIB_NAME@ (11:42:15)
+
+2017-08-29
+	* Jason Beverage <jasonbeverage at gmail.com> Changed PDALConfig.cmake.in to only include pdal_util in addition to pdalcpp and not the other libraries. pdal_util is only included on WIN32 (20:48:40)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (16:26:44)
+	* Howard Butler <howard at hobu.co> LasVLR::MAX_DATA_SIZE is never used, use USHRT_MAX for VLR size test (16:26:24)
+	* Jason Beverage <jasonbeverage at gmail.com> Fix for windows linking in PDALTargets.cmake.in (16:19:48)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1655 from jasonbeverage/exportgreedprojection (15:05:48)
+	* Jason Beverage <jasonbeverage at gmail.com> Added PDAL_DLL to GreedyProjection (14:24:17)
+
+2017-08-28
+	* Andrew Bell <andrew.bell.ia at gmail.com> Put encoded LAS VLR in its own node. Close #1648 (09:08:37)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix LASZIP in pipeline test. (08:58:48)
+
+2017-08-25
+	* Howard Butler <howard at hobu.co> don't attempt to write a pdal_metadata VLR if > LasVLR::MAX_DATA_SIZE and minor_version < 4 (13:10:03)
+
+2017-08-24
+	* Adam Steer <adamsteer at users.noreply.github.com> #1591: add --count to html docs (#1649) (20:53:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fixes for laszip API installation/version detection. (10:33:03)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix a typo. (08:43:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add an FAQ about missing plugins. (08:01:44)
+
+2017-08-23
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (13:28:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't run test that requires LAS compression without it being compiled in. (12:33:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (11:53:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (11:53:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix type mismatch in CPD filter. (11:50:22)
+
+2017-08-22
+	* Howard Butler <howard at hobu.co> doc typo (08:02:43)
+
+2017-08-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:26:49)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix type in filters.hag doc. (11:26:27)
+
+2017-08-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> More info and pics for poisson doc. (15:56:21)
+
+2017-08-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix location of setting point format/size. Add error handling to laszip functions. (14:27:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1645 from jw3/matlab-build (08:34:03)
+
+2017-08-09
+	* John Wass <wassj at ctc.com> update ignores for intellij and clion (16:49:52)
+	* John Wass <wassj at ctc.com> matlab finder changes (16:44:38)
+
+2017-08-02
+	* John Wass <wassj at ctc.com> remove stray brackets (16:42:15)
+
+2017-08-01
+	* Andrew Bell <andrew.bell.ia at gmail.com> "Fixes" for building PDAL with MATLAB. (14:14:34)
+	* Howard Butler <howard at hobu.co> explicitly include osg/Version (10:52:54)
+	* Howard Butler <howard at hobu.co> Revert "explicitly include osg/Version" (10:51:50)
+	* Howard Butler <howard at hobu.co> explicitly include osg/Version (10:51:22)
+	* Howard Butler <howard at hobu.co> make OSGReader happy on PDAL's pdal/dependencies container (10:13:27)
+
+2017-08-10
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update doc for spatialreference option. (16:39:37)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add an OGR writer. (16:12:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Properly handle reading uncompressed files when a compression option is provided. (09:34:58)
+
+2017-08-08
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1639 from PDAL/issue/1638-normal-flip (10:54:49)
+
+2017-08-07
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update for new API. (12:30:39)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge branch 'master' into laszip (09:59:00)
+
+2017-08-04
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make gdal::ErrorHandler thread-safe. Close #1637 (12:00:30)
+	* Bradley J Chambers <brad.chambers at gmail.com> Point still needs to be in a separate namespace (11:44:29)
+	* Bradley J Chambers <brad.chambers at gmail.com> Update the Normal documentation once again (10:34:41)
+	* Bradley J Chambers <brad.chambers at gmail.com> Share private Point class between Normal and Crop filters (10:24:05)
+	* Bradley J Chambers <brad.chambers at gmail.com> Change normal flipping options (08:23:22)
+
+2017-08-03
+	* Bradley J Chambers <brad.chambers at gmail.com> Update the normal docs to discuss normal flipping (12:16:06)
+	* Bradley J Chambers <brad.chambers at gmail.com> Provide for normal flipping (11:33:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix option names in doc. (09:51:51)
+
+2017-07-31
+	* Howard Butler <howard at hobu.co> attempt to compile with different openscenegraph versions (17:01:51)
+	* Howard Butler <howard at hobu.co> implement OpenSceneGraph reader from Jason Beverage (#1622) (14:15:18)
+	* Howard Butler <howard at hobu.co> make sure to clear SQLite insertion patch (#1633) (14:15:05)
+	* Howard Butler <howard at hobu.co> fix #1612 and provide indication for .. embed::, .. streamable::, and .. plugin:: stages. (#1632) (14:14:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Clean up some windows errors. (#1634) (14:13:18)
+
+2017-07-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (19:12:42)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Doc for separator option in readers.text. Close #1630 (19:12:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/laszip' into laszip (12:16:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into laszip (12:07:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove accidentally added files. (12:00:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Test for laszip of 1.4 point format. (11:43:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> This is a merge. (11:27:32)
+
+2017-07-26
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1628 from PDAL/fix-slow-pmf-tests (12:21:45)
+	* Bradley J Chambers <brad.chambers at gmail.com> Changes the expectations slightly for this sparse dataset (12:17:03)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove unused code. (10:39:20)
+
+2017-07-25
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1627 from PDAL/issue-1626 (14:56:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Missing Windows header? (14:45:25)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add documentation for a_srs and a warning if it's not used when necessary. (11:46:18)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1625 from PDAL/no-get-default-dimensions (11:04:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't convert 2D Bounds to invalid 3D bounds. Close #1626 (11:03:15)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1623 from PDAL/approx-pmf-is-only-pmf (09:23:37)
+
+2017-07-24
+	* Andrew Bell <andrew.bell.ia at gmail.com> Poisson surface reconstruction algorithm. (14:24:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into no-get-default-dimensions Close #1624 (12:01:52)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove getDefaultDimensions(). (11:52:48)
+
+2017-04-19
+	* Bradley J Chambers <brad.chambers at gmail.com> PMF refactoring (10:04:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into greedy (16:56:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Working greedy projection filter. (16:42:35)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:29:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct index -> id. (15:29:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1569 from gadomski/splitter-buffer (15:05:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Enhance PLY writer. Close #1572 (15:04:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into greedy (13:42:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (13:11:56)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove MultiFilter. (13:11:42)
+
+2017-07-22
+	* Howard Butler <howard at hobu.co> increment to the correct array element when reading matlab data (21:45:49)
+
+2017-07-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Works against new laszip api. (15:43:28)
+	* Howard Butler <howard at hobu.co> workshop updates (09:34:36)
+
+2017-07-12
+	* Connor Manning <connor at hobu.co> Fix double-initialize in PLY reader. (10:39:00)
+
+2017-07-08
+	* chambbj <brad.chambers at gmail.com> Correct heading in writing a writer tutorial (22:42:27)
+
+2017-07-03
+	* Michael Rosen <michaelr at azimetry.com> add Nanoflann headers to install so KDIndex compiles (17:58:44)
+
+2017-07-02
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1620 from elemoine/chipper-cleanup (13:23:27)
+
+2017-07-01
+	* Éric Lemoine <eric.lemoine at oslandia.com> Remove m_dir in ChipRefList (16:50:42)
+
+2017-06-30
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (21:13:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't allow duplicate dimensions. Close #1605 (21:12:33)
+	* Howard Butler <howard at hobu.co> GDAL 2.x is now default for osgeo4w -- use that (#1619) (18:22:22)
+	* Howard Butler <howard at hobu.co> update dongle content (14:57:03)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1617 from elemoine/simplify-chipper (06:30:42)
+
+2017-06-29
+	* Éric Lemoine <eric.lemoine at oslandia.com> Simply the ChipperFilter code (08:54:58)
+
+2017-06-28
+	* Howard Butler <howard at hobu.co> Embedded language refactoring branch (#1616) (15:59:12)
+
+2017-06-27
+	* Mateusz Loskot <mateusz at loskot.net> [doc] Fix option name in reader.faux example (16:11:29)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1614 from PDAL/sample-cov (08:20:16)
+
+2017-06-26
+	* Bradley J Chambers <brad.chambers at gmail.com> Should be computing sample covariance (13:52:56)
+
+2017-06-22
+	* Pete Gadomski <pete.gadomski at gmail.com> Refactor compiler settings to target-based assignment (#1613) (17:34:11)
+	* Mateusz Loskot <mateusz at loskot.net> Ignore /.vs and /.vscode folders (03:29:57)
+	* Mateusz Loskot <mateusz at loskot.net> Add link to libLAS website (03:27:13)
+
+2017-06-20
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1611 from PDAL/issue/1578-ground-kernel (13:23:13)
+
+2017-04-27
+	* Bradley J Chambers <brad.chambers at gmail.com> Adapt ground kernel to pmf filter changes (12:19:17)
+
+2017-06-19
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1602 from PDAL/add-head-filter (14:26:35)
+	* chambbj <brad.chambers at gmail.com> Add VoxelCenterNearestNeighborFilter and VoxelCentroidNearestNeighborFilter (#1603) (14:24:18)
+	* Howard Butler <howard at hobu.co> Fix #1607 (10:22:21)
+	* Pete Gadomski <pete.gadomski at gmail.com> Add ICP and CPD filters, remove CPD kernel (#1577) (10:38:58)
+
+2017-06-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into greedy (15:24:40)
+
+2017-06-12
+	* Bradley J Chambers <brad.chambers at gmail.com> Handle the case that too many points were requested in head and tail filter (13:36:19)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add tail filter that passes only the last n points (specified by count argument) (13:26:53)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add head filter that passes only the first n points (specified by count argument) (09:14:31)
+	* chambbj <brad.chambers at gmail.com> Convert filters.sort and readers.sbet example pipelines from XML to JSON (#1604) (12:39:02)
+
+2017-06-09
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:05:25)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add doc describing raster type limitation for writers.gdal. (14:04:49)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1599 from PDAL/issue/1598-randomize-stagefactory (11:30:06)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add RandomizeFilter to StageFactory (09:30:18)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1594 from PDAL/issue/1593-colorinterp-dims (09:23:10)
+
+2017-06-06
+	* Bradley J Chambers <brad.chambers at gmail.com> ColorInterp can search for the requested dimension instead of relying on only standard dims (09:35:20)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove debug. (11:06:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Initialize global encoding. (09:39:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:53:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Test for global encoding issue on Travis. (08:51:07)
+
+2017-06-07
+	* Connor Manning <connor at hobu.co> Merge pull request #1592 from PDAL/scoped-srs (11:32:42)
+	* Connor Manning <connor at hobu.co> Clearer naming for ogr-create-srs utility function. (11:31:44)
+	* Connor Manning <connor at hobu.co> Merge branch 'master' into scoped-srs (10:29:37)
+
+2017-06-05
+	* Connor Manning <connor at hobu.co> Fix GDAL SRS leaks in pdal::SpatialReference.  Add RAII helper. (14:29:05)
+
+2017-06-02
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1588 from PDAL/geowave-minor-edits (14:35:49)
+
+2017-05-31
+	* Pete Gadomski <pete.gadomski at gmail.com> Update CPD docker version to v0.5.1 (15:40:41)
+	* Howard Butler <howard at hobu.co> OSGeo4W64 packaging, windows builds, and windows-specific updates (12:48:36)
+
+2017-05-30
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add memory header. (08:58:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add NormalX/Y/Z and Curvature dimensions. Close #1590 (08:30:22)
+
+2017-05-23
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use null stream instead of /dev/null. Don't use /dev/null in NitfReaderTest. (11:47:24)
+
+2017-05-21
+	* Howard Butler <howard at hobu.co> workshop image (15:29:38)
+
+2017-05-19
+	* Howard Butler <howard at hobu.co> OGR layer owns feature, don't destroy (17:24:13)
+	* Howard Butler <howard at hobu.co> point to osgeo4w for windows download (11:14:20)
+	* Howard Butler <howard at hobu.co> Merge branch 'plugin-install-path-override' into workshop-windows (09:14:21)
+	* Howard Butler <howard at hobu.co> allow PDAL_PLUGIN_INSTALL_PATH override at configure time (09:14:01)
+	* Howard Butler <howard at hobu.co> doc bug (09:12:58)
+
+2017-05-18
+	* Howard Butler <howard at hobu.co> refactor workshop for OSGeo4W (17:05:33)
+
+2017-05-17
+	* Bradley J Chambers <brad.chambers at gmail.com> Fixing some minor issues in the GeoWave plugin (13:43:17)
+
+2017-05-16
+	* Howard Butler <howard at hobu.co> start refactoring workshop for windows (16:19:13)
+
+2017-05-12
+	* Howard Butler <howard at hobu.co> Python filtering tutorial (09:21:59)
+
+2017-05-10
+	* Howard Butler <howard at hobu.co> doc typpo (11:52:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change IN and OUT to INPUT and OUTPUT to make Windows happy. (11:51:08)
+
+2017-05-08
+	* Andrew Bell <andrew.bell.ia at gmail.com> Force X/Y/Z to be registered as doubles in PLY reader. Close #1584 (09:13:31)
+
+2017-05-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Streaming support for PLY. (14:04:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add streaming support for PLY reader. (08:02:54)
+
+2017-05-04
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove rply. Use came case for ply format. (10:29:28)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove rply from PlyWriter. (10:08:21)
+
+2017-05-02
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change text on PLY error. (12:09:58)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:11:18)
+	* Andrew Bell <andrew.bell.ia at gmail.com> PLY reader without rply. (08:10:55)
+
+2017-04-25
+	* Connor Manning <connor at hobu.co> Map .csv files to the text reader.  Tweak text reader for more flexibility in custom layouts. (15:10:28)
+	* Howard Butler <howard at hobu.co> more python numpy docker fixes (09:54:11)
+
+2017-04-24
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (15:14:28)
+	* Howard Butler <howard at hobu.co> don't purge python-numpy in diet section (15:13:28)
+
+2017-04-21
+	* Howard Butler <howard at hobu.co> we need to count clusters from 1 instead of 0, because all other points will have 0 for their ClusterID (default value) (#1576) (16:28:56)
+	* Éric Lemoine <eric.lemoine at gmail.com> Fix formatting issues in testing.rst (#1574) (07:37:31)
+
+2017-04-20
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add mesh writer test. (12:30:54)
+
+2017-04-18
+	* Andrew Bell <andrew.bell.ia at gmail.com> Hooks for multiple meshes. (11:51:18)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1571 from elemoine/pgpointcloud (07:12:04)
+	* Éric Lemoine <eric.lemoine at oslandia.com> Add note to docs about pgpointcloud tests (03:06:36)
+
+2017-04-17
+	* Pete Gadomski <pete.gadomski at gmail.com> Add a buffer option to the splitter (16:52:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Hook greedy triangulation into filters. (15:24:32)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow tag names to contain underscores and capital letters. Catch bad tag names during parse. Close #1568 (13:32:23)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1567 from PDAL/issue/1566-filter-docs (11:35:24)
+	* Bradley J Chambers <brad.chambers at gmail.com> Resolve some dangling references to deprecated extract and classify options (08:57:15)
+
+2017-04-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make sure cell in which point itself lies is in bounds. Close #1563 (16:17:52)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow longname synonyms in ProgramArgs. Close #1560 (10:52:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove code moved to PointView.cpp. (07:56:50)
+
+2017-04-13
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add bounds option to writers.gdal doc. (14:07:29)
+	* Andrew Bell <andrew.bell.ia at gmail.com> It compiles. (12:39:32)
+
+2017-04-12
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix more errors. (18:01:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Initial check-in for safety. (14:46:34)
+	* Howard Butler <howard at hobu.co> another arbiter refresh (12:56:43)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (12:49:02)
+	* Howard Butler <howard at hobu.co> arbiter refresh (12:48:30)
+
+2017-04-07
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:38:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't set the feature SRS based on a_srs unless it was explicitly set or   no SRS was present. Elminate crash from double-delete of feature. (14:38:06)
+
+2017-04-06
+	* Howard Butler <howard at hobu.co> 1.5.0 RC1 release rollup (#1557) (15:44:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Get type from layout -- don't use default type. Close #1556 (12:20:50)
+	* Connor Manning <connormanning at users.noreply.github.com> Preserve well-known, but non-standard to LAS, dimension IDs when written as extra_dims. (#1555) (08:55:01)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1554 from PDAL/add-elm-filter (07:15:13)
+
+2017-04-05
+	* Bradley J Chambers <brad.chambers at gmail.com> Add Extended Local Maximum (ELM) filter (15:22:42)
+
+2017-04-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> Edits to LAS tutorial. Don't allow oversize VLRs when writing LAS 1.0 - 1.3 Close #1551 (16:21:40)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix LASZIP_LASZIP_DEFINES typo (#1550) (14:24:58)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix build failure without LASzip. (#1549) (14:18:59)
+
+2017-03-31
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1545 from PDAL/pmf-smrf-outlier-changes (09:11:26)
+
+2017-03-30
+	* Howard Butler <howard at hobu.co> Implement 'pdalargs' option for filters.predicate and filters.programmable to allow users to pass in a dictionary of arguments to the module #931 (#1546) (23:49:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Forward VLR LASF_Spec/0 and LASF_Spec/3 Close #1547 (21:21:22)
+	* Howard Butler <howard at hobu.co> doc typo (13:59:45)
+	* Bradley J Chambers <brad.chambers at gmail.com> Don't fail when return information is missing. Just use all returns, but warn the user. (13:10:06)
+	* Bradley J Chambers <brad.chambers at gmail.com> Append individual views to a single output view, rather than inserting into the viewSet. Fixup tests. (10:10:28)
+	* Bradley J Chambers <brad.chambers at gmail.com> Don't fail if ignore option is unspecified, just use the input PointView (09:31:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:42:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update metadata doc. (08:42:29)
+
+2017-03-29
+	* Bradley J Chambers <brad.chambers at gmail.com> Updating outlier, PMF, and SMRF filters (14:11:32)
+	* Howard Butler <howard at hobu.co> NITF build config for JSON include dirs (23:02:00)
+	* Howard Butler <howard at hobu.co> update (c) to 2017 (16:37:47)
+	* Howard Butler <howard at hobu.co> Allow setting 'tolerance' for oracle geometry tolerance in writers.oci #810 (#1544) (16:26:50)
+	* Éric Lemoine <eric.lemoine at gmail.com> Add a pgpointcloud test for the overwrite option (#1543) (14:10:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:40:14)
+
+2017-03-27
+	* Howard Butler <howard at hobu.co> doc updates (las tutorial) (14:41:08)
+	* Weston Renoud <wrenoud at gmail.com> Add sort order option, with new descending sort #1121 (#1530) (09:09:41)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1541 from PDAL/faster-morphology (08:54:07)
+
+2017-03-25
+	* Howard Butler <howard at hobu.co> Allow user-settable VLRs in writers.las (#1542) (00:10:10)
+	* Éric Lemoine <eric.lemoine at gmail.com> Fix PgWriter DROP TABLE statement (#1540) (00:10:02)
+
+2017-03-24
+	* Connor Manning <connor at hobu.co> Don't infinite-loop on zero-point StreamPointTable execution. (15:38:30)
+	* Bradley J Chambers <brad.chambers at gmail.com> Export the new erosion and dilation functions (12:08:03)
+	* Bradley J Chambers <brad.chambers at gmail.com> Missing include for back_inserter (11:26:24)
+
+2017-03-23
+	* Bradley J Chambers <brad.chambers at gmail.com> Accelerate morphological operations (11:37:02)
+
+2017-03-22
+	* Connor Manning <connor at hobu.co> Update arbiter bundle for more certificate configuration hooks. (13:35:04)
+	* Howard Butler <howard at hobu.co> doc updates (LAS tutorial, (c) date) (13:11:02)
+
+2017-03-20
+	* Andrew Bell <andrew.bell.ia at gmail.com> Doc updates. (18:03:16)
+	* Howard Butler <howard at hobu.co> doc updates (start on LAS tutorial) (14:20:25)
+	* Howard Butler <howard at hobu.co> doc updates (whitespace, small updates) (11:44:03)
+	* Howard Butler <howard at hobu.co> doc updates (about page, fix links) (10:37:04)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:21:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix mbio test. (09:21:33)
+	* Howard Butler <howard at hobu.co> Attempt to succeed poorly rather than fail ugly when we can't load filters.hexbin for pdal info --boundary and pdal tindex #1532 (#1533) (08:37:20)
+
+2017-03-17
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:01:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set progress FD in PipelineManager. Close #1534 (16:00:35)
+	* Howard Butler <howard at hobu.co> my config doesn't need to hardcode laszip anymore (15:35:45)
+	* Howard Butler <howard at hobu.co> doc updates (latex output org (14:34:55)
+	* Howard Butler <howard at hobu.co> doc updates (make an About page) (12:13:38)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1531 from PDAL/smrf-refactor (10:50:46)
+	* Howard Butler <howard at hobu.co> doc updates: pull content about Ranges into filters.range document (09:49:49)
+
+2016-11-30
+	* Bradley J Chambers <brad.chambers at gmail.com> Refactor SMRF code (13:09:39)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix some issues with SMRF (13:09:39)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (15:15:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:18:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Link with dl for dladdr on linux. (12:17:32)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (11:56:19)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1412 from PDAL/eigen-gradients-bug (11:51:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't build dimbuilder with util lib. (11:49:25)
+	* Bradley J Chambers <brad.chambers at gmail.com> Numerical gradient will be computed on matrices larger than 3x3, compute them properly (10:02:24)
+
+2017-03-16
+	* Howard Butler <howard at hobu.co> python docs (16:43:07)
+	* Howard Butler <howard at hobu.co> pipeline doc updates (16:06:55)
+	* Howard Butler <howard at hobu.co> doc updates (10:18:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove PCvisualizer references. (07:03:15)
+
+2017-03-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (17:06:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update options/doc pass for kernels. (17:06:06)
+	* Connor Manning <connor at hobu.co> Expose LASzip's configured include path via interface-include-directories. (16:25:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:07:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move standard kernel option doc. (10:58:33)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1528 from PDAL/remove-derivative-writer (10:00:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:27:29)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove visualize option from kernels. Close #1529 (09:25:21)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:57:52)
+	* Howard Butler <howard at hobu.co> note about gitter (08:57:37)
+	* Howard Butler <howard at hobu.co> how to release notes (08:53:11)
+	* Howard Butler <howard at hobu.co> discussion about substitution should be more prominent (08:52:54)
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove writers.derivative per #1527 (08:19:22)
+
+2017-03-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1526 from ajokela/master (21:47:20)
+	* Alex Jokela <alex at camulus.com> Add GDALGrid include. (19:47:47)
+	* Howard Butler <howard at hobu.co> Optionally add PDAL metadata and pipeline VLRs to writers.las output in support of processing history activities (#1525) (19:43:11)
+	* Connor Manning <connor at hobu.co> Add arbiter include. (17:34:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Accept full pipelines with --json argument to pdal pipeline. Close #1521 (17:04:47)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:31:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix for GCC 4.7.2 returning lambda. (16:28:18)
+	* Mateusz Łoskot <mateusz at loskot.net> Move GeoTIFF and PROJ.4 to required dependencies. (#1522) (16:23:28)
+	* Pete Gadomski <pete.gadomski at gmail.com> HEXER_INCLUDE_DIR must be included publicly (#1519) (16:23:10)
+	* Howard Butler <howard at hobu.co> add images about docker building (14:29:12)
+	* Howard Butler <howard at hobu.co> add notes about Docker setup (12:34:36)
+
+2017-03-13
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:26:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Pass gdaloptions to raster. Close #1523 (12:25:31)
+	* Howard Butler <howard at hobu.co> don't relink PCL thing in docker container (11:20:13)
+
+2017-03-10
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't run translate command when pipeline option is specified. Close #1518 (11:57:42)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add reprojection example to translate docs. Close #1517 (10:58:31)
+
+2017-03-09
+	* Andrew Bell <andrew.bell.ia at gmail.com> Better diagnostics with LASzip and 1.4 point types. Close #1520 (17:52:53)
+	* Connor Manning <connor at hobu.co> Update arbiter bundle for S3's dnsSuffix configuration. (10:42:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Find laszip.hpp in laszip subdirectory or in base directory. Close #1503 (09:43:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Test travis build. (08:49:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. (08:20:56)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change overwrite option on writers.pgpointcloud to false. Close #1516 (08:17:01)
+
+2017-03-08
+	* Andrew Bell <andrew.bell.ia at gmail.com> More testing. (16:53:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More testing. (16:45:03)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More testing (13:25:41)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More testing (13:15:40)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1513 from PDAL/approx-pmf-by-iterative-morphological-ops (12:24:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into mbio (08:26:42)
+
+2017-03-07
+	* Andrew Bell <andrew.bell.ia at gmail.com> Revert laszip changes. (16:23:35)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Testing (16:03:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Revert FindLASzip for now. (15:59:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More debug. (14:57:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Test laszip stuff. (14:34:28)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove bogus laszip directory. (13:20:33)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't generate tag names containing '.' character. Close #1515 (13:05:29)
+
+2017-02-28
+	* Bradley J Chambers <brad.chambers at gmail.com> Port PMF to use the new morphological opening (iterative diamond kernel) (16:10:10)
+	* Howard Butler <howard at hobu.co> add vdatum files to pdal/dependencies image (#1505) (22:39:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (17:21:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update readers.tindex documentation. (17:20:48)
+	* Connor Manning <connor at hobu.co> Update arbiter bundle for S3 enhancements and better compiler support. (16:14:54)
+
+2017-03-06
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:42:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow laszip to be found in laszip subdirectory or not. Close #1503 (15:41:20)
+
+2017-03-05
+	* Howard Butler <howard at hobu.co> warning nit (23:12:14)
+	* Howard Butler <howard at hobu.co> Point to my lazperf windows install (23:12:03)
+
+2017-03-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add mbio documentation. (16:24:40)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Working MbReader. (14:48:02)
+	* Howard Butler <howard at hobu.co> PCL 1.7 fixup (14:01:53)
+	* Howard Butler <howard at hobu.co> trap logLevel > 8 and complain (13:10:18)
+	* Howard Butler <howard at hobu.co> add 10 points of autzen pts (09:21:12)
+	* Howard Butler <howard at hobu.co> add back PCL libraries (00:23:42)
+	* Howard Butler <howard at hobu.co> use pcl 1.7 from xenial instead of our own (00:12:36)
+
+2017-03-02
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow delimiter to be specified on the command line. (15:09:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle characters that aren't numeric in string conversion. (14:16:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct argument name. (11:57:05)
+
+2017-02-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1506 from mloskot/ml/cast-toupper-result (11:15:15)
+	* Mateusz Łoskot <mateusz at loskot.net> Add int to char cast of toupper result (10:41:00)
+
+2017-02-22
+	* Andrew Bell <andrew.bell.ia at gmail.com> Check return code on OSRNewSpatialReference. Close #1501 (13:21:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into mbio (07:41:52)
+
+2017-02-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into assign (16:50:00)
+	* Connor Manning <connor at hobu.co> Update arbiter bundle for opt-in instance profiles and multi-S3 configurability. (16:18:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into assign (14:50:21)
+	* Andrew Bell <andrew.bell.ia at gmail.com> First cut. (09:49:27)
+
+2017-02-17
+	* Connor Manning <connor at hobu.co> Update arbiter bundle removing an overzealous throw. (12:43:52)
+	* Connor Manning <connor at hobu.co> Update arbiter bundle for optional Curl and EC2 instance-profile auth. (11:04:27)
+
+2017-02-15
+	* Connor Manning <connor at hobu.co> Add include.  Should fix #1484. (11:10:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add --metadata option to doc. (10:35:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add support for metadata output. Close #1414 (10:33:18)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1494 from PDAL/derivative-work (09:42:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Enhance filters.assign with range-based filtering of value assignment. Close #1468 (08:33:17)
+
+2017-02-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Log warning if the user tries to display points that don't exist. Close #1495 (14:22:11)
+	* Bradley J Chambers <brad.chambers at gmail.com> Initialize max matrix to NaN, only update values if we have data (13:25:02)
+
+2017-02-13
+	* Connor Manning <connormanning at users.noreply.github.com> Merge pull request #1489 from pomadchin/fix/stdexcept (15:53:09)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into mbio-reader (14:35:11)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1491 from PDAL/range-filter-lower-bound-fix (11:47:19)
+
+2017-02-11
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into mbio-reader (17:01:26)
+
+2017-02-10
+	* Andrew Bell <andrew.bell.ia at gmail.com> Break apart range parsing. (17:26:04)
+	* Bradley J Chambers <brad.chambers at gmail.com> Range default lower bounds should use lowest, not min (09:39:12)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1488 from PDAL/slope-update (12:12:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Separate Range into its own file and simplify use of private stuff. (11:10:35)
+
+2017-02-09
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct capitalization. (14:48:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update log output check. (14:32:45)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't open /dev/null for every log. Close #1465 (14:27:21)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Try to fix crlf issue. (10:30:12)
+
+2017-02-08
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix intensity? (16:15:06)
+
+2017-02-07
+	* Grigory Pomadchin <gr.pomadchin at gmail.com> missing include (18:30:23)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix compilation errors. (13:17:33)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More throwError() stuff. (12:55:23)
+
+2017-02-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (19:21:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change explicit 'throw pdal_error' to 'throwError' to get automatic stage name added. (16:23:04)
+	* Howard Butler <howard at hobu.co> allow BOX2D or BOX3D for writers.gdal bounds (#1485) (13:45:21)
+	* Bradley J Chambers <brad.chambers at gmail.com> Minor refactoring of the conversion between percent slope and degrees (12:33:32)
+	* Bradley J Chambers <brad.chambers at gmail.com> Improve quality of derivative writer outputs (09:48:58)
+
+2017-02-02
+	* Pete Gadomski <pete.gadomski at gmail.com> Expose hexbin filter options to density kernel (#1487) (09:18:05)
+	* Pete Gadomski <pete.gadomski at gmail.com> Positional input/output args in density kernel (07:41:56)
+
+2017-02-01
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add function for simplified exception from stages. Use new function in filters. (15:25:35)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1486 from gadomski/translate-short-names (10:26:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use trim function instead of explicit char check. (10:13:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1483 from gadomski/text-reader-strip-whitespace-dimensions (09:24:40)
+	* Pete Gadomski <pete.gadomski at gmail.com> Reader/writer short names in translate kernel (08:44:56)
+
+2017-01-31
+	* Pete Gadomski <pete.gadomski at gmail.com> Strip whitespace from dimensions in text reader (09:00:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Log dimensions being written to LAS extra bytes. Close #1479 (08:04:49)
+
+2017-01-30
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow staged tags to be referenced as pipeline command options. (11:24:00)
+
+2017-01-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't show summary data if it doesn't exist. Close #1012 (15:19:55)
+
+2017-01-26
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove XML pipeline tests. (12:42:54)
+
+2017-01-24
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add TextReader streaming support and test. Add GDALWriter streaming support and test. (16:14:04)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make stage option parsing more flexible. (12:43:14)
+
+2017-01-23
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (10:35:25)
+	* Howard Butler <howard at hobu.co> Fix #1476 -- Python setup.py nits (10:35:22)
+	* chambbj <brad.chambers at gmail.com> Gdal writer radius default (#1475) (07:58:28)
+
+2017-01-20
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1474 from gadomski/cpd-v0.5 (12:45:26)
+	* Pete Gadomski <pete.gadomski at gmail.com> Update docker for new cpd version (09:58:15)
+
+2017-01-18
+	* Pete Gadomski <pete.gadomski at gmail.com> Update cpd plugin for cpd v0.5.0 (07:13:16)
+
+2017-01-19
+	* Howard Butler <howard at hobu.co> catch up Doxygen directories to look for code after the 1.4 reorg (12:13:35)
+	* Howard Butler <howard at hobu.co> readers.mbio scaffolding (11:28:35)
+
+2017-01-17
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:57:16)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make cropfilter::Point really private. (15:56:18)
+	* Howard Butler <howard at hobu.co> Add 'metadata', 'schema', and 'spatialreference' variables to filters.programmable and filters.predicate Python filter functions so they can take advantage of this kind of information in their processing chains. (#1471) (08:50:50)
+	* chambbj <brad.chambers at gmail.com> Add tiff and vrt as viable writers.gdal extensions (#1473) (08:45:39)
+
+2017-01-15
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (11:15:54)
+	* Howard Butler <howard at hobu.co> point to Markus' RPM repo for 1.4 PDAL (11:15:35)
+
+2017-01-13
+	* Pete Gadomski <pete.gadomski at gmail.com> Fix up rivlib tests to actually build and run (10:12:58)
+
+2017-01-12
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update decrepit nanoflann code. (09:47:31)
+
+2017-01-11
+	* Connor Manning <connor at hobu.co> Remove scale/offset considerations from the Greyhound reader due to server-side simplifications. (16:56:56)
+
+2017-01-10
+	* Andrew Bell <andrew.bell.ia at gmail.com> Formatting updates. (16:59:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make OverlayFilter streamable. Make sure done() gets called ASAP on streaming. Fix stage on which spatialReferenceChanged() is called. Simplify error handling for CropFilter::transform. Simplify spatial reference creation in reprojection filter. Don't do anything if we try to reproject a polygon with empty SRSes. (15:27:08)
+
+2017-01-09
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1464 from PDAL/eigen-dilate-and-erode (10:45:51)
+
+2017-01-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update docs for filters.attribute -> filters.overlay & filters.assign (17:22:07)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:53:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> AttributeFilter -> OverlayFilter (14:53:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Split AssignFilter from AttributeFilter. (11:54:39)
+
+2016-12-05
+	* Bradley J Chambers <brad.chambers at gmail.com> Update EigenUtils (14:47:35)
+
+2017-01-04
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1463 from PDAL/approx-pmf-indexing-issue (14:52:12)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix indexing issue in approximate PMF (14:07:48)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix circle/sphere cropping. Remove use of KDIndex (slow, slow, slow). Don't allow transformation of any geometry type to polygon. (10:31:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into geometry (10:03:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1457 from PDAL/geometry (10:03:00)
+
+2017-01-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add grid mode to faux reader. (17:01:06)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into geometry (17:01:47)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add grid mode to faux reader. (17:01:06)
+	* chambbj <brad.chambers at gmail.com> No longer need a CMake option to build P2G (#1461) (09:20:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into geometry (08:03:39)
+
+2016-12-30
+	* Howard Butler <howard at hobu.co> rename userData option to user_data for consistency (09:37:35)
+	* Kristian Evers <kristianevers at gmail.com> How to use of proj strings in filters.reprojection (#1460) (08:49:54)
+
+2016-12-29
+	* Grisha <gr.pomadchin at gmail.com> PDAL JNI Deployment improvements (#1450) (12:57:01)
+	* Howard Butler <howard at hobu.co> Remove writers.p2g and P2G plugin -- use writers.gdal instead (#1459) (12:56:38)
+	* Howard Butler <howard at hobu.co> Allow 'userata' JSON option to be place on any stage and support serialization #1427 (12:56:23)
+	* Howard Butler <howard at hobu.co> add foss4g2017 link to front page (09:51:05)
+
+2016-12-23
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge branch 'master' into geometry (13:24:24)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Provide hook for SRS changes during streaming. Make sure we only call ready() and done() once for each stage in streaming mode. Add streaming support to pipeline kernel. (13:15:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Simplify geotiff conversions. (12:27:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Transform bounding boxes for change in SRS. (12:25:53)
+
+2016-12-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:20:25)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Edit comment. (16:19:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove GeomPkg from crop filter. Update SRS transforms in crop filter. (15:37:54)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1453 from PDAL/locatemax (13:26:48)
+	* Bradley J Chambers <brad.chambers at gmail.com> Typo in filters.locate docs (10:42:04)
+	* Bradley J Chambers <brad.chambers at gmail.com> Locate filter can now locate min or max value (10:39:34)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1455 from PDAL/label-clusters (13:23:07)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1454 from PDAL/groupby (13:19:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove code that does nothing. (13:18:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Formatting. (13:01:39)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add options to cluster docs (09:26:01)
+
+2016-12-20
+	* Bradley J Chambers <brad.chambers at gmail.com> Add filter to locate max value in a given dimension (22:00:11)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add a filter to split an incoming PointView by data in a given dimension (21:08:39)
+	* Howard Butler <howard at hobu.co> filters.pmf notes (14:26:59)
+
+2016-05-19
+	* Bradley J Chambers <brad.chambers at gmail.com> Add filter that writes cluster IDs to a new dimension (12:35:49)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1252 from PDAL/native-pdal-filters (09:29:56)
+
+2016-12-19
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:07:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Provide ordered SRSes in PointTable. (10:07:25)
+
+2016-12-16
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1449 from PDAL/extract-clusters (19:12:41)
+	* Howard Butler <howard at hobu.co> include Segmentation.cpp for the PDAL_DLL decoration (14:55:13)
+	* Howard Butler <howard at hobu.co> fix #1446 -- LASZIP_LIBRARY NOTFOUND (11:12:28)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add Euclidean Cluster Extraction (09:40:55)
+	* Howard Butler <howard at hobu.co> update link to dimensions (09:21:16)
+	* Bas Couwenberg <sebastic at xs4all.nl> Add support for GNU/kFreeBSD. (#1447) (08:31:17)
+
+2016-12-15
+	* Bas Couwenberg <sebastic at xs4all.nl> Skip tests for missing test data. (#1445) (16:34:37)
+	* Howard Butler <howard at hobu.co> front page doc update (13:23:14)
+	* Howard Butler <howard at hobu.co> doc updates for website (13:22:45)
+	* Howard Butler <howard at hobu.co> update dead link (11:52:00)
+	* Howard Butler <howard at hobu.co> update doc building branches to 1.4-maintenance and point to impending 1.4.0 release (11:49:28)
+	* Howard Butler <howard at hobu.co> doc updates (11:18:20)
+	* Howard Butler <howard at hobu.co> increment version numbers to 1.4.0 in preparation for release (10:41:33)
+
+2016-12-14
+	* Howard Butler <howard at hobu.co> options test needs PDAL_JSONCPP_INCLUDE_DIR target_include_directories (23:44:33)
+	* Howard Butler <howard at hobu.co> update my test oracle config (23:16:03)
+	* Howard Butler <howard at hobu.co> program_arg test needs PDAL_JSONCPP_INCLUDE_DIR target_include_directories (23:15:51)
+	* Connor Manning <connormanning at users.noreply.github.com> Add tests for native JSON options.  Convert GreyhoundReader to this usage instead of stringification. (#1444) (21:54:06)
+	* Connor Manning <connor at hobu.co> Add error display to the base-chunk read for Greyhound reader.  Verify filter before launching pooled reads. (15:03:08)
+	* Connor Manning <connor at hobu.co> Handle dimension re-ordering properly in the Greyhound reader. (14:33:41)
+	* Howard Butler <howard at hobu.co> MSVC 2013 support (update of #1361) (#1442) (14:05:01)
+	* chambbj <brad.chambers at gmail.com> Update PCL pipeline spec/implementation (#1439) (11:04:15)
+	* Howard Butler <howard at hobu.co> 1.4.0 doc updates (#1441) (11:02:37)
+	* Grisha <gr.pomadchin at gmail.com> Java/JNI Bindings (#1371) (10:36:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:06:48)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove duplicate code. Simplify geotiff code by returning SRS instead of WKT. (10:06:04)
+
+2016-12-13
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1435 from PDAL/stringify-arrays-and-objects (14:23:12)
+	* Michael D. Smith <michael.smith.erdc at gmail.com> Add time to pdal dependencies (#1436) (13:48:22)
+	* Howard Butler <howard at hobu.co> Start XML pipeline death by removing XML pipelines from tests (#1437) (13:48:13)
+	* Bradley J Chambers <brad.chambers at gmail.com> Stringify options specified as JSON arrays or objects (09:45:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove remaining optional geotiff references. (11:25:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle more WKT types. Handle filenames as SRSes. (10:52:19)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1432 from PDAL/pcl-shrinkage (08:44:27)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1426 from PDAL/pmf-improvements (08:44:12)
+
+2016-12-12
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1422 from PDAL/bpf-streaming (15:52:08)
+	* Howard Butler <howard at hobu.co> output a 'boundary_json' GeoJSON boundary for filters.hexbin output (#1433) (13:49:15)
+	* Howard Butler <howard at hobu.co> Set 'boundary' objects as JSON, not escaped strings (#1431) (13:48:56)
+	* Howard Butler <howard at hobu.co> more GEOTIFF #define removal related to #1428 (#1429) (08:17:53)
+
+2016-12-06
+	* Bradley J Chambers <brad.chambers at gmail.com> Shrink the PCL plugin (21:54:49)
+	* Pete Gadomski <pete.gadomski at gmail.com> ostream << needs to be const to match src (08:46:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (13:22:32)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't build ilvis if we don't have libxml2 (13:21:45)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1419 from gadomski/libxml2-include-dir (13:20:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:45:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Install pdal app. (12:45:37)
+	* Howard Butler <howard at hobu.co> remove masked m_filename private member (12:31:14)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (12:09:42)
+	* Howard Butler <howard at hobu.co> LasWriter include for new layout for MrSID driver (12:09:40)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make types match. (12:05:57)
+	* Pete Gadomski <pete.gadomski at gmail.com> Blanket include libxml2 include dir (09:05:25)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Reorganize source code. Simplify cmake files. Close #1413 Close #1354 (08:35:58)
+
+2016-12-11
+	* Howard Butler <howard at hobu.co> GeoTIFF no longer optional (20:03:15)
+
+2016-12-09
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove lingering references to PointIdVec and neighborMap (14:42:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't mess with wkt that's passed as SRS. (14:25:23)
+	* Bradley J Chambers <brad.chambers at gmail.com> PMF updates (13:55:39)
+
+2016-12-08
+	* Howard Butler <howard at hobu.co> kill more property_tree (19:00:54)
+	* Howard Butler <howard at hobu.co> docker.com, not org (14:30:16)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1394 from PDAL/tps-as-eigenutil (14:23:01)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1424 from PDAL/basic-smrf-fixes (14:22:08)
+	* Howard Butler <howard at hobu.co> no need for property_tree in oci test (13:25:41)
+	* Howard Butler <howard at hobu.co> remove unused and invalid NITF test file #1025 (12:47:14)
+	* Howard Butler <howard at hobu.co> support point/radius and sphere/radius cropping #1387 (#1388) (10:51:53)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1402 from PDAL/derivative-refactor (09:16:10)
+
+2016-11-16
+	* Bradley J Chambers <brad.chambers at gmail.com> The TPS interpolation in filters.mongus is generic enough to move to EigenUtils (13:45:13)
+	* Bradley J Chambers <brad.chambers at gmail.com> Derivative writer refactor (10:45:17)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add EigenUtils functions (10:45:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Error language fix. (12:52:28)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1391 from kbevers/issue-1389 (10:27:46)
+	* Kristian Evers <kristianevers at gmail.com> Handle filenames in working directory properly. Fixes #1389. (08:27:47)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:26:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add glob test for file in local directory. (08:25:45)
+
+2016-11-23
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix #1146 while we are updating DerivativeWriter anyway (13:32:05)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix pdal_eigen_test (09:49:43)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1403 from PDAL/kernel-links-add-hausdorff (12:08:42)
+	* Bradley J Chambers <brad.chambers at gmail.com> Documentation updates (11:06:31)
+
+2016-12-07
+	* Connor Manning <connor at hobu.co> Improve BPF streaming performance for dimension-major format. (15:38:07)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Improve argument errors for stages and kernels. (13:31:28)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change !valid() to empty() in ReprojectionFilter SRS test. (13:15:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:24:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Properly build targets dependent on libxml2. (10:23:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:22:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1420 from gadomski/const-qualified-insertion-bounds (10:21:36)
+	* Connor Manning <connor at hobu.co> Formatting. (08:00:24)
+
+2016-12-04
+	* Howard Butler <howard at hobu.co> A few more windows nits (#1418) (18:05:44)
+
+2016-12-03
+	* Howard Butler <howard at hobu.co> build docker container at make -j 2 due to DockerHub instances running out of memory when building (10:48:27)
+
+2016-12-02
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix reader override with invalid file in pipeline. Close #1417 (16:22:43)
+	* Howard Butler <howard at hobu.co> Allow user to control boundary smoothing (on by default) (#1416) (13:51:04)
+
+2016-11-29
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1411 from PDAL/issue/1410-pcd-writer (14:26:45)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix #1410 (13:52:23)
+
+2016-11-28
+	* Howard Butler <howard at hobu.co> Support --showjson switch for 'pdal' app (#1401) (22:04:05)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (21:47:12)
+	* Grisha <gr.pomadchin at gmail.com> add Java into docker deps (#1405) (21:47:00)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (21:44:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Returning NULL as string results in bad string. (17:58:40)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1408 from PDAL/diffX_diffY_refactor_and_tests (14:58:41)
+	* Bradley J Chambers <brad.chambers at gmail.com> Replace and fix diffX/diffY lambdas (13:53:23)
+
+2016-11-22
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1393 from PDAL/extended-local-minimum (23:02:53)
+	* Howard Butler <howard at hobu.co> don't add filename arg to ProgramArgs for readers.mrsid (22:12:04)
+	* lbartoletti <lbartoletti at users.noreply.github.com> Update PluginManager.cpp (#1400) (22:10:38)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1390 from PDAL/new-compute-range (21:36:02)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1381 from PDAL/hausdorff-kernel (15:54:28)
+	* Howard Butler <howard at hobu.co> remove boost::property_tree from XMLSchema #1350 (#1399) (14:33:18)
+	* Kristian Evers <kristianevers at gmail.com> Experimental python support on windows. Introduces pdal-config for windows and modifies the setup script for the python module. (#1397) (10:51:40)
+
+2016-11-15
+	* Bradley J Chambers <brad.chambers at gmail.com> Add filter to compute ranges from L1 Geiger-mode data (13:32:20)
+	* Connor Manning <connormanning at users.noreply.github.com> Merge pull request #1385 from PDAL/greyhound-reader (16:19:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove debug. (16:01:18)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't use invalid log level. (13:37:39)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Doc-local .gitignore. (11:11:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Missed file. (11:05:52)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:30:47)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle names in addition to numbers as arguments to verbose. Provide better feedback for argument errors in the main app. Close #1299 (10:29:25)
+
+2016-05-24
+	* Bradley J Chambers <brad.chambers at gmail.com> Add kernel to compute Hausdorff distance between two point clouds (14:40:01)
+
+2016-11-19
+	* Howard Butler <howard at hobu.co> include directory update for mrsid driver (23:43:57)
+	* Howard Butler <howard at hobu.co> support writing density data into an existing OGR datasource/layer (#1396) (22:51:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More include directory updates. (08:45:29)
+
+2016-11-17
+	* Andrew Bell <andrew.bell.ia at gmail.com> More include_directories changes. (21:14:24)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change include_directories() to target_include_directories() (20:40:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Clean up dead stuff from derivative writer. (18:42:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:01:32)
+	* Kristian Evers <kristianevers at gmail.com> XML->JSON updates to filter documentation (#1392) (09:21:14)
+
+2016-11-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:40:23)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Have greater-than or equal-to actually do great-than or equal-to. Close #1382 (14:39:09)
+	* Connor Manning <connor at hobu.co> Fix a warning and a formatting tweak. (13:44:42)
+	* Connor Manning <connor at hobu.co> Use the correct layout for Greyhound even if other readers have added other dimensions.  Add some comments. (13:38:35)
+	* Connor Manning <connor at hobu.co> Doc syntax fix and an error handling case. (11:56:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle inputs to stages in JSON pipeline as either string or array of strings. Close #1384 (11:13:12)
+	* Connor Manning <connor at hobu.co> Merge branch 'master' into greyhound-reader (11:01:26)
+	* Connor Manning <connor at hobu.co> Add fully-featured Greyhound reader. (11:00:10)
+
+2016-11-13
+	* chambbj <brad.chambers at gmail.com> KDIndex queries are simplified when using the new PointId/PointRef overloads (#1380) (08:26:21)
+	* Howard Butler <howard at hobu.co> Windows 2015 warnings rollup (#1383) (08:24:30)
+
+2016-11-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Explicitly accept library type in PDAL_ADD_FREE_LIBRARY macro. (11:17:17)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:28:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use proper function to determine dimension existence. Close #1379 (08:27:36)
+
+2016-11-10
+	* chambbj <brad.chambers at gmail.com> Add KDIndex overloads for specifying query point (#1377) (17:20:27)
+	* chambbj <brad.chambers at gmail.com> Add a K-Distance filter (#1374) (17:20:15)
+	* chambbj <brad.chambers at gmail.com> Add a Radial Density filter (#1373) (17:20:02)
+	* Howard Butler <howard at hobu.co> remove string literal because MSVC (14:44:09)
+	* Howard Butler <howard at hobu.co> try pulling in string_literals namespace for MSVC (14:30:05)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (13:53:24)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1370 from PDAL/logFilenames (08:55:39)
+
+2016-11-09
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (21:53:00)
+	* Howard Butler <howard at hobu.co> implement #1365 -- optional MAD and median computation for filters.stats (#1369) (21:27:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Write output filenames to metadata. Remove m_filename from Writer class. (16:26:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update translate command to properly handle -r and -w options with --json     option. Add metadata output to translate command. Add translate tests. Update translate documentation. (14:59:42)
+	* Howard Butler <howard at hobu.co> Python extension improvements (#1367) (14:25:40)
+	* Howard Butler <howard at hobu.co> Merge pull request #1359 from PDAL/issue/1355-fix-approx-pmf (09:59:35)
+	* Howard Butler <howard at hobu.co> Merge pull request #1366 from PDAL/pdal-pipeline-validate (09:59:16)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (09:58:36)
+
+2016-11-08
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1360 from PDAL/istream-get (16:46:44)
+	* Howard Butler <howard at hobu.co> make pdal pipeline --validate do something (15:53:22)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (15:42:51)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1363 from gadomski/cmake-2.8.12 (09:14:36)
+	* Pete Gadomski <pete.gadomski at gmail.com> Use PUBLIC or PRIVATE for all target_link_libraries (08:43:22)
+	* Pete Gadomski <pete.gadomski at gmail.com> Bump minimum cmake version to 2.8.12 (08:40:06)
+
+2016-11-07
+	* Pete Gadomski <pete.gadomski at gmail.com> Only read VLR data if there are data to read (15:10:24)
+	* Pete Gadomski <pete.gadomski at gmail.com> Protect IStream::get from invalid vector address (14:02:34)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1362 from gadomski/glob-test (16:19:25)
+	* Pete Gadomski <pete.gadomski at gmail.com> Close file after creation in glob test (15:04:32)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1358 from gadomski/out-of-bounds-access (13:32:06)
+	* Bradley J Chambers <brad.chambers at gmail.com> Implement the approximate option for PMF filtering (12:53:19)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1357 from PDAL/more-eigen-funcs (13:13:28)
+	* Pete Gadomski <pete.gadomski at gmail.com> Two windoze-specific fixes (12:48:09)
+	* Pete Gadomski <pete.gadomski at gmail.com> Fix out-of-bounds access in program args (11:46:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move glob to FileUtils.  Remove tilde expansion until we can do it correctly. (09:07:07)
+	* Bradley J Chambers <brad.chambers at gmail.com> Eigen should take cues from GDAL and GEOS and provide utilies in EigenUtils (08:37:24)
+	* Bradley J Chambers <brad.chambers at gmail.com> Our Eigen utilities should probably be namespaced (08:33:13)
+	* Bradley J Chambers <brad.chambers at gmail.com> Move clamp to Utils and make it a template (08:21:29)
+
+2016-11-04
+	* Bradley J Chambers <brad.chambers at gmail.com> Improve the documentation about our new Eigen functions, apply Astyle, and remove duplicates from SMRF (15:20:28)
+	* Bradley J Chambers <brad.chambers at gmail.com> Move some generic Eigen functions (15:00:32)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1353 from gadomski/gdal-include-dir-interface (10:49:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1352 from gadomski/pointview-to-eigen (10:49:16)
+	* Pete Gadomski <pete.gadomski at gmail.com> Add GDAL_INCLUDE_DIR to interface include dirs (09:43:35)
+	* Pete Gadomski <pete.gadomski at gmail.com> Add pointViewToEigen utility function (08:57:20)
+
+2016-11-02
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (19:27:03)
+
+2016-11-01
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:28:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update with better examples. (15:28:05)
+	* Howard Butler <howard at hobu.co> make sure rivlib container users gcc to match sdk (14:52:55)
+	* Pete Gadomski <pete.gadomski at gmail.com> Update colorinterp image (13:25:56)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Better deal with presence of various compressors. Close #1348 (11:44:49)
+	* Howard Butler <howard at hobu.co> --json argument for TranslateKernel (11:38:51)
+	* Howard Butler <howard at hobu.co> make sure to setInput for --json (10:26:18)
+
+2016-10-31
+	* Howard Butler <howard at hobu.co> make sure to set stage for --json inputs (17:12:55)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge branch 'rxp-reflectance' (14:40:20)
+	* Pete Gadomski <pete.gadomski at gmail.com> Add reflectance as intensity option to rxp reader (14:15:19)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (13:00:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix pipeline examples. Close #1345 (13:00:24)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1346 from gadomski/greyhound-cleanup (12:28:57)
+	* Pete Gadomski <pete.gadomski at gmail.com> Include sstream (11:55:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:24:14)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update location of dimension info. (10:23:12)
+
+2016-10-28
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add TextWriterTest Close #1076 (17:07:29)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:29:23)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove unhandled exceptions. Close #1078 (14:28:48)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1344 from gadomski/build-without-tests (11:00:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1341 from PDAL/glob (10:56:58)
+	* Pete Gadomski <pete.gadomski at gmail.com> Fix build w/ greyhound w/o tests (10:37:25)
+
+2016-10-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:30:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Conditionally link libdl to libpdalutil for dladdr. (09:29:33)
+	* Howard Butler <howard at hobu.co> Merge branch 'docwork' (08:09:54)
+	* Howard Butler <howard at hobu.co> update formating of MyReader example (08:08:24)
+
+2016-10-26
+	* Andrew Bell <andrew.bell.ia at gmail.com> On linux you need libdl for dladdr(). (16:01:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Only install SIGSEGV handler when in debug. Make backtrace generator prettier and move to Utils. Close #1343 (15:42:10)
+	* Howard Butler <howard at hobu.co> add a dimensions page. Update the tutorials to match current source code (12:40:45)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead options. (10:32:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:51:49)
+
+2016-10-25
+	* Connor Manning <connor at hobu.co> Fix name collision. (16:57:40)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:34:22)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make sure m_reader gets set when reading pipelines. Close #1340. (16:33:38)
+	* Connor Manning <connor at hobu.co> Allow wildcard input to JSON pipelines. (16:32:09)
+	* Howard Butler <howard at hobu.co> Merge pull request #1339 from PDAL/geojson-polygon-1282 (16:12:59)
+	* Howard Butler <howard at hobu.co> Polygon GeoJSON ingest improvements #1282 (15:49:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:13:18)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove "scales" and "offsets" options from kernels. Close #1317 (14:12:20)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:09:04)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Try to get the app to link on Appveyor. (12:08:26)
+	* Howard Butler <howard at hobu.co> add ninja to pdal/dependencies (08:57:04)
+
+2016-10-24
+	* Howard Butler <howard at hobu.co> Merge pull request #1338 from gadomski/osx-cant-use-system-sqlite3 (23:02:47)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (23:02:09)
+	* Howard Butler <howard at hobu.co> emit gcc and clang versions (17:26:46)
+	* Howard Butler <howard at hobu.co> default to make, not ninja (17:16:21)
+	* Howard Butler <howard at hobu.co> try building travis tests with gcc (17:02:39)
+	* Pete Gadomski <pete.gadomski at gmail.com> Ensure sqlite3 was compiled with load extension (13:20:35)
+	* Howard Butler <howard at hobu.co> Merge pull request #1337 from PDAL/fix-approximatecoplanar-param (12:03:48)
+	* Bradley J Chambers <brad.chambers at gmail.com> Parse thresh1 and thresh2 correctly (11:23:47)
+
+2016-10-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add feedback for invalid FTITLE. (16:04:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (13:55:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. (13:55:01)
+	* Howard Butler <howard at hobu.co> undo 9a0560e681f13d6afcc5035db0d6909775561216 for dimbuilder (11:31:41)
+	* Howard Butler <howard at hobu.co> cleanups of 3830e9d7705ca4dab020aa033c94a9c5a2dcecb7 (09:37:36)
+	* Howard Butler <howard at hobu.co> Merge pull request #1334 from PDAL/curl-optional (08:30:09)
+
+2016-10-20
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (19:32:34)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix splitter so that cells below the origin have the correct index. Add tests for the above. ALSO - Store viewMap across point view processing so that cells are merged   from multiple point views. Close #1336 (19:29:15)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (17:12:43)
+	* Howard Butler <howard at hobu.co> Use GCC builds for Docker containers instead of clang (14:51:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Get detail for JSON parse error. (14:32:29)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Explicitly ignore return value. (13:51:23)
+
+2016-10-19
+	* Howard Butler <howard at hobu.co> if we can't find curl, don't build and depend on arbiter stuff (15:39:24)
+	* Howard Butler <howard at hobu.co> Merge pull request #1329 from PDAL/stacktrace (15:00:02)
+	* Connor Manning <connor at hobu.co> Link dl. (12:14:42)
+	* Connor Manning <connor at hobu.co> Add include. (11:51:37)
+	* Connor Manning <connor at hobu.co> Merge branch 'master' into stacktrace (11:31:24)
+	* Howard Butler <howard at hobu.co> Merge pull request #1333 from PDAL/1325-gdal-writer-dimension (11:27:07)
+	* Howard Butler <howard at hobu.co> tests should pass, not fail (11:01:22)
+	* Howard Butler <howard at hobu.co> support selection of dimension for writers.gdal #1325 (10:43:05)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (10:15:42)
+	* Howard Butler <howard at hobu.co> rename writers.gdal.edge_length to writers.gdal.resolution. Allow setting of nodata in options (10:15:33)
+
+2016-10-18
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (17:14:23)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. Fix comment. (17:13:59)
+
+2016-10-17
+	* Connor Manning <connor at hobu.co> Correct a cmake directive for docker. (13:59:57)
+	* Connor Manning <connor at hobu.co> Add PointId and OriginId dimensions. (12:50:18)
+
+2016-10-16
+	* Howard Butler <howard at hobu.co> return an EMPTY MULTIPOLYGON with an 'error' if we can't compute the boundary #1330 (12:48:00)
+
+2016-10-15
+	* Howard Butler <howard at hobu.co> Merge pull request #1331 from sebastic/specification-typo (22:59:43)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix 'specificiation' typo, replace with 'specification'. (13:11:45)
+
+2016-10-13
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use default arguments for vector arguments. (11:57:47)
+
+2016-10-12
+	* Connor Manning <connor at hobu.co> In demangle, ensure result is valid to avoid hanging.  Use this util for stacktrace logging. (16:57:21)
+	* Connor Manning <connor at hobu.co> Log a stacktrace if at log-level debug on unix if a segfault occurs.  Remove an extraneous debug log. (15:49:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:37:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Default values for vector args. (12:36:55)
+
+2016-10-10
+	* Howard Butler <howard at hobu.co> Merge pull request #1328 from lossyrob/docs/contributing (10:14:50)
+
+2016-10-09
+	* lossyrob <rdemanuele at gmail.com> Added gitter channel to contributing.md resources. (23:27:20)
+
+2016-10-08
+	* Howard Butler <howard at hobu.co> Merge pull request #1327 from PDAL/mad-updates (13:03:48)
+
+2016-10-07
+	* Howard Butler <howard at hobu.co> tweaks to filters.mad as a result of implementing in filters.colorinterp (13:53:59)
+	* Howard Butler <howard at hobu.co> git mergefail by hobu (09:49:16)
+	* Howard Butler <howard at hobu.co> Merge pull request #1316 from PDAL/pass-filters-as-json-to-pdal-translate (08:02:24)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into pass-filters-as-json-to-pdal-translate (08:00:59)
+	* Howard Butler <howard at hobu.co> Merge pull request #1322 from PDAL/filters-colorinterpolate (08:00:50)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into pass-filters-as-json-to-pdal-translate (08:00:03)
+
+2016-03-22
+	* Connor Manning <connor at hobu.co> For inspectable Readers, try-catch around SRS init. (10:42:20)
+	* Howard Butler <howard at hobu.co> increment version to 1.2.0 in preparation for release (16:33:52)
+	* Howard Butler <howard at hobu.co> Merge pull request #1192 from PDAL/gdal-error-split (15:50:23)
+	* Howard Butler <howard at hobu.co> further split GDAL error handler binding from GDAl wake up (13:20:00)
+	* Howard Butler <howard at hobu.co> do the GDAL/GEOS error handler binding stuff right away when GlobalEnvironment wakes up. Don't do the heavy GDAL startup stuff until asked. (11:28:36)
+	* Connor Manning <connor at hobu.co> Simplify a constructor. (10:49:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Explicitly set PDAL_PYTHON_LIBRARY in python.cmake Close #1174 (10:02:00)
+	* Howard Butler <howard at hobu.co> Merge pull request #1189 from sebastic/kfreebsd2 (07:59:33)
+
+2016-04-01
+	* Howard Butler <howard at hobu.co> fetch XML metadata for ILVIS2 and IceBridge drivers at ready() instead of done() (11:44:37)
+	* Pete Gadomski <pete.gadomski at gmail.com> Silence BUILD_SHARED_LIBS=ON gtest warnings (18:05:41)
+	* Pete Gadomski <pete.gadomski at gmail.com> On OSX, don't build with install rpath (18:03:36)
+	* Logan Byers <loganbyers at ku.edu> Add writers.pcd.scale_* (14:39:43)
+	* Bradley J Chambers <brad.chambers at gmail.com> PipelineKernel should pass verbose/debug settings to PipelineManager (and on down to pipeline readers) (13:03:15)
+	* Howard Butler <howard at hobu.co> license update for OGR.cpp file #1204 (07:29:38)
+
+2016-10-06
+	* Howard Butler <howard at hobu.co> m_filename from GDAL::Raster is private -- provide an accessor (15:19:02)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into filters-colorinterpolate (15:14:03)
+	* Howard Butler <howard at hobu.co> updates based on Andrew's comments, add MAD support (15:13:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Initial writers.gdal. (12:16:16)
+
+2016-10-05
+	* Howard Butler <howard at hobu.co> updates in response to abell comments (14:07:16)
+	* Howard Butler <howard at hobu.co> filters.colorinterp updates (11:43:31)
+
+2016-10-04
+	* Howard Butler <howard at hobu.co> filters.colorinterp for applying color ramps to data (17:00:08)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into filters-colorinterpolate (09:42:41)
+
+2016-10-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> writers.las doc fixes. (09:37:36)
+
+2016-09-30
+	* Andrew Bell <andrew.bell.ia at gmail.com> Check for duplicate dimensions in readers.text. Close #1320 (17:27:48)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove stray debug code. (15:48:48)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change readers.txt to readers.text. Close #1319 (15:12:40)
+
+2016-09-29
+	* Howard Butler <howard at hobu.co> add filters.colorinterp to interpolate into RGB (16:55:48)
+	* Howard Butler <howard at hobu.co> update Docker container spec for Riegl RivLib 2.3 (15:30:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add sphinx-bibtex to install command. (11:33:52)
+
+2016-09-28
+	* Howard Butler <howard at hobu.co> support passing filters as a JSON string array to pdal translate (12:52:16)
+
+2016-09-22
+	* Howard Butler <howard at hobu.co> Load filters.programmable scripts from files if no source is given (10:17:40)
+
+2016-09-15
+	* Howard Butler <howard at hobu.co> Merge pull request #1312 from kbevers/default-plugin-paths (14:52:47)
+	* Bradley J Chambers <brad.chambers at gmail.com> Do not lock users into using the Z dimension with filters.mad (09:18:06)
+	* Kristian Evers <kristianevers at gmail.com> Add . and ./bin to default plugin search path list (07:26:36)
+
+2016-09-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1311 from kbevers/windex (10:02:00)
+	* Kristian Evers <kristianevers at gmail.com> Globbing for tindex on Windows (09:21:07)
+
+2016-09-12
+	* Howard Butler <howard at hobu.co> Merge pull request #1310 from PDAL/deversion-vendor-packages (13:00:49)
+	* Howard Butler <howard at hobu.co> Merge pull request #1309 from loganbyers/pcdwriter_upgrades (13:00:42)
+	* Howard Butler <howard at hobu.co> deversionize vendor'd code #1294 (11:09:54)
+	* Howard Butler <howard at hobu.co> update docs docker image to xenial (11:09:26)
+	* Logan Byers <loganbyers at ku.edu> Fix PcdWriter compression option (11:00:22)
+	* Howard Butler <howard at hobu.co> Merge pull request #1308 from PDAL/issues/1307-mongus-smrf-docs (09:11:39)
+
+2016-09-09
+	* Bradley J Chambers <brad.chambers at gmail.com> Add initial documentation for Mongus and SMRF (#1307) (13:24:08)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1306 from PDAL/lof (10:02:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1296 from jasonoverland/master (09:48:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle nan as value when reading doubles from strings. Close #1304 (07:24:56)
+
+2016-09-08
+	* Bradley J Chambers <brad.chambers at gmail.com> Initial Local Outlier Factor (LOF) filter implementation (12:55:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> More detailed error information. (18:53:12)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (14:34:53)
+
+2016-09-07
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix max_window_size option name. Close #1303 (21:00:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add filename arg to DerivativeWriter. Close #1302 (20:59:16)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1301 from gadomski/empty-geotiff-vlrs (17:29:08)
+	* Pete Gadomski <pete.gadomski at gmail.com> Protect las reader from empty geotiff VLRs (16:33:08)
+
+2016-09-06
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (16:31:07)
+
+2016-09-02
+	* Jason Overland <joverland at seattle.celartem.local> fix up casting issue (16:59:03)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Push log leader for stages. Remove unused headers from Log.hpp. (12:25:04)
+
+2016-09-01
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1298 from PDAL/mad-and-iqr-outliers (14:20:05)
+	* Bradley J Chambers <brad.chambers at gmail.com> Remove old comment to self (14:19:25)
+	* Bradley J Chambers <brad.chambers at gmail.com> Add MAD and IQR filters with user-selectable dimension and multiplier (12:36:04)
+
+2016-08-31
+	* Howard Butler <howard at hobu.co> update BPF link (10:29:39)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/p2g-incore' (10:27:03)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (09:52:12)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use InCoreInterp for p2g. (09:50:19)
+
+2016-08-30
+	* Howard Butler <howard at hobu.co> fix #1297 -- Dimension note on website (14:41:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (14:40:04)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix broken link and correct note. Close #1297 (14:39:28)
+	* Jason Overland <joverland at seattle.celartem.local> Handle single-digit UTM zones properly. (12:39:52)
+	* Howard Butler <howard at hobu.co> doc tweaks (12:20:32)
+
+2016-08-29
+	* Howard Butler <howard at hobu.co> front page update (13:38:28)
+	* Howard Butler <howard at hobu.co> update download links to 1.3.0 (11:12:59)
+	* Howard Butler <howard at hobu.co> latex equation formatting (10:31:06)
+	* Howard Butler <howard at hobu.co> update appveyor image link (09:25:09)
+
+2016-08-28
+	* Howard Butler <howard at hobu.co> update quickstart document for use with new Docker for Windows (17:09:58)
+	* Howard Butler <howard at hobu.co> Merge pull request #1293 from sebastic/bash-completion (11:10:01)
+	* Howard Butler <howard at hobu.co> Merge pull request #1292 from sebastic/cmake-3.6-hdf5 (11:08:45)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix bash-completion installation. (09:56:37)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix HDF5 include directory with CMake >= 3.6.0. (08:32:34)
+
+2016-08-27
+	* Howard Butler <howard at hobu.co> latex fixups to allow PDF to build (12:01:46)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:51:39)
+	* Howard Butler <howard at hobu.co> typo (08:51:36)
+	* Howard Butler <howard at hobu.co> Merge pull request #1291 from sebastic/spelling-errors (08:51:24)
+	* Howard Butler <howard at hobu.co> a few more missing packages (08:35:40)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix spelling errors. (06:37:17)
+
+2016-08-26
+	* Howard Butler <howard at hobu.co> more release note (23:15:15)
+	* Howard Butler <howard at hobu.co> add fall-through case (22:41:41)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:44:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix path order for plugins. Add error message for plugin load failure. Fix text in kernel usage help output. (16:12:56)
+	* Howard Butler <howard at hobu.co> ignore a generated pdal_defines.h (14:26:22)
+	* Howard Butler <howard at hobu.co> initialization warning cleanup (14:26:00)
+	* Howard Butler <howard at hobu.co> use correct type for m_splitCountThreshold (13:54:07)
+	* Howard Butler <howard at hobu.co> warnings cleanups in mongus (13:46:19)
+	* Howard Butler <howard at hobu.co> bad merge fixup (13:46:07)
+	* Howard Butler <howard at hobu.co> um, 'raise' is a python keyword, not c++ (13:22:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix typo. (13:11:30)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Rename json-forwards.h forwards.h (13:05:42)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:45:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Generalize JSON library handling. Close #1289 (12:44:43)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove /usr/local/bin from PluginManager test. (12:37:28)
+	* Howard Butler <howard at hobu.co> increment version to 1.3.0 in preparation for release (12:19:59)
+	* Howard Butler <howard at hobu.co> more release notes (12:09:38)
+	* Howard Butler <howard at hobu.co> shut off greyhound tests for now (11:55:53)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (11:51:35)
+	* Howard Butler <howard at hobu.co> Somewhat working readers.greyhound (11:45:54)
+	* Howard Butler <howard at hobu.co> Merge pull request #1272 from PDAL/http-read (10:59:36)
+	* Howard Butler <howard at hobu.co> add back missing runtime packages #1290 (09:47:57)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (09:00:47)
+	* Bradley J Chambers <brad.chambers at gmail.com> Get those parentheses in the right place (09:00:18)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:36:28)
+	* Howard Butler <howard at hobu.co> need #include <math> for some compilers (08:30:22)
+	* Bradley J Chambers <brad.chambers at gmail.com> Resolve Windows error C2668, ambiguous call to isnan (07:56:30)
+
+2016-08-25
+	* Howard Butler <howard at hobu.co> a few more dockerfile updates to make things happy on xenial (20:11:10)
+	* Howard Butler <howard at hobu.co> Merge pull request #1284 from PDAL/sqlite-fixups (17:20:15)
+	* Howard Butler <howard at hobu.co> Merge pull request #1283 from PDAL/xenial-smaller-docker (17:20:08)
+	* Howard Butler <howard at hobu.co> more docker fixes for xenial (17:07:33)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1288 from PDAL/mongus-redux (12:18:10)
+	* chambbj <brad.chambers at gmail.com> Merge pull request #1287 from PDAL/smrf (12:17:59)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into sqlite-fixups (11:56:40)
+	* Howard Butler <howard at hobu.co> pcl 1.8 (11:55:55)
+	* Howard Butler <howard at hobu.co> Merge pull request #1286 from PDAL/loganbyers-pcdwriter_upgrades (11:55:25)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into loganbyers-pcdwriter_upgrades (11:02:40)
+	* Howard Butler <howard at hobu.co> debugging lint (10:30:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove debug. (10:27:15)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into xenial-smaller-docker (10:18:26)
+	* Howard Butler <howard at hobu.co> don't attempt to load extension for sqlite shared library (09:52:29)
+	* Howard Butler <howard at hobu.co> more docker updates for xenial (09:51:21)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix tests for debug/verbose. (08:54:20)
+	* Andrew Bell <andrew.bell.ia at gmail.com> First cut release notes. (08:50:45)
+
+2016-06-24
+	* Bradley J Chambers <brad.chambers at gmail.com> Initial commit of Mongus-inspired ground return segmentation filter (11:27:12)
+	* Bradley J Chambers <brad.chambers at gmail.com> Initial commit of SMRF-inspired ground return segmentation filter (11:27:12)
+
+2016-08-24
+	* Logan Byers <loganbyers at ku.edu> Add writers.pcd.subtract_minimum (16:17:49)
+	* Logan Byers <loganbyers at ku.edu> Change compression for writers.pcd (15:45:10)
+	* Howard Butler <howard at hobu.co> install PRC in /usr, not /usr/local (14:58:29)
+	* Howard Butler <howard at hobu.co> Attempt to shrink the size of the Docker image by removing development packages once we're done with them. The pdal/dependencies package also no longer installs all of the grid files (350+mb). (14:49:49)
+
+2016-08-23
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix logging. (15:54:20)
+	* Howard Butler <howard at hobu.co> ogrdriver instead of --driver for density kernel (08:21:36)
+
+2016-08-22
+	* Howard Butler <howard at hobu.co> Merge pull request #1280 from visr/ferryflip (16:04:39)
+	* Howard Butler <howard at hobu.co> --driver is PDAL driver. Use --ogrdriver to specify which driver to use for tindex kernel (10:44:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:38:27)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't use invalid log. (10:31:58)
+	* Howard Butler <howard at hobu.co> update PDAL workshop pointers (09:40:49)
+	* Howard Butler <howard at hobu.co> typo (09:16:49)
+
+2016-08-19
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set command-line-based log into stages unless overridden. (17:26:59)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make sure Kernel is destroyed prior to deleteing GDAL drivers -- again. (12:53:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. (12:03:32)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make a default log. (11:47:01)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Rearrange main app. Add logging to PluginManager. Close #1118 (09:10:34)
+
+2016-08-16
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move --stdin option to kernels that need it. (11:16:16)
+
+2016-08-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change handling of help option in kernels. (17:22:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Change plugin path order. Close #1281 (16:31:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove debug. Fix swallowing of reset options. (08:56:56)
+
+2016-08-12
+	* Andrew Bell <andrew.bell.ia at gmail.com> Set unconsumed args back into command line in parseSimple(). (17:50:02)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Rework handling of positional arguments for flexibility. (13:43:02)
+
+2016-08-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Have parseSimple handle positional args. Improve localization logic of positional arg handling. (09:27:11)
+
+2016-08-09
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1279 from PDAL/issue-1277 (10:12:13)
+	* Martijn Visser <mgvisser at gmail.com> docs height: flip the ferry direction (04:48:15)
+	* Martijn Visser <mgvisser at gmail.com> doc rename Height -> HeightAboveGround (04:35:08)
+
+2016-08-08
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix test by ignoring count and checking install path. (15:17:57)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' into issue-1277 (14:47:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Pass options when stage is created as part of kernel. (14:46:35)
+
+2016-08-07
+	* Howard Butler <howard at hobu.co> catch up PluginManager PDAL_DRIVER_PATH count for tests (22:50:32)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (08:43:10)
+	* Howard Butler <howard at hobu.co> normalize Reflectance to Intensity for readers.pts (08:43:07)
+
+2016-08-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (13:09:24)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct text for error message. (13:08:53)
+	* Howard Butler <howard at hobu.co> Merge pull request #1276 from PDAL/pts-reader (09:44:08)
+	* Howard Butler <howard at hobu.co> add readers.pts for reading PTS files directly (09:25:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:34:39)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove dead code. (08:34:20)
+	* Howard Butler <howard at hobu.co> Merge pull request #1275 from visr/docfix (07:41:25)
+	* Martijn Visser <mgvisser at gmail.com> docs for ground: update option names (01:06:10)
+	* Martijn Visser <mgvisser at gmail.com> docs for pipeline: add 'writers.' before 'p2g' (00:58:18)
+
+2016-08-04
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:54:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use multiple paths in PDAL_DRIVER_PATH environment variable. Add tests for pluginSearchPaths(). (12:53:53)
+	* Howard Butler <howard at hobu.co> support explicit plugin loading when given by option for JSON pipelines (09:19:25)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (08:23:17)
+
+2016-08-03
+	* Howard Butler <howard at hobu.co> correctly fetch vertical and horizontal units for SpatialReference metadata (18:15:04)
+
+2016-07-31
+	* Howard Butler <howard at hobu.co> Merge pull request #1274 from PDAL/specify-driver (18:08:19)
+
+2016-07-29
+	* Howard Butler <howard at hobu.co> allow override of inferred drivers in kernels (specify with --driver argument) #1273 (10:03:37)
+
+2016-07-28
+	* Andrew Bell <andrew.bell.ia at gmail.com> Ubuntu Xenial docker files. (10:40:09)
+
+2016-07-27
+	* Andrew Bell <andrew.bell.ia at gmail.com> Throw an error if a stage option is provided without a value. (11:58:04)
+
+2016-07-25
+	* Connor Manning <connor at hobu.co> Re-add dockerfile contents to install PDAL/PRC. (11:33:44)
+
+2016-07-23
+	* Connor Manning <connor at hobu.co> Use greyhound:// to signify the greyhound reader, inferring http:// paths from their actual file extension. (12:42:38)
+
+2016-07-22
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use PDALUtils to open LAS files. (08:54:59)
+
+2016-07-20
+	* Andrew Bell <andrew.bell.ia at gmail.com> Ensure extension doesn't get embedded in filename. (11:18:23)
+
+2016-07-19
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (15:46:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Consolidate plugin path handling. Add plugin loading logging. (15:46:15)
+
+2016-07-14
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix output_format for p2g. (16:30:36)
+
+2016-07-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't check for file existence in PipelineManager::makeReader(). (15:23:36)
+
+2016-07-07
+	* Howard Butler <howard at hobu.co> Merge pull request #1266 from PDAL/issue-1253-crop-reprojection (16:36:18)
+	* Howard Butler <howard at hobu.co> another arbiter refresh (10:46:27)
+	* Howard Butler <howard at hobu.co> update arbiter to attempt to fix windows appveyor issue (10:44:58)
+
+2016-07-06
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct documentation. (11:53:50)
+
+2016-07-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (16:13:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Replace pseudo-scoped-enums with actual scoped enums, getting rid of the need for '::Enum' in type names and disallowing implicit conversion to native. (16:12:38)
+	* Howard Butler <howard at hobu.co> Merge pull request #1260 from gadomski/custom-p2g-bounds (14:43:36)
+	* Howard Butler <howard at hobu.co> correctly reproject crop polygon if a_srs is given #1253 (14:40:55)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' of github.com:PDAL/PDAL (13:54:12)
+	* Howard Butler <howard at hobu.co> description of X dimension was incorrect (13:41:16)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update arbiter.  Simplify some of the utils code that uses it. (13:20:49)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Get names from the layout rather than the default dimension name list. Close #1265 (11:19:09)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove commented code. (10:33:15)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Test file for PLY dimensions. (10:32:37)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Support non-default dimensions in PLY reader. Close #1262 (10:30:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make sure we convert when writing to byte types. Close #1264 (10:29:05)
+
+2016-06-29
+	* Andrew Bell <andrew.bell.ia at gmail.com> 1) Remove arbiter, dl, curl and json dependencies from libutil 2) Make static libraries private cmake dependencies so that downstream   projects don't try to link them in (since we don't install them and   don't need to) 3) Make libutil a private dependency of libpdalcpp so that downstream   cmake project don't try to link it in. 4) Add a library path for as interfere so that rpath dependencies are   satisfied for reexported libutil. 5) Use arbit [...]
+
+2016-06-28
+	* Pete Gadomski <pete.gadomski at gmail.com> Allow setting of bounds on p2g writer (14:22:01)
+
+2016-06-23
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle leading spaces in attached long args. (12:44:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:29:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (09:29:35)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1259 from gadomski/argument-starting-with-dash (09:28:40)
+
+2016-06-22
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add support for printing of default option values. (20:07:31)
+	* Pete Gadomski <pete.gadomski at gmail.com> Add test case for transformation starting with - (17:34:50)
+	* Pete Gadomski <pete.gadomski at gmail.com> Remove trailing comma from transformation docs (17:18:28)
+	* Pete Gadomski <pete.gadomski at gmail.com> Merge pull request #1257 from gadomski/rxp-cleanup (13:08:29)
+	* Pete Gadomski <pete.gadomski at gmail.com> rxp plugin cleanup (pointers, mostly) (09:19:05)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:32:20)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Different handling for explicit and implied boolean arg values. (12:31:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge pull request #1258 from PDAL/outlier-args-typo (11:59:22)
+	* Bradley J Chambers <brad.chambers at gmail.com> Fix typo in outlier args (11:54:56)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Allow access to filename and count args for readers. (10:41:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (10:35:41)
+
+2016-06-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Remove writerAddArgs(). (12:59:58)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:24:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Print options from pdal --options. (11:23:33)
+
+2016-06-20
+	* Pete Gadomski <pete.gadomski at gmail.com> Use json extension for pipeline docs (15:56:40)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Have options processed by ProgramArgs. (12:21:49)
+
+2016-06-17
+	* Howard Butler <howard at hobu.co> Merge pull request #1256 from PDAL/no-deploy-key-for-prs (08:46:18)
+
+2016-06-16
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix linking of example to use only pdalcpp. (14:54:39)
+
+2016-06-13
+	* Howard Butler <howard at hobu.co> Merge pull request #1255 from dewall/fix/pgpointcloud/post_sql (14:22:41)
+	* Howard Butler <howard at hobu.co> don't try to add a deploy key if it is empty (PRs from non-PDAL devs won't have one (14:21:10)
+	* dewall <a.dewall at 52north.org> Fixed the pipeline post_sql statement, so that the command is read and executed correctly. (08:04:39)
+
+2016-06-03
+	* Andrew Bell <andrew.bell.ia at gmail.com> Reference correct JSON node. (09:37:50)
+
+2016-05-26
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make HIGHEST and LOWEST local. (12:14:38)
+	* Andrew Bell <andrew.bell.ia at gmail.com> PDAL_DLL (09:38:22)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add PDAL_DLL for Bounds. (09:28:43)
+
+2016-05-25
+	* Andrew Bell <andrew.bell.ia at gmail.com> Create Bounds class. (17:54:36)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Quiet warnings. (17:53:57)
+
+2016-05-21
+	* Connor Manning <connor at hobu.co> Add include. (11:06:41)
+	* Howard Butler <howard at hobu.co> std::prefix isnan and isinf (11:03:41)
+
+2016-05-20
+	* Howard Butler <howard at hobu.co> more marketing materials stickers (14:09:01)
+	* Howard Butler <howard at hobu.co> add dog bone sticker to marketing materials (14:07:56)
+
+2016-05-18
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add handling for comma-separated strings as ProgramArgs. (15:36:08)
+
+2016-05-04
+	* Bradley J Chambers <brad.chambers at gmail.com> New and modified filters (12:24:03)
+
+2016-05-16
+	* Andrew Bell <andrew.bell.ia at gmail.com> Provide a way to go from extension to driver. (16:55:12)
+	* Connor Manning <connor at hobu.co> Update arbiter with some globbing and SSE fixes, and add to pdal namespace.  Fix a #define typo. (11:20:35)
+	* Howard Butler <howard at hobu.co> Merge pull request #1250 from sebastic/hurd (10:54:58)
+	* Howard Butler <howard at hobu.co> Merge pull request #1251 from sebastic/source_date_epoch (10:54:39)
+
+2016-05-15
+	* Bas Couwenberg <sebastic at xs4all.nl> Use SOURCE_DATE_EPOCH instead of current date for reproducible builds. (15:47:07)
+	* Bas Couwenberg <sebastic at xs4all.nl> Add support for GNU/Hurd to portable_endian.hpp. (03:08:50)
+
+2016-05-13
+	* Howard Butler <howard at hobu.co> Merge pull request #1249 from PDAL/remove-nan-inf-json-output (15:18:18)
+	* Howard Butler <howard at hobu.co> Fix #1248 -- remove NaN and Inf from JSON output (15:02:40)
+
+2016-05-12
+	* Howard Butler <howard at hobu.co> Merge pull request #1247 from igrcic/master (08:11:50)
+	* Ivan Grcic <igrcic at gmail.com> Removes backlslashes from connection string (resulting in bad json) (07:22:54)
+	* Ivan Grcic <igrcic at gmail.com> Update interesting.las tutorial url (05:58:34)
+
+2016-05-11
+	* Andrew Bell <andrew.bell.ia at gmail.com> Provide library for linux link. (17:24:01)
+	* Howard Butler <howard at hobu.co> reexport on APPLE needs to use file, not SONAME (15:43:46)
+	* Howard Butler <howard at hobu.co> Merge pull request #1246 from PDAL/python-extension-jsonify (11:39:10)
+	* Howard Butler <howard at hobu.co> Merge pull request #1244 from gadomski/simpler-osx-linking (11:38:59)
+	* Pete Gadomski <pete.gadomski at gmail.com> Fix typo in filters.crop docs (10:31:06)
+	* Howard Butler <howard at hobu.co> Merge pull request #1245 from PDAL/qfit-azimuth (10:08:21)
+	* Howard Butler <howard at hobu.co> change QFIT driver to use Azimuth instead of ScanAngleRank for azimuth dimension (10:05:56)
+	* Howard Butler <howard at hobu.co> add a --python-version switch to pdal-config and use that to detect whether or not the python we are building the extension for is the one we built PDAL against (09:55:32)
+	* Pete Gadomski <pete.gadomski at gmail.com> Remove APPLE-specific BUILD_WITH_INSTALL_RPATH (09:11:01)
+	* Pete Gadomski <pete.gadomski at gmail.com> Remove custom INSTALL_NAME_DIR for APPLE (09:09:20)
+
+2016-05-10
+	* Howard Butler <howard at hobu.co> JSON all the things (python) (17:00:53)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Re-enable VLR test. (15:28:10)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add testing for NITF metadata. Close #394 (13:53:04)
+	* Howard Butler <howard at hobu.co> compile PCL with c++11 and use new lazperf git location (08:31:27)
+
+2016-05-09
+	* Howard Butler <howard at hobu.co> Merge pull request #1242 from PDAL/more-stats (15:26:34)
+	* Howard Butler <howard at hobu.co> Merge pull request #1241 from PDAL/no-points-ogr-error (15:26:24)
+	* Howard Butler <howard at hobu.co> make #1240 more clear (13:38:55)
+	* Howard Butler <howard at hobu.co> Fix #1240, misleading error with no points (11:22:21)
+	* Howard Butler <howard at hobu.co> add skewness, kurtosis, stddev, and variance to filters.stats output (11:13:42)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Uncomment header files. Remove Dimension.hpp dependency. (08:55:38)
+
+2016-05-06
+	* Pete Gadomski <pete.gadomski at gmail.com> Remove an extra semicolon (10:02:55)
+
+2016-05-05
+	* Mateusz Łoskot <mateusz at loskot.net> Fix URL to AppVeyor badge. (04:45:33)
+
+2016-04-30
+	* Howard Butler <howard at hobu.co> Merge pull request #1237 from sebastic/remove-autocleaned-backup-file (14:24:47)
+	* Bas Couwenberg <sebastic at xs4all.nl> Remove autocleaned backup file. (13:59:23)
+	* Howard Butler <howard at hobu.co> Merge pull request #1236 from sebastic/find-websocketpp (11:43:28)
+	* Bas Couwenberg <sebastic at xs4all.nl> Fix websocketpp detection. (11:40:44)
+	* Howard Butler <howard at hobu.co> Merge pull request #1235 from sebastic/dont-require-nitro (11:40:09)
+	* Bas Couwenberg <sebastic at xs4all.nl> Don't require Nitro dependency. (11:38:31)
+
+2016-04-29
+	* Howard Butler <howard at hobu.co> backport front page stuff, update quickstart (15:36:59)
+
+2016-04-28
+	* Andrew Bell <andrew.bell.ia at gmail.com> Add nitfwrap tool to wrap/unwrap BPF LAS files with NITF. (17:19:57)
+	* Howard Butler <howard at hobu.co> Merge pull request #1222 from PDAL/clear-gdal-errors (09:50:23)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into clear-gdal-errors (08:55:28)
+
+2016-04-27
+	* Howard Butler <howard at hobu.co> catch up to arbiter (11:35:06)
+	* Howard Butler <howard at hobu.co> working Arbiter-based remote write (10:20:33)
+
+2016-04-26
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into read-s3 (16:07:17)
+	* Howard Butler <howard at hobu.co> Merge pull request #1231 from PDAL/icebridge-x-normalize (16:07:05)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into read-s3 (16:03:58)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move dimension generation to its own cmake file. (14:55:27)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into read-s3 (13:38:26)
+	* Howard Butler <howard at hobu.co> readers.icebridge was computing normalized X dimensions incorrectly (12:34:08)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Build Dimension.hpp from Dimension.json. (08:16:23)
+
+2016-04-25
+	* Howard Butler <howard at hobu.co> catch up arbiter (14:05:23)
+	* Howard Butler <howard at hobu.co> use 64bit sized integer classes, rethrow exception from jsoncpp instead of swallowing it (14:01:49)
+	* Howard Butler <howard at hobu.co> our own asString method because some older jsoncpp don't quite behave how we want (13:50:26)
+
+2016-04-24
+	* Howard Butler <howard at hobu.co> add a docker-buildable make command for docs (21:26:19)
+
+2016-04-23
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into read-s3 (14:12:24)
+
+2016-04-21
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:10:54)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Make sure GDAL driver manager is torn down after kernels. (12:10:15)
+
+2016-04-20
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix view kernel compilation. (08:23:55)
+
+2016-04-18
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use the proper PipelineManager in the pipeline kernel. Close #1208 (14:50:07)
+	* Howard Butler <howard at hobu.co> no need to const_cast (14:29:00)
+	* Andrew Bell <andrew.bell.ia at gmail.com> No change. (09:38:50)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move stage creation code to PipelineManager. (08:56:35)
+
+2016-04-15
+	* Andrew Bell <andrew.bell.ia at gmail.com> Correct call to makeReader() in ViewKernel. (10:08:39)
+
+2016-04-14
+	* Howard Butler <howard at hobu.co> arbiter update (11:48:06)
+
+2016-04-13
+	* Howard Butler <howard at hobu.co> make sure JSONCPP is marked optional, and when we don't find it, use our embedded version (15:50:45)
+	* Howard Butler <howard at hobu.co> be more specific about jsoncpp include/linkage (15:19:23)
+	* Howard Butler <howard at hobu.co> bump jsoncpp min version to 1.6.2 (14:44:31)
+	* Howard Butler <howard at hobu.co> update arbiter (14:27:33)
+	* Howard Butler <howard at hobu.co> update arbiter (14:08:11)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move lots of calls from individual kernels to the base kernel code to make sure that they all happen when they're supposed to. (13:46:20)
+	* Howard Butler <howard at hobu.co> more JSON, more pain (12:26:33)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into read-s3 (12:03:13)
+	* Howard Butler <howard at hobu.co> another swing at JSONCPP cmake config (11:59:39)
+	* Howard Butler <howard at hobu.co> jsoncpp needs to be -fPIC (09:57:29)
+	* Howard Butler <howard at hobu.co> need to add FindCurl.cmake (09:56:11)
+	* Howard Butler <howard at hobu.co> arbiter needs to be -fPIC? (09:46:09)
+	* Howard Butler <howard at hobu.co> jsoncpp now compiled as a static lib (09:36:04)
+	* Howard Butler <howard at hobu.co> try to unicode the windows (09:05:17)
+
+2016-04-12
+	* Howard Butler <howard at hobu.co> support reading s3 and http over the network by embedding http://github.com/connormanning/arbiter (15:41:44)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Don't allow double-setting of non-vector program args. Close #1225 (12:06:55)
+
+2016-04-11
+	* Howard Butler <howard at hobu.co> Documentation improvements (15:28:51)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (11:31:26)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Handle reading pipelines from standard input. Close #1223 (11:30:52)
+
+2016-04-08
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into clear-gdal-errors (13:55:05)
+	* Howard Butler <howard at hobu.co> simplify gdal::ErrorHandler (13:54:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (12:22:08)
+
+2016-04-07
+	* Howard Butler <howard at hobu.co> Merge pull request #1218 from gadomski/docker-update (14:04:03)
+
+2016-04-06
+	* Pete Gadomski <pete.gadomski at gmail.com> [docker] Clean up after each install (19:29:22)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Update tindex docs. Make --tindex option in tindex kernel a positional option. Close #1220 (17:18:42)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Use single-quotes with GDAL column value. Close #1219 (14:49:00)
+	* Pete Gadomski <pete.gadomski at gmail.com> Switch rivlib Dockerfile to pdal/pdal (12:16:35)
+	* Pete Gadomski <pete.gadomski at gmail.com> Remove PDAL and PRC dirs from Docker image (13:22:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix dimension name. (10:43:55)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Rename dimension PlatformHeader to Azimuth. (10:24:37)
+
+2016-04-05
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix bad conversion error message. (17:38:13)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move some stuff from PDALUtils to the classes in which they belong. (17:25:46)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Clean up the main CMakeLists.txt (13:12:18)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into clear-gdal-errors (11:30:57)
+	* Howard Butler <howard at hobu.co> don't every throw GDAL errors (10:50:40)
+	* Howard Butler <howard at hobu.co> always use WGS84 UTM zones for calculateZon computation in filter.hexbin density computation (08:21:01)
+
+2016-04-04
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into clear-gdal-errors (22:16:28)
+	* Howard Butler <howard at hobu.co> don't use negative utm zones for hexbin density computation (22:13:25)
+	* Howard Butler <howard at hobu.co> some experimentation with GDAL error handling (21:51:42)
+	* Howard Butler <howard at hobu.co> remove dead code (15:22:22)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Fix wordWrap() and add an alternate implementation. (14:29:29)
+	* Howard Butler <howard at hobu.co> TLS stuff can't work here, need to find another way (13:20:08)
+	* Howard Butler <howard at hobu.co> Merge pull request #1215 from PDAL/offset-icebridge-longitude (11:37:55)
+	* Howard Butler <howard at hobu.co> Merge pull request #1209 from PDAL/issue/1208-pipeline-verbose-debug (11:37:22)
+	* Howard Butler <howard at hobu.co> only init m_instance when we're not TLS (apple) (11:16:59)
+	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into clear-gdal-errors (11:09:18)
+	* Howard Butler <howard at hobu.co> Merge pull request #1216 from gadomski/fail-if-no-hexer (11:09:06)
+	* Howard Butler <howard at hobu.co> provide reset() private function to ErrorHandler to CPLErrorReset() and clear the errnum (11:06:45)
+	* Howard Butler <howard at hobu.co> attempt to make GDAL ErrorHandler TLS (10:53:44)
+	* Pete Gadomski <pete.gadomski at gmail.com> Find Hexer w/ REQUIRED flag (10:45:47)
+	* Howard Butler <howard at hobu.co> update icebridge test to account for normalized longitude (10:28:42)
+	* Howard Butler <howard at hobu.co> Merge branch 'master' into offset-icebridge-longitude (10:00:31)
+	* Andrew Bell <andrew.bell.ia at gmail.com> Move normalizeLongitude to Utils. (09:46:30)
+	* Howard Butler <howard at hobu.co> Merge pull request #1210 from gadomski/gtest-shared-libs (09:38:37)
+
+2016-04-03
+	* Howard Butler <howard at hobu.co> offset readers.icebridge longitude #1214 (08:11:59)
+
+2016-04-02
+	* Howard Butler <howard at hobu.co> add python release stuff to release docs (16:50:14)
+	* Howard Butler <howard at hobu.co> Merge pull request #1213 from sebastic/python (16:48:43)
+	* Bas Couwenberg <sebastic at xs4all.nl> Bump Python module version to 1.2.0. (10:01:34)
+
 2016-03-31
+	* Howard Butler <howard at hobu.co> point to 1.2.0 release (23:02:24)
+	* Howard Butler <howard at hobu.co> update ChangeLog (11:46:45)
 	* Howard Butler <howard at hobu.co> tindex kernel needs to registerDrivers (09:33:56)
 
 2016-03-30
@@ -83,19 +1906,11 @@
 	* Andrew Bell <andrew.bell.ia at gmail.com> Doc updates. (07:50:34)
 	* Andrew Bell <andrew.bell.ia at gmail.com> Merge remote-tracking branch 'origin/master' (07:13:33)
 
-2016-03-22
-	* Howard Butler <howard at hobu.co> increment version to 1.2.0 in preparation for release (16:33:52)
-	* Howard Butler <howard at hobu.co> Merge pull request #1192 from PDAL/gdal-error-split (15:50:23)
-	* Howard Butler <howard at hobu.co> further split GDAL error handler binding from GDAl wake up (13:20:00)
-	* Howard Butler <howard at hobu.co> do the GDAL/GEOS error handler binding stuff right away when GlobalEnvironment wakes up. Don't do the heavy GDAL startup stuff until asked. (11:28:36)
-	* Connor Manning <connor at hobu.co> Simplify a constructor. (10:49:08)
-	* Andrew Bell <andrew.bell.ia at gmail.com> Explicitly set PDAL_PYTHON_LIBRARY in python.cmake Close #1174 (10:02:00)
-	* Howard Butler <howard at hobu.co> Merge pull request #1189 from sebastic/kfreebsd2 (07:59:33)
-
 2016-03-21
 	* chambbj <brad.chambers at gmail.com> Merge pull request #1190 from PDAL/doc-cleanup (22:44:13)
 	* Bradley J Chambers <brad.chambers at gmail.com> fix dartsample references (22:43:34)
 	* Bas Couwenberg <sebastic at xs4all.nl> Add support for kFreeBSD to PluginManager & SQLiteCommon. (16:10:51)
+	* Logan Byers <loganbyers at ku.edu> Add pcd.writer.offset_* (12:30:48)
 
 2016-03-20
 	* Howard Butler <howard at hobu.co> Merge pull request #1187 from sebastic/kfreebsd (15:19:02)
@@ -286,7 +2101,11 @@
 	* Bradley J Chambers <brad.chambers at gmail.com> Fix the writer input tests (09:50:37)
 	* Bradley J Chambers <brad.chambers at gmail.com> Add unit test to demonstrate merge issues (09:39:22)
 
+2016-02-20
+	* Logan Byers <loganbyers at ku.edu> Add PointXYZ output to writers.pcd (17:27:13)
+
 2016-02-19
+	* Logan Byers <loganbyers at ku.edu> added binary output to writers.pcd (19:25:07)
 	* Howard Butler <howard at hobu.co> Merge remote-tracking branch 'origin/master' into hobu-docs-rollup (11:26:45)
 	* Howard Butler <howard at hobu.co> a bunch of documentation tweaks related to getting rst2pdf output working -- not quite done yet (11:26:25)
 	* Andrew Bell <andrew.bell.ia at gmail.com> Don't use initializer list for map. (09:16:49)
@@ -7078,8 +8897,8 @@
 	* Howard Butler <hobu.inc at gmail.com> decruft (14:40:34)
 	* Howard Butler <hobu.inc at gmail.com> decruft (14:40:25)
 	* Howard Butler <hobu.inc at gmail.com> used cached byte positions to avoid per-point map lookup of positions for getField queries (14:40:00)
-	* Howard Butler <hobu.inc at gmail.com> use inplacereprojfilter because the scalingfilter combo doesn't work right now (14:39:03)
-	* Howard Butler <hobu.inc at gmail.com> use inplacereprojfilter because the scalingfilter combo doesn't work right now (14:38:18)
+	* Howard Butler <hobu.inc at gmail.com> use inplacereprojfilter because the scalingfilter combo doesnt work right now (14:39:03)
+	* Howard Butler <hobu.inc at gmail.com> use inplacereprojfilter because the scalingfilter combo doesnt work right now (14:38:18)
 	* Howard Butler <hobu.inc at gmail.com> add getField specialization for fetching based on a pointIndex and Schema::getByteOffset() output (14:36:06)
 	* Howard Butler <hobu.inc at gmail.com> no longer include tuple, not used (14:34:57)
 
diff --git a/HOWTORELEASE.txt b/HOWTORELEASE.txt
index 77ae096..de114ef 100644
--- a/HOWTORELEASE.txt
+++ b/HOWTORELEASE.txt
@@ -4,7 +4,7 @@ Steps for Making a PDAL Release
 
 :Author: Howard Butler
 :Contact: howard at hobu.co
-:Date: 03/14/2017
+:Date: 05/31/2017
 
 This document describes the process for releasing a new version of PDAL.
 
@@ -31,9 +31,17 @@ Release Process
 
   - doc/quickstart.rst has a number of current-release references
 
+  - Make and push new release branch
+
+    ::
+
+        git branch 1.6-maintenance
+        git push origin 1.6-maintenance
+
+
   - Increment the doc build branch of .travis.yml:
 
-    "$TRAVIS_BRANCH" = "1.2-maintenance"
+    "$TRAVIS_BRANCH" = "1.6-maintenance"
 
   - Make DockerHub build entry for new release branch.
 
@@ -51,6 +59,7 @@ Release Process
 
         ctest -V
 
+
 5) Clone a new tree and issue cmake. The package_source CMake target is
    aggressive about scooping up every file in the tree to include in the package.
    It does ok with CMake-specific stuff, but any other cruft in the tree is
@@ -94,10 +103,46 @@ Release Process
 
 11) Upload Python extension to PyPI
 
-12) Publish JNI Bindings
+  ::
+
+      cd python; python setup.py sdist upload
+
+12) Upload new OSGeo4W package to download.osgeo.org:/osgeo/download/osgeo4w/x86_64/release/pdal
+
+  - Go to https://ci.appveyor.com/project/hobu/pdal
+  - Choose ``OSGEO4W_BUILD=ON`` build
+  - Scroll to very bottom
+  - Fetch tarball "OSGeo4W64 build will be uploaded to https://s3.amazonaws.com/pdal/osgeo4w/pdal-a4af2420b09725a4a0fff1ef277b1e6370c497d2.tar.bz2"
+
+  - rename to match current release and set OSGeo4W build number to 1
+
+    ::
+
+        mv pdal-a4af2420b09725a4a0fff1ef277b1e6370c497d2.tar.bz2 pdal-1.6.0-1.tar.bz2
+
+  - copy to OSGeo4W server
+
+    ::
+
+        scp pdal-1.6.0-1.tar.bz2 hobu at download.osgeo.org:/osgeo/download/osgeo4w/x86_64/release/pdal
+
+  - refresh OSGeo4W
+
+    ::
+        http://upload.osgeo.org/cgi-bin/osgeo4w-regen.sh
+
+
+  - promote release
+
+    ::
+
+        http://upload.osgeo.org/cgi-bin/osgeo4w-promote.sh
+
+
+13) Publish JNI Bindings
     What you need:
         - an account on sonatype (https://issues.sonatype.org/secure/Signup!default.jspa)
-        - ~/.sbt/0.13/sonatype.sbt file with the following content:
+        - ~/.sbt/1.0/sonatype.sbt file with the following content:
             credentials += Credentials("Sonatype Nexus Repository Manager",
                            "oss.sonatype.org",
                            "<your username>",
diff --git a/PDALConfig.cmake b/PDALConfig.cmake
new file mode 100644
index 0000000..b7c1323
--- /dev/null
+++ b/PDALConfig.cmake
@@ -0,0 +1,51 @@
+
+####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
+####### Any changes to this file will be overwritten by the next CMake run ####
+####### The input file was PDALConfig.cmake.in                            ########
+
+get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE)
+
+macro(set_and_check _var _file)
+  set(${_var} "${_file}")
+  if(NOT EXISTS "${_file}")
+    message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !")
+  endif()
+endmacro()
+
+macro(check_required_components _NAME)
+  foreach(comp ${${_NAME}_FIND_COMPONENTS})
+    if(NOT ${_NAME}_${comp}_FOUND)
+      if(${_NAME}_FIND_REQUIRED_${comp})
+        set(${_NAME}_FOUND FALSE)
+      endif()
+    endif()
+  endforeach()
+endmacro()
+
+####################################################################################
+
+set(PDAL_VERSION_MAJOR 1)
+set(PDAL_VERSION_MINOR 6)
+set(PDAL_VERSION_PATCH 0)
+
+set(PDAL_INCLUDE_DIRS)
+set(PDAL_LIBRARY_DIRS)
+foreach(_dir /usr/local/include)
+  set_and_check(_foo ${_dir})
+  list(APPEND PDAL_INCLUDE_DIRS ${_foo})
+endforeach(_dir)
+foreach(_dir /usr/local/lib)
+  set_and_check(_foo ${_dir})
+  list(APPEND PDAL_LIBRARY_DIRS ${_foo})
+endforeach(_dir)
+
+include("${CMAKE_CURRENT_LIST_DIR}/PDALTargets.cmake")
+
+if (WIN32)
+# On windows link in pdal_util as well
+  set(PDAL_LIBRARIES "pdalcpp" "pdal_util")
+else (WIN32)
+  set(PDAL_LIBRARIES "pdalcpp")
+endif(WIN32)
+
+check_required_components(PDAL)
diff --git a/PDALConfig.cmake.in b/PDALConfig.cmake.in
index c5c7b79..a03ef14 100644
--- a/PDALConfig.cmake.in
+++ b/PDALConfig.cmake.in
@@ -17,6 +17,11 @@ endforeach(_dir)
 
 include("${CMAKE_CURRENT_LIST_DIR}/PDALTargets.cmake")
 
-set(PDAL_LIBRARIES "@PDAL_LIB_NAME@")
+if (WIN32)
+# On windows link in pdal_util as well
+  set(PDAL_LIBRARIES "@PDAL_LIB_NAME@" "@PDAL_UTIL_LIB_NAME@")
+else (WIN32)
+  set(PDAL_LIBRARIES "@PDAL_LIB_NAME@")
+endif(WIN32)
 
 check_required_components(PDAL)
diff --git a/PDALConfigVersion.cmake b/PDALConfigVersion.cmake
new file mode 100644
index 0000000..af417b7
--- /dev/null
+++ b/PDALConfigVersion.cmake
@@ -0,0 +1,46 @@
+# This is a basic version file for the Config-mode of find_package().
+# It is used by write_basic_package_version_file() as input file for configure_file()
+# to create a version-file which can be installed along a config.cmake file.
+#
+# The created file sets PACKAGE_VERSION_EXACT if the current version string and
+# the requested version string are exactly the same and it sets
+# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
+# but only if the requested major version is the same as the current one.
+# The variable CVF_VERSION must be set before calling configure_file().
+
+
+set(PACKAGE_VERSION "1.6.0")
+
+if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+
+  if("1.6.0" MATCHES "^([0-9]+)\\.")
+    set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
+  else()
+    set(CVF_VERSION_MAJOR "1.6.0")
+  endif()
+
+  if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR)
+    set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  else()
+    set(PACKAGE_VERSION_COMPATIBLE FALSE)
+  endif()
+
+  if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
+      set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()
+
+
+# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
+if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
+   return()
+endif()
+
+# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
+if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8")
+  math(EXPR installedBits "8 * 8")
+  set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
+  set(PACKAGE_VERSION_UNSUITABLE TRUE)
+endif()
diff --git a/PDALTargets.cmake b/PDALTargets.cmake
new file mode 100644
index 0000000..8786c55
--- /dev/null
+++ b/PDALTargets.cmake
@@ -0,0 +1,79 @@
+# Generated by CMake 3.5.1
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget pdal_base pdal_util)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Create imported target pdal_base
+add_library(pdal_base SHARED IMPORTED)
+
+set_target_properties(pdal_base PROPERTIES
+  INTERFACE_COMPILE_OPTIONS "-std=c++11;-Wextra;-Wall;-Wno-unused-parameter;-Wno-unused-variable;-Wpointer-arith;-Wcast-align;-Wcast-qual;-Wredundant-decls;-Wno-long-long;-Wno-unknown-pragmas;-Wno-deprecated-declarations"
+  INTERFACE_INCLUDE_DIRECTORIES "/usr/local/include;/usr/include/gdal;/usr/include"
+)
+
+# Create imported target pdal_util
+add_library(pdal_util SHARED IMPORTED)
+
+set_target_properties(pdal_util PROPERTIES
+  INTERFACE_COMPILE_OPTIONS "-std=c++11;-Wextra;-Wall;-Wno-unused-parameter;-Wno-unused-variable;-Wpointer-arith;-Wcast-align;-Wcast-qual;-Wredundant-decls;-Wno-long-long;-Wno-unknown-pragmas;-Wno-deprecated-declarations"
+  INTERFACE_INCLUDE_DIRECTORIES "/usr/local/include"
+)
+
+# Import target "pdal_base" for configuration ""
+set_property(TARGET pdal_base APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(pdal_base PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "pdal_util"
+  IMPORTED_LINK_INTERFACE_LIBRARIES_NOCONFIG "-lpthread;/usr/lib/libgdal.so;/usr/lib/x86_64-linux-gnu/libgeos_c.so;/usr/lib/libgeotiff.so;/usr/lib/liblaszip.so;/usr/lib/x86_64-linux-gnu/libxml2.so;/usr/lib/x86_64-linux-gnu/libz.so;/usr/lib/x86_64-linux-gnu/libcurl.so;/usr/lib/x86_64-linux-gnu/libjsoncpp.so"
+  IMPORTED_LOCATION_NOCONFIG "/PDAL/lib/libpdal_base.so.6.1.0"
+  IMPORTED_SONAME_NOCONFIG "libpdal_base.so.5"
+  )
+
+# Import target "pdal_util" for configuration ""
+set_property(TARGET pdal_util APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(pdal_util PROPERTIES
+  IMPORTED_LINK_INTERFACE_LIBRARIES_NOCONFIG ""
+  IMPORTED_LOCATION_NOCONFIG "/PDAL/lib/libpdal_util.so.6.1.0"
+  IMPORTED_SONAME_NOCONFIG "libpdal_util.so.5"
+  )
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/RELEASENOTES.txt b/RELEASENOTES.txt
index 52786dd..ff48243 100644
--- a/RELEASENOTES.txt
+++ b/RELEASENOTES.txt
@@ -1,7 +1,441 @@
+================================================================================
+1.6.0
+================================================================================
 
-1.3.0:
+Changes of Note
+===============
 
-Changes of Note:
+-  PDAL's Travis CI configuration is now based on Alpine Linux.
+-  PDAL is now built into containers with Alpine linux in addition to
+   Ubuntu linux. `Tags <https://hub.docker.com/r/pdal/pdal/tags/>`__
+   exist for each release, starting with 1.4, as well as the master
+   branch.
+-  Pipeline tag names can now contain capital letters. They can also
+   contain underscores after the first character.
+-  Replace ``filters.programmable`` and ``filters.predicate`` with the
+   more general ``filters.python``.
+-  Add support for Matlab with ``filters.matlab``\ (#1661).
+-  Remove the ``approximate`` option from ``filters.pmf`` and add an
+   ``exponential`` option.p
+-  Placed base64 encoded VLR data in a subnode of the VLR itself with
+   the key "data" rather than duplicate the VLR node itself (#1648).
+-  XML pipelines are no longer supported (#1666).
+-  The number of proprietary dimensions in ``readers.text`` was expanded
+   from 255 to 4095 (#1657).
+-  API hooks have been added to support the use of PDAL with JVM
+   languages such as Java or Scala.
+-  Added support for LASzip 1.4 and switch to use the new LASzip API.
+   (#1205). LASzip support in PDAL will require LASzip.org release 3.1.0
+   or greater.
+-  The cpd kernel has been replaced with ``filters.cpd``.
+-  No more warnings about ReturnNumber or NumberOfReturns for LAS
+   permuations (#1682).
+-  The KernelFactory class has been removed. Its functionality has been
+   moved to StageFactory.
+-  Built-in eigen support has changed from version 3.2.8 to 3.3.4
+   (#1681).
+
+Enhancements
+============
+
+-  API users can now create synonyms for existing arguments to a stage.
+-  ``filters.splitter`` can now create buffered tiles with the
+   ``buffer`` option.
+-  ``writers.ply``\ can now be made to write faces of an existing mesh
+   (created with ``filters.greedyprojection`` or ``filters.poisson``) if
+   the ``faces`` option is used. An option ``dims`` has also been added
+   that allows specification of the dimensions to be written as PLY
+   elements. The writer also now supports streaming mode.
+-  ``readers.text`` is now automatically invoked for .csv files.
+-  PDAL\_PLUGIN\_INSTALL\_PATH can now be set via override when building
+   PDAL from source.
+-  Changed the use of null devices to eliminate potentially running out
+   of file descriptors on Windows.
+-  ``filters.randomize`` can now be created by the stage factory
+   (#1598).
+-  Provide the ability to specify a viewpoint and normal orientation in
+   ``filters.normal`` (#1638).
+-  ``readers.las`` now provides the ``ignore_vlr`` option to allow named
+   VLRs to be dropped when read (#1651).
+-  Allow ``writers.gdal`` to write output rasters of type other than
+   double (#1497).
+-  ``filters.sqlite`` is now invoked automatically for .gpkg files.
+-  ``filters.colorinterp`` can now be used in streaming mode in some
+   cases (#1675).
+-  Pointers can now be stored as metadata.
+-  ``filters.ferry`` can now create new dimensions without copying data
+   (#1694).
+
+Documentation
+-------------
+
+-  Remove some leftover references to the ``classify`` and ``extract``
+   options that were removed from ``filters.ground`` in the last
+   release.
+-  Add a note about running pgpointcloud tests.
+-  Added a tutorial on filtering data with python.
+-  Remove lingering XML pipeline examples and replace with JSON.
+-  Many updates and corrections to the workshop.
+-  Added to the FAQs and entry about why a stage might not be found.
+-  Added information to stage docs to indicate whether or not they were
+   buit-in rather than plugins (#1612).
+-  Added information to stage docs to indicate when they are streamable
+   (#1606).
+
+New filters
+===========
+
+-  ``filters.greedyprojection`` - Performs triangulation of points
+   (surface reconstruction) based on the greedy projection algorithm.
+-  ``filters.poisson`` - Performs triangulation of points (surface
+   reconstruction) based on the algorithm of Kazhdan.
+-  ``filters.head`` - Passes through only the first N points.
+-  ``filters.tail`` - Passes through only the last N points.
+-  ``filters.cpd`` - Calculates and applies a transformation to align
+   two datasets using the `Coherent Point
+   Drift <https://sites.google.com/site/myronenko/research/cpd>`__
+   registration algorithm.
+-  ``filters.icp`` - Calculates and applies a transformation to align
+   two datasets using the `Iterative Closest
+   Point <http://docs.pointclouds.org/trunk/classpcl_1_1_iterative_closest_point.html>`__
+   registration algorithm.
+-  ``filters.voxelcenternearestneighbor`` - Finds points closest to the
+   center of a voxel (#1597).
+-  ``filters.voxelcentroidnearestneighbor`` - Finds points closest to
+   the controid of points in a voxel (#1597).
+-  ``filters.python`` - Replaces ``filters.predicate`` and
+   ``filters.programmable``.
+-  ``filters.matlab`` - Provides support for matlab manipulation of PDAL
+   points and metadata (#1661).
+
+New readers
+===========
+
+-  Add ``readers.osg`` to support Open Scene Graph format.
+-  Add ``readers.matlab`` to support reading data from a user-defined
+   Matlab array struct. The same structure is written by
+   ``writers.matlab``.
+
+Bug fixes
+=========
+
+-  Fixed a case where\ ``kernels.tindex`` would unconditionally set the
+   spatial reference on a feature from the ``a_srs`` option. The spatial
+   reference stored in ``a_srs`` is now only used if explicitly set or
+   no spatial reference was present.
+-  Fixed a case where 'writers.gdal\` could fail to check for an
+   out-of-bounds point, potentially leading to a crash.
+-  Fix an error in 'filters.cluster' where the points wouldn't properly
+   be placed in the first cluster because the starting cluster number
+   was incorrect.
+-  Fixed an error in freeing OGR features that could cause a crash when
+   running "pdal density".
+-  Fix potential memory leaks when creating OGRSpatialReference objects.
+-  Make sure the ``global_encoding`` option is initialized to 0 in
+   ``writers.las`` (#1595).
+-  Fix eigen::computeCovariance to compute the correct sample
+   covariance.
+-  In some cases, the ``filters.crop`` would attempt to treat a 2D
+   bounding box as 3D, yeilding a NULL bounding box and an error in
+   behavior (#1626).
+-  Fixed potential crash when using PDAL with multiple threads by
+   providing locking for gdal::ErrorHandler (#1637)
+-  Made sure that an uncompressed LAS file would be properly read even
+   if the ``compression`` option was provided.
+-  Throw an exception instead of crash when attempting to access a
+   non-existent color ramp. (#1688)
+
+================================================================================
+1.5.0
+================================================================================
+Changes of Note
+===============
+
+-  PCL ``--visualize`` capability of the ``pdal`` command line
+   application has been removed.
+-  ``writer.derivative`` has been removed. Use
+   `gdaldem <http://www.gdal.org/gdaldem.html>`__ for faster and more
+   featureful equivalent functionality.
+-  GeoTIFF and Proj.4 are now required dependencies.
+-  ``writers.p2g`` has been removed. It was replaced by ``writers.gdal``
+   in 1.4, but the P2G writer was essentially unmaintained and we will
+   be using the GDAL one going forward.
+-  ``filters.attribute`` was split into ``filters.assign`` and
+   ``filters.overlay`` to separate their functionalities
+-  ``filters.pmf`` and ``filters.outlier`` have dropped the ``classify``
+   and ``extract`` options. They now only classify points and leave it
+   downstream filters to ignore/extract classifications as needed.
+-  ``filters.outlier`` has changed the default classification for noise
+   points from ``18`` to ``7`` to match the LAS classification code for
+   "Low point (noise)".
+
+Enhancements
+============
+
+-  ``pdal pipeline`` now supports a ``--stream`` option which will
+   default to one-at-a-time or chunk-at-a-time point processing when all
+   stages in the pipeline support it. You can use this option to control
+   memory consumption -- for example when interpolating a very large
+   file with ``writers.gdal``
+-  ``filters.crop`` was enhanced to support transformed filter polygons,
+   streaming, and radius cropping.
+-  ``readers.greyhound`` updated to support greyhound.io 1.0 release,
+   with the most significant enhancement being support for passing
+   downstream JSON filters.
+-  ``user_data`` JSON object can be applied to any PDAL pipeline object
+   and it will be carried through processing. You can use this mechanism
+   for carrying your own information in PDAL pipelines without having to
+   sidecar data. #1427
+-  ``writers.las`` now can write ``pdal_metadata`` and ``pdal_pipeline``
+   VLRs for processing history tracking. #1509 #1525
+-  ``metadata``, ``schema``, and ``spatialreference`` objects added to
+   global module for ``filters.programmable`` and ``filters.predicate``
+   Python filters.
+-  ``pdalargs`` option for ``filters.programmable`` and
+   ``filters.predicate`` allow you to pass in a JSON dictionary to your
+   Python module for override or modification of your script
+-  Stage tags can be used in pipeline override scenarios
+-  User-settable VLRs in ``writers.las`` #1542
+-  ``filters.sort`` now supports descending order and uses
+   ``std::stable_sort`` #1530 (Thanks to new contributor @wrenoud )
+-  ``pdal tindex`` will now use data bounds if ``filters.hexbin`` cannot
+   be loaded for boundaries #1533
+-  ``filters.pmf`` and ``filters.smrf`` improved performance #1531 and
+   #1541
+-  ``filters.assign`` now supports
+   `Range <https://www.pdal.io/stages/filters.range.html>`__-based
+   filters
+-  ``filters.outlier`` now accepts a user-specified ``class`` to
+   override the default value of ``7`` for points deemed outliers. #1545
+-  ``filters.pmf`` and ``filters.smrf`` now accept a
+   `Range <https://www.pdal.io/stages/ranges.html#ranges>`__ via the
+   ``ignore`` option to specify values that should be excluded from
+   ground segmentation. #1545
+-  ``filters.pmf`` and ``filters.smrf`` now consider only last returns
+   (when return information is available) as the default behavior. The
+   ``last`` option can be set to ``false`` to consider all returns.
+   #1545
+
+Documentation
+-------------
+
+-  New `About page <https://pdal.io/about.html>`__ adapted from
+   `workshop <https://pdal.io/workshop/>`__
+-  New `LAS reading and writing <https://pdal.io/tutorial/las.html>`__
+   tutorial
+-  Consolidation of `Python <https://pdal.io/python.html>`__ information
+
+New filters
+-----------
+
+-  ``filters.cluster`` - Perform Euclidean cluster extraction, and label
+   each point by its cluster ID. By @chambbj.
+-  ``filters.groupby`` - Split incoming PointView into individual
+   PointViews categorically, e.g., by Classification. By @chambbj.
+-  ``filters.locate`` - Locate and return the point with the minimum or
+   maximum value for a given dimension. By @chambbj.
+-  ``filters.emf`` - Extended Local Maximum filter. By @chambbj.
+
+New readers
+-----------
+
+-  ``readers.mbio`` Bathymetric point cloud support for formats
+   supported by the
+   `MB-System <https://www.ldeo.columbia.edu/res/pi/MB-System/>`__
+   software library
+
+Bug fixes
+---------
+
+-  ``writers.pgpointcloud`` needed to treat table schema correctly
+   https://github.com/PDAL/PDAL/pull/1540 (thanks @elemoine)
+-  ``pdal density`` kernel now supports overriding ``filters.hexbin``
+   options #1487
+-  Arbiter embedded library updated to support setting Curl options
+   (certificate settings, etc).
+-  Provided a default value for ``radius`` in ``writers.gdal`` #1475
+-  ``writers.ply`` broken for non-standard dimensions #1556
+-  No EVLRs for ``writers.las`` for files < LAS 1.4 #1551
+-  LAS extra dims handling for standard PDAL dimension names #1555
+-  LASzip defines #1549
+
+
+================================================================================
+1.4.0
+================================================================================
+Changes of Note
+===============
+
+-  GeoTIFF is now required to compile PDAL
+-  ``--scale`` and ``--offset`` kernel options are no longer supported.
+   Specify using stage-specific options as needed.
+-  The ``--validate`` option of the ``pdal pipeline`` command now
+   invokes the preparation portion of the pipeline to force validation
+   of options.
+-  The ``--verbose`` option to ``pdal`` now accepts log level names
+   ("Error", "Warning", "Info", "Debug", "Debug1", "Debug2", "Debug3",
+   "Debug4" and "Debug5") in addition to the corresponding numeric
+   values (0 - 8).
+
+Enhancements
+============
+
+New filters
+-----------
+
+-  ```filters.colorinterp`` <http://pdal.io/stages/filters.colorinterp.html>`__
+   - Ramp RGB colors based on a specified dimension. By @hobu
+-  ```filters.mad`` <http://pdal.io/stages/filters.mad.html>`__ - Filter
+   outliers in a given dimension by computing Median Absolute Deviation
+   (MAD). By @chambbj
+-  ```filters.lof`` <http://pdal.io/stages/filters.lof.html>`__ -Filters
+   outliers by Local Outlier Factor (LOF). By @chambbj
+-  ```filters.estimaterank`` <http://pdal.io/stages/filters.estimaterank.html>`__
+   - Estimate rank of each neighborhood of k-nearest neighbors. By
+   @chambbj
+-  ```filters.eigenvalues`` <http://pdal.io/stages/filters.eigenvalues.html>`__
+   - Compute pointwise Eigenvalues. By @chambbj
+-  ```filters.iqr`` <http://pdal/io/stages/filters.iqr.html>`__ - Filter
+   outliers in a given dimension by computing Interquartile Range (IQR).
+   By @chambbj
+-  ```filters.kdistance`` <http://pdal.io/stages/filters.kdistance.html>`__
+   - Compute pointwise K-distance. By @chambbj
+-  ```filters.radialdensity`` <http://pdal.io/stages/filters.radialdensity.html>`__
+   - Compute pointwise radial density. By @chambbj
+-  ```filters.outlier`` <http://pdal.io/stages/filters.outlier.html>`__
+   - Radius and statistical outliers. By @chambbj
+
+New writers
+-----------
+
+-  ```writers.gdal`` <http://pdal.io/stages/writers.gdal.html>`__ -
+   `points2grid <http://github.com/crrel/points2grid>`__ replacement. By
+   @abellgithub
+
+New kernels
+-----------
+
+-  ```kernels.hausdorff`` <http://pdal.io/apps/hausdorff.html>`__ -
+   Compute `Hausdorff
+   distance <https://en.wikipedia.org/wiki/Hausdorff_distance>`__
+   between two point clouds. By @chambbj
+
+Improvements
+------------
+
+-  `Filename
+   globbing <http://man7.org/linux/man-pages/man7/glob.7.html>`__ is now
+   supported in the JSON pipeline specification of reader input files.
+   Note that tilde expansion is NOT supported.
+-  Source tree reorganization
+   https://lists.osgeo.org/pipermail/pdal/2016-December/001099.html
+-  CMake updates to utilize ``target_include_directory`` and
+   ``target_link_libraries``.
+-  JSON output for ``pdal --showjson --drivers`` and
+   ``pdal --showjson --options`` to support application builders being
+   able to fetch active lists of stages, kernels, and options.
+   https://github.com/PDAL/PDAL/issues/1315
+-  Stacktrace logging to stderr on Unix systems
+   https://github.com/PDAL/PDAL/pull/1329
+-  Geometry ingestion enhancements now support using
+   `GeoJSON <http://geojson.org>`__ or WKT in pipeline options
+   https://github.com/PDAL/PDAL/pull/1339.
+-  Significant Python extension refactor
+   https://github.com/PDAL/PDAL/pull/1367 including ability to fetch
+   data schema, log, and pipeline information. Common utility classes to
+   support the Python extension were refactored in support of the Java
+   extension.
+-  Java extension by `Azavea <https://www.azavea.com/>`__ to support
+   using PDAL in `Spark <http://spark.apache.org/>`__ and friends.
+   https://github.com/PDAL/PDAL/pull/1371
+-  ```kernels.density`` <http://pdal.io/stages/kernels.density.html>`__
+   - Density kernel now supports writing into an existing OGR datasource
+   https://github.com/PDAL/PDAL/pull/1396
+-  ```readers.greyhound`` <http://pdal.io/stages/readers.greyhound.html>`__
+   - Greyhound reader refactor.
+-  Multi-threaded read support
+-  Server-side filtering pass-through
+-  ```writers.derivative`` <http://pdal.io/stages/writers.derivative.html>`__
+   - Derivative writer refactor.
+-  ``slope_d8``
+-  ``slope_fd``
+-  ``aspect_d8``
+-  ``aspect_fd``
+-  ``contour_curvature``
+-  ``profile_curvature``
+-  ``tangential_curvature``
+-  ``hillshade``
+-  ``total_curvature``
+-  Output to any GDAL-writable format
+   https://github.com/PDAL/PDAL/issues/1146
+-  ```filters.crop`` <http://pdal.io/stages/filters.crop.html>`__ -
+   Radial cropping https://github.com/PDAL/PDAL/issues/1387
+-  ```filters.stats`` <http://pdal.io/stages/filters.stats.html>`__ -
+   Optional per-dimension median and MAD computation
+-  Support was added for the recently added cartesian coordinate in BPF
+   files.
+-  ```writers.p2g`` <http://pdal.io/stages/writers.p2g.html>`__ now uses
+   the InCoreInterp method of the points2grid code. This uses more
+   memory but runs faster and doesn't crash.
+-  The application now provides better error feedback on command-line
+   errors by indicating the invoked kernel when an error is detected.
+-  PDAL now searches by default in the following locations for plugins:
+   ``"." "./lib", "../lib", "./bin", "../bin"``. Use
+   ``PDAL_DRIVER_PATH`` to explicitly override the plugin search
+   location.
+-  Vector-based command-line arguments now accept default values in the
+   API.
+-  JSON parsing errors of pipeline files now provide more detailed
+   messages.
+-  Writers now add output filenames to metadata.
+-  Stage names provided as input to other stages in pipelines can now be
+   specified as strings or arrays of strings. The previous version
+   required single input stage names to be placed in an array.
+-  Added ``--smooth`` option to
+   ```filters.hexbin`` <http://pdal.io/stages/filters.hexbin.html>`__ to
+   allow user control of boundary smoothing.
+
+Bug fixes
+---------
+
+-  Well-known text provided as a spatial reference isn't interpreted by
+   GDAL unless necessary.
+-  ```filters.hexbin`` <http://pdal.io/stages/filters.hexbin.html>`__
+   now returns ``MULTIPOLYGON EMPTY`` when it is unable to compute a
+   boundary.
+-  Reading a not a number (nan) value from a text file now works
+   properly.
+-  The ``--compression`` option for
+   ```writers.pcd`` <http://pdal.io/stages/writers.pcd.html>`__ has been
+   fixed so that the writer actually compresses as requested.
+-  The stage manager (and hence, pipelines) now properly recognizes the
+   text reader as
+   ```readers.text`` <http://pdal.io/stages/readers.text.html>`__.
+-  ```readers.text`` <http://pdal.io/stages/readers.text.html>`__ now
+   detects the case when a dimension has been specified more than once
+   in an input file.
+-  Fixed a problem where
+   ```filters.splitter`` <http://pdal.io/stages/filters.splitter.html>`__
+   could create cells larger than requested about the X and Y axes.
+-  ```writers.nitf`` <http://pdal.io/stages/writers.nitf.html>`__ now
+   errors if it attempts to write an FTITLE field that exceeds the
+   allowable length.
+-  If PDAL is build with LAZperf but without LASzip, the program now
+   properly defaults to using LAZperf.
+-  Fixed a problem where
+   ```filters.sort`` <http://pdal.io/stages/filters.sort.html>`__ could
+   fail to properly order points depending on the implementation of the
+   C++ sort algorithm.
+-  Fixed a problem in pgpostgres readers and writers where a failure in
+   a query could lead to a crash.
+
+
+================================================================================
+1.3.0
+================================================================================
+
+Changes of Note
+================================================================================
 
 - Command line parsing has been reworked to cause invalid options to emit
   an error message.  Stage options specified in pipelines and on the command
@@ -26,7 +460,8 @@ Changes of Note:
   require editing any Stage implementations you might have and removing the
   extraneous ::Enum type specification.
 
-Enhancements:
+Enhancements
+================================================================================
 
 - Pipelines can now be read directly from standard input.
 - Files can now be read from Amazon S3 buckets by providing an appropriate
@@ -51,7 +486,8 @@ Enhancements:
 - skewness, kurtosis, stddev, and variance added to filters.stats output
 - Python API now available https://pypi.python.org/pypi/pdal
 
-Fixes:
+Fixes
+================================================================================
 
 - A failure that may have resulted when using filters.hexbin to calculate
   density in the southern hemisphere has been corrected.
@@ -71,9 +507,12 @@ Fixes:
 - A bug in filters.crop that wouldn't properly transform coordinates when
   provided the '--a_srs' option has been fixed.
 
-1.2.0:
+================================================================================
+1.2.0
+================================================================================
 
-Changes of Note:
+Changes of Note
+================================================================================
 
 - The GEOS library is now required to build PDAL.  In earlier versions it was
   an optional component.
@@ -93,7 +532,8 @@ Changes of Note:
 - filters.dartthrowing has been renamed filters.dartsample
 - 'pipeline-serialization' now produces JSON output instead of XML.
 
-Enhancements:
+Enhancements
+================================================================================
 
 - Pipelines may now be specified using a JSON syntax.  XML syntax is still
   supported but users should switch to JSON when possible as the XML support
@@ -124,7 +564,8 @@ Enhancements:
   NOT thread-safe, so tread carefully).
 - Many, many documentation enhancements.
 
-Fixes:
+Fixes
+================================================================================
 
 - A bug in generating PCIDs when with multiple simultaneous PDAL executions
   to the same Postgres database has been fixed.
@@ -142,9 +583,12 @@ Fixes:
 - Corrected the parsing of some dimension names in filters.colorization.
 - Fixed a potential truncation in the GlobalEncoding dimension of readers.las.
 
-1.1.0:
+================================================================================
+1.1.0
+================================================================================
 
-Enhancements:
+Enhancements
+================================================================================
 
 - Add support for the LAZperf LAS compressor in decoding/encoding LAS files.
   LAZperf can be enabled with the 'compression' option in readers.las and
@@ -177,7 +621,8 @@ Enhancements:
 - Allow merging of datasets with non-matching spatial references.
 - Many, many documentation enhancements.
 
-Fixes:
+Fixes
+================================================================================
 
 - Handle error with Pgpointcloud when pointcloud extension is not installed
   on postgres server.  Skip tests if extention is missing.
diff --git a/apps/pdal-config b/apps/pdal-config
index bb890ca..477a4f7 100644
--- a/apps/pdal-config
+++ b/apps/pdal-config
@@ -1,7 +1,7 @@
 #!/bin/sh
-prefix=/usr
-exec_prefix=/usr/bin
-libdir=/usr/lib
+prefix=/usr/local
+exec_prefix=/usr/local/bin
+libdir=/usr/local/lib
 
 usage()
 {
@@ -26,11 +26,11 @@ fi
 
 case $1 in
   --libs)
-    echo -L/usr/lib -lpdalcpp
+    echo -L/usr/local/lib -lpdalcpp
     ;;
 
   --plugin-dir)
-    echo /usr/lib
+    echo /usr/local/lib
     ;;
 
   --prefix)
@@ -46,7 +46,7 @@ case $1 in
     ;;
 
   --includes)
-    echo -I/usr/include -I/usr/include/gdal -I/usr/include/libxml2 -I/usr/include -I/usr/include/laszip
+    echo -I/usr/local/include -I/usr/include/gdal -I/usr/include/libxml2 -I/usr/include -I/usr/include
     ;;
 
   --cflags)
@@ -54,11 +54,11 @@ case $1 in
     ;;
 
   --cxxflags)
-    echo  -Wextra -Wall -Wno-unused-parameter -Wno-unused-variable -Wpointer-arith -Wcast-align -Wcast-qual -Wredundant-decls -Wno-long-long -Wno-unknown-pragmas -Wno-deprecated-declarations -isystem /usr/local/include -std=c++11 -std=c++11
+    echo  -std=c++11
     ;;
 
   --version)
-    echo 1.5.0
+    echo 1.6.0
     ;;
 
   --python-version)
diff --git a/apps/pdal.cpp b/apps/pdal.cpp
index 3193196..7df599f 100644
--- a/apps/pdal.cpp
+++ b/apps/pdal.cpp
@@ -34,7 +34,7 @@
 ****************************************************************************/
 
 #include <pdal/GDALUtils.hpp>
-#include <pdal/KernelFactory.hpp>
+#include <pdal/Kernel.hpp>
 #include <pdal/PluginManager.hpp>
 #include <pdal/StageFactory.hpp>
 #include <pdal/pdal_config.hpp>
@@ -110,7 +110,7 @@ void App::outputHelp(const ProgramArgs& args)
 
     m_out << "The following commands are available:" << std::endl;
 
-    KernelFactory f(false);
+    StageFactory f(false);
     StringList loaded_kernels = PluginManager::names(PF_PluginType_Kernel);
 
     for (auto name : loaded_kernels)
@@ -181,7 +181,7 @@ void App::outputDrivers()
 
 void App::outputCommands()
 {
-    KernelFactory f(false);
+    StageFactory f(false);
     std::vector<std::string> loaded_kernels;
     loaded_kernels = PluginManager::names(PF_PluginType_Kernel);
     for (auto name : loaded_kernels)
@@ -314,7 +314,7 @@ std::string App::findKernel()
         return names.size() == 2 ? names[1] : std::string();
     };
 
-    KernelFactory f(true);
+    StageFactory f(true);
     // Discover available kernels without plugins, and test to see if
     // the positional option 'command' is a valid kernel
     loadedKernels = PluginManager::names(PF_PluginType_Kernel);
@@ -323,7 +323,7 @@ std::string App::findKernel()
             return name;
 
     // Force loading of plugins.
-    KernelFactory f2(false);
+    StageFactory f2(false);
     loadedKernels = PluginManager::names(PF_PluginType_Kernel);
     for (auto& name : loadedKernels)
         if (m_command == kernelSurname(name))
@@ -354,7 +354,7 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
     else if (m_debug)
         log->setLevel(LogLevel::Debug);
     PluginManager::setLog(log);
-#ifndef _WIN32
+#ifdef PDAL_HAVE_EXECINFO_H
     if (m_debug)
     {
         signal(SIGSEGV, [](int sig)
@@ -411,4 +411,3 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
         outputHelp(args);
     return 0;
 }
-
diff --git a/apps/pdal.pc b/apps/pdal.pc
new file mode 100644
index 0000000..7fe8798
--- /dev/null
+++ b/apps/pdal.pc
@@ -0,0 +1,12 @@
+prefix=/usr/local
+exec_prefix=/usr/local/bin
+libdir=/usr/local/
+includedir=/usr/local/include
+
+Name: PDAL
+Description: Point Data Abstraction Library
+Requires:   gdal libxml-2.0 geos
+Version: 1.6.0
+Libs: -L${libdir} -lpdalcpp
+Cflags: -I${includedir}/pdal  
+
diff --git a/appveyor.yml b/appveyor.yml
index 908c9cb..2344b45 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -10,27 +10,23 @@ matrix:
   fast_finish: true
 
 environment:
-  OSGEO4W_ROOT: C:\OSGeo4W64
+  OSGEO4W_ROOT: C:\\OSGeo4W64
 
   matrix:
     - PDAL_OPTIONAL_COMPONENTS: OFF
     - PDAL_OPTIONAL_COMPONENTS: ON
+    - OSGEO4W_BUILD: ON
 
 # Should speed up repository cloning
 shallow_clone: true
 clone_depth: 5
 
-# Uncomment if you need to debug AppVeyor session (https://www.appveyor.com/docs/how-to/rdp-to-build-worker)
-# on_finish:
-# - ps: $blockRdp = $true; iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
-
-init:
-  - set PYTHONHOME=C:\Python27-x64
-  - set PYTHONPATH=%PYTHONHOME%\Lib;%OSGEO4W_ROOT%\apps\Python27\lib\site-packages
-  - set PATH=C:\Program Files (x86)\MSBuild\14.0\Bin;%PATH%
-  - set PATH=%PYTHONHOME%;%PATH%
-  - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
+#init:
+#  - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
 
+# on_finish:
+#  - ps: $blockRdp = $true; iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
+  
 install:
   # make a temp directory for downloading osgeo4w-setup.exe
   # this may not matter as much if part of the install step, as pdal has
@@ -43,8 +39,12 @@ install:
   # get the OSGeo installer
   - ps: (new-object net.webclient).DownloadFile("http://download.osgeo.org/osgeo4w/osgeo4w-setup-x86_64.exe", "C:\temp\osgeo4w-setup.exe")
   # and install our dependencies
-  - C:\temp\osgeo4w-setup.exe -q -k -r -A -s http://download.osgeo.org/osgeo4w/ -a x86_64 -P boost-devel,eigen,gdal,geos,hexer,iconv,laszip,libgeotiff,libpq,libtiff,libxml2,nitro,pcl,points2grid,proj,python-numpy,zlib -R %OSGEO4W_ROOT% > NUL
+  - C:\temp\osgeo4w-setup.exe -q -k -r -A -s http://download.osgeo.org/osgeo4w/ -a x86_64 -P eigen,gdal,geos,hexer,iconv,laszip,libgeotiff,libpq,libtiff,libxml2,msys,nitro,laz-perf,proj,zlib,python3-core,python3-devel,python3-numpy,oci,oci-devel -R %OSGEO4W_ROOT% > NUL
   # call our PDAL install script
+  - call %OSGEO4W_ROOT%\bin\o4w_env.bat
+  - call %OSGEO4W_ROOT%\bin\py3_env.bat
+  - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" amd64
+  - set PATH=%PATH%;C:\Program Files (x86)\MSBuild\14.0\Bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft Windows Performance Toolkit\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Tools\GitVersion;C:\Program Files (x86)\CMake\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\Program Files\AppVeyor\BuildAgent\
   - call .\\scripts\\appveyor\\config.cmd
 
 build:
@@ -53,22 +53,26 @@ build:
   verbosity: minimal
 
 after_build:
-  - 7z a pdal.zip %APPVEYOR_BUILD_FOLDER%\bin\*.*
+  - call %OSGEO4W_ROOT%\bin\o4w_env.bat
+  - set PATH=C:\Program Files (x86)\MSBuild\14.0\Bin;%PATH%
+  - set PATH=%PATH%;C:\Program Files (x86)\MSBuild\14.0\Bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft Windows Performance Toolkit\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Tools\GitVersion;C:\Program Files (x86)\CMake\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\Program Files\AppVeyor\BuildAgent\
+  - call .\\scripts\\appveyor\\install.cmd
+
 
 test_script:
   # FIXME: Clear PATH to avoid OSGeo4W loading incompatible DLLs
   - set PATH=
-  - set PATH=%OSGEO4W_ROOT%\bin;C:\Program Files (x86)\MSBuild\14.0\Bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft Windows Performance Toolkit\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Python27;C:\Tools\GitVersion;C:\Program Files (x86)\CMake\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\Program Files\AppVeyor\BuildAgent\
-  - set PYTHONHOME=C:\Python27-x64
-  - set PYTHONPATH=%PYTHONHOME%\Lib;%OSGEO4W_ROOT%\apps\Python27\lib\site-packages
-  - echo %PATH%
-  - set GDAL_DATA=%OSGEO4W_ROOT%\share\epsg_csv
-  - set PROJ_LIB=%OSGEO4W_ROOT%\share\proj
+  - set PATH=%OSGEO4W_ROOT%\bin;C:\Program Files (x86)\MSBuild\14.0\Bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft Windows Performance Toolkit\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Tools\GitVersion;C:\Program Files (x86)\CMake\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\Program Files\AppVeyor\BuildAgent\
+  - call %OSGEO4W_ROOT%\bin\o4w_env.bat
+  - call %OSGEO4W_ROOT%\bin\py3_env.bat
+  - set PATH=C:\Program Files (x86)\MSBuild\14.0\Bin;%PATH%
+  - set PATH=%PATH%;C:\Program Files (x86)\MSBuild\14.0\Bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft Windows Performance Toolkit\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Tools\GitVersion;C:\Program Files (x86)\CMake\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\Program Files\AppVeyor\BuildAgent\
   - ctest -V --output-on-failure -C Release
 
 artifacts:
-  - path: pdal.zip
-    name: pdalmaster
+  - path: pdal-$(APPVEYOR_REPO_COMMIT).tar.bz2
+    name: pdalosgeo4w
+    type: file
 
 deploy:
     # Amazon S3 deployment provider settings
@@ -79,7 +83,7 @@ deploy:
       secure: cSqZlsaCxFwXgxJw0BLd7npMFvQk3Vbr74ZPLaBQWLKnOz1cKss9qab1SzSygwkh
     bucket: "pdal"
     folder: "osgeo4w/"
-    artifact: pdalmaster
+    artifact: pdalosgeo4w
     set_public: true
 
 notifications:
@@ -91,3 +95,5 @@ notifications:
   - provider: Slack
     incoming_webhook:
       secure: KxbDvaPmsvNmYpsp0TH3m3hJr7PqQL1sxR8xILBzaF2Lbku03M3mJ/h787TvDGQGX3IlyZtfTP0wvSRqMl4nMmdvDQZoAe8+Gyfc7BOkYIg=
+
+ 
\ No newline at end of file
diff --git a/cmake/arbiter.cmake b/cmake/arbiter.cmake
new file mode 100644
index 0000000..2942c05
--- /dev/null
+++ b/cmake/arbiter.cmake
@@ -0,0 +1,11 @@
+#
+# arbiter support
+#
+
+include(${PDAL_CMAKE_DIR}/curl.cmake)
+
+if (CURL_FOUND)
+    set(PDAL_ARBITER_ENABLED 1)
+    set(PDAL_ARBITER_LIB_NAME pdal_arbiter)
+endif()
+
diff --git a/cmake/cpack.cmake b/cmake/cpack.cmake
index cb2990f..81c8043 100644
--- a/cmake/cpack.cmake
+++ b/cmake/cpack.cmake
@@ -36,7 +36,10 @@ list(APPEND CPACK_SOURCE_IGNORE_FILES "/doc/doxygen/")
 list(APPEND CPACK_SOURCE_IGNORE_FILES "/doc/build/")
 list(APPEND CPACK_SOURCE_IGNORE_FILES "/doc/presentations/")
 list(APPEND CPACK_SOURCE_IGNORE_FILES "/doc/_static/logo/dongle/")
+list(APPEND CPACK_SOURCE_IGNORE_FILES "/doc/_static/logo/sticker/")
 list(APPEND CPACK_SOURCE_IGNORE_FILES "/cmake/examples/")
 list(APPEND CPACK_SOURCE_IGNORE_FILES "/include/pdal/pdal_defines.h")
+list(APPEND CPACK_SOURCE_IGNORE_FILES ".gz2")
+list(APPEND CPACK_SOURCE_IGNORE_FILES ".bz2")
 
 include(CPack)
diff --git a/cmake/curl.cmake b/cmake/curl.cmake
index d2d8217..0d24b3f 100644
--- a/cmake/curl.cmake
+++ b/cmake/curl.cmake
@@ -7,9 +7,6 @@ if (CURL_FOUND)
     set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
     find_package(Threads REQUIRED)
     include_directories(${CURL_INCLUDE_DIR})
-    set(PDAL_ARBITER_ENABLED 1)
-    add_definitions("-DARBITER_CURL")
-
     if (WIN32)
         add_definitions("-DWINDOWS")
     else()
diff --git a/cmake/json.cmake b/cmake/json.cmake
index 6b3bd7d..3d3a7cb 100644
--- a/cmake/json.cmake
+++ b/cmake/json.cmake
@@ -3,7 +3,6 @@ if(EXISTS)
     return()
 endif()
 
-
 find_package(JSONCPP 1.6.2)
 set_package_properties(JSONCPP PROPERTIES TYPE OPTIONAL)
 
@@ -17,6 +16,9 @@ if (JSONCPP_FOUND)
     set(JSON_CPP_LINK_TYPE PUBLIC)
     set(PDAL_HAVE_JSONCPP 1)
 else()
+    unset(JSONCPP_INCLUDE_DIR CACHE)
+    unset(JSONCPP_LIBRARY CACHE)
+    unset(JSONCPP_ROOT_DIR CACHE)
     set(PDAL_JSONCPP_LIB_NAME pdal_jsoncpp)
     set(PDAL_JSONCPP_INCLUDE_DIR ${PDAL_VENDOR_DIR}/jsoncpp/dist)
     set(PDAL_JSONCPP_SRC ${PDAL_JSONCPP_INCLUDE_DIR}/jsoncpp.cpp)
diff --git a/cmake/laszip.cmake b/cmake/laszip.cmake
index 1721536..e328538 100644
--- a/cmake/laszip.cmake
+++ b/cmake/laszip.cmake
@@ -4,8 +4,8 @@
 option(WITH_LASZIP "Choose if LASzip support should be built" TRUE)
 option(WITH_STATIC_LASZIP "Choose if LASzip should be statically linked" FALSE)
 mark_as_advanced(WITH_STATIC_LASZIP)
-if(WITH_LASZIP)
-    find_package(LASzip QUIET 1.0.1)
+if (WITH_LASZIP)
+    find_package(LASzip QUIET 3.1.1)
     set_package_properties(LASzip PROPERTIES TYPE RECOMMENDED
         PURPOSE "Provides LASzip compression")
     if(LASZIP_FOUND)
diff --git a/cmake/macros.cmake b/cmake/macros.cmake
index ef3ed9d..0530cde 100644
--- a/cmake/macros.cmake
+++ b/cmake/macros.cmake
@@ -54,6 +54,7 @@ macro(PDAL_ADD_LIBRARY _name)
     set_property(TARGET ${_name} PROPERTY FOLDER "Libraries")
     target_include_directories(${_name} PRIVATE
         ${PDAL_INCLUDE_DIR})
+    PDAL_TARGET_COMPILE_SETTINGS(${_name})
 
     install(TARGETS ${_name}
         EXPORT PDALTargets
@@ -73,6 +74,7 @@ macro(PDAL_ADD_FREE_LIBRARY _name _library_type)
     set_property(TARGET ${_name} PROPERTY FOLDER "Libraries")
     target_include_directories(${_name} PRIVATE
         ${PDAL_INCLUDE_DIR})
+    PDAL_TARGET_COMPILE_SETTINGS(${_name})
 
     install(TARGETS ${_name}
         EXPORT PDALTargets
diff --git a/cmake/matlab.cmake b/cmake/matlab.cmake
new file mode 100644
index 0000000..087140f
--- /dev/null
+++ b/cmake/matlab.cmake
@@ -0,0 +1,11 @@
+#
+# Matlab
+#
+find_library(Matlab REQUIRED)
+find_package(Matlab COMPONENTS MX_LIBRARY ENG_LIBRARY MAT_LIBRARY REQUIRED)
+
+if(Matlab_FOUND)
+    set(CMAKE_REQUIRED_LIBRARIES "${Matlab_LIBRARIES}")
+    include_directories(SYSTEM ${Matlab_INCLUDE_DIRS})
+    add_definitions(-DHAVE_MATLAB=1)
+endif()
diff --git a/cmake/modules/FindLASzip.cmake b/cmake/modules/FindLASzip.cmake
index dc2129f..9596fca 100644
--- a/cmake/modules/FindLASzip.cmake
+++ b/cmake/modules/FindLASzip.cmake
@@ -36,11 +36,9 @@ IF(WIN32)
 ENDIF()
 
 FIND_PATH(LASZIP_INCLUDE_DIR
-  laszip.hpp
+  laszip_api.h
+  NAMES laszip
   PATHS
-  /usr/include/laszip
-  /usr/local/include/laszip
-  ${OSGEO4W_ROOT_DIR}/include/laszip
   /usr/include
   /usr/local/include
   ${OSGEO4W_ROOT_DIR}/include)
@@ -54,29 +52,30 @@ FIND_LIBRARY(LASZIP_LIBRARY
   /usr/local/lib
   ${OSGEO4W_ROOT_DIR}/lib)
 
-IF(LASZIP_INCLUDE_DIR)
+# Comment out laszip.hpp version info
+SET(LASZIP_VERSION_H "${LASZIP_INCLUDE_DIR}/laszip/laszip_api_version.h")
+IF(LASZIP_INCLUDE_DIR AND EXISTS ${LASZIP_VERSION_H})
   SET(LASZIP_VERSION 0)
 
-  SET(LASZIP_VERSION_H "${LASZIP_INCLUDE_DIR}/laszip.hpp")
   FILE(READ ${LASZIP_VERSION_H} LASZIP_VERSION_H_CONTENTS)
 
   IF (DEFINED LASZIP_VERSION_H_CONTENTS)
-    string(REGEX REPLACE ".*#define[ \t]LASZIP_VERSION_MAJOR[ \t]+([0-9]+).*" "\\1" LASZIP_VERSION_MAJOR "${LASZIP_VERSION_H_CONTENTS}")
-    string(REGEX REPLACE ".*#define[ \t]LASZIP_VERSION_MINOR[ \t]+([0-9]+).*" "\\1" LASZIP_VERSION_MINOR "${LASZIP_VERSION_H_CONTENTS}")
-    string(REGEX REPLACE ".*#define[ \t]LASZIP_VERSION_REVISION[ \t]+([0-9]+).*"   "\\1" LASZIP_VERSION_REVISION   "${LASZIP_VERSION_H_CONTENTS}")
+    string(REGEX REPLACE ".*#define[ \t]LASZIP_API_VERSION_MAJOR[ \t]+([0-9]+).*" "\\1" LASZIP_VERSION_MAJOR "${LASZIP_VERSION_H_CONTENTS}")
+    string(REGEX REPLACE ".*#define[ \t]LASZIP_API_VERSION_MINOR[ \t]+([0-9]+).*" "\\1" LASZIP_VERSION_MINOR "${LASZIP_VERSION_H_CONTENTS}")
+    string(REGEX REPLACE ".*#define[ \t]LASZIP_API_VERSION_PATCH[ \t]+([0-9]+).*"   "\\1" LASZIP_VERSION_PATCH   "${LASZIP_VERSION_H_CONTENTS}")
 
-    if(NOT ${LASZIP_VERSION_MAJOR} MATCHES "[0-9]+")
-      message(FATAL_ERROR "LASzip version parsing failed for LASZIP_VERSION_MAJOR!")
+    if(NOT "${LASZIP_VERSION_MAJOR}" MATCHES "^[0-9]+$")
+      message(FATAL_ERROR "LASzip version parsing failed for \"LASZIP_API_VERSION_MAJOR\"")
     endif()
-    if(NOT ${LASZIP_VERSION_MINOR} MATCHES "[0-9]+")
-      message(FATAL_ERROR "LASzip version parsing failed for LASZIP_VERSION_MINOR!")
+    if(NOT "${LASZIP_VERSION_MINOR}" MATCHES "^[0-9]+$")
+      message(FATAL_ERROR "LASzip version parsing failed for \"LASZIP_VERSION_MINOR\"")
     endif()
-    if(NOT ${LASZIP_VERSION_REVISION} MATCHES "[0-9]+")
-      message(FATAL_ERROR "LASzip version parsing failed for LASZIP_VERSION_REVISION!")
+    if(NOT "${LASZIP_VERSION_PATCH}" MATCHES "^[0-9]+$")
+      message(FATAL_ERROR "LASzip version parsing failed for \"LASZIP_VERSION_PATCH\"")
     endif()
 
 
-    SET(LASZIP_VERSION "${LASZIP_VERSION_MAJOR}.${LASZIP_VERSION_MINOR}.${LASZIP_VERSION_REVISION}"
+    SET(LASZIP_VERSION "${LASZIP_VERSION_MAJOR}.${LASZIP_VERSION_MINOR}.${LASZIP_VERSION_PATCH}"
       CACHE INTERNAL "The version string for LASzip library")
 
     IF (LASZIP_VERSION VERSION_LESS LASzip_FIND_VERSION)
@@ -85,7 +84,8 @@ IF(LASZIP_INCLUDE_DIR)
   ELSE()
     MESSAGE(FATAL_ERROR "Failed to open ${LASZIP_VERSION_H} file")
   ENDIF()
-
+ELSE()
+  return()
 ENDIF()
 
 # Handle the QUIETLY and REQUIRED arguments and set LASZIP_FOUND to TRUE
diff --git a/cmake/modules/FindMatlab.cmake b/cmake/modules/FindMatlab.cmake
index 13ffcc9..dbce294 100644
--- a/cmake/modules/FindMatlab.cmake
+++ b/cmake/modules/FindMatlab.cmake
@@ -1,47 +1,1533 @@
-# Finds Matlab's libmat, and nothing more
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#.rst:
+# FindMatlab
+# ----------
+#
+# Finds Matlab installations and provides Matlab tools and libraries to cmake.
+#
+# This package first intention is to find the libraries associated with Matlab
+# in order to be able to build Matlab extensions (mex files). It can also be
+# used:
+#
+# * run specific commands in Matlab
+# * declare Matlab unit test
+# * retrieve various information from Matlab (mex extensions, versions and
+#   release queries, ...)
+#
+# The module supports the following components:
+#
+# * ``MX_LIBRARY``, ``ENG_LIBRARY`` and ``MAT_LIBRARY``: respectively the MX,
+#   ENG and MAT libraries of Matlab
+# * ``MAIN_PROGRAM`` the Matlab binary program.
+# * ``MEX_COMPILER`` the MEX compiler.
+# * ``SIMULINK`` the Simulink environment.
+#
+# .. note::
+#
+#   The version given to the :command:`find_package` directive is the Matlab
+#   **version**, which should not be confused with the Matlab *release* name
+#   (eg. `R2014`).
+#   The :command:`matlab_get_version_from_release_name` and
+#   :command:`matlab_get_release_name_from_version` allow a mapping
+#   from the release name to the version.
+#
+# The variable :variable:`Matlab_ROOT_DIR` may be specified in order to give
+# the path of the desired Matlab version. Otherwise, the behaviour is platform
+# specific:
+#
+# * Windows: The installed versions of Matlab are retrieved from the
+#   Windows registry
+# * OS X: The installed versions of Matlab are given by the MATLAB
+#   paths in ``/Application``. If no such application is found, it falls back
+#   to the one that might be accessible from the PATH.
+# * Unix: The desired Matlab should be accessible from the PATH.
+#
+# Additional information is provided when :variable:`MATLAB_FIND_DEBUG` is set.
+# When a Matlab binary is found automatically and the ``MATLAB_VERSION``
+# is not given, the version is queried from Matlab directly.
+# On Windows, it can make a window running Matlab appear.
+#
+# The mapping of the release names and the version of Matlab is performed by
+# defining pairs (name, version).  The variable
+# :variable:`MATLAB_ADDITIONAL_VERSIONS` may be provided before the call to
+# the :command:`find_package` in order to handle additional versions.
+#
+# A Matlab scripts can be added to the set of tests using the
+# :command:`matlab_add_unit_test`. By default, the Matlab unit test framework
+# will be used (>= 2013a) to run this script, but regular ``.m`` files
+# returning an exit code can be used as well (0 indicating a success).
+#
+# Module Input Variables
+# ^^^^^^^^^^^^^^^^^^^^^^
+#
+# Users or projects may set the following variables to configure the module
+# behaviour:
+#
+# :variable:`Matlab_ROOT_DIR`
+#   the root of the Matlab installation.
+# :variable:`MATLAB_FIND_DEBUG`
+#   outputs debug information
+# :variable:`MATLAB_ADDITIONAL_VERSIONS`
+#   additional versions of Matlab for the automatic retrieval of the installed
+#   versions.
+#
+# Variables defined by the module
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+#
+# Result variables
+# """"""""""""""""
+#
+# ``Matlab_FOUND``
+#   ``TRUE`` if the Matlab installation is found, ``FALSE``
+#   otherwise. All variable below are defined if Matlab is found.
+# ``Matlab_ROOT_DIR``
+#   the final root of the Matlab installation determined by the FindMatlab
+#   module.
+# ``Matlab_MAIN_PROGRAM``
+#   the Matlab binary program. Available only if the component ``MAIN_PROGRAM``
+#   is given in the :command:`find_package` directive.
+# ``Matlab_INCLUDE_DIRS``
+#  the path of the Matlab libraries headers
+# ``Matlab_MEX_LIBRARY``
+#   library for mex, always available.
+# ``Matlab_MX_LIBRARY``
+#   mx library of Matlab (arrays). Available only if the component
+#   ``MX_LIBRARY`` has been requested.
+# ``Matlab_ENG_LIBRARY``
+#   Matlab engine library. Available only if the component ``ENG_LIBRARY``
+#   is requested.
+# ``Matlab_MAT_LIBRARY``
+#   Matlab matrix library. Available only if the component ``MAT_LIBRARY``
+#   is requested.
+# ``Matlab_LIBRARIES``
+#   the whole set of libraries of Matlab
+# ``Matlab_MEX_COMPILER``
+#   the mex compiler of Matlab. Currently not used.
+#   Available only if the component ``MEX_COMPILER`` is asked
+#
+# Cached variables
+# """"""""""""""""
+#
+# ``Matlab_MEX_EXTENSION``
+#   the extension of the mex files for the current platform (given by Matlab).
+# ``Matlab_ROOT_DIR``
+#   the location of the root of the Matlab installation found. If this value
+#   is changed by the user, the result variables are recomputed.
+#
+# Provided macros
+# ^^^^^^^^^^^^^^^
 #
-# This is a custom script for PDAL. CMake's provided FindMatlab doesn't
-# find libmat.
+# :command:`matlab_get_version_from_release_name`
+#   returns the version from the release name
+# :command:`matlab_get_release_name_from_version`
+#   returns the release name from the Matlab version
 #
-# Defines:
+# Provided functions
+# ^^^^^^^^^^^^^^^^^^
 #
-#  MATLAB_INCLUDE_DIR: the Matlab include path
-#  MATLAB_LIBRARIES: path to Matlab libraries
+# :command:`matlab_add_mex`
+#   adds a target compiling a MEX file.
+# :command:`matlab_add_unit_test`
+#   adds a Matlab unit test file as a test to the project.
+# :command:`matlab_extract_all_installed_versions_from_registry`
+#   parses the registry for all Matlab versions. Available on Windows only.
+#   The part of the registry parsed is dependent on the host processor
+# :command:`matlab_get_all_valid_matlab_roots_from_registry`
+#   returns all the possible Matlab paths, according to a previously
+#   given list. Only the existing/accessible paths are kept. This is mainly
+#   useful for the searching all possible Matlab installation.
+# :command:`matlab_get_mex_suffix`
+#   returns the suffix to be used for the mex files
+#   (platform/architecture dependent)
+# :command:`matlab_get_version_from_matlab_run`
+#   returns the version of Matlab, given the full directory of the Matlab
+#   program.
 #
-# Set MATLAB_ROOT to help cmake find the right stuff.
+#
+# Known issues
+# ^^^^^^^^^^^^
+#
+# **Symbol clash in a MEX target**
+#   By default, every symbols inside a MEX
+#   file defined with the command :command:`matlab_add_mex` have hidden
+#   visibility, except for the entry point. This is the default behaviour of
+#   the MEX compiler, which lowers the risk of symbol collision between the
+#   libraries shipped with Matlab, and the libraries to which the MEX file is
+#   linking to. This is also the default on Windows platforms.
+#
+#   However, this is not sufficient in certain case, where for instance your
+#   MEX file is linking against libraries that are already loaded by Matlab,
+#   even if those libraries have different SONAMES.
+#   A possible solution is to hide the symbols of the libraries to which the
+#   MEX target is linking to. This can be achieved in GNU GCC compilers with
+#   the linker option ``-Wl,--exclude-libs,ALL``.
+#
+# **Tests using GPU resources**
+#   in case your MEX file is using the GPU and
+#   in order to be able to run unit tests on this MEX file, the GPU resources
+#   should be properly released by Matlab. A possible solution is to make
+#   Matlab aware of the use of the GPU resources in the session, which can be
+#   performed by a command such as ``D = gpuDevice()`` at the beginning of
+#   the test script (or via a fixture).
+#
+#
+# Reference
+# ^^^^^^^^^
+#
+# .. variable:: Matlab_ROOT_DIR
+#
+#    The root folder of the Matlab installation. If set before the call to
+#    :command:`find_package`, the module will look for the components in that
+#    path. If not set, then an automatic search of Matlab
+#    will be performed. If set, it should point to a valid version of Matlab.
+#
+# .. variable:: MATLAB_FIND_DEBUG
+#
+#    If set, the lookup of Matlab and the intermediate configuration steps are
+#    outputted to the console.
+#
+# .. variable:: MATLAB_ADDITIONAL_VERSIONS
+#
+#   If set, specifies additional versions of Matlab that may be looked for.
+#   The variable should be a list of strings, organised by pairs of release
+#   name and versions, such as follows::
+#
+#     set(MATLAB_ADDITIONAL_VERSIONS
+#         "release_name1=corresponding_version1"
+#         "release_name2=corresponding_version2"
+#         ...
+#         )
+#
+#   Example::
+#
+#     set(MATLAB_ADDITIONAL_VERSIONS
+#         "R2013b=8.2"
+#         "R2013a=8.1"
+#         "R2012b=8.0")
+#
+#   The order of entries in this list matters when several versions of
+#   Matlab are installed. The priority is set according to the ordering in
+#   this list.
+
+set(_FindMatlab_SELF_DIR "${CMAKE_CURRENT_LIST_DIR}")
 
-set(MATLAB_FOUND 0)
+include(FindPackageHandleStandardArgs)
+include(CheckCXXCompilerFlag)
+include(CheckCCompilerFlag)
 
 
-set(MATLAB_EXTERN_DIR ${MATLAB_ROOT}/extern/include)
-if (APPLE)
-    set(MATLAB_LIB_DIR ${MATLAB_ROOT}/bin/maci64)
-elseif (UNIX)
-    set(MATLAB_LIB_DIR ${MATLAB_ROOT}/bin/glnxa64)
+# The currently supported versions. Other version can be added by the user by
+# providing MATLAB_ADDITIONAL_VERSIONS
+if(NOT MATLAB_ADDITIONAL_VERSIONS)
+    set(MATLAB_ADDITIONAL_VERSIONS)
 endif()
 
-message(STATUS ${MATLAB_LIB_DIR})
+set(MATLAB_VERSIONS_MAPPING
+        "R2017b=9.3"
+        "R2017a=9.2"
+        "R2016b=9.1"
+        "R2016a=9.0"
+        "R2015b=8.6"
+        "R2015a=8.5"
+        "R2014b=8.4"
+        "R2014a=8.3"
+        "R2013b=8.2"
+        "R2013a=8.1"
+        "R2012b=8.0"
+        "R2012a=7.14"
 
-find_library(MATLAB_MAT_LIBRARY
-    mat
-    ${MATLAB_LIB_DIR}
+        "R2011b=7.13"
+        "R2011a=7.12"
+        "R2010b=7.11"
+
+        ${MATLAB_ADDITIONAL_VERSIONS}
+        )
+
+
+# temporary folder for all Matlab runs
+set(_matlab_temporary_folder ${CMAKE_BINARY_DIR}/Matlab)
+
+if(NOT EXISTS "${_matlab_temporary_folder}")
+    file(MAKE_DIRECTORY "${_matlab_temporary_folder}")
+endif()
+
+#.rst:
+# .. command:: matlab_get_version_from_release_name
+#
+#   Returns the version of Matlab (17.58) from a release name (R2017k)
+macro (matlab_get_version_from_release_name release_name version_name)
+
+    string(REGEX MATCHALL "${release_name}=([0-9]+\\.?[0-9]*)" _matched ${MATLAB_VERSIONS_MAPPING})
+
+    set(${version_name} "")
+    if(NOT _matched STREQUAL "")
+        set(${version_name} ${CMAKE_MATCH_1})
+    else()
+        message(WARNING "The release name ${release_name} is not registered")
+    endif()
+    unset(_matched)
+
+endmacro()
+
+
+
+
+
+#.rst:
+# .. command:: matlab_get_release_name_from_version
+#
+#   Returns the release name (R2017k) from the version of Matlab (17.58)
+macro (matlab_get_release_name_from_version version release_name)
+
+    set(${release_name} "")
+    foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
+        string(REGEX MATCHALL "(.+)=${version}" _matched ${_var})
+        if(NOT _matched STREQUAL "")
+            set(${release_name} ${CMAKE_MATCH_1})
+            break()
+        endif()
+    endforeach(_var)
+
+    unset(_var)
+    unset(_matched)
+    if(${release_name} STREQUAL "")
+        message(WARNING "The version ${version} is not registered")
+    endif()
+
+endmacro()
+
+
+
+
+
+# extracts all the supported release names (R2017k...) of Matlab
+# internal use
+macro(matlab_get_supported_releases list_releases)
+    set(${list_releases})
+    foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
+        string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
+        if(NOT _matched STREQUAL "")
+            list(APPEND ${list_releases} ${CMAKE_MATCH_1})
+        endif()
+        unset(_matched)
+        unset(CMAKE_MATCH_1)
+    endforeach(_var)
+    unset(_var)
+endmacro()
+
+
+
+# extracts all the supported versions of Matlab
+# internal use
+macro(matlab_get_supported_versions list_versions)
+    set(${list_versions})
+    foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
+        string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
+        if(NOT _matched STREQUAL "")
+            list(APPEND ${list_versions} ${CMAKE_MATCH_2})
+        endif()
+        unset(_matched)
+        unset(CMAKE_MATCH_1)
+    endforeach(_var)
+    unset(_var)
+endmacro()
+
+
+#.rst:
+# .. command:: matlab_extract_all_installed_versions_from_registry
+#
+#   This function parses the registry and founds the Matlab versions that are
+#   installed. The found versions are returned in `matlab_versions`.
+#   Set `win64` to `TRUE` if the 64 bit version of Matlab should be looked for
+#   The returned list contains all versions under
+#   ``HKLM\\SOFTWARE\\Mathworks\\MATLAB`` or an empty list in case an error
+#   occurred (or nothing found).
+#
+#   .. note::
+#
+#     Only the versions are provided. No check is made over the existence of the
+#     installation referenced in the registry,
+#
+function(matlab_extract_all_installed_versions_from_registry win64 matlab_versions)
+
+    if(NOT CMAKE_HOST_WIN32)
+        message(FATAL_ERROR "This macro can only be called by a windows host (call to reg.exe")
+    endif()
+
+
+    if(${win64} AND ${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "64")
+        set(APPEND_REG "/reg:64")
+    else()
+        set(APPEND_REG "/reg:32")
+    endif()
+
+    # /reg:64 should be added on 64 bits capable OSs in order to enable the
+    # redirection of 64 bits applications
+    execute_process(
+            COMMAND reg query HKEY_LOCAL_MACHINE\\SOFTWARE\\Mathworks\\MATLAB /f * /k ${APPEND_REG}
+            RESULT_VARIABLE resultMatlab
+            OUTPUT_VARIABLE varMatlab
+            ERROR_VARIABLE errMatlab
+            INPUT_FILE NUL
     )
-find_library(MATLAB_MX_LIBRARY
-    mx
-    ${MATLAB_LIB_DIR}
+
+
+    set(matlabs_from_registry)
+    if(${resultMatlab} EQUAL 0)
+
+        string(
+                REGEX MATCHALL "MATLAB\\\\([0-9]+(\\.[0-9]+)?)"
+                matlab_versions_regex ${varMatlab})
+
+        foreach(match IN LISTS matlab_versions_regex)
+            string(
+                    REGEX MATCH "MATLAB\\\\(([0-9]+)(\\.([0-9]+))?)"
+                    current_match ${match})
+
+            set(_matlab_current_version ${CMAKE_MATCH_1})
+            set(current_matlab_version_major ${CMAKE_MATCH_2})
+            set(current_matlab_version_minor ${CMAKE_MATCH_4})
+            if(NOT current_matlab_version_minor)
+                set(current_matlab_version_minor "0")
+            endif()
+
+            list(APPEND matlabs_from_registry ${_matlab_current_version})
+            unset(_matlab_current_version)
+        endforeach(match)
+
+    endif()
+
+    if(matlabs_from_registry)
+        list(REMOVE_DUPLICATES matlabs_from_registry)
+        list(SORT matlabs_from_registry)
+        list(REVERSE matlabs_from_registry)
+    endif()
+
+    set(${matlab_versions} ${matlabs_from_registry} PARENT_SCOPE)
+
+endfunction()
+
+
+
+# (internal)
+macro(extract_matlab_versions_from_registry_brute_force matlab_versions)
+    # get the supported versions
+    set(matlab_supported_versions)
+    matlab_get_supported_versions(matlab_supported_versions)
+
+
+    # this is a manual population of the versions we want to look for
+    # this can be done as is, but preferably with the call to
+    # matlab_get_supported_versions and variable
+
+    # populating the versions we want to look for
+    # set(matlab_supported_versions)
+
+    # # Matlab 7
+    # set(matlab_major 7)
+    # foreach(current_matlab_minor RANGE 4 20)
+    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
+    # endforeach(current_matlab_minor)
+
+    # # Matlab 8
+    # set(matlab_major 8)
+    # foreach(current_matlab_minor RANGE 0 5)
+    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
+    # endforeach(current_matlab_minor)
+
+    # # taking into account the possible additional versions provided by the user
+    # if(DEFINED MATLAB_ADDITIONAL_VERSIONS)
+    # list(APPEND matlab_supported_versions MATLAB_ADDITIONAL_VERSIONS)
+    # endif()
+
+
+    # we order from more recent to older
+    if(matlab_supported_versions)
+        list(REMOVE_DUPLICATES matlab_supported_versions)
+        list(SORT matlab_supported_versions)
+        list(REVERSE matlab_supported_versions)
+    endif()
+
+
+    set(${matlab_versions} ${matlab_supported_versions})
+
+
+endmacro()
+
+
+
+
+#.rst:
+# .. command:: matlab_get_all_valid_matlab_roots_from_registry
+#
+#   Populates the Matlab root with valid versions of Matlab.
+#   The returned matlab_roots is organized in pairs
+#   ``(version_number,matlab_root_path)``.
+#
+#   ::
+#
+#     matlab_get_all_valid_matlab_roots_from_registry(
+#         matlab_versions
+#         matlab_roots)
+#
+#   ``matlab_versions``
+#     the versions of each of the Matlab installations
+#   ``matlab_roots``
+#     the location of each of the Matlab installations
+function(matlab_get_all_valid_matlab_roots_from_registry matlab_versions matlab_roots)
+
+    # The matlab_versions comes either from
+    # extract_matlab_versions_from_registry_brute_force or
+    # matlab_extract_all_installed_versions_from_registry.
+
+
+    set(_matlab_roots_list )
+    foreach(_matlab_current_version ${matlab_versions})
+        get_filename_component(
+                current_MATLAB_ROOT
+                "[HKEY_LOCAL_MACHINE\\SOFTWARE\\MathWorks\\MATLAB\\${_matlab_current_version};MATLABROOT]"
+                ABSOLUTE)
+
+        if(EXISTS ${current_MATLAB_ROOT})
+            list(APPEND _matlab_roots_list ${_matlab_current_version} ${current_MATLAB_ROOT})
+        endif()
+
+    endforeach(_matlab_current_version)
+    unset(_matlab_current_version)
+    set(${matlab_roots} ${_matlab_roots_list} PARENT_SCOPE)
+    unset(_matlab_roots_list)
+endfunction()
+
+#.rst:
+# .. command:: matlab_get_mex_suffix
+#
+#   Returns the extension of the mex files (the suffixes).
+#   This function should not be called before the appropriate Matlab root has
+#   been found.
+#
+#   ::
+#
+#     matlab_get_mex_suffix(
+#         matlab_root
+#         mex_suffix)
+#
+#   ``matlab_root``
+#     the root of the Matlab installation
+#   ``mex_suffix``
+#     the variable name in which the suffix will be returned.
+function(matlab_get_mex_suffix matlab_root mex_suffix)
+
+    # todo setup the extension properly. Currently I do not know if this is
+    # sufficient for all win32 distributions.
+    # there is also CMAKE_EXECUTABLE_SUFFIX that could be tweaked
+    set(mexext_suffix "")
+    if(WIN32)
+        list(APPEND mexext_suffix ".bat")
+    endif()
+
+    # we first try without suffix, since cmake does not understand a list with
+    # one empty string element
+    find_program(
+            Matlab_MEXEXTENSIONS_PROG
+            NAMES mexext
+            PATHS ${matlab_root}/bin
+            DOC "Matlab MEX extension provider"
+            NO_DEFAULT_PATH
     )
-find_path(MATHALB_INCLUDE_DIR
-    "mat.h"
-    ${MATLAB_EXTERN_DIR}
+
+    foreach(current_mexext_suffix IN LISTS mexext_suffix)
+        if(NOT DEFINED Matlab_MEXEXTENSIONS_PROG OR NOT Matlab_MEXEXTENSIONS_PROG)
+            # this call should populate the cache automatically
+            find_program(
+                    Matlab_MEXEXTENSIONS_PROG
+                    "mexext${current_mexext_suffix}"
+                    PATHS ${matlab_root}/bin
+                    DOC "Matlab MEX extension provider"
+                    NO_DEFAULT_PATH
+            )
+        endif()
+    endforeach(current_mexext_suffix)
+
+
+    # the program has been found?
+    if((NOT Matlab_MEXEXTENSIONS_PROG) OR (NOT EXISTS ${Matlab_MEXEXTENSIONS_PROG}))
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Cannot found mexext program. Matlab root is ${matlab_root}")
+        endif()
+        unset(Matlab_MEXEXTENSIONS_PROG CACHE)
+        return()
+    endif()
+
+    set(_matlab_mex_extension)
+
+    set(devnull)
+    if(UNIX)
+        set(devnull INPUT_FILE /dev/null)
+    elseif(WIN32)
+        set(devnull INPUT_FILE NUL)
+    endif()
+
+    execute_process(
+            COMMAND ${Matlab_MEXEXTENSIONS_PROG}
+            OUTPUT_VARIABLE _matlab_mex_extension
+            ERROR_VARIABLE _matlab_mex_extension_error
+            ${devnull})
+    string(STRIP ${_matlab_mex_extension} _matlab_mex_extension)
+
+    unset(Matlab_MEXEXTENSIONS_PROG CACHE)
+    set(${mex_suffix} ${_matlab_mex_extension} PARENT_SCOPE)
+endfunction()
+
+
+
+
+#.rst:
+# .. command:: matlab_get_version_from_matlab_run
+#
+#   This function runs Matlab program specified on arguments and extracts its
+#   version.
+#
+#   ::
+#
+#     matlab_get_version_from_matlab_run(
+#         matlab_binary_path
+#         matlab_list_versions)
+#
+#   ``matlab_binary_path``
+#     the location of the `matlab` binary executable
+#   ``matlab_list_versions``
+#     the version extracted from Matlab
+function(matlab_get_version_from_matlab_run matlab_binary_program matlab_list_versions)
+
+    set(${matlab_list_versions} "" PARENT_SCOPE)
+
+
+    if(MATLAB_FIND_DEBUG)
+        message(STATUS "[MATLAB] Determining the version of Matlab from ${matlab_binary_program}")
+    endif()
+
+    if(EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
+        if(MATLAB_FIND_DEBUG)
+            message(STATUS "[MATLAB] Removing previous ${_matlab_temporary_folder}/matlabVersionLog.cmaketmp file")
+        endif()
+        file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
+    endif()
+
+
+    # the log file is needed since on windows the command executes in a new
+    # window and it is not possible to get back the answer of Matlab
+    # the -wait command is needed on windows, otherwise the call returns
+    # immediately after the program launches itself.
+    if(WIN32)
+        set(_matlab_additional_commands "-wait")
+    endif()
+
+    set(devnull)
+    if(UNIX)
+        set(devnull INPUT_FILE /dev/null)
+    elseif(WIN32)
+        set(devnull INPUT_FILE NUL)
+    endif()
+
+    # timeout set to 120 seconds, in case it does not start
+    # note as said before OUTPUT_VARIABLE cannot be used in a platform
+    # independent manner however, not setting it would flush the output of Matlab
+    # in the current console (unix variant)
+    execute_process(
+            COMMAND "${matlab_binary_program}" -nosplash -nojvm ${_matlab_additional_commands} -logfile "matlabVersionLog.cmaketmp" -nodesktop -nodisplay -r "version, exit"
+            OUTPUT_VARIABLE _matlab_version_from_cmd_dummy
+            RESULT_VARIABLE _matlab_result_version_call
+            ERROR_VARIABLE _matlab_result_version_call_error
+            TIMEOUT 120
+            WORKING_DIRECTORY "${_matlab_temporary_folder}"
+            ${devnull}
     )
 
-set(MATLAB_LIBRARIES
-    ${MATLAB_MAT_LIBRARY}
-    ${MATLAB_MX_LIBRARY}
+    if("${_matlab_result_version_call}" MATCHES "timeout")
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Unable to determine the version of Matlab."
+                    " Matlab call timed out after 120 seconds.")
+        endif()
+        return()
+    endif()
+
+    if(${_matlab_result_version_call})
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Unable to determine the version of Matlab. Matlab call returned with error ${_matlab_result_version_call}.")
+        endif()
+        return()
+    elseif(NOT EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Unable to determine the version of Matlab. The log file does not exist.")
+        endif()
+        return()
+    endif()
+
+    # if successful, read back the log
+    file(READ "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp" _matlab_version_from_cmd)
+    file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
+
+    set(index -1)
+    string(FIND ${_matlab_version_from_cmd} "ans" index)
+    if(index EQUAL -1)
+
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Cannot find the version of Matlab returned by the run.")
+        endif()
+
+    else()
+        set(matlab_list_of_all_versions_tmp)
+
+        string(SUBSTRING ${_matlab_version_from_cmd} ${index} -1 substring_ans)
+        string(
+                REGEX MATCHALL "ans[\r\n\t ]*=[\r\n\t ]*([0-9]+(\\.[0-9]+)?)"
+                matlab_versions_regex
+                ${substring_ans})
+        foreach(match IN LISTS matlab_versions_regex)
+            string(
+                    REGEX MATCH "ans[\r\n\t ]*=[\r\n\t ]*(([0-9]+)(\\.([0-9]+))?)"
+                    current_match ${match})
+
+            list(APPEND matlab_list_of_all_versions_tmp ${CMAKE_MATCH_1})
+        endforeach()
+        if(matlab_list_of_all_versions_tmp)
+            list(REMOVE_DUPLICATES matlab_list_of_all_versions_tmp)
+        endif()
+        set(${matlab_list_versions} ${matlab_list_of_all_versions_tmp} PARENT_SCOPE)
+
+    endif()
+
+endfunction()
+
+#.rst:
+# .. command:: matlab_add_unit_test
+#
+#   Adds a Matlab unit test to the test set of cmake/ctest.
+#   This command requires the component ``MAIN_PROGRAM``.
+#   The unit test uses the Matlab unittest framework (default, available
+#   starting Matlab 2013b+) except if the option ``NO_UNITTEST_FRAMEWORK``
+#   is given.
+#
+#   The function expects one Matlab test script file to be given.
+#   In the case ``NO_UNITTEST_FRAMEWORK`` is given, the unittest script file
+#   should contain the script to be run, plus an exit command with the exit
+#   value. This exit value will be passed to the ctest framework (0 success,
+#   non 0 failure). Additional arguments accepted by :command:`add_test` can be
+#   passed through ``TEST_ARGS`` (eg. ``CONFIGURATION <config> ...``).
+#
+#   ::
+#
+#     matlab_add_unit_test(
+#         NAME <name>
+#         UNITTEST_FILE matlab_file_containing_unittest.m
+#         [CUSTOM_MATLAB_COMMAND matlab_command_to_run_as_test]
+#         [UNITTEST_PRECOMMAND matlab_command_to_run]
+#         [TIMEOUT timeout]
+#         [ADDITIONAL_PATH path1 [path2 ...]]
+#         [MATLAB_ADDITIONAL_STARTUP_OPTIONS option1 [option2 ...]]
+#         [TEST_ARGS arg1 [arg2 ...]]
+#         [NO_UNITTEST_FRAMEWORK]
+#         )
+#
+#   The function arguments are:
+#
+#   ``NAME``
+#     name of the unittest in ctest.
+#   ``UNITTEST_FILE``
+#     the matlab unittest file. Its path will be automatically
+#     added to the Matlab path.
+#   ``CUSTOM_MATLAB_COMMAND``
+#     Matlab script command to run as the test.
+#     If this is not set, then the following is run:
+#     ``runtests('matlab_file_name'), exit(max([ans(1,:).Failed]))``
+#     where ``matlab_file_name`` is the ``UNITTEST_FILE`` without the extension.
+#   ``UNITTEST_PRECOMMAND``
+#     Matlab script command to be ran before the file
+#     containing the test (eg. GPU device initialisation based on CMake
+#     variables).
+#   ``TIMEOUT``
+#     the test timeout in seconds. Defaults to 180 seconds as the
+#     Matlab unit test may hang.
+#   ``ADDITIONAL_PATH``
+#     a list of paths to add to the Matlab path prior to
+#     running the unit test.
+#   ``MATLAB_ADDITIONAL_STARTUP_OPTIONS``
+#     a list of additional option in order
+#     to run Matlab from the command line.
+#     ``-nosplash -nodesktop -nodisplay`` are always added.
+#   ``TEST_ARGS``
+#     Additional options provided to the add_test command. These
+#     options are added to the default options (eg. "CONFIGURATIONS Release")
+#   ``NO_UNITTEST_FRAMEWORK``
+#     when set, indicates that the test should not
+#     use the unittest framework of Matlab (available for versions >= R2013a).
+#   ``WORKING_DIRECTORY``
+#     This will be the working directory for the test. If specified it will
+#     also be the output directory used for the log file of the test run.
+#     If not specifed the temporary directory ``${CMAKE_BINARY_DIR}/Matlab`` will
+#     be used as the working directory and the log location.
+#
+function(matlab_add_unit_test)
+
+    if(NOT Matlab_MAIN_PROGRAM)
+        message(FATAL_ERROR "[MATLAB] This functionality needs the MAIN_PROGRAM component (not default)")
+    endif()
+
+    set(options NO_UNITTEST_FRAMEWORK)
+    set(oneValueArgs NAME UNITTEST_FILE TIMEOUT WORKING_DIRECTORY
+            UNITTEST_PRECOMMAND CUSTOM_TEST_COMMAND)
+    set(multiValueArgs ADDITIONAL_PATH MATLAB_ADDITIONAL_STARTUP_OPTIONS TEST_ARGS)
+
+    set(prefix _matlab_unittest_prefix)
+    cmake_parse_arguments(PARSE_ARGV 0 ${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" )
+
+    if(NOT ${prefix}_NAME)
+        message(FATAL_ERROR "[MATLAB] The Matlab test name cannot be empty")
+    endif()
+
+    add_test(NAME ${${prefix}_NAME}
+            COMMAND ${CMAKE_COMMAND}
+            "-Dtest_name=${${prefix}_NAME}"
+            "-Dadditional_paths=${${prefix}_ADDITIONAL_PATH}"
+            "-Dtest_timeout=${${prefix}_TIMEOUT}"
+            "-Doutput_directory=${_matlab_temporary_folder}"
+            "-Dworking_directory=${${prefix}_WORKING_DIRECTORY}"
+            "-DMatlab_PROGRAM=${Matlab_MAIN_PROGRAM}"
+            "-Dno_unittest_framework=${${prefix}_NO_UNITTEST_FRAMEWORK}"
+            "-DMatlab_ADDITIONAL_STARTUP_OPTIONS=${${prefix}_MATLAB_ADDITIONAL_STARTUP_OPTIONS}"
+            "-Dunittest_file_to_run=${${prefix}_UNITTEST_FILE}"
+            "-Dcustom_Matlab_test_command=${${prefix}_CUSTOM_TEST_COMMAND}"
+            "-Dcmd_to_run_before_test=${${prefix}_UNITTEST_PRECOMMAND}"
+            -P ${_FindMatlab_SELF_DIR}/MatlabTestsRedirect.cmake
+            ${${prefix}_TEST_ARGS}
+            ${${prefix}_UNPARSED_ARGUMENTS}
+            )
+endfunction()
+
+
+#.rst:
+# .. command:: matlab_add_mex
+#
+#   Adds a Matlab MEX target.
+#   This commands compiles the given sources with the current tool-chain in
+#   order to produce a MEX file. The final name of the produced output may be
+#   specified, as well as additional link libraries, and a documentation entry
+#   for the MEX file. Remaining arguments of the call are passed to the
+#   :command:`add_library` or :command:`add_executable` command.
+#
+#   ::
+#
+#      matlab_add_mex(
+#          NAME <name>
+#          [EXECUTABLE | MODULE | SHARED]
+#          SRC src1 [src2 ...]
+#          [OUTPUT_NAME output_name]
+#          [DOCUMENTATION file.txt]
+#          [LINK_TO target1 target2 ...]
+#          [...]
+#      )
+#
+#   ``NAME``
+#     name of the target.
+#   ``SRC``
+#     list of source files.
+#   ``LINK_TO``
+#     a list of additional link dependencies.  The target links to ``libmex``
+#     by default. If ``Matlab_MX_LIBRARY`` is defined, it also
+#     links to ``libmx``.
+#   ``OUTPUT_NAME``
+#     if given, overrides the default name. The default name is
+#     the name of the target without any prefix and
+#     with ``Matlab_MEX_EXTENSION`` suffix.
+#   ``DOCUMENTATION``
+#     if given, the file ``file.txt`` will be considered as
+#     being the documentation file for the MEX file. This file is copied into
+#     the same folder without any processing, with the same name as the final
+#     mex file, and with extension `.m`. In that case, typing ``help <name>``
+#     in Matlab prints the documentation contained in this file.
+#   ``MODULE`` or ``SHARED`` may be given to specify the type of library to be
+#     created. ``EXECUTABLE`` may be given to create an executable instead of
+#     a library. If no type is given explicitly, the type is ``SHARED``.
+#
+#   The documentation file is not processed and should be in the following
+#   format:
+#
+#   ::
+#
+#     % This is the documentation
+#     function ret = mex_target_output_name(input1)
+#
+function(matlab_add_mex)
+
+    if(NOT WIN32)
+        # we do not need all this on Windows
+        # pthread options
+        if(CMAKE_CXX_COMPILER_LOADED)
+            check_cxx_compiler_flag(-pthread HAS_MINUS_PTHREAD)
+        elseif(CMAKE_C_COMPILER_LOADED)
+            check_c_compiler_flag(-pthread HAS_MINUS_PTHREAD)
+        endif()
+        # we should use try_compile instead, the link flags are discarded from
+        # this compiler_flag function.
+        #check_cxx_compiler_flag(-Wl,--exclude-libs,ALL HAS_SYMBOL_HIDING_CAPABILITY)
+
+    endif()
+
+    set(options EXECUTABLE MODULE SHARED)
+    set(oneValueArgs NAME DOCUMENTATION OUTPUT_NAME)
+    set(multiValueArgs LINK_TO SRC)
+
+    set(prefix _matlab_addmex_prefix)
+    cmake_parse_arguments(${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
+
+    if(NOT ${prefix}_NAME)
+        message(FATAL_ERROR "[MATLAB] The MEX target name cannot be empty")
+    endif()
+
+    if(NOT ${prefix}_OUTPUT_NAME)
+        set(${prefix}_OUTPUT_NAME ${${prefix}_NAME})
+    endif()
+
+    if(${prefix}_EXECUTABLE)
+        add_executable(${${prefix}_NAME}
+                ${${prefix}_SRC}
+                ${${prefix}_DOCUMENTATION}
+                ${${prefix}_UNPARSED_ARGUMENTS})
+    else()
+        if(${prefix}_MODULE)
+            set(type MODULE)
+        else()
+            set(type SHARED)
+        endif()
+
+        add_library(${${prefix}_NAME}
+                ${type}
+                ${${prefix}_SRC}
+                ${${prefix}_DOCUMENTATION}
+                ${${prefix}_UNPARSED_ARGUMENTS})
+    endif()
+
+    target_include_directories(${${prefix}_NAME} PRIVATE ${Matlab_INCLUDE_DIRS})
+
+    if(DEFINED Matlab_MX_LIBRARY)
+        target_link_libraries(${${prefix}_NAME} ${Matlab_MX_LIBRARY})
+    endif()
+
+    target_link_libraries(${${prefix}_NAME} ${Matlab_MEX_LIBRARY} ${${prefix}_LINK_TO})
+    set_target_properties(${${prefix}_NAME}
+            PROPERTIES
+            PREFIX ""
+            OUTPUT_NAME ${${prefix}_OUTPUT_NAME}
+            SUFFIX ".${Matlab_MEX_EXTENSION}")
+
+
+    # documentation
+    if(NOT ${${prefix}_DOCUMENTATION} STREQUAL "")
+        get_target_property(output_name ${${prefix}_NAME} OUTPUT_NAME)
+        add_custom_command(
+                TARGET ${${prefix}_NAME}
+                PRE_BUILD
+                COMMAND ${CMAKE_COMMAND} -E copy_if_different ${${prefix}_DOCUMENTATION} $<TARGET_FILE_DIR:${${prefix}_NAME}>/${output_name}.m
+                COMMENT "Copy ${${prefix}_NAME} documentation file into the output folder"
+        )
+    endif() # documentation
+
+    # entry point in the mex file + taking care of visibility and symbol clashes.
+    if(WIN32)
+        set_target_properties(${${prefix}_NAME}
+                PROPERTIES
+                DEFINE_SYMBOL "DLL_EXPORT_SYM=__declspec(dllexport)")
+    else()
+
+        if(HAS_MINUS_PTHREAD AND NOT APPLE)
+            # Apparently, compiling with -pthread generated the proper link flags
+            # and some defines at compilation
+            target_compile_options(${${prefix}_NAME} PRIVATE "-pthread")
+        endif()
+
+
+        # if we do not do that, the symbols linked from eg. boost remain weak and
+        # then clash with the ones defined in the matlab process. So by default
+        # the symbols are hidden.
+        # This also means that for shared libraries (like MEX), the entry point
+        # should be explicitly declared with default visibility, otherwise Matlab
+        # cannot find the entry point.
+        # Note that this is particularly meaningful if the MEX wrapper itself
+        # contains symbols that are clashing with Matlab (that are compiled in the
+        # MEX file). In order to propagate the visibility options to the libraries
+        # to which the MEX file is linked against, the -Wl,--exclude-libs,ALL
+        # option should also be specified.
+
+        set_target_properties(${${prefix}_NAME}
+                PROPERTIES
+                CXX_VISIBILITY_PRESET "hidden"
+                C_VISIBILITY_PRESET "hidden"
+                VISIBILITY_INLINES_HIDDEN ON
+                )
+
+        #  get_target_property(
+        #    _previous_link_flags
+        #    ${${prefix}_NAME}
+        #    LINK_FLAGS)
+        #  if(NOT _previous_link_flags)
+        #    set(_previous_link_flags)
+        #  endif()
+
+        #  if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+        #    set_target_properties(${${prefix}_NAME}
+        #      PROPERTIES
+        #        LINK_FLAGS "${_previous_link_flags} -Wl,--exclude-libs,ALL"
+        #        # -Wl,--version-script=${_FindMatlab_SELF_DIR}/MatlabLinuxVisibility.map"
+        #    )
+        #  elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+        #    # in this case, all other symbols become hidden.
+        #    set_target_properties(${${prefix}_NAME}
+        #      PROPERTIES
+        #        LINK_FLAGS "${_previous_link_flags} -Wl,-exported_symbol,_mexFunction"
+        #        #-Wl,-exported_symbols_list,${_FindMatlab_SELF_DIR}/MatlabOSXVisilibity.map"
+        #    )
+        #  endif()
+
+
+
+        set_target_properties(${${prefix}_NAME}
+                PROPERTIES
+                DEFINE_SYMBOL "DLL_EXPORT_SYM=__attribute__ ((visibility (\"default\")))"
+                )
+
+
+    endif()
+
+endfunction()
+
+
+# (internal)
+# Used to get the version of matlab, using caching. This basically transforms the
+# output of the root list, with possible unknown version, to a version
+#
+function(_Matlab_get_version_from_root matlab_root matlab_known_version matlab_final_version)
+
+    # if the version is not trivial, we query matlab for that
+    # we keep track of the location of matlab that induced this version
+    #if(NOT DEFINED Matlab_PROG_VERSION_STRING_AUTO_DETECT)
+    #  set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version")
+    #endif()
+
+    if(NOT ${matlab_known_version} STREQUAL "NOTFOUND")
+        # the version is known, we just return it
+        set(${matlab_final_version} ${matlab_known_version} PARENT_SCOPE)
+        set(Matlab_VERSION_STRING_INTERNAL ${matlab_known_version} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
+        return()
+    endif()
+
+    #
+    set(_matlab_current_program ${Matlab_MAIN_PROGRAM})
+
+    # do we already have a matlab program?
+    if(NOT _matlab_current_program)
+
+        set(_find_matlab_options)
+        if(matlab_root AND EXISTS ${matlab_root})
+            set(_find_matlab_options PATHS ${matlab_root} ${matlab_root}/bin NO_DEFAULT_PATH)
+        endif()
+
+        find_program(
+                _matlab_current_program
+                matlab
+                ${_find_matlab_options}
+                DOC "Matlab main program"
+        )
+    endif()
+
+    if(NOT _matlab_current_program OR NOT EXISTS ${_matlab_current_program})
+        # if not found, clear the dependent variables
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] Cannot find the main matlab program under ${matlab_root}")
+        endif()
+        set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
+        set(Matlab_VERSION_STRING_INTERNAL "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
+        unset(_matlab_current_program)
+        unset(_matlab_current_program CACHE)
+        return()
+    endif()
+
+    # full real path for path comparison
+    get_filename_component(_matlab_main_real_path_tmp "${_matlab_current_program}" REALPATH)
+    unset(_matlab_current_program)
+    unset(_matlab_current_program CACHE)
+
+    # is it the same as the previous one?
+    if(_matlab_main_real_path_tmp STREQUAL Matlab_PROG_VERSION_STRING_AUTO_DETECT)
+        set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
+        return()
+    endif()
+
+    # update the location of the program
+    set(Matlab_PROG_VERSION_STRING_AUTO_DETECT ${_matlab_main_real_path_tmp} CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
+
+    set(matlab_list_of_all_versions)
+    matlab_get_version_from_matlab_run("${Matlab_PROG_VERSION_STRING_AUTO_DETECT}" matlab_list_of_all_versions)
+
+    list(LENGTH matlab_list_of_all_versions list_of_all_versions_length)
+    if(${list_of_all_versions_length} GREATER 0)
+        list(GET matlab_list_of_all_versions 0 _matlab_version_tmp)
+    else()
+        set(_matlab_version_tmp "unknown")
+    endif()
+
+    # set the version into the cache
+    set(Matlab_VERSION_STRING_INTERNAL ${_matlab_version_tmp} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
+
+    # warning, just in case several versions found (should not happen)
+    if((${list_of_all_versions_length} GREATER 1) AND MATLAB_FIND_DEBUG)
+        message(WARNING "[MATLAB] Found several versions, taking the first one (versions found ${matlab_list_of_all_versions})")
+    endif()
+
+    # return the updated value
+    set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
+
+endfunction()
+
+
+
+
+
+
+
+# ###################################
+# Exploring the possible Matlab_ROOTS
+
+# this variable will get all Matlab installations found in the current system.
+set(_matlab_possible_roots)
+
+
+
+if(Matlab_ROOT_DIR)
+    # if the user specifies a possible root, we keep this one
+
+    if(NOT EXISTS ${Matlab_ROOT_DIR})
+        # if Matlab_ROOT_DIR specified but erroneous
+        if(MATLAB_FIND_DEBUG)
+            message(WARNING "[MATLAB] the specified path for Matlab_ROOT_DIR does not exist (${Matlab_ROOT_DIR})")
+        endif()
+    else()
+        # NOTFOUND indicates the code below to search for the version automatically
+        if("${Matlab_VERSION_STRING_INTERNAL}" STREQUAL "")
+            list(APPEND _matlab_possible_roots "NOTFOUND" ${Matlab_ROOT_DIR}) # empty version
+        else()
+            list(APPEND _matlab_possible_roots ${Matlab_VERSION_STRING_INTERNAL} ${Matlab_ROOT_DIR}) # cached version
+        endif()
+    endif()
+
+
+else()
+
+    # if the user does not specify the possible installation root, we look for
+    # one installation using the appropriate heuristics
+
+    if(WIN32)
+
+        # On WIN32, we look for Matlab installation in the registry
+        # if unsuccessful, we look for all known revision and filter the existing
+        # ones.
+
+        # testing if we are able to extract the needed information from the registry
+        set(_matlab_versions_from_registry)
+        matlab_extract_all_installed_versions_from_registry(CMAKE_CL_64 _matlab_versions_from_registry)
+
+        # the returned list is empty, doing the search on all known versions
+        if(NOT _matlab_versions_from_registry)
+
+            if(MATLAB_FIND_DEBUG)
+                message(STATUS "[MATLAB] Search for Matlab from the registry unsuccessful, testing all supported versions")
+            endif()
+
+            extract_matlab_versions_from_registry_brute_force(_matlab_versions_from_registry)
+        endif()
+
+        # filtering the results with the registry keys
+        matlab_get_all_valid_matlab_roots_from_registry("${_matlab_versions_from_registry}" _matlab_possible_roots)
+        unset(_matlab_versions_from_registry)
+
+    elseif(APPLE)
+
+        # on mac, we look for the /Application paths
+        # this corresponds to the behaviour on Windows. On Linux, we do not have
+        # any other guess.
+        matlab_get_supported_releases(_matlab_releases)
+        if(MATLAB_FIND_DEBUG)
+            message(STATUS "[MATLAB] Matlab supported versions ${_matlab_releases}. If more version should be supported "
+                    "the variable MATLAB_ADDITIONAL_VERSIONS can be set according to the documentation")
+        endif()
+
+        foreach(_matlab_current_release IN LISTS _matlab_releases)
+            set(_matlab_full_string "/Applications/MATLAB_${_matlab_current_release}.app")
+            if(EXISTS ${_matlab_full_string})
+                set(_matlab_current_version)
+                matlab_get_version_from_release_name("${_matlab_current_release}" _matlab_current_version)
+                if(MATLAB_FIND_DEBUG)
+                    message(STATUS "[MATLAB] Found version ${_matlab_current_release} (${_matlab_current_version}) in ${_matlab_full_string}")
+                endif()
+                list(APPEND _matlab_possible_roots ${_matlab_current_version} ${_matlab_full_string})
+                unset(_matlab_current_version)
+            endif()
+
+            unset(_matlab_full_string)
+        endforeach(_matlab_current_release)
+
+        unset(_matlab_current_release)
+        unset(_matlab_releases)
+
+    endif()
+
+endif()
+
+
+
+list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
+if(_numbers_of_matlab_roots EQUAL 0)
+    # if we have not found anything, we fall back on the PATH
+
+
+    # At this point, we have no other choice than trying to find it from PATH.
+    # If set by the user, this wont change
+    find_program(
+            _matlab_main_tmp
+            NAMES matlab)
+
+
+    if(_matlab_main_tmp)
+        # we then populate the list of roots, with empty version
+        if(MATLAB_FIND_DEBUG)
+            message(STATUS "[MATLAB] matlab found from PATH: ${_matlab_main_tmp}")
+        endif()
+
+        # resolve symlinks
+        get_filename_component(_matlab_current_location "${_matlab_main_tmp}" REALPATH)
+
+        # get the directory (the command below has to be run twice)
+        # this will be the matlab root
+        get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY)
+        get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY) # Matlab should be in bin
+
+        list(APPEND _matlab_possible_roots "NOTFOUND" ${_matlab_current_location})
+
+        unset(_matlab_current_location)
+
+    endif()
+    unset(_matlab_main_tmp CACHE)
+
+endif()
+
+
+
+
+
+if(MATLAB_FIND_DEBUG)
+    message(STATUS "[MATLAB] Matlab root folders are ${_matlab_possible_roots}")
+endif()
+
+
+
+
+
+# take the first possible Matlab root
+list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
+set(Matlab_VERSION_STRING "NOTFOUND")
+if(_numbers_of_matlab_roots GREATER 0)
+    list(GET _matlab_possible_roots 0 Matlab_VERSION_STRING)
+    list(GET _matlab_possible_roots 1 Matlab_ROOT_DIR)
+
+    # adding a warning in case of ambiguity
+    if(_numbers_of_matlab_roots GREATER 2 AND MATLAB_FIND_DEBUG)
+        message(WARNING "[MATLAB] Found several distributions of Matlab. Setting the current version to ${Matlab_VERSION_STRING} (located ${Matlab_ROOT_DIR})."
+                " If this is not the desired behaviour, provide the -DMatlab_ROOT_DIR=... on the command line")
+    endif()
+endif()
+
+
+# check if the root changed wrt. the previous defined one, if so
+# clear all the cached variables for being able to reconfigure properly
+if(DEFINED Matlab_ROOT_DIR_LAST_CACHED)
+
+    if(NOT Matlab_ROOT_DIR_LAST_CACHED STREQUAL Matlab_ROOT_DIR)
+        set(_Matlab_cached_vars
+                Matlab_INCLUDE_DIRS
+                Matlab_MEX_LIBRARY
+                Matlab_MEX_COMPILER
+                Matlab_MAIN_PROGRAM
+                Matlab_MX_LIBRARY
+                Matlab_ENG_LIBRARY
+                Matlab_MAT_LIBRARY
+                Matlab_MEX_EXTENSION
+                Matlab_SIMULINK_INCLUDE_DIR
+
+                # internal
+                Matlab_MEXEXTENSIONS_PROG
+                Matlab_ROOT_DIR_LAST_CACHED
+                #Matlab_PROG_VERSION_STRING_AUTO_DETECT
+                Matlab_VERSION_STRING_INTERNAL
+                )
+        foreach(_var IN LISTS _Matlab_cached_vars)
+            if(DEFINED ${_var})
+                unset(${_var} CACHE)
+            endif()
+        endforeach()
+    endif()
+endif()
+
+set(Matlab_ROOT_DIR_LAST_CACHED ${Matlab_ROOT_DIR} CACHE INTERNAL "last Matlab root dir location")
+set(Matlab_ROOT_DIR ${Matlab_ROOT_DIR} CACHE PATH "Matlab installation root path" FORCE)
+
+# Fix the version, in case this one is NOTFOUND
+_Matlab_get_version_from_root(
+        "${Matlab_ROOT_DIR}"
+        ${Matlab_VERSION_STRING}
+        Matlab_VERSION_STRING
+)
+
+
+
+
+if(MATLAB_FIND_DEBUG)
+    message(STATUS "[MATLAB] Current version is ${Matlab_VERSION_STRING} located ${Matlab_ROOT_DIR}")
+endif()
+
+
+
+if(Matlab_ROOT_DIR)
+    file(TO_CMAKE_PATH ${Matlab_ROOT_DIR} Matlab_ROOT_DIR)
+endif()
+
+if(CMAKE_SIZEOF_VOID_P EQUAL 4)
+    set(_matlab_64Build FALSE)
+else()
+    set(_matlab_64Build TRUE)
+endif()
+
+if(APPLE)
+    set(_matlab_bin_prefix "mac") # i should be for intel
+    set(_matlab_bin_suffix_32bits "i")
+    set(_matlab_bin_suffix_64bits "i64")
+elseif(UNIX)
+    set(_matlab_bin_prefix "gln")
+    set(_matlab_bin_suffix_32bits "x86")
+    set(_matlab_bin_suffix_64bits "xa64")
+else()
+    set(_matlab_bin_prefix "win")
+    set(_matlab_bin_suffix_32bits "32")
+    set(_matlab_bin_suffix_64bits "64")
+endif()
+
+
+
+set(MATLAB_INCLUDE_DIR_TO_LOOK ${Matlab_ROOT_DIR}/extern/include)
+if(_matlab_64Build)
+    set(_matlab_current_suffix ${_matlab_bin_suffix_64bits})
+else()
+    set(_matlab_current_suffix ${_matlab_bin_suffix_32bits})
+endif()
+
+set(Matlab_BINARIES_DIR
+        ${Matlab_ROOT_DIR}/bin/${_matlab_bin_prefix}${_matlab_current_suffix})
+set(Matlab_EXTERN_LIBRARY_DIR
+        ${Matlab_ROOT_DIR}/extern/lib/${_matlab_bin_prefix}${_matlab_current_suffix})
+
+if(WIN32)
+    if(MINGW)
+        set(_matlab_lib_dir_for_search ${Matlab_EXTERN_LIBRARY_DIR}/mingw64)
+    else()
+        set(_matlab_lib_dir_for_search ${Matlab_EXTERN_LIBRARY_DIR}/microsoft)
+    endif()
+    set(_matlab_lib_prefix_for_search "lib")
+else()
+    set(_matlab_lib_dir_for_search ${Matlab_BINARIES_DIR})
+    set(_matlab_lib_prefix_for_search "lib")
+endif()
+
+unset(_matlab_64Build)
+
+
+if(NOT DEFINED Matlab_MEX_EXTENSION)
+    set(_matlab_mex_extension "")
+    matlab_get_mex_suffix("${Matlab_ROOT_DIR}" _matlab_mex_extension)
+
+    # This variable goes to the cache.
+    set(Matlab_MEX_EXTENSION ${_matlab_mex_extension} CACHE STRING "Extensions for the mex targets (automatically given by Matlab)")
+    unset(_matlab_mex_extension)
+endif()
+
+
+if(MATLAB_FIND_DEBUG)
+    message(STATUS "[MATLAB] [DEBUG]_matlab_lib_prefix_for_search = ${_matlab_lib_prefix_for_search} | _matlab_lib_dir_for_search = ${_matlab_lib_dir_for_search}")
+endif()
+
+
+
+# internal
+# This small stub around find_library is to prevent any pollution of CMAKE_FIND_LIBRARY_PREFIXES in the global scope.
+# This is the function to be used below instead of the find_library directives.
+function(_Matlab_find_library _matlab_library_prefix)
+    set(CMAKE_FIND_LIBRARY_PREFIXES ${CMAKE_FIND_LIBRARY_PREFIXES} ${_matlab_library_prefix})
+    find_library(${ARGN})
+endfunction()
+
+
+set(_matlab_required_variables)
+
+
+# the MEX library/header are required
+find_path(
+        Matlab_INCLUDE_DIRS
+        mex.h
+        PATHS ${MATLAB_INCLUDE_DIR_TO_LOOK}
+        NO_DEFAULT_PATH
+)
+list(APPEND _matlab_required_variables Matlab_INCLUDE_DIRS)
+
+_Matlab_find_library(
+        ${_matlab_lib_prefix_for_search}
+        Matlab_MEX_LIBRARY
+        mex
+        PATHS ${_matlab_lib_dir_for_search}
+        NO_DEFAULT_PATH
+)
+
+list(APPEND _matlab_required_variables Matlab_MEX_LIBRARY)
+
+# the MEX extension is required
+list(APPEND _matlab_required_variables Matlab_MEX_EXTENSION)
+
+# the matlab root is required
+list(APPEND _matlab_required_variables Matlab_ROOT_DIR)
+
+# component Mex Compiler
+list(FIND Matlab_FIND_COMPONENTS MEX_COMPILER _matlab_find_mex_compiler)
+if(_matlab_find_mex_compiler GREATER -1)
+    find_program(
+            Matlab_MEX_COMPILER
+            "mex"
+            PATHS ${Matlab_BINARIES_DIR}
+            DOC "Matlab MEX compiler"
+            NO_DEFAULT_PATH
     )
-mark_as_advanced(MATLAB_LIBRARIES)
+    if(Matlab_MEX_COMPILER)
+        set(Matlab_MEX_COMPILER_FOUND TRUE)
+    endif()
+endif()
+unset(_matlab_find_mex_compiler)
 
+# component Matlab program
+list(FIND Matlab_FIND_COMPONENTS MAIN_PROGRAM _matlab_find_matlab_program)
+if(_matlab_find_matlab_program GREATER -1)
+    find_program(
+            Matlab_MAIN_PROGRAM
+            matlab
+            PATHS ${Matlab_ROOT_DIR} ${Matlab_ROOT_DIR}/bin
+            DOC "Matlab main program"
+            NO_DEFAULT_PATH
+    )
+    if(Matlab_MAIN_PROGRAM)
+        set(Matlab_MAIN_PROGRAM_FOUND TRUE)
+    endif()
+endif()
+unset(_matlab_find_matlab_program)
 
-if (MATLAB_MAT_LIBRARIES AND MATLAB_INCLUDE_DIR)
-    set(MATLAB_FOUND 1)
+# Component MX library
+list(FIND Matlab_FIND_COMPONENTS MX_LIBRARY _matlab_find_mx)
+if(_matlab_find_mx GREATER -1)
+    _Matlab_find_library(
+            ${_matlab_lib_prefix_for_search}
+            Matlab_MX_LIBRARY
+            mx
+            PATHS ${_matlab_lib_dir_for_search}
+            NO_DEFAULT_PATH
+    )
+    if(Matlab_MX_LIBRARY)
+        set(Matlab_MX_LIBRARY_FOUND TRUE)
+    endif()
+endif()
+unset(_matlab_find_mx)
+
+# Component ENG library
+list(FIND Matlab_FIND_COMPONENTS ENG_LIBRARY _matlab_find_eng)
+if(_matlab_find_eng GREATER -1)
+    _Matlab_find_library(
+            ${_matlab_lib_prefix_for_search}
+            Matlab_ENG_LIBRARY
+            eng
+            PATHS ${_matlab_lib_dir_for_search}
+            NO_DEFAULT_PATH
+    )
+    if(Matlab_ENG_LIBRARY)
+        set(Matlab_ENG_LIBRARY_FOUND TRUE)
+    endif()
+endif()
+unset(_matlab_find_eng)
+
+# Component MAT library
+list(FIND Matlab_FIND_COMPONENTS MAT_LIBRARY _matlab_find_mat)
+if(_matlab_find_mat GREATER -1)
+    _Matlab_find_library(
+            ${_matlab_lib_prefix_for_search}
+            Matlab_MAT_LIBRARY
+            mat
+            PATHS ${_matlab_lib_dir_for_search}
+            NO_DEFAULT_PATH
+    )
+    if(Matlab_MAT_LIBRARY)
+        set(Matlab_MAT_LIBRARY_FOUND TRUE)
+    endif()
+endif()
+unset(_matlab_find_mat)
+
+# Component Simulink
+list(FIND Matlab_FIND_COMPONENTS SIMULINK _matlab_find_simulink)
+if(_matlab_find_simulink GREATER -1)
+    find_path(
+            Matlab_SIMULINK_INCLUDE_DIR
+            simstruc.h
+            PATHS "${Matlab_ROOT_DIR}/simulink/include"
+            NO_DEFAULT_PATH
+    )
+    if(Matlab_SIMULINK_INCLUDE_DIR)
+        set(Matlab_SIMULINK_FOUND TRUE)
+        list(APPEND Matlab_INCLUDE_DIRS "${Matlab_SIMULINK_INCLUDE_DIR}")
+    endif()
+endif()
+unset(_matlab_find_simulink)
+
+unset(_matlab_lib_dir_for_search)
+
+set(Matlab_LIBRARIES ${Matlab_MEX_LIBRARY} ${Matlab_MX_LIBRARY} ${Matlab_ENG_LIBRARY} ${Matlab_MAT_LIBRARY})
+
+find_package_handle_standard_args(
+        Matlab
+        FOUND_VAR Matlab_FOUND
+        REQUIRED_VARS ${_matlab_required_variables}
+        VERSION_VAR Matlab_VERSION_STRING
+        HANDLE_COMPONENTS)
+
+unset(_matlab_required_variables)
+unset(_matlab_bin_prefix)
+unset(_matlab_bin_suffix_32bits)
+unset(_matlab_bin_suffix_64bits)
+unset(_matlab_current_suffix)
+unset(_matlab_lib_dir_for_search)
+unset(_matlab_lib_prefix_for_search)
+
+if(Matlab_INCLUDE_DIRS AND Matlab_LIBRARIES)
+    mark_as_advanced(
+            Matlab_MEX_LIBRARY
+            Matlab_MX_LIBRARY
+            Matlab_ENG_LIBRARY
+            Matlab_MAT_LIBRARY
+            Matlab_INCLUDE_DIRS
+            Matlab_FOUND
+            Matlab_MAIN_PROGRAM
+            Matlab_MEXEXTENSIONS_PROG
+            Matlab_MEX_EXTENSION
+    )
 endif()
diff --git a/cmake/modules/FindNumPy.cmake b/cmake/modules/FindNumPy.cmake
index b663ba8..0ad4be7 100644
--- a/cmake/modules/FindNumPy.cmake
+++ b/cmake/modules/FindNumPy.cmake
@@ -20,7 +20,7 @@ FIND_PACKAGE(PythonLibs QUIET REQUIRED)
 EXECUTE_PROCESS(COMMAND "${PYTHON_EXECUTABLE}" -c "import numpy; print (numpy.get_include()); print (numpy.version.version)"
                  OUTPUT_VARIABLE NUMPY_OUTPUT
                  ERROR_VARIABLE NUMPY_ERROR)
-                 
+message(STATUS "Numpy output: ${NUMPY_OUTPUT}")
 IF(NOT NUMPY_ERROR)
   STRING(REPLACE "\n" ";" NUMPY_OUTPUT ${NUMPY_OUTPUT})
   LIST(GET NUMPY_OUTPUT 0 NUMPY_INCLUDE_DIR)
diff --git a/cmake/modules/FindOSG.cmake b/cmake/modules/FindOSG.cmake
new file mode 100644
index 0000000..0d54f23
--- /dev/null
+++ b/cmake/modules/FindOSG.cmake
@@ -0,0 +1,145 @@
+# This module defines
+
+# OSG_LIBRARY
+# OSG_FOUND, if false, do not try to link to osg
+# OSG_INCLUDE_DIRS, where to find the headers
+# OSG_INCLUDE_DIR, where to find the source headers
+# OSG_GEN_INCLUDE_DIR, where to find the generated headers
+
+# to use this module, set variables to point to the osg build
+# directory, and source directory, respectively
+# OSGDIR or OSG_SOURCE_DIR: osg source directory, typically OpenSceneGraph
+# OSG_DIR or OSG_BUILD_DIR: osg build directory, place in which you've
+#    built osg via cmake
+
+# Header files are presumed to be included like
+# #include <osg/PositionAttitudeTransform>
+# #include <osgUtil/SceneView>
+
+###### headers ######
+
+SET(OSG_DIR "" CACHE PATH "Set to base OpenSceneGraph install path")
+
+MACRO( FIND_OSG_INCLUDE THIS_OSG_INCLUDE_DIR THIS_OSG_INCLUDE_FILE )
+
+FIND_PATH( ${THIS_OSG_INCLUDE_DIR} ${THIS_OSG_INCLUDE_FILE}
+    PATHS
+        ${OSG_DIR}
+        $ENV{OSG_SOURCE_DIR}
+        $ENV{OSGDIR}
+        $ENV{OSG_DIR}
+        /usr/local/
+        /usr/
+        /sw/ # Fink
+        /opt/local/ # DarwinPorts
+        /opt/csw/ # Blastwave
+        /opt/
+        [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;OSG_ROOT]/
+        ~/Library/Frameworks
+        /Library/Frameworks
+    PATH_SUFFIXES
+        /include/
+)
+
+ENDMACRO( FIND_OSG_INCLUDE THIS_OSG_INCLUDE_DIR THIS_OSG_INCLUDE_FILE )
+
+FIND_OSG_INCLUDE( OSG_GEN_INCLUDE_DIR   osg/Config )
+FIND_OSG_INCLUDE( OSG_INCLUDE_DIR       osg/Node )
+
+###### libraries ######
+
+MACRO( FIND_OSG_LIBRARY MYLIBRARY MYLIBRARYNAME )
+
+FIND_LIBRARY(${MYLIBRARY}
+    NAMES
+        ${MYLIBRARYNAME}
+    PATHS
+        ${OSG_DIR}
+        $ENV{OSG_BUILD_DIR}
+        $ENV{OSG_DIR}
+        $ENV{OSGDIR}
+        $ENV{OSG_ROOT}
+        ~/Library/Frameworks
+        /Library/Frameworks
+        /usr/local
+        /usr
+        /sw
+        /opt/local
+        /opt/csw
+        /opt
+        [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;OSG_ROOT]/lib
+        /usr/freeware
+    PATH_SUFFIXES
+        /lib/
+        /lib64/
+        /build/lib/
+        /build/lib64/
+        /Build/lib/
+        /Build/lib64/
+     )
+
+ENDMACRO(FIND_OSG_LIBRARY LIBRARY LIBRARYNAME)
+
+FIND_OSG_LIBRARY( OSG_LIBRARY osg )
+FIND_OSG_LIBRARY( OSG_LIBRARY_DEBUG osgd)
+
+FIND_OSG_LIBRARY( OSGUTIL_LIBRARY osgUtil )
+FIND_OSG_LIBRARY( OSGUTIL_LIBRARY_DEBUG osgUtild)
+
+FIND_OSG_LIBRARY( OSGDB_LIBRARY osgDB )
+FIND_OSG_LIBRARY( OSGDB_LIBRARY_DEBUG osgDBd)
+
+FIND_OSG_LIBRARY( OSGTEXT_LIBRARY osgText )
+FIND_OSG_LIBRARY( OSGTEXT_LIBRARY_DEBUG osgTextd )
+
+FIND_OSG_LIBRARY( OSGTERRAIN_LIBRARY osgTerrain )
+FIND_OSG_LIBRARY( OSGTERRAIN_LIBRARY_DEBUG osgTerraind )
+
+FIND_OSG_LIBRARY( OSGFX_LIBRARY osgFX )
+FIND_OSG_LIBRARY( OSGFX_LIBRARY_DEBUG osgFXd )
+
+FIND_OSG_LIBRARY( OSGSIM_LIBRARY osgSim )
+FIND_OSG_LIBRARY( OSGSIM_LIBRARY_DEBUG osgSimd )
+
+FIND_OSG_LIBRARY( OSGVIEWER_LIBRARY osgViewer )
+FIND_OSG_LIBRARY( OSGVIEWER_LIBRARY_DEBUG osgViewerd )
+
+FIND_OSG_LIBRARY( OSGGA_LIBRARY osgGA )
+FIND_OSG_LIBRARY( OSGGA_LIBRARY_DEBUG osgGAd )
+
+FIND_OSG_LIBRARY( OSGWIDGET_LIBRARY osgWidget )
+FIND_OSG_LIBRARY( OSGWIDGET_LIBRARY_DEBUG osgWidgetd )
+
+FIND_OSG_LIBRARY( OSGSHADOW_LIBRARY osgShadow )
+FIND_OSG_LIBRARY( OSGSHADOW_LIBRARY_DEBUG osgShadowd )
+
+FIND_OSG_LIBRARY( OSGMANIPULATOR_LIBRARY osgManipulator )
+FIND_OSG_LIBRARY( OSGMANIPULATOR_LIBRARY_DEBUG osgManipulatord )
+
+FIND_OSG_LIBRARY( OSGPARTICLE_LIBRARY osgParticle )
+FIND_OSG_LIBRARY( OSGPARTICLE_LIBRARY_DEBUG osgParticled )
+
+IF(OPENSCENEGRAPH_VERSION VERSION_LESS "3.5.6")
+  FIND_OSG_LIBRARY( OSGQT_LIBRARY osgQt )
+  FIND_OSG_LIBRARY( OSGQT_LIBRARY_DEBUG osgQtd )
+ELSE(OPENSCENEGRAPH_VERSION VERSION_LESS "3.5.6")
+  IF(Qt5Widgets_FOUND)
+    FIND_OSG_LIBRARY( OSGQT_LIBRARY osgQt5 )
+    FIND_OSG_LIBRARY( OSGQT_LIBRARY_DEBUG osgQt5d )
+  ELSE(Qt5Widgets_FOUND)
+    FIND_OSG_LIBRARY( OSGQT_LIBRARY osgQt )
+    FIND_OSG_LIBRARY( OSGQT_LIBRARY_DEBUG osgQtd )
+  ENDIF(Qt5Widgets_FOUND)
+ENDIF(OPENSCENEGRAPH_VERSION VERSION_LESS "3.5.6")
+
+FIND_OSG_LIBRARY( OPENTHREADS_LIBRARY OpenThreads )
+FIND_OSG_LIBRARY( OPENTHREADS_LIBRARY_DEBUG OpenThreadsd )
+
+SET( OSG_FOUND "NO" )
+IF( OSG_LIBRARY AND OSG_INCLUDE_DIR )
+    SET( OSG_FOUND "YES" )
+    SET( OSG_INCLUDE_DIRS ${OSG_INCLUDE_DIR} ${OSG_GEN_INCLUDE_DIR} )
+    GET_FILENAME_COMPONENT( OSG_LIBRARIES_DIR ${OSG_LIBRARY} PATH )
+ENDIF( OSG_LIBRARY AND OSG_INCLUDE_DIR )
+
+
diff --git a/cmake/openscenegraph.cmake b/cmake/openscenegraph.cmake
new file mode 100644
index 0000000..6df56a1
--- /dev/null
+++ b/cmake/openscenegraph.cmake
@@ -0,0 +1,7 @@
+#
+# OpenSceneGraph cmake configuration
+#
+
+find_package(OSG QUIET REQUIRED)
+
+include_directories(${OSG_INCLUDE_DIRS})
diff --git a/cmake/options.cmake b/cmake/options.cmake
index c30f4bf..69678d7 100644
--- a/cmake/options.cmake
+++ b/cmake/options.cmake
@@ -8,9 +8,9 @@ add_feature_info("Bash completion" WITH_COMPLETION
     "completion for PDAL command line")
 
 option(BUILD_PLUGIN_CPD
-    "Choose if Coherent Point Drift kernel is built" FALSE)
+    "Choose if the cpd filter should be built" FALSE)
 add_feature_info("CPD plugin" BUILD_PLUGIN_CPD
-    "run Coherent Point Drift on two datasets")
+    "Coherent Point Drift (CPD) computes rigid or nonrigid transformations between point sets")
 
 option(BUILD_PLUGIN_GEOWAVE
     "Choose if GeoWave support should be built" FALSE)
@@ -47,6 +47,11 @@ option(BUILD_PLUGIN_NITF
 add_feature_info("NITF plugin" BUILD_PLUGIN_NITF
     "read/write LAS data wrapped in NITF")
 
+option(BUILD_PLUGIN_OPENSCENEGRAPH
+    "Choose if OpenSceneGraph support should be built" FALSE)
+add_feature_info("OpenSceneGraph plugin" BUILD_PLUGIN_OPENSCENEGRAPH
+    "read/write OpenSceneGraph objects")
+
 if(DEFINED ENV{ORACLE_HOME})
     set(DEFINED_ORACLE_HOME TRUE)
 else(DEFINED ENV{ORACLE_HOME})
diff --git a/cmake/python.cmake b/cmake/python.cmake
index d11175a..0181f65 100644
--- a/cmake/python.cmake
+++ b/cmake/python.cmake
@@ -8,9 +8,10 @@ if(PYTHONLIBS_FOUND)
     set(CMAKE_REQUIRED_LIBRARIES "${PYTHON_LIBRARY}")
     include_directories(SYSTEM ${PYTHON_INCLUDE_DIR})
     add_definitions(-DHAVE_PYTHON=1)
+    set(PDAL_HAVE_PYTHON 1)
     add_definitions(-DPDAL_PYTHON_LIBRARY="${PYTHON_LIBRARY}")
     set(PDAL_HAVE_PYTHON 1)
-    set(PYTHON_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}" PARENT_SCOPE)
+    set(PYTHON_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}" )
 
     find_package(NumPy QUIET 1.5 REQUIRED)
     include_directories(SYSTEM ${NUMPY_INCLUDE_DIR})
diff --git a/cmake/rply.cmake b/cmake/rply.cmake
deleted file mode 100644
index a242529..0000000
--- a/cmake/rply.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(RPLY_SRCS ${PDAL_VENDOR_DIR}/rply/rply.c)
diff --git a/cmake/unix_compiler_options.cmake b/cmake/unix_compiler_options.cmake
index 5a77477..4875d59 100644
--- a/cmake/unix_compiler_options.cmake
+++ b/cmake/unix_compiler_options.cmake
@@ -1,22 +1,31 @@
-set(PDAL_COMMON_CXX_FLAGS "-Wextra -Wall -Wno-unused-parameter -Wno-unused-variable -Wpointer-arith -Wcast-align -Wcast-qual -Wredundant-decls -Wno-long-long -Wno-unknown-pragmas -Wno-deprecated-declarations -isystem /usr/local/include"
-)
-
 if (${CMAKE_CXX_COMPILER_ID} MATCHES "GNU")
     if (${CMAKE_CXX_COMPILER_VERSION} VERSION_LESS 4.7)
-       set(CXX_STANDARD "-std=c++0x")
+        set(PDAL_CXX_STANDARD "-std=c++0x")
     else()
-       set(CXX_STANDARD "-std=c++11")
-    endif()
-    if (${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER 4.6)
-        set(PDAL_NO_AS_NEEDED_START "-Wl,--no-as-needed")
-        set(PDAL_NO_AS_NEEDED_END "-Wl,--as-needed")
+        set(PDAL_CXX_STANDARD "-std=c++11")
     endif()
     set(PDAL_COMPILER_GCC 1)
 elseif (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-    set(CXX_STANDARD "-std=c++11")
+    set(PDAL_CXX_STANDARD "-std=c++11")
     set(PDAL_COMPILER_CLANG 1)
 else()
     message(FATAL_ERROR "Unsupported C++ compiler")
 endif()
 
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${PDAL_COMMON_CXX_FLAGS} ${CXX_STANDARD}")
+function(PDAL_TARGET_COMPILE_SETTINGS target)
+    target_compile_options(${target} PUBLIC
+        ${PDAL_CXX_STANDARD}
+        -Wextra
+        -Wall
+        -Wno-unused-parameter
+        -Wno-unused-variable
+        -Wpointer-arith
+        -Wcast-align
+        -Wcast-qual
+        -Wredundant-decls
+        -Wno-long-long
+        -Wno-unknown-pragmas
+        -Wno-deprecated-declarations
+        )
+    target_include_directories(${target} SYSTEM PUBLIC /usr/local/include)
+endfunction()
diff --git a/cmake/win32_compiler_options.cmake b/cmake/win32_compiler_options.cmake
index 5ccf9e6..c702dd2 100644
--- a/cmake/win32_compiler_options.cmake
+++ b/cmake/win32_compiler_options.cmake
@@ -11,77 +11,77 @@ if (MSVC)
     elseif (MSVC8)
       set(PDAL_COMPILER_VC8 1)
     endif()
+endif()
 
-    add_definitions(-DBOOST_ALL_NO_LIB)
+function(PDAL_TARGET_COMPILE_SETTINGS target)
+    target_compile_definitions(${target} PUBLIC -DWIN32_LEAN_AND_MEAN)
+    if (MSVC)
+        target_compile_definitions(${target} PUBLIC -DBOOST_ALL_NO_LIB)
 
-    # check for MSVC 8+
-    if (NOT (MSVC_VERSION VERSION_LESS 1400))
-        add_definitions(-D_CRT_SECURE_NO_DEPRECATE)
-        add_definitions(-D_CRT_SECURE_NO_WARNINGS)
-        add_definitions(-D_CRT_NONSTDC_NO_WARNING)
-        add_definitions(-D_SCL_SECURE_NO_WARNINGS)
-        add_definitions(-DNOMINMAX)
+        # check for MSVC 8+
+        if (NOT (MSVC_VERSION VERSION_LESS 1400))
+            target_compile_definitions(${target} PUBLIC
+                -D_CRT_SECURE_NO_DEPRECATE
+                -D_CRT_SECURE_NO_WARNINGS
+                -D_CRT_NONSTDC_NO_WARNING
+                -D_SCL_SECURE_NO_WARNINGS
+                -DNOMINMAX
+                )
+            target_compile_options(${target} PUBLIC
+                # Nitro makes use of Exception Specifications, which results in
+                # numerous warnings when compiling in MSVC. We will ignore them for
+                # now.
+                /wd4290
+                /wd4800
+                # Windows warns about integer narrowing like crazy and it's annoying.
+                # In most cases the programmer knows what they're doing.  A good
+                # static analysis tool would be better than turning this warning off.
+                /wd4267
+                )
+        endif()
+
+        # check for MSVC 9+
+        if (NOT (MSVC_VERSION VERSION_LESS 1500))
+            include(ProcessorCount)
+            ProcessorCount(N)
+            if(NOT N EQUAL 0)
+                target_compile_options(${target} PRIVATE "/MP${N}")
+            endif()
+        endif()
 
-        # Nitro makes use of Exception Specifications, which results in
-        # numerous warnings when compiling in MSVC. We will ignore them for
-        # now.
-        add_definitions("/wd4290")
-        add_definitions("/wd4800")
+        option(PDAL_USE_STATIC_RUNTIME "Use the static runtime" FALSE)
+        if (PDAL_USE_STATIC_RUNTIME)
+            target_compile_options(${target} PRIVATE /MT)
+        endif()
 
-        # Windows warns about integer narrowing like crazy and it's annoying.
-        # In most cases the programmer knows what they're doing.  A good
-        # static analysis tool would be better than turning this warning off.
-        add_definitions("/wd4267")
     endif()
+endfunction()
 
+if (MSVC)
     if (CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
         string(REGEX REPLACE "/W[0-4]" "/W3"
-               CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+            CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
     else()
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W3")
     endif()
 
-    # check for MSVC 9+
-    if (NOT (MSVC_VERSION VERSION_LESS 1500))
-        include(ProcessorCount)
-        ProcessorCount(N)
-        if(NOT N EQUAL 0)
-            set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   /MP${N}")
-            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP${N}")
-        endif()
-    endif()
-
-    option(PDAL_USE_STATIC_RUNTIME "Use the static runtime" FALSE)
     if (PDAL_USE_STATIC_RUNTIME)
-      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MT")
-
-      # Note that the CMake cache will still show /MD
-      # http://www.cmake.org/Wiki/CMake_FAQ#Dynamic_Replace
-      foreach(flag_var
-        CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
-        CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
-        if(${flag_var} MATCHES "/MD")
-          string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
-        endif(${flag_var} MATCHES "/MD")
-      endforeach(flag_var)
+            # Note that the CMake cache will still show /MD
+            # http://www.cmake.org/Wiki/CMake_FAQ#Dynamic_Replace
+            foreach(flag_var
+                    CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+                    CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+                if(${flag_var} MATCHES "/MD")
+                    string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
+                endif(${flag_var} MATCHES "/MD")
+            endforeach(flag_var)
     endif()
-
-endif(MSVC)
-add_definitions(-DWIN32_LEAN_AND_MEAN)
-
-# note we default to debug mode
-#if(NOT MSVC_IDE)
-#  if(NOT CMAKE_BUILD_TYPE)
-#  set(CMAKE_BUILD_TYPE Debug CACHE STRING
-#    "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel" FORCE)
-#  endif()
-#  message(STATUS "Setting PDAL build type - ${CMAKE_BUILD_TYPE}")
-#endif()
+endif()
 
 set(CMAKE_INCLUDE_PATH "c:/OSGeo4W64/include;$ENV{CMAKE_INCLUDE_PATH}")
 set(CMAKE_LIBRARY_PATH "c:/OSGeo4W64/lib;$ENV{CMAKE_LIBRARY_PATH}")
 set(CMAKE_PREFIX_PATH "c:/OSGeo4W64/cmake;$ENV{CMAKE_LIBRARY_PATH}")
 
-#ABELL - WHY?
+#ABELL (& gadomski) - WHY?
 set(PDAL_PLATFORM_WIN32 1)
 set(WINSOCK_LIBRARY ws2_32)
diff --git a/dimbuilder/CMakeLists.txt b/dimbuilder/CMakeLists.txt
index d9791cb..6f232e2 100644
--- a/dimbuilder/CMakeLists.txt
+++ b/dimbuilder/CMakeLists.txt
@@ -26,6 +26,7 @@ add_executable(dimbuilder
 target_include_directories(dimbuilder PRIVATE
     ${PDAL_INCLUDE_DIR}
     ${PDAL_JSONCPP_INCLUDE_DIR})
+PDAL_TARGET_COMPILE_SETTINGS(dimbuilder)
 if (PDAL_HAVE_JSONCPP)
     target_link_libraries(dimbuilder PRIVATE ${PDAL_JSONCPP_LIB_NAME})
 endif()
diff --git a/dimbuilder/DimBuilder.cpp b/dimbuilder/DimBuilder.cpp
index 6b14129..dd2f4a4 100644
--- a/dimbuilder/DimBuilder.cpp
+++ b/dimbuilder/DimBuilder.cpp
@@ -95,19 +95,6 @@ std::string getTypename(Dimension::Type type)
     return "None";
 }
 
-void validateDimension(const std::string& dimName)
-{
-    if (Dimension::extractName(dimName, 0) != dimName.size())
-    {
-        std::ostringstream oss;
-
-        oss << "Invalid dimension name '" << dimName << "'.  Dimension "
-            "names must start with a letter and be followed by letters, "
-            "digits or underscores.";
-        throw dimbuilder_error(oss.str());
-    }
-}
-
 } // unnamed namespace
 
 bool DimBuilder::parseArgs(int argc, char *argv[])
@@ -264,6 +251,30 @@ void DimBuilder::extractDim(Json::Value& dim)
     m_dims.push_back(d);
 }
 
+void DimBuilder::validateDimension(const std::string& dimName)
+{
+    if (Dimension::extractName(dimName, 0) != dimName.size())
+    {
+        std::ostringstream oss;
+
+        oss << "Invalid dimension name '" << dimName << "'.  Dimension "
+            "names must start with a letter and be followed by letters, "
+            "digits or underscores.";
+        throw dimbuilder_error(oss.str());
+    }
+    for (DimSpec& d : m_dims)
+    {
+        if (d.m_name == dimName)
+        {
+            std::ostringstream oss;
+
+            oss << "Duplicate dimension name '" << dimName << "' found. "
+                "Dimension names must be unique.";
+            throw dimbuilder_error(oss.str());
+        }
+    }
+}
+
 void DimBuilder::writeOutput(std::ostream& out)
 {
     writeHeader(out);
diff --git a/dimbuilder/DimBuilder.hpp b/dimbuilder/DimBuilder.hpp
index 71d8fd4..b79fd62 100644
--- a/dimbuilder/DimBuilder.hpp
+++ b/dimbuilder/DimBuilder.hpp
@@ -80,6 +80,7 @@ private:
     void writeNameToId(std::ostream& out);
     void writeIdToName(std::ostream& out);
     void writeTypes(std::ostream& out);
+    void validateDimension(const std::string& dimName);
 };
 
 } // namespace pdal
diff --git a/doc/_static/breathe.css b/doc/_static/breathe.css
index 292bc7f..5ce211c 100644
--- a/doc/_static/breathe.css
+++ b/doc/_static/breathe.css
@@ -11,3 +11,20 @@
 	display: inline;
 }
 
+
+
+.plugin .admonition-title{
+    background: #b92938;
+}
+
+.plugin .admonition-title::before{
+    content: '\f1e6';
+}
+
+.embed .admonition-title::before{
+    content: '\f00c';
+}
+
+.streamable .admonition-title::before{
+    content: '\f141';
+}
diff --git a/doc/_static/logo/sticker/front.ai b/doc/_static/logo/sticker/front.ai
deleted file mode 100644
index 0617230..0000000
--- a/doc/_static/logo/sticker/front.ai
+++ /dev/null
@@ -1,6416 +0,0 @@
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%����
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-               <rdf:li>Black</rdf:li>
-            </rdf:Seq>
-         </xmpTPg:PlateNames>
-         <xmpTPg:SwatchGroups>
-            <rdf:Seq>
-               <rdf:li rdf:parseType="Resource">
-                  <xmpG:groupName>Default Swatch Group</xmpG:groupName>
-                  <xmpG:groupType>0</xmpG:groupType>
-                  <xmpG:Colorants>
-                     <rdf:Seq>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>White</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>Black</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>100.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Red</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Yellow</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Green</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>100.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Cyan</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>100.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Blue</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>100.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>CMYK Magenta</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=15 M=100 Y=90 K=10</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>15.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>90.000000</xmpG:yellow>
-                           <xmpG:black>10.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=0 M=90 Y=85 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>90.000000</xmpG:magenta>
-                           <xmpG:yellow>85.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=0 M=80 Y=95 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>80.000000</xmpG:magenta>
-                           <xmpG:yellow>95.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=0 M=50 Y=100 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>50.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=0 M=35 Y=85 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>35.000000</xmpG:magenta>
-                           <xmpG:yellow>85.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=5 M=0 Y=90 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>5.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>90.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=20 M=0 Y=100 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>20.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=50 M=0 Y=100 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>50.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=75 M=0 Y=100 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>75.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=85 M=10 Y=100 K=10</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>85.000000</xmpG:cyan>
-                           <xmpG:magenta>10.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>10.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=90 M=30 Y=95 K=30</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>90.000000</xmpG:cyan>
-                           <xmpG:magenta>30.000000</xmpG:magenta>
-                           <xmpG:yellow>95.000000</xmpG:yellow>
-                           <xmpG:black>30.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=75 M=0 Y=75 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>75.000000</xmpG:cyan>
-                           <xmpG:magenta>0.000000</xmpG:magenta>
-                           <xmpG:yellow>75.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=80 M=10 Y=45 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>80.000000</xmpG:cyan>
-                           <xmpG:magenta>10.000000</xmpG:magenta>
-                           <xmpG:yellow>45.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=70 M=15 Y=0 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>70.000000</xmpG:cyan>
-                           <xmpG:magenta>15.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=85 M=50 Y=0 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>85.000000</xmpG:cyan>
-                           <xmpG:magenta>50.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=100 M=95 Y=5 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>100.000000</xmpG:cyan>
-                           <xmpG:magenta>95.000000</xmpG:magenta>
-                           <xmpG:yellow>5.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=100 M=100 Y=25 K=25</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>100.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>25.000000</xmpG:yellow>
-                           <xmpG:black>25.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=75 M=100 Y=0 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>75.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=50 M=100 Y=0 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>50.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>0.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=35 M=100 Y=35 K=10</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>35.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>35.000000</xmpG:yellow>
-                           <xmpG:black>10.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=10 M=100 Y=50 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>10.000000</xmpG:cyan>
-                           <xmpG:magenta>100.000000</xmpG:magenta>
-                           <xmpG:yellow>50.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=0 M=95 Y=20 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>0.000000</xmpG:cyan>
-                           <xmpG:magenta>95.000000</xmpG:magenta>
-                           <xmpG:yellow>20.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=25 M=25 Y=40 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>25.000000</xmpG:cyan>
-                           <xmpG:magenta>25.000000</xmpG:magenta>
-                           <xmpG:yellow>40.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=40 M=45 Y=50 K=5</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>40.000000</xmpG:cyan>
-                           <xmpG:magenta>45.000000</xmpG:magenta>
-                           <xmpG:yellow>50.000000</xmpG:yellow>
-                           <xmpG:black>5.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=50 M=50 Y=60 K=25</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>50.000000</xmpG:cyan>
-                           <xmpG:magenta>50.000000</xmpG:magenta>
-                           <xmpG:yellow>60.000000</xmpG:yellow>
-                           <xmpG:black>25.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=55 M=60 Y=65 K=40</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>55.000000</xmpG:cyan>
-                           <xmpG:magenta>60.000000</xmpG:magenta>
-                           <xmpG:yellow>65.000000</xmpG:yellow>
-                           <xmpG:black>40.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=25 M=40 Y=65 K=0</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>25.000000</xmpG:cyan>
-                           <xmpG:magenta>40.000000</xmpG:magenta>
-                           <xmpG:yellow>65.000000</xmpG:yellow>
-                           <xmpG:black>0.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=30 M=50 Y=75 K=10</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>30.000000</xmpG:cyan>
-                           <xmpG:magenta>50.000000</xmpG:magenta>
-                           <xmpG:yellow>75.000000</xmpG:yellow>
-                           <xmpG:black>10.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=35 M=60 Y=80 K=25</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>35.000000</xmpG:cyan>
-                           <xmpG:magenta>60.000000</xmpG:magenta>
-                           <xmpG:yellow>80.000000</xmpG:yellow>
-                           <xmpG:black>25.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=40 M=65 Y=90 K=35</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>40.000000</xmpG:cyan>
-                           <xmpG:magenta>65.000000</xmpG:magenta>
-                           <xmpG:yellow>90.000000</xmpG:yellow>
-                           <xmpG:black>35.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=40 M=70 Y=100 K=50</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>40.000000</xmpG:cyan>
-                           <xmpG:magenta>70.000000</xmpG:magenta>
-                           <xmpG:yellow>100.000000</xmpG:yellow>
-                           <xmpG:black>50.000000</xmpG:black>
-                        </rdf:li>
-                        <rdf:li rdf:parseType="Resource">
-                           <xmpG:swatchName>C=50 M=70 Y=80 K=70</xmpG:swatchName>
-                           <xmpG:mode>CMYK</xmpG:mode>
-                           <xmpG:type>PROCESS</xmpG:type>
-                           <xmpG:cyan>50.000000</xmpG:cyan>
-                           <xmpG:magenta>70.000000</xmpG:magenta>
-                           <xmpG:yellow>80.000000</xmpG:yellow>
-                           <xmpG:black>70.000000</xmpG:black>
-                        </rdf:li>
-                     </rdf:Seq>
-                  </xmpG:Colorants>
-               </rdf:li>
-               <rdf:li rdf:parseType="Resource">
-                  <xmpG:groupName>Grays</xmpG:groupName>
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diff --git a/doc/_static/sphinx.css b/doc/_static/sphinx.css
index d7a19b7..c596848 100644
--- a/doc/_static/sphinx.css
+++ b/doc/_static/sphinx.css
@@ -2,11 +2,11 @@
  * Sphinx stylesheet -- default theme
  * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  */
- 
+
 @import url("basic.css");
- 
+
 /* -- page layout ----------------------------------------------------------- */
- 
+
 body {
     font-family: Helvetica, Arial, sans-serif;
     font-size: 100%;
@@ -28,18 +28,18 @@ div.bodywrapper {
 hr{
     border: 1px solid #B1B4B6;
 }
- 
+
 div.document {
     background-color: #eee;
 }
- 
+
 div.body {
     background-color: #ffffff;
     color: #3E4349;
     padding: 0 30px 30px 30px;
     font-size: 0.8em;
 }
- 
+
 div.footer {
     color: #fff;
     width: 100%;
@@ -48,11 +48,11 @@ div.footer {
     font-size: 75%;
     background-color: #2c7fb8;
 }
- 
+
 div.footer a {
     color: #eee;
 }
- 
+
 div.footer a.hover {
     color: #eee;
     text-decoration: underline;
@@ -64,11 +64,11 @@ div.related {
     color: #fff;
     font-size: 0.80em;
 }
- 
+
 div.related a {
     color: #fff;
 }
- 
+
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     font-size: 0.75em;
     line-height: 1.5em;
@@ -79,7 +79,7 @@ div.sphinxsidebarwrapper{
     padding: 20px 0;
     background-color: #b6f2fb;
 }
- 
+
 div.sphinxsidebar h3,
 div.sphinxsidebar h4 {
     font-family: Arial, sans-serif;
@@ -95,30 +95,30 @@ div.sphinxsidebar h4 {
 div.sphinxsidebar h4{
     font-size: 1.1em;
 }
- 
+
 div.sphinxsidebar h3 a {
     color: #444;
 }
- 
- 
+
+
 div.sphinxsidebar p {
     color: #888;
     padding: 5px 20px;
 }
- 
+
 div.sphinxsidebar p.topless {
 }
- 
+
 div.sphinxsidebar ul {
     margin: 10px 20px;
     padding: 0;
     color: #000;
 }
- 
+
 div.sphinxsidebar a {
     color: #444;
 }
- 
+
 div.sphinxsidebar input {
     border: 1px solid #ccc;
     font-family: sans-serif;
@@ -128,19 +128,19 @@ div.sphinxsidebar input {
 div.sphinxsidebar input[type=text]{
     margin-left: 20px;
 }
- 
+
 /* -- body styles ----------------------------------------------------------- */
- 
+
 a {
     color: #1A1A56;
     text-decoration: underline;
 }
- 
+
 a:hover {
     color: #A33333;
     text-decoration: underline;
 }
- 
+
 div.body h1,
 div.body h2,
 div.body h3,
@@ -155,15 +155,15 @@ div.body h6 {
     padding: 5px 0 5px 10px;
     text-shadow: 0px 1px 0 white
 }
- 
+
 div.body h1 { border-top: 20px solid white; margin-top: 0; font-size: 200%; }
 div.body h2 { font-size: 150%; background-color: #ccc; }
 div.body h3 { font-size: 120%; background-color: #ccc; }
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 div.body h5 { font-size: 100%; background-color: #ccc; }
 div.body h6 { font-size: 100%; background-color: #ccc; }
- 
-h1 a, 
+
+h1 a,
 h2 a,
 h3 a,
 h1 a:hover,
@@ -178,16 +178,16 @@ a.headerlink {
     padding: 0 4px 0 4px;
     text-decoration: none;
 }
- 
+
 a.headerlink:hover {
     background-color: #c60f0f;
     color: white;
 }
- 
+
 div.body p, div.body dd, div.body li {
     line-height: 1.5em;
 }
- 
+
 div.admonition p.admonition-title + p {
     display: inline;
 }
@@ -200,29 +200,34 @@ div.note {
     background-color: #eee;
     border: 1px solid #ccc;
 }
- 
+
 div.seealso {
     background-color: #eee;
     border: 1px solid #ccc;
 }
- 
+
 div.topic {
     background-color: #eee;
 }
- 
+
 div.warning {
     background-color: #ffe4e4;
     border: 1px solid #f66;
 }
- 
+
+div.admonition#embed{
+    background-color: #ffe4e4;
+    border: 1px solid #f66;
+}
+
 p.admonition-title {
     display: inline;
 }
- 
+
 p.admonition-title:after {
     content: ":";
 }
- 
+
 pre {
     padding: 10px;
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@@ -234,11 +239,11 @@ pre {
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     -moz-box-shadow: 1px 1px 1px #d8d8d8;
 }
- 
+
 tt {
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     font-size: 1.2em;
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-}
\ No newline at end of file
+}
diff --git a/doc/api/index.rst b/doc/api/index.rst
index e3b492a..c8aa42d 100644
--- a/doc/api/index.rst
+++ b/doc/api/index.rst
@@ -7,12 +7,14 @@ API
 PDAL is a C++ library, and its primary API is in that language. There is also a
 :ref:`python` API that allows reading of data and interaction with `Numpy`_.
 
-.. toctree::
-   :maxdepth: 2
-
-   cpp/index
+.. note::
 
+  Users looking for documentation on how to use PDAL's command line applications should look :ref:`here <apps>` and users looking for documentation on how to contribute to PDAL should look :ref:`here <development_index>`.
 
+.. toctree::
+   :maxdepth: 1
 
+   cpp/index
+   transition/index
 
 .. _`Numpy`: http://www.numpy.org/
diff --git a/doc/tutorial/liblas_to_pdal.rst b/doc/api/transition/index.rst
similarity index 100%
rename from doc/tutorial/liblas_to_pdal.rst
rename to doc/api/transition/index.rst
diff --git a/doc/apps/delta.rst b/doc/apps/delta.rst
index 79ff35a..479feb6 100644
--- a/doc/apps/delta.rst
+++ b/doc/apps/delta.rst
@@ -5,21 +5,16 @@ delta
 ******************************************************************************
 
 The ``delta`` command is used to select a nearest point from a candidate file
-for each point in the source file. If the ``--2d`` option is used, the
-query only happens in XY coordinate space.
+for each point in the source file.
 
 ::
 
-    $ pdal delta <source> <candidate> [output]
-
-Standard out is used if no output file is specified.
+    $ pdal delta <source> <candidate>
 
 ::
 
     --source           source file name
     --candidate        candidate file name
-    --output           output file name
-    --2d               only 2D comparisons/indexing
     --detail           Output deltas per-point
     --alldims          Compute diffs for all dimensions (not just X,Y,Z)
 
diff --git a/doc/apps/translate.rst b/doc/apps/translate.rst
index 281d83c..7b32bb2 100644
--- a/doc/apps/translate.rst
+++ b/doc/apps/translate.rst
@@ -80,15 +80,16 @@ Example 2:
 --------------------------------------------------------------------------------
 
 Given these tools, we can now construct a custom pipeline on-the-fly. The
-example below uses a simple LAS reader and writer, but stages a PCL-based
-voxel grid filter, followed by the PMF filter. We can even set
+example below uses a simple LAS reader and writer, but stages a PCL-based voxel
+grid filter, followed by the PMF filter and a range filter. We can even set
 stage-specific parameters as shown.
 
 ::
 
-    $ pdal translate input.las output.las pclblock pmf \
-        --filters.pclblock.json="{\"pipeline\":{\"filters\":[{\"name\":\"VoxelGrid\"}]}}" \
-        --filters.pmf.approximate=true --filters.pmf.extract=true
+    $ pdal translate input.las output.las pclblock pmf range \
+        --filters.pclblock.methods="[{\"name\":\"VoxelGrid\"}]" \
+        --filters.pmf.approximate=true \
+        --filters.range.limits="Classification[2:2]"
 
 Example 3:
 --------------------------------------------------------------------------------
@@ -113,4 +114,3 @@ reference system and writes the result to the file "output.las".
 
     $ pdal translate input.las output.las -f filters.reprojection \
       --filters.reprojection.out_srs="EPSG:4326"
-
diff --git a/doc/community.rst b/doc/community.rst
index a3f3357..f9dc808 100644
--- a/doc/community.rst
+++ b/doc/community.rst
@@ -53,6 +53,13 @@ you will need an account to get started.
 
 .. _`Gitter`: https://gitter.im/PDAL/PDAL
 
+Keybase
+..............................................................................
+
+Some PDAL developers are available via Keybase's ``pdal`` chat. See
+https://keybase.io/blog/keybase-chat for more details.
+
+
 IRC
 ..............................................................................
 
diff --git a/doc/conf.py b/doc/conf.py
index e64b67e..6c04946 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -45,7 +45,7 @@ process_dimensions()
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
-#sys.path.insert(0, os.path.abspath('.'))
+sys.path.insert(0, os.path.abspath('.'))
 
 # -- General configuration -----------------------------------------------------
 
@@ -56,7 +56,7 @@ process_dimensions()
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
 extensions = ['breathe', 'sphinx.ext.autodoc',
               'sphinx.ext.mathjax', 'sphinx.ext.intersphinx',
-              'sphinxcontrib.bibtex']
+              'sphinxcontrib.bibtex', 'embed']
 
 
 # Add any paths that contain templates here, relative to this directory.
@@ -309,3 +309,4 @@ breathe_diagram = {
     'no-link' : False
 }
 
+#todo_include_todos=True
diff --git a/doc/development/contributors.rst b/doc/development/contributors.rst
index 23a5a81..365241e 100644
--- a/doc/development/contributors.rst
+++ b/doc/development/contributors.rst
@@ -33,20 +33,20 @@ new feature development of PDAL over the past couple of years.
 .. image:: http://radiantblue.com/wp-content/uploads/2015/12/logo1.png
     :target: http://radiantblue.com
 
-`Michael Gerlek`_ from `RadiantBlue`_ helped bootstrap PDAL by providing its
+`Michael Gerlek`_ from `DigitalGlobe`_ helped bootstrap PDAL by providing its
 first design, basic primitive objects, and first :ref:`stage <stage_index>`
 implementations.
 
 .. _`Michael Gerlek`: http://github.com/mpgerlek
 
 
-`Bradley Chambers`_ from `RadiantBlue`_ has contributed numerous features and
+`Bradley Chambers`_ from `DigitalGlobe`_ has contributed numerous features and
 capabilities to the PDAL project, including :ref:`Poisson sampling
 <dart-throwing-tutorial>` and :ref:`Progressive Morphological Filters <pcl_ground>`. He is also a prolific
 :ref:`tutorial` writer.
 
 .. _`Bradley Chambers`: https://github.com/chambbj
-.. _`RadiantBlue`: http://radiantblue.com/
+.. _`DigitalGlobe`: https://www.digitalglobe.com/
 
 
 Funding Contributors
diff --git a/doc/development/docker.rst b/doc/development/docker.rst
index d7c4833..0b999ab 100644
--- a/doc/development/docker.rst
+++ b/doc/development/docker.rst
@@ -5,8 +5,8 @@ Building Docker Containers for PDAL
 ================================================================================
 
 
-PDAL's :ref:`repository <source>` is linked to `DockerHub`_ for automatic building
-of `Docker`_ containers. PDAL keeps three Docker containers current.
+PDAL's :ref:`repository <source>` is linked to `DockerHub`_ for automatic
+building of `Docker`_ containers. PDAL keeps three Docker containers current.
 
 * ``pdal/dependencies:latest`` -- PDAL's dependencies
 * ``pdal/pdal:latest`` -- PDAL master
@@ -23,21 +23,21 @@ of `Docker`_ containers. PDAL keeps three Docker containers current.
 
     Containers are built upon the `Dependences`_ container, but the
     `Dependences`_ container is not pinned to specific Xenial or PDAL release
-    times. It corresponds to where ever the ``dependencies`` tag of
-    the PDAL source tree at https://github.com/PDAL/PDAL resides
+    times. It corresponds to where ever the ``dependencies`` tag of the PDAL
+    source tree at https://github.com/PDAL/PDAL resides
 
 .. _`DockerHub`: https://hub.docker.com/r/pdal/pdal/
 
-Dependences
+Dependencies
 ================================================================================
 
 The PDAL dependencies Docker container is used by both the latest and release
 branch Docker containers. The dependencies container is also used during
-:ref:`integration` testing by Travis. It is built using the
-Dockerfile at https://github.com/PDAL/PDAL/blob/master/scripts/docker/dependencies/Dockerfile
+:ref:`integration` testing by Travis. It is built using the Dockerfile at
+https://github.com/PDAL/PDAL/blob/master/scripts/docker/dependencies/Dockerfile
 
-The ``pdal/dependencies:latest`` image is regenerated by force-pushing a tag
-of the SHA you wish to use to have `DockerHub`_ build.
+The ``pdal/dependencies:latest`` image is regenerated by force-pushing a tag of
+the SHA you wish to use to have `DockerHub`_ build.
 
 ::
 
@@ -54,38 +54,37 @@ of the SHA you wish to use to have `DockerHub`_ build.
 Maintenance
 ================================================================================
 
-A PDAL container corresponding to the last major release is automatically created
-and maintained with every commit to the active release branch. For example, the
-``1.4-maintenance`` branch will have a corresponding ``pdal/pdal:1.4`` container
-made with every commit on `DockerHub`_. Users are encouraged to use these containers
-for testing, bug confirmation, and deployment
+A PDAL container corresponding to the last major release is automatically
+created and maintained with every commit to the active release branch. For
+example, the ``1.4-maintenance`` branch will have a corresponding
+``pdal/pdal:1.4`` container made with every commit on `DockerHub`_. Users are
+encouraged to use these containers for testing, bug confirmation, and deployment
 
 .. figure:: ../images/docker-maintenance-branch.png
 
-    Docker containers on maintenance branch correspond to
-    major PDAL releases.
+    Docker containers on maintenance branch correspond to major PDAL releases.
 
 
 Latest (or master)
 ================================================================================
 
-A PDAL container corresponding to a developer-selected release point is
-made available at ``pdal/pdal:latest`` and corresponds to the manual push
-of a ``docker-master`` tag by PDAL developers. This container is typically
-used for testing and verification of fixes, and it is recommended that users
-looking to depend on PDAL's Docker containers always use known release
-versions off of the last stable release branch.
+A PDAL container corresponding to a developer-selected release point is made
+available at ``pdal/pdal:latest`` and corresponds to the manual push of a
+``docker-master`` tag by PDAL developers. This container is typically used for
+testing and verification of fixes, and it is recommended that users looking to
+depend on PDAL's Docker containers always use known release versions off of the
+last stable release branch.
 
 .. warning::
 
     You should be using the `Maintenance`_ Docker container for any
-    production-oriented operations. Only use the latest one to test
-    or prototype a latest, unreleased feature.
+    production-oriented operations. Only use the latest one to test or prototype
+    a latest, unreleased feature.
 
 .. figure:: ../images/docker-master-branch.png
 
-    The ``pdal/pdal:latest`` branch is current relative to the
-    ``docker-master`` branch in GitHub.
+    The ``pdal/pdal:latest`` branch is current relative to the ``docker-master``
+    branch in GitHub.
 
 ::
 
diff --git a/doc/development/goals.rst b/doc/development/goals.rst
index 4718537..2455877 100644
--- a/doc/development/goals.rst
+++ b/doc/development/goals.rst
@@ -9,7 +9,7 @@ Project Goals
    command line tools are provided.  As `GDAL`_ is to 2D pixels, `OGR`_ is to
    geospatial vector geometry, PDAL is to multidimensional points.
 
-2. From a market perspective, PDAL is "version 2" of libLAS.  The actual
+2. From a market perspective, PDAL is "version 2" of `libLAS`_.  The actual
    code base will be different, however, and the APIs will not be
    compatible.
 
@@ -30,3 +30,4 @@ Project Goals
 
 .. _`GDAL`: http://gdal.org
 .. _`OGR`: http://gdal.org/ogr/
+.. _`libLAS`: https://www.liblas.org
diff --git a/doc/development/index.rst b/doc/development/index.rst
index b3022df..58433e0 100644
--- a/doc/development/index.rst
+++ b/doc/development/index.rst
@@ -9,6 +9,10 @@ Developer documentation, such as how to update the docs, where the test
 frameworks are, who develops the software, and conventions to use when
 developing new code can be found in this section.
 
+.. note::
+
+  Users looking for documentation on how to use PDAL's command line applications should look :ref:`here <apps>` and users looking to use the PDAL API in their own applications should look :ref:`here <api>`.
+
 .. toctree::
    :maxdepth: 2
 
@@ -23,4 +27,9 @@ developing new code can be found in this section.
    goals
    testing
    integration
-
+   writing
+   writing-filter
+   writing-kernel
+   writing-reader
+   writing-writer
+   using
diff --git a/doc/development/integration.rst b/doc/development/integration.rst
index 0b72658..d3f7ecb 100644
--- a/doc/development/integration.rst
+++ b/doc/development/integration.rst
@@ -7,7 +7,6 @@ Continuous Integration
 PDAL :ref:`regression tests <pdal_test>` are run on a per-commit basis by at
 least two continuous integration platforms.
 
-
 Status
 --------------------------------------------------------------------------------
 
@@ -25,19 +24,17 @@ Status
 Travis
 --------------------------------------------------------------------------------
 
-The Travis continuous integration platform runs the PDAL test suite on Linux.
-The build status and other supporting information can be found at
+The Travis continuous integration platform runs the PDAL test suite on Alpine
+Linux. The build status and other supporting information can be found at
 https://travis-ci.org/PDAL/PDAL Its configuration can be found at
 https://github.com/PDAL/PDAL/blob/master/.travis.yml All administrators of the
 GitHub `PDAL` group have rights to modify the Travis configuration.
 
-It uses the ``pdal/dependencies`` :ref:`docker` image found at
-https://hub.docker.com/r/pdal/dependencies as a base platform for providing
-prerequisite software and running the test suite. If you want to add new test
-functionality based on a dependency, you will need to update that Docker image
-to do so. See :ref:`development_docker` for more detail on how PDAL builds
-and uses Docker containers for testing.
-
+It uses the ``alpine:edge`` Docker image found at
+https://hub.docker.com/_/alpine/ as a base platform. If you want to add new
+functionality based on a dependency, you will need to ensure that the dependency
+is available in https://pkgs.alpinelinux.org/packages and update the Travis
+configuration YAML accordingly.
 
 .. _appveyor:
 
@@ -46,10 +43,10 @@ AppVeyor
 
 PDAL uses the AppVeyor continuous integration platform to run the PDAL
 compilation and test suite on Windows. The build status and other supporting
-information can be found at https://ci.appveyor.com/project/hobu/pdal
-Its configuration can be found at https://github.com/PDAL/PDAL/blob/master/appveyor.yml
-All administrators of the GitHub `PDAL` group have rights to modify the AppVeyor
-configuration.
+information can be found at https://ci.appveyor.com/project/hobu/pdal Its
+configuration can be found at
+https://github.com/PDAL/PDAL/blob/master/appveyor.yml All administrators of the
+GitHub `PDAL` group have rights to modify the AppVeyor configuration.
 
 `Howard Butler`_ currently pays the bill to run in the AppVeyor upper
 performance processing tier. The AppVeyor configuration depends on `OSGeo4W64`_
@@ -57,8 +54,4 @@ for dependencies. If you want to add new test functionality based on a
 dependency, you will need to update OSGeo4W64 with a new package to do so.
 
 .. _`OSGeo4W64`: http://trac.osgeo.org/osgeo4w/
-
-
 .. _`Howard Butler`: http://github.com/hobu
-
-
diff --git a/doc/development/release-notes/1.3.0.md b/doc/development/release-notes/1.3.0.md
new file mode 100644
index 0000000..df8bb8b
--- /dev/null
+++ b/doc/development/release-notes/1.3.0.md
@@ -0,0 +1,67 @@
+Changes of Note:
+- Command line parsing has been reworked to cause invalid options to emit
+  an error message.  Stage options specified in pipelines and on the command
+  line are handled similarly.
+- The dimension PlatformHeading has been renamed to Azimuth.  When looking
+  up a dimension by name, the string "platformheading" is still accepted and
+  returns Azimuth.
+- Errors detected by GDAL are no longer thrown as exceptions.  A log message
+  is emitted instead.
+- Well-known dimensions are now added to PDAL by editing a JSON file,
+  Dimension.json.
+- Linking with PDAL using CMake no longer requires explicit linking with
+  curl, jsoncpp or arbiter libraries.
+- PDAL now searches for plugins in the following locations and order by
+  default: ./lib, ../lib, ../bin, the location where PDAL was installed.
+- The '--debug' and '--verbose' options are no longer supported as stage
+  options.  The '--verbose' option is accepted on the PDAL command line.  The
+  '--debug' option is deprecated, and if specified on the command line is
+  equivalent to '--verbose=3'.  One can enable logging programmatically by
+  calling setLog() on a PipelineManager or a specific stage.
+- pdal::Dimension types are now C++11 enumeration classes. The change may
+  require editing any Stage implementations you might have and removing the
+  extraneous ::Enum type specification.
+
+Enhancements:
+- Pipelines can now be read directly from standard input.
+- Files can now be read from Amazon S3 buckets by providing an appropriate
+  URL.
+- Many new filters have been added: filters.approximatecoplanar,
+  filters.eigenvalues, filters.estimaterank, filters.hag, filters.normal,
+  filters.outlier, filters.pmf, filters.sample.  Most of these are algorithm
+  extractions from the PCL library, with the hope of eliminating the need
+  for PCL in some future PDAL release.
+- The PLY reader now loads dimensions that aren't predefined PDAL dimensions.
+- A '--driver' option has been added to allow a specific driver to be loaded
+  for a file without regard to its extension.
+- The PDAL_DRIVER_PATH environment variable now accepts a list of locations
+  to search for drivers.
+- Beta release quality drivers improvements in readers.greyhound
+- Beta quality implementation of Mongus and Zalik ground filter
+- Experimental implementation of Pingel et al. ground filter
+- writers.pcd enhancements by Logan Byers (binary, compression) -- requires
+  PCL
+- Docker images upgraded to Ubuntu Xenial
+- Cyclone PTS reader -- readers.pts
+- skewness, kurtosis, stddev, and variance added to filters.stats output
+- Python API now available https://pypi.python.org/pypi/pdal
+
+Fixes:
+- A failure that may have resulted when using filters.hexbin to calculate
+  density in the southern hemisphere has been corrected.
+- A failure to create the index file with 'pdal tindex' and GDAL 2.X has
+  been fixed.
+- The '--tindex' option for the 'pdal tindex' command is now a positional
+  option as specified in the documentation.
+- The icebridge reader now reads the X dimension as longitude and forces
+  the value in the range (-180, 180].  It also properly uses the dimension
+  Azimuth instead of ScanAngleRank.
+- An error in writers.pgpointcloud where it ignored SQL to be run at the end
+  of the stage has been fixed.
+- An error that might incorrectly write values stored internally as bytes
+  when written as a different data type has been fixed.
+- A problem where 'pdal info' wouldn't properly report dimension names not
+  predefined by PDAL has been fixed.
+- A bug in filters.crop that wouldn't properly transform coordinates when
+  provided the '--a_srs' option has been fixed.
+
diff --git a/doc/development/release-notes/1.4.0.md b/doc/development/release-notes/1.4.0.md
new file mode 100644
index 0000000..b44dad3
--- /dev/null
+++ b/doc/development/release-notes/1.4.0.md
@@ -0,0 +1,74 @@
+# Changes of Note
+- GeoTIFF is now required to compile PDAL
+- `--scale` and `--offset` kernel options are no longer supported. Specify using stage-specific options as needed.
+- The `--validate` option of the `pdal pipeline` command now invokes the preparation portion of the pipeline to force validation of options.
+- The `--verbose` option to `pdal` now accepts log level names ("Error", "Warning", "Info", "Debug", "Debug1", "Debug2", "Debug3", "Debug4" and "Debug5") in addition to the corresponding numeric values (0 - 8).
+
+# Enhancements
+
+## New filters
+- [`filters.colorinterp`](http://pdal.io/stages/filters.colorinterp.html) - Ramp RGB colors based on a specified dimension. By @hobu
+- [`filters.mad`](http://pdal.io/stages/filters.mad.html) - Filter outliers in a given dimension by computing Median Absolute Deviation (MAD). By @chambbj
+- [`filters.lof`](http://pdal.io/stages/filters.lof.html) -Filters outliers by Local Outlier Factor (LOF). By @chambbj
+- [`filters.estimaterank`](http://pdal.io/stages/filters.estimaterank.html) - Estimate rank of each neighborhood of k-nearest neighbors. By @chambbj
+- [`filters.eigenvalues`](http://pdal.io/stages/filters.eigenvalues.html) - Compute pointwise Eigenvalues. By @chambbj
+- [`filters.iqr`](http://pdal/io/stages/filters.iqr.html) - Filter outliers in a given dimension by computing Interquartile Range (IQR). By @chambbj
+- [`filters.kdistance`](http://pdal.io/stages/filters.kdistance.html) - Compute pointwise K-distance. By @chambbj
+- [`filters.radialdensity`](http://pdal.io/stages/filters.radialdensity.html) - Compute pointwise radial density. By @chambbj
+- [`filters.outlier`](http://pdal.io/stages/filters.outlier.html) - Radius and statistical outliers. By @chambbj
+
+## New writers
+- [`writers.gdal`](http://pdal.io/stages/writers.gdal.html) - [points2grid](http://github.com/crrel/points2grid) replacement. By @abellgithub
+
+## New kernels
+- [`kernels.hausdorff`](http://pdal.io/apps/hausdorff.html) - Compute [Hausdorff distance](https://en.wikipedia.org/wiki/Hausdorff_distance) between two point clouds. By @chambbj
+
+## Improvements
+- [Filename globbing](http://man7.org/linux/man-pages/man7/glob.7.html) is now supported in the JSON pipeline specification of reader input files.  Note that tilde expansion is NOT supported.
+- Source tree reorganization https://lists.osgeo.org/pipermail/pdal/2016-December/001099.html
+- CMake updates to utilize `target_include_directory` and `target_link_libraries`.
+- JSON output for `pdal --showjson --drivers` and `pdal --showjson --options` to support application builders being able to fetch active lists of stages, kernels, and options. https://github.com/PDAL/PDAL/issues/1315
+- Stacktrace logging to stderr on Unix systems https://github.com/PDAL/PDAL/pull/1329
+- Geometry ingestion enhancements now support using [GeoJSON](http://geojson.org) or WKT in pipeline options https://github.com/PDAL/PDAL/pull/1339.
+- Significant Python extension refactor https://github.com/PDAL/PDAL/pull/1367 including ability to fetch data schema, log, and pipeline information. Common utility classes to support the Python extension were refactored in support of the Java extension.
+- Java extension by [Azavea](https://www.azavea.com/) to support using PDAL in [Spark](http://spark.apache.org/) and friends. https://github.com/PDAL/PDAL/pull/1371
+- [`kernels.density`](http://pdal.io/stages/kernels.density.html) - Density kernel now supports writing into an existing OGR datasource https://github.com/PDAL/PDAL/pull/1396
+- [`readers.greyhound`](http://pdal.io/stages/readers.greyhound.html) - Greyhound reader refactor.
+  - Multi-threaded read support
+  - Server-side filtering pass-through
+- [`writers.derivative`](http://pdal.io/stages/writers.derivative.html) - Derivative writer refactor.
+  - `slope_d8`
+  - `slope_fd`
+  - `aspect_d8`
+  - `aspect_fd`
+  - `contour_curvature`
+  - `profile_curvature`
+  - `tangential_curvature`
+  - `hillshade`
+  - `total_curvature`
+  - Output to any GDAL-writable format https://github.com/PDAL/PDAL/issues/1146
+- [`filters.crop`](http://pdal.io/stages/filters.crop.html) - Radial cropping https://github.com/PDAL/PDAL/issues/1387
+- [`filters.stats`](http://pdal.io/stages/filters.stats.html) - Optional per-dimension median and MAD computation
+- Support was added for the recently added cartesian coordinate in BPF files.
+- [`writers.p2g`](http://pdal.io/stages/writers.p2g.html) now uses the InCoreInterp method of the points2grid code.  This uses more memory but runs faster and doesn't crash.
+- The application now provides better error feedback on command-line errors by indicating the invoked kernel when an error is detected.
+- PDAL now searches by default in the following locations for plugins: `"." "./lib", "../lib", "./bin", "../bin"`. Use `PDAL_DRIVER_PATH` to explicitly override the plugin search location.
+- Vector-based command-line arguments now accept default values in the API.
+- JSON parsing errors of pipeline files now provide more detailed messages.
+- Writers now add output filenames to metadata.
+- Stage names provided as input to other stages in pipelines can now be specified as strings or arrays of strings.  The previous version required single input stage names to be placed in an array.
+- Added `--smooth` option to [`filters.hexbin`](http://pdal.io/stages/filters.hexbin.html) to allow user control of boundary smoothing.
+
+## Bug fixes
+- Well-known text provided as a spatial reference isn't interpreted by GDAL unless necessary.
+- [`filters.hexbin`](http://pdal.io/stages/filters.hexbin.html) now returns `MULTIPOLYGON EMPTY` when it is unable to compute a boundary.
+- Reading a not a number (nan) value from a text file now works properly.
+- The `--compression` option for [`writers.pcd`](http://pdal.io/stages/writers.pcd.html) has been fixed so that the writer actually compresses as requested.
+- The stage manager (and hence, pipelines) now properly recognizes the text reader as [`readers.text`](http://pdal.io/stages/readers.text.html).
+- [`readers.text`](http://pdal.io/stages/readers.text.html) now detects the case when a dimension has been specified more than once in an input file.
+- Fixed a problem where [`filters.splitter`](http://pdal.io/stages/filters.splitter.html) could create cells larger than requested about the X and Y axes.
+- [`writers.nitf`](http://pdal.io/stages/writers.nitf.html) now errors if it attempts to write an FTITLE field that exceeds the allowable length.
+- If PDAL is build with LAZperf but without LASzip, the program now properly defaults to using LAZperf.
+- Fixed a problem where [`filters.sort`](http://pdal.io/stages/filters.sort.html) could fail to properly order points depending on the implementation of the C++ sort algorithm.
+- Fixed a problem in pgpostgres readers and writers where a failure in a query could lead to a crash.
+
diff --git a/doc/development/release-notes/1.5.0.md b/doc/development/release-notes/1.5.0.md
new file mode 100644
index 0000000..398a34b
--- /dev/null
+++ b/doc/development/release-notes/1.5.0.md
@@ -0,0 +1,57 @@
+# Changes of Note
+- PCL `--visualize` capability of the `pdal` command line application has been removed.
+- `writer.derivative` has been removed. Use [gdaldem](http://www.gdal.org/gdaldem.html) for faster and more featureful equivalent functionality.
+- GeoTIFF and Proj.4 are now required dependencies.
+- `writers.p2g` has been removed. It was replaced by `writers.gdal` in 1.4, but the P2G writer was essentially unmaintained and we will be using the GDAL one going forward.
+- `filters.attribute` was split into `filters.assign` and `filters.overlay` to separate their functionalities
+- `filters.pmf` and `filters.outlier` have dropped the `classify` and `extract` options. They now only classify points and leave it downstream filters to ignore/extract classifications as needed.
+- `filters.outlier` has changed the default classification for noise points from `18` to `7` to match the LAS classification code for "Low point (noise)".
+
+# Enhancements
+
+- `pdal pipeline` now supports a `--stream` option which will default to one-at-a-time or chunk-at-a-time point processing when all stages in the pipeline support it. You can use this option to control memory consumption -- for example when interpolating a very large file with `writers.gdal`
+- `filters.crop` was enhanced to support transformed filter polygons, streaming, and radius cropping.
+- `readers.greyhound` updated to support greyhound.io 1.0 release, with the most significant enhancement being support for passing downstream JSON filters.
+- `user_data` JSON object can be applied to any PDAL pipeline object and it will be carried through processing. You can use this mechanism for carrying your own information in PDAL pipelines without having to sidecar data. #1427
+- `writers.las` now can write `pdal_metadata` and `pdal_pipeline` VLRs for processing history tracking. #1509 #1525
+- `metadata`, `schema`, and `spatialreference` objects added to global module for `filters.programmable` and `filters.predicate` Python filters.
+- `pdalargs` option for `filters.programmable` and `filters.predicate` allow you to pass in a JSON dictionary to your Python module for override or modification of your script
+- Stage tags can be used in pipeline override scenarios
+- User-settable VLRs in `writers.las` #1542
+- `filters.sort` now supports descending order and uses `std::stable_sort` #1530 (Thanks to new contributor @wrenoud )
+- `pdal tindex` will now use data bounds if `filters.hexbin` cannot be loaded for boundaries #1533
+- `filters.pmf` and `filters.smrf` improved performance #1531 and #1541
+- `filters.assign` now supports [Range](https://www.pdal.io/stages/filters.range.html)-based filters
+- `filters.outlier` now accepts a user-specified `class` to override the default value of `7` for points deemed outliers. #1545
+- `filters.pmf` and `filters.smrf` now accept a [Range](https://www.pdal.io/stages/ranges.html#ranges) via the `ignore` option to specify values that should be excluded from ground segmentation. #1545
+- `filters.pmf` and `filters.smrf` now consider only last returns (when return information is available) as the default behavior. The `last` option can be set to `false` to consider all returns. #1545
+
+## Documentation
+
+- New [About page](https://pdal.io/about.html) adapted from [workshop](https://pdal.io/workshop/)
+- New [LAS reading and writing](https://pdal.io/tutorial/las.html) tutorial
+- Consolidation of [Python](https://pdal.io/python.html) information
+
+## New filters
+
+- `filters.cluster` - Perform Euclidean cluster extraction, and label each point by its cluster ID. By @chambbj.
+- `filters.groupby` - Split incoming PointView into individual PointViews categorically, e.g., by Classification. By @chambbj.
+- `filters.locate` - Locate and return the point with the minimum or maximum value for a given dimension. By @chambbj.
+- `filters.emf` - Extended Local Maximum filter. By @chambbj.
+
+## New readers
+- `readers.mbio` Bathymetric point cloud support for formats supported by the [MB-System](https://www.ldeo.columbia.edu/res/pi/MB-System/) software library
+
+
+
+
+## Bug fixes
+- `writers.pgpointcloud` needed to treat table schema correctly  https://github.com/PDAL/PDAL/pull/1540 (thanks @elemoine)
+- `pdal density` kernel now supports overriding `filters.hexbin` options #1487
+- Arbiter embedded library updated to support setting Curl options (certificate settings, etc).
+- Provided a default value for `radius` in `writers.gdal` #1475
+- `writers.ply` broken for non-standard dimensions #1556
+- No EVLRs for `writers.las` for files < LAS 1.4 #1551
+- LAS extra dims handling for standard PDAL dimension names #1555
+- LASzip defines #1549
+
diff --git a/doc/development/release-notes/1.6.0.md b/doc/development/release-notes/1.6.0.md
new file mode 100644
index 0000000..24b83ff
--- /dev/null
+++ b/doc/development/release-notes/1.6.0.md
@@ -0,0 +1,78 @@
+# Changes of Note
+
+- PDAL's Travis CI configuration is now based on Alpine Linux.
+- PDAL is now built into containers with Alpine linux in addition to Ubuntu linux. [Tags](https://hub.docker.com/r/pdal/pdal/tags/) exist for each release, starting with 1.4, as well as the master branch.
+- Pipeline tag names can now contain capital letters.  They can also contain underscores after the first character.
+- Replace `filters.programmable` and `filters.predicate` with the more general `filters.python`.
+- Add support for Matlab with `filters.matlab`(#1661).
+- Remove the `approximate` option from `filters.pmf` and add an `exponential` option.p
+- Placed base64 encoded VLR data in a subnode of the VLR itself with the key "data" rather than duplicate the VLR node itself (#1648).
+- XML pipelines are no longer supported (#1666).
+- The number of proprietary dimensions in `readers.text` was expanded from 255 to 4095 (#1657).
+- API hooks have been added to support the use of PDAL with JVM languages such as Java or Scala.
+- Added support for LASzip 1.4 and switch to use the new LASzip API. (#1205). LASzip support in PDAL will require LASzip.org release 3.1.0 or greater.
+- The cpd kernel has been replaced with `filters.cpd`.
+- No more warnings about ReturnNumber or NumberOfReturns for LAS permuations (#1682).
+- The KernelFactory class has been removed.  Its functionality has been moved to StageFactory.
+- Built-in eigen support has changed from version 3.2.8 to 3.3.4 (#1681).
+
+# Enhancements
+
+- API users can now create synonyms for existing arguments to a stage.
+- `filters.splitter` can now create buffered tiles with the `buffer` option.
+- `writers.ply`can now be made to write faces of an existing mesh (created with `filters.greedyprojection` or `filters.poisson`) if the `faces` option is used.  An option `dims` has also been added that allows specification of the dimensions to be written as PLY elements.  The writer also now supports streaming mode.
+- `readers.text` is now automatically invoked for .csv files.
+- PDAL_PLUGIN_INSTALL_PATH can now be set via override when building PDAL from source.
+- Changed the use of null devices to eliminate potentially running out of file descriptors on Windows.
+- `filters.randomize` can now be created by the stage factory (#1598).
+- Provide the ability to specify a viewpoint and normal orientation in `filters.normal` (#1638).
+- `readers.las` now provides the `ignore_vlr` option to allow named VLRs to be dropped when read (#1651).
+- Allow `writers.gdal` to write output rasters of type other than double (#1497).
+- `filters.sqlite` is now invoked automatically for .gpkg files.
+- `filters.colorinterp` can now be used in streaming mode in some cases (#1675).
+- Pointers can now be stored as metadata.
+- `filters.ferry` can now create new dimensions without copying data (#1694).
+
+## Documentation
+
+- Remove some leftover references to the `classify` and `extract` options that were removed from `filters.ground` in the last release.
+- Add a note about running pgpointcloud tests.
+- Added a tutorial on filtering data with python.
+- Remove lingering XML pipeline examples and replace with JSON.
+- Many updates and corrections to the workshop.
+- Added to the FAQs and entry about why a stage might not be found.
+- Added information to stage docs to indicate whether or not they were buit-in rather than plugins (#1612).
+- Added information to stage docs to indicate when they are streamable (#1606).
+
+# New filters
+
+- `filters.greedyprojection` - Performs triangulation of points (surface reconstruction) based on the greedy projection algorithm.
+- `filters.poisson` - Performs triangulation of points (surface reconstruction) based on the algorithm of Kazhdan.
+- `filters.head` - Passes through only the first N points.
+- `filters.tail` - Passes through only the last N points.
+- `filters.cpd` - Calculates and applies a transformation to align two datasets using the [Coherent Point Drift](https://sites.google.com/site/myronenko/research/cpd) registration algorithm.
+- `filters.icp` - Calculates and applies a transformation to align two datasets using the [Iterative Closest Point](http://docs.pointclouds.org/trunk/classpcl_1_1_iterative_closest_point.html) registration algorithm.
+- `filters.voxelcenternearestneighbor` - Finds points closest to the center of a voxel (#1597).
+- `filters.voxelcentroidnearestneighbor` - Finds points closest to the controid of points in a voxel (#1597).
+- `filters.python` - Replaces `filters.predicate` and `filters.programmable`.
+- `filters.matlab` - Provides support for matlab manipulation of PDAL points and metadata (#1661).
+
+# New readers
+- Add `readers.osg` to support Open Scene Graph format.
+- Add `readers.matlab` to support reading data from a user-defined Matlab array struct. The same structure is written by `writers.matlab`.
+
+# Bug fixes
+- Fixed a case where`kernels.tindex` would unconditionally set the spatial reference on a feature from the `a_srs` option.  The spatial reference stored in `a_srs` is now only used if explicitly set or no spatial reference was present.
+- Fixed a case where 'writers.gdal` could fail to check for an out-of-bounds point, potentially leading to a crash.
+- Fix an error in 'filters.cluster' where the points wouldn't properly be placed in the first cluster because the starting cluster number was incorrect.
+- Fixed an error in freeing OGR features that could cause a crash when running "pdal density".
+- Fix potential memory leaks when creating OGRSpatialReference objects.
+- Make sure the `global_encoding` option is initialized to 0 in `writers.las` (#1595).
+- Fix eigen::computeCovariance to compute the correct sample covariance.
+- In some cases, the `filters.crop` would attempt to treat a 2D bounding box as 3D, yeilding a NULL bounding box and an error in behavior (#1626).
+- Fixed potential crash when using PDAL with multiple threads by providing locking for gdal::ErrorHandler (#1637)
+- Made sure that an uncompressed LAS file would be properly read even if the `compression` option was provided.
+- Throw an exception instead of crash when attempting to access a non-existent color ramp. (#1688)
+
+
+
diff --git a/doc/development/testing.rst b/doc/development/testing.rst
index d3cab6a..ac8f3cd 100644
--- a/doc/development/testing.rst
+++ b/doc/development/testing.rst
@@ -312,6 +312,18 @@ the available flags type::
 Key among these flags are the ability to list tests (``--gtest_list_tests``)
 and to run only select tests (``--gtest_filter``).
 
+.. note::
+
+    If the PostgreSQL PointCloud plugin was enabled on the CMake command line
+    (with ``-DBUILD_PLUGIN_PGPOINTCLOUD=ON``) then ``ctest`` will attempt to run
+    the ``pgpointcloud`` tests. And you will get PostgreSQL connection errors
+    if the `libpq environment variables`_ are not correctly set in your shell.
+    This is for example how you can run the ``pgpointcloud`` tests::
+
+        $ PGUSER=pdal PGPASSWORD=pdal PGHOST=localhost ctest -R pgpointcloudtest
+
+.. _`libpq environment variables`: https://www.postgresql.org/docs/current/static/libpq-envars.html
+
 Test Data
 =========
 
diff --git a/doc/tutorial/using.rst b/doc/development/using.rst
similarity index 100%
rename from doc/tutorial/using.rst
rename to doc/development/using.rst
diff --git a/doc/tutorial/writing-filter.rst b/doc/development/writing-filter.rst
similarity index 100%
rename from doc/tutorial/writing-filter.rst
rename to doc/development/writing-filter.rst
diff --git a/doc/tutorial/writing-kernel.rst b/doc/development/writing-kernel.rst
similarity index 100%
rename from doc/tutorial/writing-kernel.rst
rename to doc/development/writing-kernel.rst
diff --git a/doc/development/writing-reader.rst b/doc/development/writing-reader.rst
new file mode 100644
index 0000000..be19a9b
--- /dev/null
+++ b/doc/development/writing-reader.rst
@@ -0,0 +1,219 @@
+.. _writing-reader:
+
+===============================================================================
+Writing a reader
+===============================================================================
+
+:Authors: Bradley Chambers, Scott Lewis
+:Contact: brad.chambers at gmail.com
+:Date: 10/26/2016
+
+
+PDAL's command-line application can be extended through the development of
+reader functions. In this tutorial, we will give a brief example.
+
+The header
+-------------------------------------------------------------------------------
+
+First, we provide a full listing of the reader header.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
+   :language: cpp
+   :linenos:
+
+In your MyReader class, you will declare the necessary methods and variables
+needed to make the reader work and meet the plugin specifications.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
+   :language: cpp
+   :lines: 16-18
+   :linenos:
+
+These methods are required to fulfill the specs for defining a new plugin.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
+   :language: cpp
+   :lines: 21-23
+   :linenos:
+
+``m_stream`` is used to process the input, while ``m_index`` is used to track
+the index of the records.  ``m_scale_z`` is specific to MyReader, and will
+be described later.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
+   :language: cpp
+   :lines: 27-31
+   :linenos:
+
+Various other override methods for the stage.  There are a few others that
+could be overridden, which will not be discussed in this tutorial.
+
+.. note::
+
+    See ``./include/pdal/Reader.hpp`` of the source tree for more methods
+    that a reader can override or implement.
+
+The source
+-------------------------------------------------------------------------------
+
+Again, we start with a full listing of the reader source.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :linenos:
+
+In your reader implementation, you will use a macro defined in pdal_macros.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 9-12
+   :linenos:
+
+This macro registers the plugin with the PDAL code.  In this case, we are
+declaring this as a SHARED plugin, meaning that it will be located external
+to the main PDAL installation.  The macro is supplied with a version number
+(major and minor), the class of the plugin, the parent class (in this case,
+to identify it as a reader), and an object with information.  This information
+includes the name of the plugin, a description, and a link to documentation.
+
+Creating STATIC plugins requires a few more steps which will not be covered
+in this tutorial.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 18-21
+   :linenos:
+
+This method will process a options for the reader.  In this
+example, we are setting the z_scale value to a default of 1.0, indicating
+that the Z values we read should remain as-is.  (In our reader, this could
+be changed if, for example, the Z values in the file represented mm values,
+and we want to represent them as m in the storage model). ``addArgs`` will
+bind values given for the argument to the ``m_scale_z`` variable of the
+stage.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 23-29
+   :linenos:
+
+This method registers the various dimensions the reader will use.  In our case,
+we are using the X, Y, and Z built-in dimensions, as well as a custom
+dimension MyData.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 31-35
+   :linenos:
+
+This method is called when the Reader is ready for use.  It will only be
+called once, regardless of the number of PointViews that are to be
+processed.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 37-50
+   :linenos:
+
+This is a helper function, which will convert a string value into the type
+specified when it's called.  In our example, it will be used to convert
+strings to doubles when reading from the input stream.
+
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 53
+   :linenos:
+
+This method is the main processing method for the reader.  It takes a
+pointer to a Point View which we will build as we read from the file.  We
+initialize some variables as well, and then reset the input stream with
+the filename used for the reader.  Note that in other readers, the contents
+of this method could be very different depending on the format of the file
+being read, but this should serve as a good start for how to build the
+PointView object.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 62-64
+   :linenos:
+
+In preparation for reading the file, we prepare to skip some header lines.  In
+our case, the header is only a single line.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 65-70
+   :linenos:
+
+Here we begin our main loop.  In our example file, the first line is a header,
+and each line thereafter is a single point.  If the file had a different format
+the method of looping and reading would have to change as appropriate.  We make
+sure we are skipping the header lines here before moving on.
+
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 73-82
+   :linenos:
+
+Here we take the line we read in the for block header, split it, and make sure
+that we have the proper number of fields.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 84-97
+   :linenos:
+
+Here we take the values we read and put them into the PointView object.  The
+X and Y fields are simply converted from the file and put into the respective
+fields.  MyData is done likewise with the custom dimension we defined.  The Z
+value is read, and multiplied by the scale_z option (defaulted to 1.0), before
+the converted value is put into the field.
+
+When putting the value into the PointView object, we pass in the Dimension
+that we are assigning it to, the ID of the point (which is incremented in
+each iteration of the loop), and the dimension value.
+
+.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
+   :language: cpp
+   :lines: 99-101
+   :linenos:
+
+Finally, we increment the nextId and make a call into the progress callback
+if we have one with our nextId.  After the loop is done, we set the index
+and number read, and return that value as the number of points read.
+This could differ in cases where we read multiple streams, but that won't
+be covered here.
+
+When the read method is finished, the done method is called for any cleanup.
+In this case, we simply make sure the stream is reset.
+
+
+Compiling and Usage
+-------------------------------------------------------------------------------
+The MyReader.cpp code can be compiled.  For this example, we'll use cmake.
+Here is the CMakeLists.txt file we will use:
+
+.. literalinclude:: ../../examples/writing-reader/CMakeLists.txt
+    :linenos:
+
+If this file is in the directory containing MyReader.hpp and MyReader.cpp,
+simply run ``cmake .``, followed by ``make``.  This will generate a file called
+``libpdal_plugin_reader_myreader.dylib``.
+
+Put this dylib file into the directory pointed to by ``PDAL_DRIVER_PATH``, and
+then when you run ``pdal --drivers``, you should see an entry for
+readers.myreader.
+
+To test the reader, we will put it into a pipeline and output a text file.
+
+Please download the `pipeline-myreader.json`_ and `test-reader-input.txt`_ files.
+
+In the directory with those two files, run
+``pdal pipeline pipeline-myreader.json``.  You should have an output file
+called ``output.txt``, which will have the same data as in the input file,
+except in a CSV style format, and with the Z values scaled by .001.
+
+.. _`pipeline-myreader.json`: https://github.com/PDAL/PDAL/blob/master/examples/writing-reader/pipeline-myreader.json?raw=true
+.. _`test-reader-input.txt`: https://github.com/PDAL/PDAL/blob/master/examples/writing-reader/test-reader-input.txt?raw=true
diff --git a/doc/development/writing-writer.rst b/doc/development/writing-writer.rst
new file mode 100644
index 0000000..373c6a4
--- /dev/null
+++ b/doc/development/writing-writer.rst
@@ -0,0 +1,175 @@
+.. _writing-writer:
+
+===============================================================================
+Writing a writer
+===============================================================================
+
+:Authors: Bradley Chambers, Scott Lewis
+:Contact: brad.chambers at gmail.com
+:Date: 10/26/2016
+
+
+PDAL's command-line application can be extended through the development of
+writer functions. In this tutorial, we will give a brief example.
+
+The header
+-------------------------------------------------------------------------------
+
+First, we provide a full listing of the writer header.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
+   :language: cpp
+   :linenos:
+
+In your MyWriter class, you will declare the necessary methods and variables
+needed to make the writer work and meet the plugin specifications.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
+   :language: cpp
+   :lines: 11
+   :linenos:
+
+FileStreamPtr is defined to make the declaration of the stream easier to manage
+later on.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
+   :language: cpp
+   :lines: 19-21
+
+These three methods are required to fulfill the specs for defining a new plugin.
+
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
+   :language: cpp
+   :lines: 24-28
+
+These methods are used during various phases of the pipeline.  There are also
+more methods, which will not be covered in this tutorial.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
+   :language: cpp
+   :lines: 30-36
+
+These are variables our Writer will use, such as the file to write to, the
+newline character to use, the name of the data field to use to write the MyData
+field, precision of the double outputs, the output stream, and the dimension
+that corresponds to the data field for easier lookup.
+
+As mentioned, there cen be additional configurations done as needed.
+
+
+The source
+-------------------------------------------------------------------------------
+
+We will start with a full listing of the writer source.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :linenos:
+
+In the writer implementation, we will use a macro defined in pdal_macros,
+which is included in the include chain we are using.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 10-15
+
+Here we define a struct with information regarding the writer, such as the
+name, a description, and a path to documentation.  We then use the macro
+to create a SHARED plugin, which means it will be external to the main PDAL
+installation.  When using the macro, we specify the version (major and minor),
+the class of the plugin, the class of the parent (Writer, in this case), and
+the struct we defined earlier.
+
+Creating STATIC plugins, which would be part of the main PDAL installation, is
+also possible, but requires some extra steps and will not be covered here.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 19-30
+   :linenos:
+
+This struct is used for helping with the FileStreamPtr for cleanup.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 33-40
+   :linenos:
+
+This method defines the arguments the writer provides and binds them to
+private variables.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 47-63
+
+This method initializes our file stream in preparation for writing.
+
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 55-70
+   :linenos:
+
+The ready method is used to prepare the writer for any number of PointViews that
+may be passed in.  In this case, we are setting the precision for our double
+writes, looking up the dimension specified as the one to write into MyData,
+and writing the header of the output file.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 74-90
+   :linenos:
+
+This method is the main method for writing.  In our case, we are writing a very
+simple file, with data in the format of X:Y:Z:MyData.  We loop through each
+index in the PointView, and for each one we take the X, Y, and Z values, as well
+as the value for the specified MyData dimension, and write this to the output
+file.   In particular, note the reading of MyData; in our case, MyData is an
+integer, but the field we are reading might be a double.  Converting from double
+to integer is done via truncation, not rounding, so by adding .5 before making
+the conversion will ensure rounding is done properly.
+
+Note that in this case, the output format is pretty simple.  For more complex
+outputs, you may need to generate helper methods (and possibly helper classes)
+to help generate the proper output.  The key is reading in the appropriate
+values from the PointView, and then writing those in whatever necessary format
+to the output stream.
+
+.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
+   :language: cpp
+   :lines: 93-96
+   :linenos:
+
+This method is called when the writing is done.  In this case, it simply cleans
+up the output stream by resetting it.
+
+
+Compiling and Usage
+-------------------------------------------------------------------------------
+To compile this reader, we will use cmake.  Here is the CMakeLists.txt file we
+will use for this process:
+
+.. literalinclude:: ../../examples/writing-writer/CMakeLists.txt
+    :linenos:
+
+If this file is in the directory with the MyWriter.hpp and MyWriter.cpp files,
+simply run ``cmake .`` followed by ``make``.  This will generate a file called
+``libpdal_plugin_writer_mywriter.dylib``.
+
+Put this dylib file into the directory pointed to by ``PDAL_DRIVER_PATH``, and
+then when you run ``pdal --drivers``, you will see an entry for
+writers.mywriter.
+
+To test the writer, we will put it into a pipeline and read in a LAS file and
+covert it to our output format.  For this example, use `interesting.las`_, and
+run it through `pipeline-mywriter.json`_.
+
+If those files are in the same directory, you would just run the command
+``pdal pipeline pipeline-mywriter.json``, and it will generate an output file
+called output.txt, which will be in the proper format.  From there, if you
+wanted, you could run that output file through the MyReader that was created
+in the previous tutorial, as well.
+
+.. _`interesting.las`: https://github.com/PDAL/PDAL/blob/master/test/data/interesting.las?raw=true
+.. _`pipeline-mywriter.json`: https://github.com/PDAL/PDAL/blob/master/examples/writing-writer/pipeline-mywriter.json?raw=true
diff --git a/doc/tutorial/writing.rst b/doc/development/writing.rst
similarity index 100%
rename from doc/tutorial/writing.rst
rename to doc/development/writing.rst
diff --git a/doc/download.rst b/doc/download.rst
index 89380f4..ceba153 100644
--- a/doc/download.rst
+++ b/doc/download.rst
@@ -13,24 +13,24 @@ Download
 Current Release(s)
 ------------------------------------------------------------------------------
 
-* **2017-04-06** `PDAL-1.5.0-src.tar.gz`_ `Release Notes`_ (`md5`_)
+* **2017-10-12** `PDAL-1.6.0-src.tar.gz`_ `Release Notes`_ (`md5`_)
 
-.. _`Release Notes`: https://github.com/PDAL/PDAL/releases/tag/1.5.0
+.. _`Release Notes`: https://github.com/PDAL/PDAL/releases/tag/1.6.0
 
-.. _`PDAL-1.5.0-src.tar.gz`: http://download.osgeo.org/pdal/PDAL-1.5.0-src.tar.gz
-.. _`md5`: http://download.osgeo.org/pdal/PDAL-1.5.0-src.tar.gz.md5
+.. _`PDAL-1.6.0-src.tar.gz`: http://download.osgeo.org/pdal/PDAL-1.6.0-src.tar.gz
+.. _`md5`: http://download.osgeo.org/pdal/PDAL-1.6.0-src.tar.gz.md5
 .. _`DebianGIS`: http://wiki.debian.org/DebianGis
 
 
 Past Releases
 ------------------------------------------------------------------------------
 
+* **2017-04-06** `PDAL-1.5.0-src.tar.gz`_
 * **2016-12-15** `PDAL-1.4.0-src.tar.gz`_
-* **2016-08-29** `PDAL-1.3.0-src.tar.gz`_
 
 
+.. _`PDAL-1.5.0-src.tar.gz`: http://download.osgeo.org/pdal/PDAL-1.5.0-src.tar.gz
 .. _`PDAL-1.4.0-src.tar.gz`: http://download.osgeo.org/pdal/PDAL-1.4.0-src.tar.gz
-.. _`PDAL-1.3.0-src.tar.gz`: http://download.osgeo.org/pdal/PDAL-1.3.0-src.tar.gz
 
 
 
@@ -58,15 +58,15 @@ The fastest way to get going with PDAL is to use the Docker build. See the
 
 ::
 
-    docker pull pdal/pdal:1.5
+    docker pull pdal/pdal:1.6
 
 
 Windows
 ................................................................................
 
-Windows users are asked to use the :ref:`docker` builds for :ref:`apps` access,
-otherwise, a call for help with building current Windows PDAL builds is at
-https://lists.osgeo.org/pipermail/pdal/2016-November/001089.html
+Windows builds are available via `OSGeo4W`_ (64-bit only). Run the
+``osgeo4w-setup.exe`` and choose the "Advanced Install" option. PDAL is
+available in the Commandline_Utilities or Libs section.
 
 RPMs
 ................................................................................
diff --git a/doc/embed.py b/doc/embed.py
new file mode 100644
index 0000000..ac430e8
--- /dev/null
+++ b/doc/embed.py
@@ -0,0 +1,164 @@
+import sphinx.locale
+import docutils.statemachine
+sphinx.locale.admonitionlabels['embed'] = u'' #u'Default Embedded Stage'
+sphinx.locale.admonitionlabels['plugin'] = u''# u'Non-default Dynamic Plugin Stage'
+sphinx.locale.admonitionlabels['streamable'] = u''# u'Streamable Stage'
+
+def setup(app):
+    app.add_node(embed,
+                 html=(visit_embed_node, depart_node),
+                 latex=(visit_admonition, depart_node),
+                 text=(visit_admonition, depart_node))
+
+    app.add_node(plugin,
+                 html=(visit_plugin_node, depart_node),
+                 latex=(visit_admonition, depart_node),
+                 text=(visit_admonition, depart_node))
+    app.add_node(streamable,
+                 html=(visit_streamable_node, depart_node),
+                 latex=(visit_admonition, depart_node),
+                 text=(visit_admonition, depart_node))
+    app.add_directive('embed', EmbedDirective)
+    app.add_directive('plugin', PluginDirective)
+    app.add_directive('streamable', StreamableDirective)
+    app.connect('env-purge-doc', purge_embeds)
+    return {'version': '0.1'}   # identifies the version of our extension
+
+from docutils import nodes
+
+class embed(nodes.Admonition, nodes.Element):
+    pass
+
+class plugin(nodes.Admonition, nodes.Element):
+    pass
+
+class streamable(nodes.Admonition, nodes.Element):
+    pass
+
+def visit_admonition(self, node):
+    self.visit_admonition(node)
+
+def visit_embed_node(self, node):
+    self.body.append(self.starttag(
+            node, 'div', CLASS=('admonition embed')))
+    self.set_first_last(node)
+
+def visit_plugin_node(self, node):
+    self.body.append(self.starttag(
+            node, 'div', CLASS=('admonition plugin')))
+    self.set_first_last(node)
+
+def visit_streamable_node(self, node):
+    self.body.append(self.starttag(
+            node, 'div', CLASS=('admonition streamable')))
+    self.set_first_last(node)
+
+def depart_node(self, node):
+    self.depart_admonition(node)
+
+
+from docutils.parsers.rst import Directive
+
+
+from sphinx.locale import _
+
+class EmbedDirective(Directive):
+
+    # this enables content in the directive
+    has_content = True
+
+    def run(self):
+        env = self.state.document.settings.env
+
+        targetid = "embed-%d" % env.new_serialno('embed')
+        targetnode = nodes.target('', '', ids=[targetid])
+
+#        self.content = 'This stage is enabled by default'
+        self.content = docutils.statemachine.StringList(['This stage is enabled by default'])
+        embed_node = embed('\n'.join(self.content))
+        embed_node += nodes.title(_('Default Embedded Stage'), _('Default Embedded Stage '))
+        self.state.nested_parse(self.content, self.content_offset, embed_node)
+
+        if not hasattr(env, 'embed_all_embeds'):
+            env.embed_all_embeds = []
+        env.embed_all_embeds.append({
+            'docname': env.docname,
+            'lineno': self.lineno,
+            'embed': embed_node.deepcopy(),
+            'target': targetnode,
+        })
+
+        return [targetnode, embed_node]
+
+class PluginDirective(Directive):
+
+    # this enables content in the directive
+    has_content = True
+
+    def run(self):
+        env = self.state.document.settings.env
+
+        targetid = "plugin-%d" % env.new_serialno('plugin')
+        targetnode = nodes.target('', '', ids=[targetid])
+
+#        self.content = 'This stage requires a dynamic plugin to operate'
+        self.content = docutils.statemachine.StringList(['This stage requires a dynamic plugin to operate'])
+
+        plugin_node = plugin('\n'.join(self.content))
+        plugin_node += nodes.title(_('Dynamic Plugin'), _('Dynamic Plugin'))
+        self.state.nested_parse(self.content, self.content_offset, plugin_node)
+
+        if not hasattr(env, 'plugin_all_plugins'):
+            env.plugin_all_plugins = []
+        env.plugin_all_plugins.append({
+            'docname': env.docname,
+            'lineno': self.lineno,
+            'plugin': plugin_node.deepcopy(),
+            'target': targetnode,
+        })
+
+        return [targetnode, plugin_node]
+
+class StreamableDirective(Directive):
+
+    # this enables content in the directive
+    has_content = True
+
+    def run(self):
+        env = self.state.document.settings.env
+
+        targetid = "streamable-%d" % env.new_serialno('streamable')
+        targetnode = nodes.target('', '', ids=[targetid])
+
+#        self.content = 'This stage supports streaming operations'
+        self.content = docutils.statemachine.StringList(['This stage supports streaming operations'])
+        streamable_node = streamable('\n'.join(self.content))
+        streamable_node += nodes.title(_('Streamable Stage'), _('Streamable Stage'))
+        self.state.nested_parse(self.content, self.content_offset, streamable_node)
+
+        if not hasattr(env, 'streamable_all_streamable'):
+            env.streamable_all_streamable = []
+        env.streamable_all_streamable.append({
+            'docname': env.docname,
+            'lineno': self.lineno,
+            'plugin': streamable_node.deepcopy(),
+            'target': targetnode,
+        })
+
+        return [targetnode, streamable_node]
+
+def purge_embeds(app, env, docname):
+    if not hasattr(env, 'embed_all_embeds'):
+        return
+    env.embed_all_embeds = [embed for embed in env.embed_all_embeds
+                          if embed['docname'] != docname]
+
+    if not hasattr(env, 'plugin_all_plugins'):
+        return
+    env.plugin_all_plugins = [embed for embed in env.plugin_all_plugins
+                          if embed['docname'] != docname]
+
+    if not hasattr(env, 'streamable_all_streamable'):
+        return
+    env.streamable_all_streamable = [embed for embed in env.streamable_all_streamable
+                          if embed['docname'] != docname]
diff --git a/doc/faq.rst b/doc/faq.rst
index e5d3356..fdd3a03 100644
--- a/doc/faq.rst
+++ b/doc/faq.rst
@@ -11,11 +11,34 @@ FAQ
   The proper spelling of the project name is PDAL, in uppercase. It is
   pronounced to rhyme with "GDAL".
 
+* Why do I get the error "Couldn't create ... stage of type ..."?
+
+  In almost all cases this error occurs because you're trying to run a stage
+  that is built as a plugin and the plugin (a shared library file or DLL)
+  can't be found by pdal.  You can verify whether the plugin can
+  be found by running "pdal --drivers"
+
+  If you've built pdal yourself, make sure you've requested to build the
+  plugin in question (set BUILD_PLUGIN_PCL=ON, for example, in CMakeCache.txt).
+
+  If you've successfully built the plugin, a
+  shared object called
+  libpdal_plugin_<plugin type>_<plugin name>.<shared library extension> should
+  have been created that's installed in a location where pdal can find it.
+  pdal will search
+  the following paths for plugins: ".", "./lib", "../lib", "./bin", "../bin".
+
+  You can also override the default search path by setting the environment
+  variable ``PDAL_DRIVER_PATH`` to a list of directories that pdal should search
+  for plugins.
+
 * What is PDAL's relationship to PCL?
 
   PDAL is PCL's data translation cousin. PDAL is focused on providing a
   declarative pipeline syntax for orchestrating translation operations.
   PDAL can also use PCL through the :ref:`filters.pclblock` mechanism.
+  PDAL also supports reading and writing PCL PCD files using :ref:`readers.pcd`
+  and :ref:`writers.pcd`.
 
   .. seealso::
 
diff --git a/doc/images/poisson_edges.png b/doc/images/poisson_edges.png
new file mode 100644
index 0000000..e3e561b
Binary files /dev/null and b/doc/images/poisson_edges.png differ
diff --git a/doc/images/poisson_points.png b/doc/images/poisson_points.png
new file mode 100644
index 0000000..17ce86a
Binary files /dev/null and b/doc/images/poisson_points.png differ
diff --git a/doc/index.rst b/doc/index.rst
index e8add2a..0f379c6 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -28,19 +28,14 @@ The entire website is available as a single PDF at http://pdal.io/PDAL.pdf
 News
 --------------------------------------------------------------------------------
 
-**04-6-2016**
+**10-12-2017**
 ................................................................................
 
-PDAL 1.5.0 has been released. Visit :ref:`download` to obtain a copy of the
+PDAL 1.6.0 has been released. Visit :ref:`download` to obtain a copy of the
 source code, or follow the :ref:`quickstart` to get going in a hurry with
 `Docker`_.
 
 
-.. image:: ./images/foss4g-2017.png
-    :scale: 40%
-    :align: right
-    :target: http://2017.foss4g.org
-
 .. _`Docker`: https://www.docker.com/
 
 .. _`Howard Butler`: http://github.com/hobu
@@ -153,8 +148,6 @@ Development
 
 
 
-
-
 Indices and tables
 --------------------------------------------------------------------------------
 
diff --git a/doc/pipeline.rst b/doc/pipeline.rst
index 7a85d99..4cb9773 100644
--- a/doc/pipeline.rst
+++ b/doc/pipeline.rst
@@ -25,8 +25,7 @@ a pipeline provides useful advantages for more complex things:
 .. warning::
 
     As of PDAL 1.2, `JSON`_ is the preferred specification language
-    for PDAL pipelines. XML read support is still available at 1.5, but
-    XML support will be dropped at the 1.6 release.
+    for PDAL pipelines. XML was dropped at the 1.6 release.
 
 .. _`JSON`: http://www.json.org/
 
@@ -215,7 +214,7 @@ Python HAG
 
 In our next example, the reader and writer types are once again inferred. After
 reading the input file, the ferry filter is used to copy the Z dimension into a
-new height above ground (HAG) dimension. Next, the :ref:`filters.programmable`
+new height above ground (HAG) dimension. Next, the :ref:`filters.python`
 is used with a Python script to compute height above ground values by comparing
 the Z values to a surface model. These height above ground values are then
 written back into the Z dimension for further analysis. See the Python
@@ -236,7 +235,7 @@ code at `hag.py`_.
               "dimensions":"Z=HAG"
           },
           {
-              "type":"programmable",
+              "type":"filters.python",
               "script":"hag.py",
               "function":"filter",
               "module":"anything"
@@ -252,8 +251,9 @@ DTM
 
 A common task is to create a digital terrain model (DTM) from the input point
 cloud. This pipeline infers the reader type, applies an approximate ground
-segmentation filter using :ref:`filters.pmf`, and then creates the DTM using
-the :ref:`writers.gdal` with only the ground returns.
+segmentation filter using :ref:`filters.pmf`, filters out all points but the
+ground returns (classification value of 2) using the :ref:`filters.range`, and
+then creates the DTM using the :ref:`writers.gdal`.
 
 .. code-block:: json
 
@@ -267,9 +267,11 @@ the :ref:`writers.gdal` with only the ground returns.
               "slope":1.0,
               "max_distance":2.5,
               "initial_distance":0.15,
-              "cell_size":1.0,
-              "extract":true,
-              "classify":false
+              "cell_size":1.0
+          },
+          {
+              "type":"range",
+              "limits":"Classification[2:2]"
           },
           {
               "type":"writers.gdal",
@@ -460,4 +462,3 @@ PDAL. Readers follow the pattern of :ref:`readers.las` or
 
     Issuing the command ``pdal info --options`` will list all available
     stages and their options. See :ref:`info_command` for more.
-
diff --git a/doc/python.rst b/doc/python.rst
index 0660e7e..4414e19 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -9,9 +9,9 @@ Python
 
 PDAL provides Python support in two significant ways. First it `embeds`_ Python
 to allow you to write Python programs that interact with data using
-:ref:`filters.programmable` and :ref:`filters.predicate` filters. Second,
-it `extends`_ Python by providing an extension that Python programmers
-can use to leverage PDAL capabilities in their own applications.
+:ref:`filters.python` filter. Second, it `extends`_ Python by providing an
+extension that Python programmers can use to leverage PDAL capabilities in
+their own applications.
 
 .. _`embeds`: https://docs.python.org/3/extending/embedding.html
 .. _`extends`: https://docs.python.org/3/extending/extending.html
diff --git a/doc/quickstart.rst b/doc/quickstart.rst
index 188f8f5..31d187a 100644
--- a/doc/quickstart.rst
+++ b/doc/quickstart.rst
@@ -95,7 +95,7 @@ whatever reason.
 
 ::
 
-    docker pull pdal/pdal:1.5
+    docker pull pdal/pdal:1.6
 
 
 .. image:: ./images/docker-quickstart-pull.png
@@ -103,7 +103,7 @@ whatever reason.
 .. note::
 
     Other PDAL versions are provided at the same `Docker Hub`_ location,
-    with an expected tag name (ie ``pdal/pdal:1.5``, or ``pdal/pdal:1.x``) for
+    with an expected tag name (ie ``pdal/pdal:1.6``, or ``pdal/pdal:1.x``) for
     major PDAL versions. The PDAL Docker hub location at
     https://hub.docker.com/u/pdal/ has images and more information
     on this topic.
@@ -133,7 +133,7 @@ Print the first point
 
 ::
 
-    docker run -v /c/Users/hobu:/data pdal/pdal:1.5 pdal info /data/autzen.laz -p 0
+    docker run -v /c/Users/hobu:/data pdal/pdal:1.6 pdal info /data/autzen.laz -p 0
 
 Here's a summary of what's going on with that command invocation
 
@@ -151,7 +151,7 @@ Here's a summary of what's going on with that command invocation
        The `Docker Volume <https://docs.docker.com/engine/userguide/dockervolumes/>`__
        document describes mounting volumes in more detail.
 
-4. ``pdal/pdal:1.5``: This is the Docker image we are going to run. We fetched it
+4. ``pdal/pdal:1.6``: This is the Docker image we are going to run. We fetched it
    with the command above. If it were not already fetched, Docker would attempt
    to fetch it when we run this command.
 
diff --git a/doc/stages/filters.approximatecoplanar.rst b/doc/stages/filters.approximatecoplanar.rst
index f2e2847..07573f9 100644
--- a/doc/stages/filters.approximatecoplanar.rst
+++ b/doc/stages/filters.approximatecoplanar.rst
@@ -23,6 +23,8 @@ Eigenvalue estimation is performed using Eigen's ``SelfAdjointEigenSolver``. For
 more information see
 https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.assign.rst b/doc/stages/filters.assign.rst
index 189aa6c..473d8e1 100644
--- a/doc/stages/filters.assign.rst
+++ b/doc/stages/filters.assign.rst
@@ -6,11 +6,12 @@ filters.assign
 The assign filter allows you set the value of a dimension for all points
 to a provided value that pass a range filter.
 
+.. embed::
 
 Example 1
 ---------
 
-This pipeline resets the Classification of all points with classiciations
+This pipeline resets the Classification of all points with classifications
 2 or 3 to 0 and all points with classification of 5 to 4.
 
 .. code-block:: json
diff --git a/doc/stages/filters.chipper.rst b/doc/stages/filters.chipper.rst
index 4d42c1d..40a527a 100644
--- a/doc/stages/filters.chipper.rst
+++ b/doc/stages/filters.chipper.rst
@@ -34,6 +34,8 @@ Chipping is usually applied to data read from files (which produce one large
 stream of points) before the points are written to a database (which prefer
 data segmented into smaller blocks).
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.cluster.rst b/doc/stages/filters.cluster.rst
index 87f23fb..bdf2150 100644
--- a/doc/stages/filters.cluster.rst
+++ b/doc/stages/filters.cluster.rst
@@ -7,6 +7,8 @@ filters.cluster
 The Cluster filter first performs Euclidean Cluster Extraction on the input
 ``PointView`` and then labels each point with its associated cluster ID.
 
+.. embed::
+
 Example
 -------
 
@@ -38,4 +40,4 @@ max_points
 tolerance
   Cluster tolerance - maximum Euclidean distance for a point to be added to the
   cluster. [Default: **1.0**]
-  
+
diff --git a/doc/stages/filters.colorinterp.rst b/doc/stages/filters.colorinterp.rst
index c5308a7..a289a3d 100644
--- a/doc/stages/filters.colorinterp.rst
+++ b/doc/stages/filters.colorinterp.rst
@@ -24,6 +24,11 @@ creating your own scale factors. See `Default Ramps`_ for more information.
 
     :ref:`filters.colorinterp` will use the entire band to scale the colors.
 
+.. embed::
+
+Example
+--------------------------------------------------------------------------------
+
 .. code-block:: json
 
   {
diff --git a/doc/stages/filters.colorization.rst b/doc/stages/filters.colorization.rst
index 0cbde65..9581c63 100644
--- a/doc/stages/filters.colorization.rst
+++ b/doc/stages/filters.colorization.rst
@@ -27,6 +27,13 @@ and the values of the band may be scaled before being written to the dimension.
 If the band range is 0-1, for example, it might make sense to scale by 256 to
 fit into a traditional 1-byte color value range.
 
+.. embed::
+
+.. streamable::
+
+Example
+--------------------------------------------------------------------------------
+
 .. code-block:: json
 
   {
diff --git a/doc/stages/filters.computerange.rst b/doc/stages/filters.computerange.rst
index c854562..4b4dc94 100644
--- a/doc/stages/filters.computerange.rst
+++ b/doc/stages/filters.computerange.rst
@@ -8,9 +8,12 @@ The Compute Range filter computes the range from the sensor to each of the
 detected returns.
 
 .. note::
-  The Compute Range filter is specific to raw data from a particular data
-  provider, where the sensor coordinates for each frame are encoded as regular
-  points, and are identified by the pixel number -5.
+
+    The Compute Range filter is specific to raw data from a particular data
+    provider, where the sensor coordinates for each frame are encoded as regular
+    points, and are identified by the pixel number -5.
+
+.. embed::
 
 Example
 -------------------------------------------------------------------------------
diff --git a/doc/stages/filters.cpd.rst b/doc/stages/filters.cpd.rst
new file mode 100644
index 0000000..c7e5781
--- /dev/null
+++ b/doc/stages/filters.cpd.rst
@@ -0,0 +1,81 @@
+.. _filters.cpd:
+
+filters.cpd
+==============
+
+The CPD filter uses the Coherent Point Drift :cite:`Myronenko` algorithm to
+compute a rigid, nonrigid, or affine transformation between datasets.  The
+rigid and affine are what you'd expect; the nonrigid transformation uses Motion
+Coherence Theory :cite:`Yuille1998` to "bend" the points to find a best
+alignment.
+
+.. note::
+
+    CPD is computationally intensive and can be slow when working with many
+    points (i.e. :math:`> 10,000`).  Nonrigid is significatly slower than rigid and
+    affine.
+
+The first input to the change filter are considered the "fixed" points, and all
+subsequent inputs are "moving" points.  The output from the change filter are
+the "moving" points after the calculated transformation has been applied, one
+point view per input.  Any additional information about the cpd registration,
+e.g. the rigid transformation matrix, will be placed in the stage's metadata.
+
+.. plugin::
+
+Examples
+--------
+
+.. code-block:: json
+
+    {
+        "pipeline": [
+            "fixed.las",
+            "moving.las",
+            {
+                "type": "filters.cpd",
+                "method": "rigid"
+            },
+            "output.las"
+        ]
+    }
+
+If "method" is not provided, the cpd filter will default to using the rigid registration method.
+To get the transform matrix, you'll need to use the ``--metadata`` option:
+
+::
+
+    $ pdal pipeline cpd-pipeline.json --metadata cpd-metadata.json
+
+The metadata output might start something like:
+
+.. code-block:: json
+
+    {
+        "stages":
+        {
+            "filters.cpd":
+            {
+                "iterations": 10,
+                "method": "rigid",
+                "runtime": 0.003839,
+                "sigma2": 5.684342128e-16,
+                "transform": "           1 -6.21722e-17  1.30104e-18  5.29303e-11-8.99346e-17            1  2.60209e-18 -3.49247e-10 -2.1684e-19  1.73472e-18            1 -1.53477e-12           0            0            0            1"
+            },
+        },
+
+.. seealso::
+
+    :ref:`filters.transformation` to apply a transform to other points.
+
+Options
+--------
+
+method
+    Change detection method to use.
+    Valid values are "rigid", "affine", and "nonrigid".
+    [Default: **rigid**]
+
+.. _Coherent Point Drift (CPD): https://github.com/gadomski/cpd
+
+.. bibliography:: references.bib
diff --git a/doc/stages/filters.crop.rst b/doc/stages/filters.crop.rst
index fbe9a10..bcd11cc 100644
--- a/doc/stages/filters.crop.rst
+++ b/doc/stages/filters.crop.rst
@@ -8,6 +8,19 @@ box (2D), polygon, or point+distance.  If more than one bounding region is
 specified, the filter will pass all input points through each bounding region,
 creating an output point set for each input crop region.
 
+.. embed::
+
+.. streamable::
+
+The provided bounding regions are assumed to have the same spatial reference
+as the points unless the option `a_srs` provides an explicit spatial reference
+for bounding regions.
+If the point input consists of multiple point views with differing
+spatial references, one is chosen at random and assumed to be the
+spatial reference of the input bounding region.  In this case a warning will
+be logged.
+
+
 Example
 -------
 
@@ -46,3 +59,8 @@ point
 
 distance
   Distance in units of common X, Y, and Z :ref:`dimensions` to crop circle or sphere in combination with ``point``.
+
+a_srs
+  Indicates the spatial reference of the bounding regions.  If not provided,
+  it is assumed that the spatial reference of the bounding region matches
+  that of the points (if possible).
diff --git a/doc/stages/filters.decimation.rst b/doc/stages/filters.decimation.rst
index 68d3fd8..c887565 100644
--- a/doc/stages/filters.decimation.rst
+++ b/doc/stages/filters.decimation.rst
@@ -5,6 +5,10 @@ filters.decimation
 
 The decimation filter retains every Nth point from an input point view.
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/stages/filters.divider.rst b/doc/stages/filters.divider.rst
index 61409f5..97b97a7 100644
--- a/doc/stages/filters.divider.rst
+++ b/doc/stages/filters.divider.rst
@@ -13,6 +13,8 @@ Normally points are divided into subsets to facilitate output by writers
 that support creating multiple output files with a template (LAS and BPF
 are notable examples).
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.eigenvalues.rst b/doc/stages/filters.eigenvalues.rst
index 100614c..05bdc31 100644
--- a/doc/stages/filters.eigenvalues.rst
+++ b/doc/stages/filters.eigenvalues.rst
@@ -15,6 +15,9 @@ The eigenvalue decomposition is performed using Eigen's
 ``SelfAdjointEigenSolver``. For more information see
 https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html.
 
+.. embed::
+
+
 Example
 -------
 
diff --git a/doc/stages/filters.elm.rst b/doc/stages/filters.elm.rst
index d45047b..f078c67 100644
--- a/doc/stages/filters.elm.rst
+++ b/doc/stages/filters.elm.rst
@@ -14,6 +14,8 @@ noise if needed, and continuing until another neighbor is found to be within the
 threshold. At this point, iteration for the current cell stops, and the next
 cell is considered.
 
+.. embed::
+
 Example #1
 ----------
 
@@ -33,7 +35,7 @@ applying the classification code of 18 to those points determined to be noise.
         "output.las"
       ]
     }
-    
+
 Example #2
 ----------
 
diff --git a/doc/stages/filters.estimaterank.rst b/doc/stages/filters.estimaterank.rst
index 41a6957..0d909d3 100644
--- a/doc/stages/filters.estimaterank.rst
+++ b/doc/stages/filters.estimaterank.rst
@@ -15,6 +15,8 @@ singular value.
 More on JacobiSVD can be found at
 https://eigen.tuxfamily.org/dox/classEigen_1_1JacobiSVD.html.
 
+.. embed::
+
 Example
 -------
 
@@ -45,6 +47,6 @@ Options
 
 knn
   The number of k-nearest neighbors. [Default: **8**]
-  
+
 thresh
   The threshold used to identify nonzero singular values. [Default: **0.01**]
diff --git a/doc/stages/filters.ferry.rst b/doc/stages/filters.ferry.rst
index c391ed5..1dc03ef 100644
--- a/doc/stages/filters.ferry.rst
+++ b/doc/stages/filters.ferry.rst
@@ -3,22 +3,30 @@
 filters.ferry
 ================================================================================
 
-The ferry filter is used to stash intermediate variables as part of
-processing data. For example, a common scenario is to keep both the
-original value and the reprojected X and Y variables in a
-scenario that uses the :ref:`filters.reprojection` filter. In the
-normal case, the X and Y data would be overwritten with the new
-longitude and latitude values as part of the reprojection. The
-ferry filter will allow you to keep this around for later use.
+The ferry filter copies data from one dimension to another, creates new
+dimensions or both.
 
+The filter is guided by a list of 'from' and 'to' dimensions in the format
+<from>=<to>.  Data from the 'from' dimension is copied to the 'to' dimension.
+The 'from' dimension must exist.  The 'to' dimension can be pre-existing or
+will be created by the ferry filter.
 
-Example
--------
+Alternatively, the format =<to> can be used to create a new dimension without
+copying data from any source.  The values of the 'to' dimension are default
+initialized.
+
+.. embed::
+
+.. streamable::
+
+Example 1
+---------
+
+In this scenario, we are making copies of the X and Y dimensions into the
+dimensions StatePlaneX and StatePlaneY.  Since the reprojection filter will
+modify the dimensions X and Y, this allows us to maintain both the
+pre-reprojection values and the post-reprojection values.
 
-In this scenario, we are doing what is described above --
-stashing the pre-projection X and Y values into the
-`StatePlaneX` and `StatePlaneY` dimensions. Future
-processing, can then operate on these data.
 
 .. code-block:: json
 
@@ -47,12 +55,37 @@ processing, can then operate on these data.
       ]
     }
 
+Example 2
+---------
+
+The ferry filter is being used to add a dimension 'Classification' to points
+so that the value can be set to '2' and written as a LAS file.
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        {
+            "type": "readers.gdal",
+            "filename": "somefile.tif"
+        },
+        {
+            "type": "filters.ferry",
+            "dimensions": "=Classification"
+        },
+        {
+            "type": "filters.assign",
+            "assignment": "Classification[:]=2"
+        },
+        "out.las"
+      ]
+    }
+
 Options
 -------
 
 dimensions
-  A list of dimensions whose values should be copied to the specified
-  dimensions.
+  A list of dimensions whose values should be copied.
   The format of the option is <from>=<to>, <from>=<to>,... Spaces are ignored.
-  'from' dimensions must exist and have been created by a reader or filter.
-  'to' dimensions will be created if necessary.
+  'from' can be left empty, in which case the 'to' dimension is created and
+  default-initialized.  'to' dimensions will be created if necessary.
diff --git a/doc/stages/filters.greedyprojection.rst b/doc/stages/filters.greedyprojection.rst
index 2ae8939..a2644d4 100644
--- a/doc/stages/filters.greedyprojection.rst
+++ b/doc/stages/filters.greedyprojection.rst
@@ -3,15 +3,17 @@
 filters.greedyprojection
 ===============================================================================
 
-The Greedy Projection filter passes data through the Point Cloud Library
-(`PCL`_) GreedyProjectionTriangulation algorithm.
+The Greedy Projection filter creates a mesh (triangulation) in
+an attempt to reconstruct the surface of an area from a collection of points.
 
 GreedyProjectionTriangulation is an implementation of a greedy triangulation
 algorithm for 3D points based on local 2D projections. It assumes locally smooth
 surfaces and relatively smooth transitions between areas with different point
-densities.
+densities.  The algorithm itself is identical to that used in the `PCL`_ library.
 
-.. _`PCL`: http://www.pointclouds.org
+.. _PCL: http://www.pointclouds.org/documentation/tutorials/greedy_projection.php
+
+.. embed::
 
 Example
 -------
@@ -22,7 +24,9 @@ Example
       "pipeline":[
         "input.las",
         {
-          "type":"filters.greedyprojection"
+          "type": "filters.greedyprojection",
+          "multiplier": 2,
+          "radius": 10
         },
         {
           "type":"writers.las",
@@ -35,4 +39,20 @@ Example
 Options
 -------------------------------------------------------------------------------
 
-None at the moment. Relying on defaults within PCL.
+multiplier
+  Nearest neighbor distance multiplier. [Required]
+
+radius
+  Search radius for neighbors. [Required]
+
+num_neighbors
+  Number of nearest neighbors to consider. [Required]
+
+min_angle
+  Minimum angle for created triangles. [Default: 10 degrees]
+
+max_angle
+  Maximum angle for created triangles. [Default: 120 degrees]
+
+eps_angle
+  Maximum normal difference angle for triangulation consideration. [Default: 45 degrees]
diff --git a/doc/stages/filters.gridprojection.rst b/doc/stages/filters.gridprojection.rst
index ace1c27..82a4d7c 100644
--- a/doc/stages/filters.gridprojection.rst
+++ b/doc/stages/filters.gridprojection.rst
@@ -14,6 +14,8 @@ described in [Li2010]_.
 
 .. _`PCL`: http://www.pointclouds.org
 
+.. plugin::
+
 Example
 -------------------------------------------------------------------------------
 
diff --git a/doc/stages/filters.groupby.rst b/doc/stages/filters.groupby.rst
index c13b1f8..0e11440 100644
--- a/doc/stages/filters.groupby.rst
+++ b/doc/stages/filters.groupby.rst
@@ -6,6 +6,8 @@ filters.groupby
 The groupby filter takes a single PointView as its input and creates a PointView
 for each category in the named ``dimension`` as its output.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.hag.rst b/doc/stages/filters.hag.rst
index a71d858..3ef9191 100644
--- a/doc/stages/filters.hag.rst
+++ b/doc/stages/filters.hag.rst
@@ -3,37 +3,151 @@
 filters.hag
 ===============================================================================
 
-The Height Above Ground (HAG) filter takes as input a point cloud with a 
-Classification dimension, with ground points assigned the classification label 
-of 2 (per LAS specification). It returns a point cloud with a new dimension 
-``HeightAboveGround`` that contains the normalized height value.
+The Height Above Ground (HAG) filter takes as input a point cloud with a
+Classification dimension, with ground points assigned the classification label
+of 2 (per LAS specification).
 
-The HAG filter works by iterating through all non-ground points, finding the
-nearest neighbor (in XY only) amongst the ground points, and computing the
-distance between the two Z values.
+.. note::
 
-Example
--------
+   We expect ground returns to have the classification value of 2 in keeping
+   with the ASPRS Standard LIDAR Point Classes (see
+   http://www.asprs.org/a/society/committees/standards/LAS_1_4_r13.pdf).
+
+This could, for example, be generated by :ref:`filters.pmf` or
+:ref:`filters.smrf` (see :ref:`pcl_ground`), but you can use whichever method
+you choose, as long as the ground returns are marked.
+
+It returns a point cloud with a new dimension ``HeightAboveGround`` that
+contains the normalized height value.
+
+Normalized heights are a commonly used attribute of point cloud data. This can
+also be referred to as *height above ground* (HAG) or *above ground level* (AGL)
+heights. In the end, it is simply a measure of a point's relative height as
+opposed to its raw elevation value.
+
+The HAG filter works by iterating through all points, finding the nearest
+neighbor (in XY only) amongst the ground points, and computing the distance
+between the two Z values.
+
+The process of computing normalized heights is straightforward. First, we must
+have an estimate of the underlying terrain model. With this we can compute the
+difference between each point's elevation and the elevation of the terrain model
+at the same XY coordinate. The quality of the normalized heights will be a
+function of the quality of the terrain model, which of course depends on the
+quality of the ground segmentation approach and any interpolation that is
+required to arrive at the terrain elevation for a given XY coordinate. We will
+use a nearest neighbor interpolation scheme to estimate terrain elevations.
+
+To compute the normalized heights, we first create a 2D KdTree (X and Y only) to
+accelerate our nearest neighbor search. The tree is composed of only ground
+returns. We then iterate over each of our points, searching for the nearest
+neighbor in the ground points. We then compute the difference between the
+elevation of the query point and the nearest neighbor in the ground set. This
+value is encoded as a new dimension called ``HeightAboveGround``.
+
+.. embed::
+
+Example #1
+----------
+
+Using the autzen dataset (here shown colored by elevation)
+
+.. image:: ./images/autzen-elevation.png
+   :height: 400px
+
+we execute the following pipeline
 
 .. code-block:: json
 
     {
       "pipeline":[
-        "input.las",
+        "autzen.laz",
+        {
+          "type":"filters.hag"
+        },
+        {
+          "type":"writers.bpf",
+          "filename":"autzen-height.bpf",
+          "output_dims":"X,Y,Z,HeightAboveGround"
+        }
+      ]
+    }
+
+which is equivalent to the ``pdal translate`` command
+
+::
+
+    $ pdal translate autzen.laz autzen-height.bpf hag \
+        --writers.bpf.output_dims="X,Y,Z,HeightAboveGround"
+
+In either case, the result, when colored by the normalized height instead of
+elevation is
+
+.. image:: ./images/autzen-height.png
+   :height: 400px
+
+Example #2
+-------------------------------------------------------------------------------
+
+In the previous example, we chose a :ref:`writer <writers.bpf>` that could
+output custom dimensions. If you'd instead like to overwrite your Z values, then
+follow the height filter with :ref:`filters.ferry` as shown
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "autzen.laz",
         {
           "type":"filters.hag"
         },
         {
           "type":"filters.ferry",
-          "dimensions":"HeightAboveGround = Z",
+          "dimensions":"HeightAboveGround=Z"
         },
+        "autzen-height-as-Z.laz"
+      ]
+    }
+
+which is equivalent to the command
+
+::
+
+    $ pdal translate autzen.laz autzen-height-as-Z.laz hag ferry \
+        --filters.ferry.dimensions="HeightAboveGround=Z"
+
+Example #3
+-------------------------------------------------------------------------------
+
+If you don't yet have points classified as ground, start with :ref:`filters.pmf`
+or :ref:`filters.smrf` to label ground returns, as shown
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "autzen.laz",
         {
-          "type":"writers.las",
-          "filename":"output.las"
-        }
+          "type":"filters.smrf"
+        },
+        {
+          "type":"filters.hag"
+        },
+        {
+          "type":"filters.ferry",
+          "dimensions":"HeightAboveGround=Z"
+        },
+        "autzen-height-as-Z-smrf.laz"
       ]
     }
 
+which is once again equivalent to the command
+
+::
+
+    $ pdal translate autzen.laz autzen-height-as-Z-smrf.bpf smrf hag ferry \
+        --filters.ferry.dimensions="HeightAboveGround=Z"
+
 Options
 -------------------------------------------------------------------------------
 
diff --git a/doc/stages/filters.head.rst b/doc/stages/filters.head.rst
new file mode 100644
index 0000000..ecca35b
--- /dev/null
+++ b/doc/stages/filters.head.rst
@@ -0,0 +1,77 @@
+.. _filters.head:
+
+filters.head
+===============================================================================
+
+The HeadFilter returns a specified number of points from the beginning of the
+PointView.
+
+.. note::
+
+    If the requested number of points exceeds the size of the point cloud, all
+    points are passed with a warning.
+
+.. embed::
+
+
+Example #1
+----------
+
+Thin a point cloud by first shuffling the point order with
+:ref:`filters.randomize` and then picking the first 10000 using the HeadFilter.
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        {
+          "type":"filters.randomize"
+        },
+        {
+          "type":"filters.head",
+          "count":10000
+        }
+      ]
+    }
+
+
+Example #2
+----------
+
+Compute height above ground and extract the ten highest points.
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        {
+          "type":"filters.smrf"
+        },
+        {
+          "type":"filters.hag"
+        },
+        {
+          "type":"filters.sort",
+          "dimension":"HeightAboveGround",
+          "order":"DESC"
+        },
+        {
+          "type":"filters.head",
+          "count":10
+        }
+      ]
+    }
+
+
+.. seealso::
+
+    :ref:`filters.tail` is the dual to :ref:`filters.head`.
+
+
+Options
+-------------------------------------------------------------------------------
+
+count
+  Number of points to return. [Default: **10**]
diff --git a/doc/stages/filters.hexbin.rst b/doc/stages/filters.hexbin.rst
index e2cb2a5..997ca97 100644
--- a/doc/stages/filters.hexbin.rst
+++ b/doc/stages/filters.hexbin.rst
@@ -3,7 +3,10 @@
 filters.hexbin
 ==============
 
-A common questions for users of point clouds is what the spatial extent of a point cloud collection is. Files generally provide only rectangular bounds, but often the points inside the files only fill up a small percentage of the area within the bounds.
+A common questions for users of point clouds is what the spatial extent of a
+point cloud collection is. Files generally provide only rectangular bounds, but
+often the points inside the files only fill up a small percentage of the area
+within the bounds.
 
 .. figure:: filters.hexbin.img1.jpg
     :scale: 50 %
@@ -11,7 +14,15 @@ A common questions for users of point clouds is what the spatial extent of a poi
 
     Hexbin output shows boundary of actual points in point buffer, not just rectangular extents.
 
-The hexbin filter reads a point stream and writes out a metadata record that contains a much tighter data bound, expressed as a well-known text polygon. In order to write out the metadata record, the `pdal` pipeline command must be invoked using the `--pipeline-serialization` option:
+The hexbin filter reads a point stream and writes out a metadata record that
+contains a much tighter data bound, expressed as a well-known text polygon. In
+order to write out the metadata record, the `pdal` pipeline command must be
+invoked using the `--pipeline-serialization` option:
+
+.. plugin::
+
+Example
+--------------------------------------------------------------------------------
 
 ::
 
diff --git a/doc/stages/filters.icp.rst b/doc/stages/filters.icp.rst
new file mode 100644
index 0000000..f06bfa8
--- /dev/null
+++ b/doc/stages/filters.icp.rst
@@ -0,0 +1,61 @@
+.. _filters.icp:
+
+filters.icp
+==============
+
+The ICP filter uses the `PCL's Iterative Closest Point (ICP)`_ algorithm to
+calculate a rigid (rotation and translation) transformation that best aligns
+two datasets.  The first input to the ICP filter is considered the "fixed"
+points, and all subsequent points are "moving" points.  The output from the
+change filter are the "moving" points after the calculated transformation has
+been applied, one point view per input.  The transformation matrix is inserted
+into the stage's metadata.
+
+.. plugin::
+
+Examples
+--------
+
+.. code-block:: json
+
+    {
+        "pipeline": [
+            "fixed.las",
+            "moving.las",
+            {
+                "type": "filters.icp"
+            },
+            "output.las"
+        ]
+    }
+
+To get the transform matrix, you'll need to use the ``--metadata`` option:
+
+::
+
+    $ pdal pipeline icp-pipeline.json --metadata icp-metadata.json
+
+The metadata output might start something like:
+
+.. code-block:: json
+
+    {
+        "stages":
+        {
+            "filters.icp":
+            {
+                "converged": true,
+                "fitness": 0.01953125097,
+                "transform": "           1  2.60209e-18 -1.97906e-09       -0.375  8.9407e-08            1  5.58794e-09      -0.5625 6.98492e -10 -5.58794e-09            1   0.00411987           0            0            0            1"
+            }
+
+.. seealso::
+
+    :ref:`filters.transformation` to apply a transform to other points.
+
+Options
+--------
+
+None.
+
+.. _PCL's Iterative Closest Point (ICP): http://docs.pointclouds.org/trunk/classpcl_1_1_iterative_closest_point.html
diff --git a/doc/stages/filters.iqr.rst b/doc/stages/filters.iqr.rst
index ba34fe7..f029d2c 100644
--- a/doc/stages/filters.iqr.rst
+++ b/doc/stages/filters.iqr.rst
@@ -12,12 +12,14 @@ are determined by adding 1.5 times the IQR to the third quartile or subtracting
 1.5, can be adjusted by the user.
 
 .. note::
-  
+
   This method can remove real data, especially ridges and valleys in rugged
   terrain, or tall features such as towers and rooftops in flat terrain. While
   the number of deviations can be adjusted to account for such content-specific
   considerations, it must be used with care.
 
+.. embed::
+
 Example
 -------
 
@@ -46,6 +48,6 @@ Options
 
 k
   The IQR multiplier used to determine upper/lower bounds. [Default: **1.5**]
-  
+
 dimension
   The name of the dimension to filter.
diff --git a/doc/stages/filters.kdistance.rst b/doc/stages/filters.kdistance.rst
index 939cfce..3ad2e19 100644
--- a/doc/stages/filters.kdistance.rst
+++ b/doc/stages/filters.kdistance.rst
@@ -7,6 +7,8 @@ filters.kdistance
 The K-Distance filter creates a new attribute ``KDistance`` that contains the
 Euclidean distance to a point's k-th nearest neighbor.
 
+.. embed::
+
 Example
 -------------------------------------------------------------------------------
 
diff --git a/doc/stages/filters.locate.rst b/doc/stages/filters.locate.rst
index 9165050..15e56d2 100644
--- a/doc/stages/filters.locate.rst
+++ b/doc/stages/filters.locate.rst
@@ -9,6 +9,9 @@ maximum value and returns a single point at this location. If multiple points
 share the min/max value, the first will be returned. All dimensions of the input
 ``PointView`` will be output, subject to any overriding writer options.
 
+
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.lof.rst b/doc/stages/filters.lof.rst
index 71c5285..e2ca4c9 100644
--- a/doc/stages/filters.lof.rst
+++ b/doc/stages/filters.lof.rst
@@ -26,12 +26,14 @@ on LOF values, and provide some guidelines on selecting ``minpts`` values, which
 users of ``filters.lof`` should find instructive.
 
 .. note::
-  
+
   To inspect the newly created, non-standard dimensions, be sure to write to an
   output format that can support arbitrary dimensions, such as BPF.
-  
+
 .. [Breunig2000] Breunig, M.M., Kriegel, H.-P., Ng, R.T., Sander, J., 2000. LOF: Identifying Density-Based Local Outliers. Proc. 2000 Acm Sigmod Int. Conf. Manag. Data 1–12.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.mad.rst b/doc/stages/filters.mad.rst
index e9bbcf7..8807f19 100644
--- a/doc/stages/filters.mad.rst
+++ b/doc/stages/filters.mad.rst
@@ -9,12 +9,14 @@ the method of median absolute deviation from the median (commonly referred to as
 MAD), which is robust to outliers (as opposed to mean and standard deviation).
 
 .. note::
-  
+
   This method can remove real data, especially ridges and valleys in rugged
   terrain, or tall features such as towers and rooftops in flat terrain. While
   the number of deviations can be adjusted to account for such content-specific
   considerations, it must be used with care.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.matlab.rst b/doc/stages/filters.matlab.rst
new file mode 100644
index 0000000..d204b07
--- /dev/null
+++ b/doc/stages/filters.matlab.rst
@@ -0,0 +1,77 @@
+.. _filters.matlab:
+
+filters.matlab
+====================
+
+This filter allows `Matlab`_ software to be embedded in a
+:ref:`pipeline` that interacts with struct array of the data and allows
+you to modify those points. Additionally, some global :ref:`metadata` is also
+available that Matlab functions can interact with.
+
+
+.. code-block:: matlab
+
+    Intensity(1)
+
+
+
+The interpreter must exit and always set ``ans==true`` upon success. If
+``ans==false`` an error would be thrown and the :ref:`pipeline` exited.
+
+.. seealso::
+    :ref:`writers.matlab` can be used to write ``.mat`` files.
+
+
+.. note::
+    :ref:`filters.matlab` embeds the entire Matlab interpreter, and it
+    will require a fully licensed version of Matlab to execute your script.
+
+.. plugin::
+
+Example
+-------
+
+
+.. code-block:: json
+
+    {
+      "pipeline":
+      [
+        {
+          "filename": "test\/data\/las\/1.2-with-color.las",
+          "type": "readers.las"
+
+        },
+        {
+          "type": "filters.matlab",
+          "script": "matlab.m"
+
+        },
+
+        {
+          "filename": "out.las",
+          "type": "writers.las"
+        }
+      ]
+    }
+
+
+
+
+Options
+--------------------------------------------------------------------------------
+
+script
+  When reading a function from a separate `Matlab`_ file, the file name to read
+  from. [Example: ``functions.m``]
+
+source
+  The literal `Matlab`_ code to execute, when the script option is not being used.
+
+add_dimension
+  The name of a dimension to add to the pipeline that does not already exist.
+
+struct
+  Array structure name to read [OPTIONAL, defaults ``PDAL``]
+
+.. _Matlab: https://www.mathworks.com/products/matlab.html
diff --git a/doc/stages/filters.merge.rst b/doc/stages/filters.merge.rst
index d1a382e..c3ebed5 100644
--- a/doc/stages/filters.merge.rst
+++ b/doc/stages/filters.merge.rst
@@ -15,6 +15,8 @@ from various sources being merged have similar dimensions or are generally
 compatible.  Notably, dimensions are not initialized when points merged
 from various sources do not have dimensions in common.
 
+.. embed::
+
 Example 1
 ---------
 
diff --git a/doc/stages/filters.mongus.rst b/doc/stages/filters.mongus.rst
index 723a0ac..ae38bc4 100644
--- a/doc/stages/filters.mongus.rst
+++ b/doc/stages/filters.mongus.rst
@@ -6,10 +6,10 @@ filters.mongus
 Filter ground returns using the approach outlined in [Mongus2012]_.
 
 .. note::
-  
+
   Our implmentation of Mongus is in an alpha state. We'd love to have you kick
   the tires and provide feedback, but do not plan on using this in production.
-  
+
 The current implementation of ``filters.mongus`` differs slightly from the
 original paper. We weren't too happy with the criteria for how control points at
 the current level are compared against the TPS at the previous scale and were
@@ -19,12 +19,14 @@ Some warts about the current implementation:
 
 * It writes a bunch of intermediate/debugging outputs to the current directory
   while processing. This should be made optional and then eventually go away.
-  
-* We require specification of a max level, whereas the original paper 
+
+* We require specification of a max level, whereas the original paper
   automatically determined an appropriate max level.
-  
+
 .. [Mongus2012] Mongus, D., Zalik, B., 2012. Parameter-free ground filtering of LiDAR data for automatic DTM generation. ISPRS J. Photogramm. Remote Sens. 67, 1–12.
 
+.. embed::
+
 Example
 -------
 
@@ -49,15 +51,15 @@ Options
 
 cell
   Cell size. [Default: **1.0**]
-  
+
 classify
   Apply classification labels (i.e., ground = 2)? [Default: **true**]
-  
+
 extract
   Extract ground returns (non-ground returns are cropped)? [Default: **false**]
-  
+
 k
   Standard deviation multiplier to be used when thresholding values. [Default: **3.0**]
-  
+
 l
   Maximum level in the hierarchical decomposition. [Default: **8**]
diff --git a/doc/stages/filters.mortonorder.rst b/doc/stages/filters.mortonorder.rst
index 3f09ca4..9e4be01 100644
--- a/doc/stages/filters.mortonorder.rst
+++ b/doc/stages/filters.mortonorder.rst
@@ -7,6 +7,8 @@ Sorts the XY data using `Morton ordering`_.
 
 .. _`Morton ordering`: http://en.wikipedia.org/wiki/Z-order_curve
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.movingleastsquares.rst b/doc/stages/filters.movingleastsquares.rst
index 8c09235..0b94f28 100644
--- a/doc/stages/filters.movingleastsquares.rst
+++ b/doc/stages/filters.movingleastsquares.rst
@@ -16,6 +16,8 @@ on the parametric fit.
 
 .. _`PCL`: http://www.pointclouds.org
 
+.. plugin::
+
 Example
 -------------------------------------------------------------------------------
 
diff --git a/doc/stages/filters.normal.rst b/doc/stages/filters.normal.rst
index 3395dd0..2787c35 100644
--- a/doc/stages/filters.normal.rst
+++ b/doc/stages/filters.normal.rst
@@ -23,6 +23,21 @@ The eigenvalue decomposition is performed using Eigen's
 ``SelfAdjointEigenSolver``. For more information see
 https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html.
 
+Normals will be automatically flipped towards the viewpoint to be consistent. By
+default the viewpoint is located at the midpoint of the X and Y extents, and
+1000 units above the max Z value. Users can override any of the XYZ coordinates,
+or set them all to zero to effectively disable the normal flipping.
+
+.. note::
+
+  By default, the Normal filter will invert normals such that they are always
+  pointed "up" (positive Z). If the user provides a ``viewpoint``, normals will
+  instead be inverted such that they are oriented towards the viewpoint,
+  regardless of the ``always_up`` flag. To disable all normal flipping, do not
+  provide a ``viewpoint`` and set ``always_up=false``.
+
+.. embed::
+
 Example
 -------
 
@@ -52,3 +67,11 @@ Options
 
 knn
   The number of k-nearest neighbors. [Default: **8**]
+
+viewpoint
+  A single WKT or GeoJSON 3D point. Normals will be inverted such that they are
+  all oriented towards the viewpoint.
+
+always_up
+  A flag indicating whether or not normals should be inverted only when the Z
+  component is negative. [Default: **true**]
diff --git a/doc/stages/filters.outlier.rst b/doc/stages/filters.outlier.rst
index 3367ad0..4cd6c5e 100644
--- a/doc/stages/filters.outlier.rst
+++ b/doc/stages/filters.outlier.rst
@@ -7,6 +7,20 @@ filters.outlier
 The Outlier filter provides two outlier filtering methods: radius and
 statistical. These two approaches are discussed in further detail below.
 
+It is worth noting that both filtering methods simply apply a classification
+value of 7 to the noise points (per the LAS specification). To remove the noise
+points altogether, users can add a :ref:`range filter<filters.range>` to their
+pipeline, downstream from the outlier filter.
+
+.. embed::
+
+.. code-block:: json
+
+    {
+      "type":"filters.range",
+      "limits":"Classification![7:7]"
+    }
+
 Statistical Method
 -------------------------------------------------------------------------------
 
@@ -39,10 +53,6 @@ We now interate over the pre-computed mean distances :math:`\mu_i` and compare t
       \text{false,} \phantom{true,} \text{otherwise} \\
   \end{cases}
 
-The ``classify`` and ``extract`` options are used to control whether outlier
-points are labeled as noise, or removed from the output ``PointView``
-completely.
-
 .. figure:: filters.statisticaloutlier.img1.png
     :scale: 70 %
     :alt: Points before outlier removal
@@ -96,10 +106,6 @@ of neighbors specified by ``min_k``, it is marked as an outlier.
       \text{false,} \phantom{true,} \text{otherwise} \\
   \end{cases}
 
-The ``classify`` and ``extract`` options are used to control whether outlier
-points are labeled as noise, or removed from the output ``PointView``
-completely.
-
 Example
 ...............................................................................
 
@@ -124,6 +130,9 @@ four neighbors within a radius of 1.0.
 Options
 -------------------------------------------------------------------------------
 
+class
+  The classification value to apply to outliers. [Default: **7**]
+
 method
   The outlier removal method. [Default: **statistical**]
 
@@ -138,9 +147,3 @@ mean_k
 
 multiplier
   Standard deviation threshold (statistical method only). [Default: **2.0**]
-
-classify
-  Apply classification value of 18 (LAS high noise)? [Default: **true**]
-
-extract
-  Extract inlier returns only? [Default: **false**]
diff --git a/doc/stages/filters.overlay.rst b/doc/stages/filters.overlay.rst
index fb9f5e2..c9fbc88 100644
--- a/doc/stages/filters.overlay.rst
+++ b/doc/stages/filters.overlay.rst
@@ -7,6 +7,8 @@ filters.overlay
 The overlay filter allows you to set the values of a selected dimension
 based on an OGR-readable polygon or multi-polygon.
 
+.. embed::
+
 OGR SQL support
 ----------------
 
diff --git a/doc/stages/filters.pclblock.rst b/doc/stages/filters.pclblock.rst
index cfb8d4c..da33732 100644
--- a/doc/stages/filters.pclblock.rst
+++ b/doc/stages/filters.pclblock.rst
@@ -39,13 +39,14 @@ necessary.
 .. _`PCL`: http://www.pointclouds.org
 
 
+.. plugin::
 
 Options
 -------------------------------------------------------------------------------
 
 filename
   Path to external PCL JSON file describing the pipeline
-  
+
 methods
   Raw PCL JSON array describing the pipeline
 
diff --git a/doc/stages/filters.pmf.rst b/doc/stages/filters.pmf.rst
index ab93fe8..b2ae647 100644
--- a/doc/stages/filters.pmf.rst
+++ b/doc/stages/filters.pmf.rst
@@ -7,6 +7,7 @@ The Progressive Morphological Filter (PMF) is a method of segmenting ground and
 non-ground returns. This filter is an implementation of the method described in
 [Zhang2003]_.
 
+.. embed::
 
 Example
 -------
@@ -37,49 +38,67 @@ Notes
   ``initial_distance`` large enough to not exclude these points from the ground.
 
 * For a given iteration, the height threshold is determined by multiplying
-  ``slope`` by ``cell_size`` by the difference in window size between the current
-  and last iteration, plus the ``initial_distance``. This height threshold is
-  constant across all cells and is maxed out at the ``max_distance`` value. If
-  the difference in elevation between a point and its “opened” value (from the
-  morphological operator) exceeds the height threshold, it is treated as
-  non-ground.  So, bigger slope leads to bigger height thresholds, and these
-  grow with each iteration (not to exceed the max).  With flat terrain,
-  keep this low, the thresholds are small, and stuff is more aggressively
-  dumped into non-ground class.  In rugged terrain, open things up
+  ``slope`` by ``cell_size`` by the difference in window size between the
+  current and last iteration, plus the ``initial_distance``. This height
+  threshold is constant across all cells and is maxed out at the
+  ``max_distance`` value. If the difference in elevation between a point and its
+  “opened” value (from the morphological operator) exceeds the height threshold,
+  it is treated as non-ground.  So, bigger slope leads to bigger height
+  thresholds, and these grow with each iteration (not to exceed the max).  With
+  flat terrain, keep this low, the thresholds are small, and stuff is more
+  aggressively dumped into non-ground class.  In rugged terrain, open things up
   a little, but then you can start missing buildings, veg, etc.
 
 * Very large ``max_window_size`` values will result in a lot of potentially
   extra iteration. This parameter can have a strongly negative impact on
   computation performance.
 
+* ``exponential`` is used to control the rate of growth of morphological window
+  sizes toward ``max_window_size``. Linear growth preserves gradually changing
+  topographic features well, but demands considerable compute time. The default
+  behavior is to grow the window sizes exponentially, thus reducing the number
+  of iterations.
+  
+* This filter will mark all returns deemed to be ground returns with a
+  classification value of 2 (per the LAS specification). To extract only these
+  returns, users can add a :ref:`range filter<filters.range>` to the pipeline.
+
+.. code-block:: json
+
+    {
+      "type":"filters.range",
+      "limits":"Classification[2:2]"
+    }
+
 .. note::
-    [Zhang2003]_ describes the consequences and relationships of the
-    parameters in more detail and is the canonnical resource on the
-    topic.
+
+    [Zhang2003]_ describes the consequences and relationships of the parameters
+    in more detail and is the canonnical resource on the topic.
 
 Options
 -------------------------------------------------------------------------------
 
-max_window_size
-  Maximum window size. [Default: **33**]
-
-slope
-  Slope. [Default: **1.0**]
+cell_size
+  Cell Size. [Default: **1**]
 
-max_distance
-  Maximum distance. [Default: **2.5**]
+exponential
+  Use exponential growth for window sizes? [Defualt: **true**]
 
+ignore
+  Optional range of values to ignore.
+  
 initial_distance
   Initial distance. [Default: **0.15**]
 
-cell_size
-  Cell Size. [Default: **1**]
-
-classify
-  Apply classification labels? [Default: **true**]
+last
+  Consider only last returns (when return information is available)? [Default:
+  **true**]
+  
+max_distance
+  Maximum distance. [Default: **2.5**]
 
-extract
-  Extract ground returns? [Default: **false**]
+max_window_size
+  Maximum window size. [Default: **33**]
 
-approximate
-  Use approximate algorithm? [Default:: **false**]
+slope
+  Slope. [Default: **1.0**]
diff --git a/doc/stages/filters.poisson.rst b/doc/stages/filters.poisson.rst
index fa99fa2..cb166b6 100644
--- a/doc/stages/filters.poisson.rst
+++ b/doc/stages/filters.poisson.rst
@@ -4,14 +4,28 @@
 filters.poisson
 ===============================================================================
 
-The Poisson filter passes data through the Point Cloud Library (`PCL`_) Poisson
-surface reconstruction algorithm.
+The poisson filter passes data Mischa Kazhdan's poisson surface reconstruction
+algorithm. [Kazhdan2006]_  It creates a watertight surface from the original
+point set by creating an entirely new point set representing the imputed
+isosurface.  The algorithm requires normal vectors to each point in order
+to run.  If the x, y and z normal dimensions are present in the input point
+set, they will be used by the algorithm.  If they don't exist, the poisson
+filter will invoke the PDAL normal filter to create them before running.
 
-Poisson is an implementation of the method described in [Kazhdan2006]_.
+The poisson algorithm will usually create a larger output point set
+than the input point set.  Because the algorithm constructs new points, data
+associated with the original points set will be lost, as the algorithm has
+limited ability to impute associated data.  However, if color dimensions
+(red, green and blue) are present in the input, colors will be reconstruced
+in the output point set.
 
 .. [Kazhdan2006] Kazhdan, Michael, Matthew Bolitho, and Hugues Hoppe. "Poisson surface reconstruction." Proceedings of the fourth Eurographics symposium on Geometry processing. Vol. 7. 2006.
 
-.. _`PCL`: http://www.pointclouds.org
+This integration of the algorithm with PDAL only supports a limited set of
+the options available to the implementation.  If you need support for further
+options, please let us know.
+
+.. embed::
 
 Example
 -------------------------------------------------------------------------------
@@ -23,22 +37,37 @@ Example
         "dense.las",
         {
           "type":"filters.poisson",
-          "depth":"8",
-          "point_weight":"4"
         },
         {
-          "type":"writers.las",
-          "filename":"thinned.las",
+          "type":"writers.ply",
+          "filename":"isosurface.ply",
         }
       ]
     }
 
 
+.. note::
+    The algorithm is slow.  On a reasonable desktop machine, the surface
+    reconstruction shown below took about 15 minutes.
+
+.. figure:: ../images/poisson_points.png
+
+  Point cloud (800,000 points)
+
+.. figure:: ../images/poisson_edges.png
+
+  Reconstruction (1.8 million vertices, 3.7 million faces)
+
+
 Options
 -------------------------------------------------------------------------------
 
+density
+  Write an estimate of neighborhood density for each point in the output
+  set.
+
 depth
-  Maximum depth of the tree used for reconstruction. [Default: **8**]
+  Maximum depth of the tree used for reconstruction. The output is sentsitve
+  to this parameter.  Increase if the results appear unsatisfactory.
+  [Default: **8**]
 
-point_weight
-  Importance of interpolation of point samples in the screened Poisson equation. [Default: **4.0**]
diff --git a/doc/stages/filters.predicate.rst b/doc/stages/filters.predicate.rst
deleted file mode 100644
index 809e5a5..0000000
--- a/doc/stages/filters.predicate.rst
+++ /dev/null
@@ -1,101 +0,0 @@
-.. _filters.predicate:
-
-filters.predicate
-=================
-
-Like the :ref:`filters.programmable` filter, the predicate filter applies a
-`Python`_ function to a stream of points. Points can be retained/removed from
-the stream by setting true/false values into a special "Mask" dimension in the
-output point array.
-
-.. note::
-
-    See :ref:`filters.programmable` for documentation about how to access
-    the ``metadata``, ``spatialreference``, and ``schema`` variables.
-
-.. code-block:: python
-
-  import numpy as np
-
-  def filter(ins,outs):
-     cls = ins['Classification']
-
-     keep_classes = [1,2]
-
-     # Use the first test for our base array.
-     keep = np.equal(cls, keep_classes[0])
-
-     # For 1:n, test each predicate and join back
-     # to our existing predicate array
-     for k in range(1,len(keep_classes)):
-         t = np.equal(cls, keep_classes[k])
-         keep = keep + t
-
-     outs['Mask'] = keep
-     return True
-
-The example above sets the "mask" to true for points that are in
-classifications 1 or 2 and to false otherwise, causing points that are not
-classified 1 or 2 to be dropped from the point stream.
-
-.. note::
-
-    :ref:`filters.range` is a specialized filter that implements the exact
-    functionality described in this Python operation. It is likely to be
-    much faster than Python, but not as flexible. :ref:`filters.predicate` and
-    :ref:`filters.programmable` are tools you can use for prototyping
-    point stream processing operations.
-
-.. seealso::
-
-    If you want to just read a :ref:`pipeline` of operations into a numpy
-    array, the PDAL Python extension might be what you want. See it at
-    https://pypi.python.org/pypi/PDAL
-
-Example
--------
-
-
-.. code-block:: json
-
-    {
-      "pipeline":[
-        "file-input.las",
-        {
-          "type":"filters.ground"
-        },
-        {
-          "type":"filters.predicate",
-          "script":"filter_pdal.py",
-          "function":"filter",
-          "module":"anything"
-        },
-        {
-          "type":"writers.las",
-          "filename":"file-filtered.las"
-        }
-      ]
-    }
-
-
-
-
-Options
--------
-
-script
-  When reading a function from a separate `Python`_ file, the file name to read from. [Example: functions.py]
-
-module
-  The Python module that is holding the function to run. [Required]
-
-function
-  The function to call.
-
-pdalargs
-  A JSON dictionary of items you wish to pass into the modules globals as the
-  ``pdalargs`` object.
-
-
-.. _Python: http://python.org
-.. _NumPy: http://www.numpy.org/
diff --git a/doc/stages/filters.programmable.rst b/doc/stages/filters.programmable.rst
deleted file mode 100644
index 8f4f8a4..0000000
--- a/doc/stages/filters.programmable.rst
+++ /dev/null
@@ -1,194 +0,0 @@
-.. _filters.programmable:
-
-filters.programmable
-====================
-
-The programmable filter allows `Python`_ software to be embedded in a
-:ref:`pipeline` that interacts with a `NumPy`_ array of the data and allows
-you to modify those points. Additionally, some global :ref:`metadata` is also
-available that Python functions can interact with.
-
-The function must have two `NumPy`_ arrays as arguments, ``ins`` and ``outs``.
-The ``ins`` array represents the points before the ``filters.programmable``
-filter and the ``outs`` array represents the points after filtering.
-
-.. warning::
-
-    Each array contains all the :ref:`dimensions` of the incoming ``ins`` point schema.
-    Each array in the ``outs`` list match `NumPy`_ array of the
-    same type as provided as ``ins`` for shape and type.
-
-
-.. code-block:: python
-
-  import numpy as np
-
-  def multiply_z(ins,outs):
-      Z = ins['Z']
-      Z = Z * 10.0
-      outs['Z'] = Z
-      return True
-
-
-
-1) The function must always return `True` upon success. If the function returned `False`,
-   an error would be thrown and the :ref:`pipeline` exited.
-
-
-
-2) If you want to write a dimension that might not be available, use can use one
-   or more ``add_dimension`` options.
-
-.. note::
-
-    To filter points based on a `Python`_ function, use the
-    :ref:`filters.predicate` filter.
-
-Example
--------
-
-
-.. code-block:: json
-
-    {
-      "pipeline":[
-        "file-input.las",
-        {
-          "type":"filters.ground"
-        },
-        {
-          "type":"filters.programmable",
-          "script":"multiply_z.py",
-          "function":"multiply_z",
-          "module":"anything"
-        },
-        {
-          "type":"writers.las",
-          "filename":"file-filtered.las"
-        }
-      ]
-    }
-
-The JSON pipeline file referenced the external `multiply_z.py` `Python`_ script,
-which scales up the Z coordinate by a factor of 10.
-
-.. code-block:: python
-
-  import numpy as np
-
-  def multiply_z(ins,outs):
-      Z = ins['Z']
-      Z = Z * 10.0
-      outs['Z'] = Z
-      return True
-
-Module Globals
---------------------------------------------------------------------------------
-
-Three global variables are added to the Python module as it is run to allow
-you to get :ref:`dimensions`, :ref:`metadata`, and coordinate system information.
-Additionally, the ``metadata`` object can be set by the function to modify metadata
-for the in-scope :ref:`filters.programmable` :cpp:class:`pdal::Stage`.
-
-.. code-block:: python
-
-   def myfunc(ins,outs):
-       print ('schema: ', schema)
-       print ('srs: ', spatialreference)
-       print ('metadata: ', metadata)
-       outs = ins
-       return True
-
-Updating metadata
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The filter can update the global ``metadata`` dictionary as needed, define it as a
-**global** Python variable for the function's scope, and the updates will be
-reflected back into the pipeline from that stage forward.
-
-.. code-block:: python
-
-   def myfunc(ins,outs):
-     global metadata
-     metadata = {'name': 'root', 'value': 'a string', 'type': 'string', 'description': 'a description', 'children': [{'name': 'filters.programmable', 'value': 52, 'type': 'integer', 'description': 'a filter description', 'children': []}, {'name': 'readers.faux', 'value': 'another string', 'type': 'string', 'description': 'a reader description', 'children': []}]}
-     return True
-
-Passing Python objects
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-As of PDAL 1.5, it is possible to pass an option to :ref:`filters.programmable` and
-:ref:`filters.predicate` of JSON representing a Python dictionary containing objects
-you want to use in your function. This feature is useful in situations where you
-wish to call :ref:`pipeline_command` with substitutions.
-
-If we needed to be able to provide the Z scaling factor of `Example`_ with a
-Python argument, we can place that in a dictionary and pass that to the filter
-as a separate argument. This feature allows us to be able easily reuse the same
-basic Python function while substituting values as necessary.
-
-.. code-block:: json
-
-    {
-      "pipeline":[
-        "input.las",
-        {
-          "type":"filters.programmable",
-          "module":"anything",
-          "function":"filter",
-          "source":"arguments.py"
-          "pdalargs":"{\"factor\":0.3048,\"an_argument\":42, \"another\": \"a string\"}"
-        },
-        "output.las"
-      ]
-    }
-
-With that option set, you can now fetch the ``pdalargs`` dictionary in your
-Python script and use it:
-
-.. code-block:: python
-
-  import numpy as np
-
-  def multiply_z(ins,outs):
-      Z = ins['Z']
-      Z = Z * float(pdalargs['factor'])
-      outs['Z'] = Z
-      return True
-
-
-
-
-Standard output and error
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-A ``redirector`` module is available for scripts to output to PDAL's log stream
-explicitly. The module handles redirecting ``sys.stderr`` and ``sys.stdout`` for you
-transparently, but it can be used directly by scripts. See the PDAL source
-code for more details.
-
-
-Options
---------------------------------------------------------------------------------
-
-script
-  When reading a function from a separate `Python`_ file, the file name to read
-  from. [Example: functions.py]
-
-module
-  The Python module that is holding the function to run. [Required]
-
-function
-  The function to call.
-
-source
-  The literal `Python`_ code to execute, when the script option is not being used.
-
-add_dimension
-  The name of a dimension to add to the pipeline that does not already exist.
-
-pdalargs
-  A JSON dictionary of items you wish to pass into the modules globals as the
-  ``pdalargs`` object.
-
-.. _Python: http://python.org/
-.. _NumPy: http://www.numpy.org/
diff --git a/doc/stages/filters.python.rst b/doc/stages/filters.python.rst
new file mode 100644
index 0000000..e3ebd7b
--- /dev/null
+++ b/doc/stages/filters.python.rst
@@ -0,0 +1,275 @@
+.. _filters.python:
+
+filters.python
+====================
+
+The ``filters.python`` filter allows `Python`_ software to be embedded in a
+:ref:`pipeline` that interacts with a `NumPy`_ array of the data and allows
+you to modify those points. Additionally, some global :ref:`metadata` is also
+available that Python functions can interact with.
+
+The function must have two `NumPy`_ arrays as arguments, ``ins`` and ``outs``.
+The ``ins`` array represents the points before the ``filters.python``
+filter and the ``outs`` array represents the points after filtering.
+
+.. warning::
+    :ref:`filters.python` was called ``filters.programmable`` and
+    ``filters.predicate`` before Python 1.6. The functionality of
+    ``filters.programmable`` and ``filters.predicate`` was rolled into
+    :ref:`filters.python`, and the filter was renamed for clarity.
+
+
+.. warning::
+
+    Each array contains all the :ref:`dimensions` of the incoming ``ins`` point schema.
+    Each array in the ``outs`` list match `NumPy`_ array of the
+    same type as provided as ``ins`` for shape and type.
+
+.. plugin::
+
+.. code-block:: python
+
+  import numpy as np
+
+  def multiply_z(ins,outs):
+      Z = ins['Z']
+      Z = Z * 10.0
+      outs['Z'] = Z
+      return True
+
+
+
+1) The function must always return `True` upon success. If the function returned `False`,
+   an error would be thrown and the :ref:`pipeline` exited.
+
+
+
+2) If you want to write a dimension that might not be available, use can use one
+   or more ``add_dimension`` options.
+
+.. note::
+
+    To filter points based on a `Python`_ function, use the
+    :ref:`filters.python` filter.
+
+Modification Example
+--------------------------------------------------------------------------------
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "file-input.las",
+        {
+          "type":"filters.ground"
+        },
+        {
+          "type":"filters.python",
+          "script":"multiply_z.py",
+          "function":"multiply_z",
+          "module":"anything"
+        },
+        {
+          "type":"writers.las",
+          "filename":"file-filtered.las"
+        }
+      ]
+    }
+
+The JSON pipeline file referenced the external `multiply_z.py` `Python`_ script,
+which scales up the Z coordinate by a factor of 10.
+
+.. code-block:: python
+
+  import numpy as np
+
+  def multiply_z(ins,outs):
+      Z = ins['Z']
+      Z = Z * 10.0
+      outs['Z'] = Z
+      return True
+
+Predicates
+--------------------------------------------------------------------------------
+
+Points can be retained/removed from the stream by setting true/false values
+into a special "Mask" dimension in the output point array.
+
+The example above sets the "mask" to true for points that are in
+classifications 1 or 2 and to false otherwise, causing points that are not
+classified 1 or 2 to be dropped from the point stream.
+
+.. code-block:: python
+
+  import numpy as np
+
+  def filter(ins,outs):
+     cls = ins['Classification']
+
+     keep_classes = [1,2]
+
+     # Use the first test for our base array.
+     keep = np.equal(cls, keep_classes[0])
+
+     # For 1:n, test each predicate and join back
+     # to our existing predicate array
+     for k in range(1,len(keep_classes)):
+         t = np.equal(cls, keep_classes[k])
+         keep = keep + t
+
+     outs['Mask'] = keep
+     return True
+
+
+.. note::
+
+    :ref:`filters.range` is a specialized filter that implements the exact
+    functionality described in this Python operation. It is likely to be much
+    faster than Python, but not as flexible. :ref:`filters.python` is the tool
+    you can use for prototyping point stream processing operations.
+
+.. seealso::
+
+    If you want to just read a :ref:`pipeline` of operations into a numpy
+    array, the PDAL Python extension might be what you want. See it at
+    https://pypi.python.org/pypi/PDAL
+
+Example :ref:`pipeline`
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "file-input.las",
+        {
+          "type":"filters.ground"
+        },
+        {
+          "type":"filters.python",
+          "script":"filter_pdal.py",
+          "function":"filter",
+          "module":"anything"
+        },
+        {
+          "type":"writers.las",
+          "filename":"file-filtered.las"
+        }
+      ]
+    }
+
+
+
+
+
+Module Globals
+--------------------------------------------------------------------------------
+
+Three global variables are added to the Python module as it is run to allow
+you to get :ref:`dimensions`, :ref:`metadata`, and coordinate system information.
+Additionally, the ``metadata`` object can be set by the function to modify metadata
+for the in-scope :ref:`filters.python` :cpp:class:`pdal::Stage`.
+
+.. code-block:: python
+
+   def myfunc(ins,outs):
+       print ('schema: ', schema)
+       print ('srs: ', spatialreference)
+       print ('metadata: ', metadata)
+       outs = ins
+       return True
+
+Updating metadata
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The filter can update the global ``metadata`` dictionary as needed, define it as a
+**global** Python variable for the function's scope, and the updates will be
+reflected back into the pipeline from that stage forward.
+
+.. code-block:: python
+
+   def myfunc(ins,outs):
+     global metadata
+     metadata = {'name': 'root', 'value': 'a string', 'type': 'string', 'description': 'a description', 'children': [{'name': 'filters.python', 'value': 52, 'type': 'integer', 'description': 'a filter description', 'children': []}, {'name': 'readers.faux', 'value': 'another string', 'type': 'string', 'description': 'a reader description', 'children': []}]}
+     return True
+
+Passing Python objects
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+As of PDAL 1.5, it is possible to pass an option to :ref:`filters.python` and
+:ref:`filters.python` of JSON representing a Python dictionary containing objects
+you want to use in your function. This feature is useful in situations where you
+wish to call :ref:`pipeline_command` with substitutions.
+
+If we needed to be able to provide the Z scaling factor of `Example Pipeline`_ with a
+Python argument, we can place that in a dictionary and pass that to the filter
+as a separate argument. This feature allows us to be able easily reuse the same
+basic Python function while substituting values as necessary.
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "input.las",
+        {
+          "type":"filters.python",
+          "module":"anything",
+          "function":"filter",
+          "source":"arguments.py",
+          "pdalargs":"{\"factor\":0.3048,\"an_argument\":42, \"another\": \"a string\"}"
+        },
+        "output.las"
+      ]
+    }
+
+With that option set, you can now fetch the ``pdalargs`` dictionary in your
+Python script and use it:
+
+.. code-block:: python
+
+  import numpy as np
+
+  def multiply_z(ins,outs):
+      Z = ins['Z']
+      Z = Z * float(pdalargs['factor'])
+      outs['Z'] = Z
+      return True
+
+
+
+
+Standard output and error
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+A ``redirector`` module is available for scripts to output to PDAL's log stream
+explicitly. The module handles redirecting ``sys.stderr`` and ``sys.stdout`` for you
+transparently, but it can be used directly by scripts. See the PDAL source
+code for more details.
+
+
+Options
+--------------------------------------------------------------------------------
+
+script
+  When reading a function from a separate `Python`_ file, the file name to read
+  from. [Example: functions.py]
+
+module
+  The Python module that is holding the function to run. [Required]
+
+function
+  The function to call.
+
+source
+  The literal `Python`_ code to execute, when the script option is not being used.
+
+add_dimension
+  The name of a dimension to add to the pipeline that does not already exist.
+
+pdalargs
+  A JSON dictionary of items you wish to pass into the modules globals as the
+  ``pdalargs`` object.
+
+.. _Python: http://python.org/
+.. _NumPy: http://www.numpy.org/
diff --git a/doc/stages/filters.radialdensity.rst b/doc/stages/filters.radialdensity.rst
index 3ed4bd2..337b773 100644
--- a/doc/stages/filters.radialdensity.rst
+++ b/doc/stages/filters.radialdensity.rst
@@ -18,6 +18,8 @@ by the volume of the sphere, defined as
 
 The radius :math:`r` can be adjusted by changing the ``radius`` option.
 
+.. embed::
+
 Example
 -------------------------------------------------------------------------------
 
diff --git a/doc/stages/filters.randomize.rst b/doc/stages/filters.randomize.rst
index f036c1b..68b3651 100644
--- a/doc/stages/filters.randomize.rst
+++ b/doc/stages/filters.randomize.rst
@@ -5,6 +5,8 @@ filters.randomize
 
 The randomize filter reorders the points in a point view randomly.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/stages/filters.range.rst b/doc/stages/filters.range.rst
index 6b4044e..aa5aece 100644
--- a/doc/stages/filters.range.rst
+++ b/doc/stages/filters.range.rst
@@ -8,6 +8,10 @@ filters.range
 The range filter applies rudimentary filtering to the input point cloud
 based on a set of criteria on the given dimensions.
 
+.. embed::
+
+.. streamable::
+
 Pipeline Example
 ----------------
 
diff --git a/doc/stages/filters.reprojection.rst b/doc/stages/filters.reprojection.rst
index 02ddfbb..ce37bfd 100644
--- a/doc/stages/filters.reprojection.rst
+++ b/doc/stages/filters.reprojection.rst
@@ -20,6 +20,9 @@ if you want to preserve the old coordinates for future processing, use a
     coordinate values will change, which may change the optimal scale and offset
     for storing the data.
 
+.. embed::
+
+.. streamable::
 
 Example 1
 --------------------------------------------------------------------------------
diff --git a/doc/stages/filters.sample.rst b/doc/stages/filters.sample.rst
index dc97df0..1e5f3ac 100644
--- a/doc/stages/filters.sample.rst
+++ b/doc/stages/filters.sample.rst
@@ -21,6 +21,7 @@ is kept in tact (the same cannot be said for :ref:`filters.voxelgrid`).
     :ref:`filters.decimation` and :ref:`filters.voxelgrid` also perform
     decimation.
 
+.. embed::
 
 Options
 -------------------------------------------------------------------------------
diff --git a/doc/stages/filters.smrf.rst b/doc/stages/filters.smrf.rst
index d36f267..eb9af24 100644
--- a/doc/stages/filters.smrf.rst
+++ b/doc/stages/filters.smrf.rst
@@ -8,6 +8,9 @@ outlined in [Pingel2013]_.
 
 .. [Pingel2013] Pingel, T.J., Clarke, K.C., McBride, W.A., 2013. An improved simple morphological filter for the terrain classification of airborne LIDAR data. ISPRS J. Photogramm. Remote Sens. 77, 21–30.
 
+
+.. embed::
+
 Example
 -------
 
@@ -25,7 +28,7 @@ returns, writing only the ground returns to the output file.
         {
           "type":"filters.range",
           "limits":"Classification[2:2]"
-        }
+        },
         "output.laz"
       ]
     }
@@ -38,18 +41,18 @@ cell
 
 cut
   Cut net size (``cut=0`` skips the net cutting step). [Default: **0.0**]
-  
-outdir
+
+dir
   Optional output directory for debugging intermediate rasters.
-  
+
 scalar
   Elevation scalar. [Default: **1.25**]
-  
+
 slope
   Slope (rise over run). [Default: **0.15**]
-  
+
 threshold
   Elevation threshold. [Default: **0.5**]
-  
+
 window
   Max window size. [Default: **18.0**]
diff --git a/doc/stages/filters.sort.rst b/doc/stages/filters.sort.rst
index 5325b12..6d533d6 100644
--- a/doc/stages/filters.sort.rst
+++ b/doc/stages/filters.sort.rst
@@ -6,32 +6,25 @@ filters.sort
 The sort filter orders a point view based on the values of a dimension. The
 sorting can be done in increasing (ascending) or decreasing (descending) order.
 
+.. embed::
+
 Example
 -------
 
-.. code-block:: xml
-
-  <?xml version="1.0" encoding="utf-8"?>
-  <Pipeline version="1.0">
-    <Writer type="writers.las">
-      <Option name="filename">
-        sorted.las
-      </Option>
-      <Filter type="filters.sort">
-        <Option name="dimension">
-          X
-        </Option>
-        <Option name="order">
-          ASC
-        </Option>
-        <Reader type="readers.las">
-          <Option name="filename">
-            unsorted.las
-          </Option>
-        </Reader>
-      </Filter>
-    </Writer>
-  </Pipeline>
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "unsorted.las",
+        {
+          "type":"filters.sort",
+          "dimension":"X",
+          "order":"ASC"
+        },
+        "sorted.las"
+      ]
+    }
 
 
 Options
diff --git a/doc/stages/filters.splitter.rst b/doc/stages/filters.splitter.rst
index 6c5fc98..da66856 100644
--- a/doc/stages/filters.splitter.rst
+++ b/doc/stages/filters.splitter.rst
@@ -14,6 +14,8 @@ Splitting is usually applied to data read from files (which produce one large
 stream of points) before the points are written to a database (which prefer
 data segmented into smaller blocks).
 
+.. embed::
+
 Example
 -------
 
@@ -48,3 +50,6 @@ origin_x
 origin_y
   Y Origin of the tiles.  [Default: none (chosen arbitarily)]
 
+buffer
+  Amount of overlap to include in each tile. This buffer is added onto length in both the x and the y direction.
+  [Default: 0.0]
diff --git a/doc/stages/filters.tail.rst b/doc/stages/filters.tail.rst
new file mode 100644
index 0000000..e172f6a
--- /dev/null
+++ b/doc/stages/filters.tail.rst
@@ -0,0 +1,48 @@
+.. _filters.tail:
+
+filters.tail
+===============================================================================
+
+The TailFilter returns a specified number of points from the end of the
+PointView.
+
+.. note::
+
+    If the requested number of points exceeds the size of the point cloud, all
+    points are passed with a warning.
+
+.. embed::
+
+Example #1
+----------
+
+Sort and extract the 100 lowest intensity points.
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        {
+          "type":"filters.sort",
+          "dimension":"Intensity",
+          "order":"DESC"
+        },
+        {
+          "type":"filters.tail",
+          "count":100
+        }
+      ]
+    }
+
+
+.. seealso::
+
+    :ref:`filters.head` is the dual to :ref:`filters.tail`.
+
+
+Options
+-------------------------------------------------------------------------------
+
+count
+  Number of points to return. [Default: **10**]
diff --git a/doc/stages/filters.transformation.rst b/doc/stages/filters.transformation.rst
index 626398e..0600a59 100644
--- a/doc/stages/filters.transformation.rst
+++ b/doc/stages/filters.transformation.rst
@@ -15,6 +15,10 @@ transformation — buyer beware.
     — if spatial reference information is desired, it must be specified on
     another filter.
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/stages/filters.voxelcenternearestneighbor.rst b/doc/stages/filters.voxelcenternearestneighbor.rst
new file mode 100644
index 0000000..205ff6a
--- /dev/null
+++ b/doc/stages/filters.voxelcenternearestneighbor.rst
@@ -0,0 +1,52 @@
+.. _filters.voxelcenternearestneighbor:
+
+===============================================================================
+filters.voxelcenternearestneighbor
+===============================================================================
+
+VoxelCenterNearestNeighbor is a voxel-based sampling filter. The input point
+cloud is divided into 3D voxels at the given cell size. For each populated
+voxel, the coordinates of the voxel center are used as the query point in a 3D
+nearest neighbor search. The nearest neighbor is then added to the output point
+cloud, along with any existing dimensions.
+
+.. note::
+
+    This is similar to the existing :ref:`filters.voxelgrid`. However, in the
+    case of the VoxelGrid, the centroid of the points falling within the voxel
+    is added to the output point cloud. The drawback with this approach is that
+    all dimensional data is lost, and the sampled cloud now consists of only XYZ
+    coordinates.
+
+.. embed::
+
+
+Example
+-------
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "input.las",
+        {
+          "type":"filters.voxelcenternearestneighbor",
+          "cell":10.0
+        },
+        "output.las"
+      ]
+    }
+
+
+.. seealso::
+
+    :ref:`filters.voxelcentroidnearestneighbor` offers a similar solution, using
+    as the query point the centroid of all points falling within the voxel as
+    opposed to the voxel center coordinates.
+
+Options
+-------------------------------------------------------------------------------
+
+cell
+  Cell size in the X, Y, and Z dimension. [Default: **1.0**]
diff --git a/doc/stages/filters.voxelcentroidnearestneighbor.rst b/doc/stages/filters.voxelcentroidnearestneighbor.rst
new file mode 100644
index 0000000..a4d970a
--- /dev/null
+++ b/doc/stages/filters.voxelcentroidnearestneighbor.rst
@@ -0,0 +1,49 @@
+.. _filters.voxelcentroidnearestneighbor:
+
+===============================================================================
+filters.voxelcentroidnearestneighbor
+===============================================================================
+
+VoxelCentroidNearestNeighbor is a voxel-based sampling filter. The input point
+cloud is divided into 3D voxels at the given cell size. For each populated
+voxel, the centroid of the points within that voxel is computed. This centroid
+is used as the query point in a 3D nearest neighbor search. The nearest neighbor
+is then added to the output point cloud, along with any existing dimensions.
+
+.. note::
+
+    This is similar to the existing :ref:`filters.voxelgrid`. However, in the
+    case of the VoxelGrid, the centroid itself is added to the output point
+    cloud. The drawback with this approach is that all dimensional data is lost,
+    and the sampled cloud now consists of only XYZ coordinates.
+
+.. embed::
+
+Example
+-------
+
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "input.las",
+        {
+          "type":"filters.voxelcentroidnearestneighbor",
+          "cell":10.0
+        },
+        "output.las"
+      ]
+    }
+
+
+.. seealso::
+
+    :ref:`filters.voxelcenternearestneighbor` offers a similar solution, using
+    the voxel center as opposed to the voxel centroid for the query point.
+
+Options
+-------------------------------------------------------------------------------
+
+cell
+  Cell size in the X, Y, and Z dimension. [Default: **1.0**]
diff --git a/doc/stages/filters.voxelgrid.rst b/doc/stages/filters.voxelgrid.rst
index 649e5e8..130e6f3 100644
--- a/doc/stages/filters.voxelgrid.rst
+++ b/doc/stages/filters.voxelgrid.rst
@@ -15,6 +15,8 @@ approximated (i.e., *downsampled*) with their centroid. This approach is a bit
 slower than approximating them with the center of the voxel, but it represents
 the underlying surface more accurately.
 
+.. embed::
+
 Example
 -------
 
diff --git a/doc/tutorial/autzen-elevation.png b/doc/stages/images/autzen-elevation.png
similarity index 100%
rename from doc/tutorial/autzen-elevation.png
rename to doc/stages/images/autzen-elevation.png
diff --git a/doc/tutorial/autzen-height.png b/doc/stages/images/autzen-height.png
similarity index 100%
rename from doc/tutorial/autzen-height.png
rename to doc/stages/images/autzen-height.png
diff --git a/doc/stages/readers.bpf.rst b/doc/stages/readers.bpf.rst
index 8993204..5dfebd2 100644
--- a/doc/stages/readers.bpf.rst
+++ b/doc/stages/readers.bpf.rst
@@ -16,6 +16,10 @@ made accessible to PDAL; they are essentially ignored.
 Data that follows the standard header but precedes point data is taken to
 be metadata and is UTF-encoded and added to the reader's metadata.
 
+.. embed::
+
+.. streamable::
+
 Example
 ------------------------------------------------------------------------------
 
@@ -38,3 +42,5 @@ Options
 filename
     BPF file to read [Required]
 
+count
+    Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.buffer.rst b/doc/stages/readers.buffer.rst
index 4afc03d..6e635bb 100644
--- a/doc/stages/readers.buffer.rst
+++ b/doc/stages/readers.buffer.rst
@@ -9,6 +9,7 @@ fetching the data from a specific reader. In the :ref:`writing` example,
 it is used to take a simple listing of points and turn them into an
 LAS file.
 
+.. embed::
 
 Example
 -------
diff --git a/doc/stages/readers.faux.rst b/doc/stages/readers.faux.rst
index 1c4dcc6..acbb060 100644
--- a/doc/stages/readers.faux.rst
+++ b/doc/stages/readers.faux.rst
@@ -26,6 +26,10 @@ grid
     Creates points with integer-valued coordinates in the range provided
     (excluding the upper bound).
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
@@ -36,7 +40,7 @@ Example
         {
           "type":"readers.faux",
           "bounds":"([0,1000000],[0,1000000],[0,100])",
-          "num_points":"10000",
+          "count":"10000",
           "mode":"random"
         },
         {
@@ -54,7 +58,7 @@ bounds
   What spatial extent should points be generated within? Text string of the
   form "([xmin,xmax],[ymin,ymax],[zmin,zmax])". [Default: unit cube]
 
-num_points
+count
   How many synthetic points to generate before finishing? [Required]
 
 mean_x|y|z
diff --git a/doc/stages/readers.gdal.rst b/doc/stages/readers.gdal.rst
index eebab52..8b0ecd1 100644
--- a/doc/stages/readers.gdal.rst
+++ b/doc/stages/readers.gdal.rst
@@ -20,6 +20,7 @@ that are center pixel, and each band is represented by "band-1", "band-2", or
     names. For output to formats such as :ref:`LAS <writers.las>`, this mapping
     is required.
 
+.. embed::
 
 Basic Example
 --------------------------------------------------------------------------------
@@ -62,7 +63,7 @@ RGB values of an `ASPRS LAS`_ file using :ref:`writers.las`.
           "filename":"./pdal/test/data/autzen/autzen.jpg"
         },
         {
-          "type":"filters.ferry"
+          "type":"filters.ferry",
           "dimensions":"band-1=Red, band-2=Green, band-3=Blue",
         },
         {
@@ -82,4 +83,5 @@ filename
 
 .. _`GDALOpen`: http://www.gdal.org/gdal_8h.html#a6836f0f810396c5e45622c8ef94624d4
 
-
+count
+    Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.geowave.rst b/doc/stages/readers.geowave.rst
index d4bdabe..8b67020 100644
--- a/doc/stages/readers.geowave.rst
+++ b/doc/stages/readers.geowave.rst
@@ -9,6 +9,8 @@ The **GeoWave reader** uses `GeoWave`_ to read from Accumulo.  GeoWave entries
 are stored using `EPSG:4326 <http://epsg.io/4326/>`__.  Instructions for
 configuring the GeoWave plugin can be found `here`_.
 
+.. plugin::
+
 Example
 -------
 
diff --git a/doc/stages/readers.greyhound.rst b/doc/stages/readers.greyhound.rst
index 7828235..150d119 100644
--- a/doc/stages/readers.greyhound.rst
+++ b/doc/stages/readers.greyhound.rst
@@ -6,6 +6,8 @@ readers.greyhound
 The **Greyhound Reader** allows you to query point data from a `Greyhound`_
 server.
 
+.. plugin::
+
 Example
 -------
 
@@ -14,32 +16,40 @@ Example
     {
       "pipeline":[
         {
-          "type":"readers.greyhound",
-          "url":"data.greyhound.io",
-          "resource":"autzen"
+          "type": "readers.greyhound",
+          "url": "data.greyhound.io",
+          "resource": "iowa-z",
+          "filter": {"$and": [
+            {"Path": "02004736.laz"},
+            {"Classification": {"$ne": 7}}
+          ]}
         },
-        {
-          "type":"writers.text",
-          "filename":"outputfile.txt"
-        }
+        "output.laz"
       ]
     }
 
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "greyhound://data.greyhound.io/resource/iowa-z/read?filter={\"Path\":\"02004736.laz\"}",
+        "02004736.laz"
+      ]
+    }
 
 Options
 -------
 
 _`url`
-  Greyhound server URL string. [Required]
+  Greyhound server URL, or a full Greyhound `read`_ query URL.  If specified as a full Greyhound query URL, no other options need to be present.
 
 _`resource`
-  Name of the Greyhound resource to access. [Required]
+  Name of the Greyhound resource to access.
 
 _`bounds`
   Spatial bounds to query, expressed as a string, e.g.
   *([xmin, xmax], [ymin, ymax])* or
-  *([xmin, xmax], [ymin, ymax], [zmin, zmax])*.  By default, the entire resource
-  is queried.
+  *([xmin, xmax], [ymin, ymax], [zmin, zmax])* or as a Greyhound `bounds array`_.  By default, the entire resource is queried.
 
 _`depth_begin`
   Beginning octree depth to query, inclusive.  Lower depth values have coarser
@@ -83,12 +93,9 @@ _`filter`
         {"Classification":{"$nin":[2,3]}}
     ]}
 
-_`threads`
-  Because Greyhound resources are accessed by combination of multiple HTTP
-  requests, threaded operation can greatly increase throughput.  This option
-  sets the number of concurrent requests allowed.  [Default: **4**]
-
 .. _Greyhound: https://github.com/hobu/greyhound
+.. _bounds array: https://github.com/hobu/greyhound/blob/master/doc/clientDevelopment.rst#bounds-option
+.. _read: https://github.com/hobu/greyhound/blob/master/doc/clientDevelopment.rst#the-read-query
 .. _comparison: https://docs.mongodb.com/manual/reference/operator/query-comparison/
 .. _logical: https://docs.mongodb.com/manual/reference/operator/query-logical/
 
diff --git a/doc/stages/readers.ilvis2.rst b/doc/stages/readers.ilvis2.rst
index ad18e39..620bb17 100644
--- a/doc/stages/readers.ilvis2.rst
+++ b/doc/stages/readers.ilvis2.rst
@@ -11,6 +11,10 @@ for more information
 
     Dimensions provided by the ILVIS2 reader
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
@@ -42,3 +46,6 @@ mapping
 
 metadata
   XML metadata file to coincidentally read [Optional]
+
+count
+  Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.las.rst b/doc/stages/readers.las.rst
index a2dd96f..c74bf9c 100644
--- a/doc/stages/readers.las.rst
+++ b/doc/stages/readers.las.rst
@@ -46,6 +46,11 @@ the two supported decompressors, `LASzip`_ or `LAZperf`_.  See the
   but the data associated with a dimension of datatype 0 will be ignored
   (no PDAL dimension will be created).
 
+.. embed::
+
+.. streamable::
+
+
 Example
 -------
 
@@ -88,7 +93,15 @@ _`extra_dims`
 
 _`compression`
   May be set to "lazperf" or "laszip" to choose either the LazPerf decompressor
-  or the LasZip decompressor for LAZ files.  PDAL must have been build with
+  or the LASzip decompressor for LAZ files.  PDAL must have been built with
   support for the decompressor being requested.  The LazPerf decompressor
   doesn't support version 1 LAZ files or version 1.4 of LAS.
   [Default: "laszip"]
+
+_`spatialreference`
+  Sets the spatial reference for the file data.  Overrides any spatial
+  reference information in the file itself.  Most text-based formats of
+  SRS information are accepted, including WKT and proj.4.
+
+_`count`
+    Maximum number of points read [Optional]
diff --git a/doc/stages/readers.matlab.rst b/doc/stages/readers.matlab.rst
new file mode 100644
index 0000000..a4e3908
--- /dev/null
+++ b/doc/stages/readers.matlab.rst
@@ -0,0 +1,56 @@
+.. _readers.matlab:
+
+readers.matlab
+==============
+
+The **Matlab Reader** supports readers Matlab ``.mat`` files. Data
+must be in a `Matlab struct`_, with field names that correspond to
+:ref:`dimensions` names. No ability to provide a name map is yet
+provided.
+
+Additionally, each array in the struct should ideally have the
+same number of points. The reader takes its number of points
+from the first array in the struct. If the array has fewer
+elements than the first array in the struct, the point's field
+beyond that number is set to zero.
+
+.. _`Matlab struct`: https://www.mathworks.com/help/matlab/ref/struct.html
+
+.. note::
+
+    The Matlab reader requires the Mat-File API from MathWorks, and it must be
+    explicitly enabled at compile time with the ``BUILD_PLUGIN_MATLAB=ON``
+    variable
+
+
+.. plugin::
+
+.. streamable::
+
+Example
+-------
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        {
+          "type":"readers.matlab",
+          "struct":"PDAL",
+          "filename":"autzen.mat"
+        },
+        {
+          "type":"writers.las",
+          "filename":"output.las"
+        }
+      ]
+    }
+
+Options
+-------
+
+filename
+  Output file name [REQUIRED]
+
+struct
+  Array structure name to read [OPTIONAL, defaults ``PDAL``]
diff --git a/doc/stages/readers.mbio.rst b/doc/stages/readers.mbio.rst
index 2a9c0da..e6ddb24 100644
--- a/doc/stages/readers.mbio.rst
+++ b/doc/stages/readers.mbio.rst
@@ -14,6 +14,10 @@ longitude and latitude for units and the Z values are in meters (negative,
 being below the surface).  Units for 'Amplitude' is not specified and may
 vary.
 
+.. plugin::
+
+.. streamable::
+
 
 Example
 -------
@@ -51,3 +55,6 @@ format
 .. _MB-System: http://www.ldeo.columbia.edu/res/pi/MB-System/
 
 .. _all formats: https://www.ldeo.columbia.edu/res/pi/MB-System/html/mbio.html#lbAI
+
+count
+  Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.mrsid.rst b/doc/stages/readers.mrsid.rst
index 819c4bd..8f608df 100644
--- a/doc/stages/readers.mrsid.rst
+++ b/doc/stages/readers.mrsid.rst
@@ -1,4 +1,4 @@
-.. _readers.mrsid:
+  .. _readers.mrsid:
 
 readers.mrsid
 =============
@@ -6,6 +6,8 @@ readers.mrsid
 Implements MrSID 4.0 LiDAR Compressor. It requires the `Lidar_DSDK`_ to be able to
 decompress and read data.
 
+.. plugin::
+
 Example
 -------
 
diff --git a/doc/stages/readers.nitf.rst b/doc/stages/readers.nitf.rst
index 2385ba7..19aa5be 100644
--- a/doc/stages/readers.nitf.rst
+++ b/doc/stages/readers.nitf.rst
@@ -29,6 +29,11 @@ and types for convenience in file format transformation.
 
 .. _`NITF Nitro`: http://nitro-nitf.sourceforge.net/wikka.php?wakka=HomePage
 
+.. embed::
+
+.. streamable::
+
+
 Example
 -------
 
@@ -55,7 +60,21 @@ Options
 filename
   Filename to read from [Required]
 
+count
+  Maximum number of points to read [Optional]
+
+spatialreference
+  Spatial reference to apply to data
+
+extra_dims
+  Dimensions to assign to extra byte data
 
+compression
+  May be set to "lazperf" or "laszip" to choose either the LazPerf decompressor
+  or the LASzip decompressor for LAZ files.  PDAL must have been built with
+  support for the decompressor being requested.  The LazPerf decompressor
+  doesn't support version 1 LAZ files or version 1.4 of LAS.
+  [Default: "laszip"]
 
 .. _NITF: http://en.wikipedia.org/wiki/National_Imagery_Transmission_Format
 
diff --git a/doc/stages/readers.oci.rst b/doc/stages/readers.oci.rst
index 702e465..86fef54 100644
--- a/doc/stages/readers.oci.rst
+++ b/doc/stages/readers.oci.rst
@@ -5,6 +5,8 @@ readers.oci
 
 The OCI reader is used to read data from `Oracle point cloud`_ databases.
 
+.. plugin::
+
 
 Example
 -------
@@ -39,7 +41,10 @@ query
   SELECT statement that returns an SDO_PC object as its first and only queried item [Required]
 
 spatialreference
-  Spatial reference system of the data being read. E.g. "EPSG:26910".
+  _`spatialreference`
+    Sets the spatial reference for the point ata.  Overrides any spatial
+    reference information read from the database.  Most text-based formats of
+    SRS information are accepted, including WKT and proj.4.
 
 xml_schema_dump
   Filename to dump the XML schema to.
diff --git a/doc/stages/readers.optech.rst b/doc/stages/readers.optech.rst
index 606aa34..f5af1f1 100644
--- a/doc/stages/readers.optech.rst
+++ b/doc/stages/readers.optech.rst
@@ -3,10 +3,14 @@
 readers.optech
 ==============
 
-The **Optech reader** reads Corrected Sensor Data (.csd) files.
-These files contain scan angles, ranges, IMU and GNSS information, and boresight calibration values, all of which are combined in the reader into XYZ points using the WGS84 reference frame.
+The **Optech reader** reads Corrected Sensor Data (.csd) files.  These files
+contain scan angles, ranges, IMU and GNSS information, and boresight
+calibration values, all of which are combined in the reader into XYZ points
+using the WGS84 reference frame.
 
 
+.. embed::
+
 Example
 -------
 
@@ -31,3 +35,6 @@ Options
 
 filename
   csd file to read [Required]
+
+count
+  Maximum number of points read [Optional]
diff --git a/doc/stages/readers.pcd.rst b/doc/stages/readers.pcd.rst
index 33b5007..19286d4 100644
--- a/doc/stages/readers.pcd.rst
+++ b/doc/stages/readers.pcd.rst
@@ -12,6 +12,8 @@ files, which are used by the `Point Cloud Library (PCL)`_.
 
     The `PCD Reader` requires linkage of the `PCL`_ library.
 
+.. plugin::
+
 
 Example
 -------
@@ -37,7 +39,8 @@ Options
 filename
   PCD file to read [Required]
 
-
+count
+  Maximum number of points to read [Optional]
 
 .. _Point Cloud Data (PCD): http://pointclouds.org/documentation/tutorials/pcd_file_format.php
 .. _Point Cloud Library (PCL): http://pointclouds.org
diff --git a/doc/stages/readers.pgpointcloud.rst b/doc/stages/readers.pgpointcloud.rst
index 41d5e57..9ae0043 100644
--- a/doc/stages/readers.pgpointcloud.rst
+++ b/doc/stages/readers.pgpointcloud.rst
@@ -3,9 +3,15 @@
 readers.pgpointcloud
 ====================
 
-The **PostgreSQL Pointcloud Reader** allows you to read from a PostgreSQL database that the `PostgreSQL Pointcloud`_ extension enabled. The Pointcloud extension stores point cloud data in tables that contain rows of patches. Each patch in turn contains a large number of spatially nearby points.
+The **PostgreSQL Pointcloud Reader** allows you to read from a PostgreSQL
+database that the `PostgreSQL Pointcloud`_ extension enabled. The Pointcloud
+extension stores point cloud data in tables that contain rows of patches. Each
+patch in turn contains a large number of spatially nearby points.
 
-The reader pulls patches from a table, potentially sub-setting the query on the way with a "where" clause.
+The reader pulls patches from a table, potentially sub-setting the query on the
+way with a "where" clause.
+
+.. plugin::
 
 Example
 -------
@@ -46,7 +52,11 @@ column
   Table column to read patches from. [Default: **pa**]
 
 spatialreference
-  The spatial reference to use for the points. Over-rides the value read from the database.
+  Sets the spatial reference for the point data.  Overrides any spatial
+  reference information read from the database.  Most text-based formats of
+  SRS information are accepted, including WKT and proj.4.
 
+count
+  Maximum number of points to read [Optional]
 
 .. _PostgreSQL Pointcloud: https://github.com/pramsey/pointcloud
diff --git a/doc/stages/readers.ply.rst b/doc/stages/readers.ply.rst
index 30d0c37..0482b00 100644
--- a/doc/stages/readers.ply.rst
+++ b/doc/stages/readers.ply.rst
@@ -12,6 +12,9 @@ is included with the PDAL source, so there are no external dependencies.
 
     The ply reader can read ASCII and binary ply files.
 
+.. embed::
+
+.. streamable::
 
 Example
 -------
@@ -38,7 +41,8 @@ Options
 filename
   ply file to read [Required]
 
-
+count 
+  Maximum number of points to read [Optional]
 
 .. _polygon file format: http://paulbourke.net/dataformats/ply/
 .. _rply library: http://w3.impa.br/~diego/software/rply/
diff --git a/doc/stages/readers.pts.rst b/doc/stages/readers.pts.rst
index b84c7ae..2e7005e 100644
--- a/doc/stages/readers.pts.rst
+++ b/doc/stages/readers.pts.rst
@@ -6,6 +6,10 @@ readers.pts
 The **PTS reader** reads data from Leica Cyclone PTS files. It is
 not very sophisticated.
 
+.. embed::
+
+
+
 
 Example Pipeline
 ----------------
@@ -31,3 +35,5 @@ Options
 filename
   text file to read [Required]
 
+count 
+  Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.qfit.rst b/doc/stages/readers.qfit.rst
index 5b022da..850d17b 100644
--- a/doc/stages/readers.qfit.rst
+++ b/doc/stages/readers.qfit.rst
@@ -7,6 +7,8 @@ readers.qfit
 The **QFIT reader** read from files in the `QFIT format`_ originated for the
 Airborne Topographic Mapper (ATM) project at NASA Goddard Space Flight Center.
 
+.. embed::
+
 
 Example
 -------
@@ -43,6 +45,8 @@ scale_z
 little_endian
   Are data in little endian format? This should be automatically detected by the driver.
 
+count 
+  Maximum number of points to read [Optional]
 
 .. _QFIT format: http://nsidc.org/data/docs/daac/icebridge/ilatm1b/docs/ReadMe.qfit.txt
 
diff --git a/doc/stages/readers.rst b/doc/stages/readers.rst
index f77a453..e064b32 100644
--- a/doc/stages/readers.rst
+++ b/doc/stages/readers.rst
@@ -3,16 +3,13 @@
 Readers
 =======
 
-Readers are data providers to :ref:`pipeline` operations. A reader might provide a simple
-file type, like :ref:`readers.text`, a complex database like :ref:`readers.oci`, or
-a network service like :ref:`readers.greyhound`.
+Readers provide :ref:`dimensions` to :ref:`pipeline`. PDAL attempts to
+normalize common dimension types, like X, Y, Z, or Intensity, which are often
+found in LiDAR point clouds. Not all dimension types need to be fixed, however.
+Database drivers typically return unstructured lists of dimensions.  A reader
+might provide a simple file type, like :ref:`readers.text`, a complex database
+like :ref:`readers.oci`, or a network service like :ref:`readers.greyhound`.
 
-.. note::
-
-    Readers provide :ref:`dimensions` to :ref:`pipeline`. PDAL attempts
-    to normalize common dimension types, like X, Y, Z, or Intensity, which are
-    often found in LiDAR point clouds. Not all dimension types need to be fixed, however.
-    Database drivers typically return unstructured lists of dimensions.
 
 .. toctree::
    :maxdepth: 1
diff --git a/doc/stages/readers.rxp.rst b/doc/stages/readers.rxp.rst
index f391f04..6276661 100644
--- a/doc/stages/readers.rxp.rst
+++ b/doc/stages/readers.rxp.rst
@@ -11,6 +11,7 @@ The **RXP reader** read from files in the RXP format, the in-house streaming for
    RIEGL is not responsible for damages or other issues that arise from use of this driver.
    This driver has been tested against RiVLib version 1.39 on a Ubuntu 14.04 using gcc43.
 
+.. plugin::
 
 Installation
 ------------
@@ -49,7 +50,7 @@ Reflectance values are mapped to intensity values using sensible defaults.
 
 We set the ``discard_high_return_numbers`` option to ``true`` on the :ref:`writers.las`.
 RXP files can contain more returns per shot than is supported by las, and so we need to explicitly tell the las writer to ignore those high return number points.
-You could also use :ref:`filters.predicate` to filter those points earlier in the pipeline, or modify the return values with a :ref:`filters.programmable`.
+You could also use :ref:`filters.python` to filter those points earlier in the pipeline.
 
 
 Options
diff --git a/doc/stages/readers.sbet.rst b/doc/stages/readers.sbet.rst
index 182a106..044d48d 100644
--- a/doc/stages/readers.sbet.rst
+++ b/doc/stages/readers.sbet.rst
@@ -5,26 +5,29 @@ readers.sbet
 
 The **SBET reader** read from files in the SBET format, used for exchange data from interital measurement units (IMUs).
 
+.. embed::
+
+.. streamable::
 
 Example
 -------
 
-.. code-block:: xml
 
-  <?xml version="1.0" encoding="utf-8"?>
-  <Pipeline version="1.0">
-    <Writer type="writers.las">
-      <Option name="filename">output.las</Option>
-      <Reader type="readers.sbet">
-        <Option name="filename">
-          sbetfile.sbet
-        </Option>
-      </Reader>
-    </Writer>
-  </Pipeline>
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "sbetfile.sbet",
+        "output.las"
+      ]
+    }
+
 
 Options
 -------
 
 filename
   File to read from [Required]
+
+count
+  Maximum number of points to read [Optional]
diff --git a/doc/stages/readers.sqlite.rst b/doc/stages/readers.sqlite.rst
index 3679ad2..b1237e8 100644
--- a/doc/stages/readers.sqlite.rst
+++ b/doc/stages/readers.sqlite.rst
@@ -10,6 +10,7 @@ the :ref:`writers.oci` and :ref:`writers.pgpointcloud`, the
 SQLite driver stores data in tables that contain rows of
 patches. Each patch contains a number of spatially contiguous points
 
+.. plugin::
 
 Example
 -------
@@ -41,5 +42,7 @@ query
 spatialreference
   The spatial reference to use for the points. Over-rides the value read from the database.
 
+count
+  Maximum number of points to read [Optional]
 
 .. _SQLite: https://sqlite.org/
diff --git a/doc/stages/readers.text.rst b/doc/stages/readers.text.rst
index 977d92a..5bd497b 100644
--- a/doc/stages/readers.text.rst
+++ b/doc/stages/readers.text.rst
@@ -11,7 +11,8 @@ C++ language double-precision values.
 
 The text reader expects a header line to 1) indicate the separator character
 for the fields and 2) name the dimension for each field in the points.  Any
-single non-alphanumeric character can be used as a separator.
+single non-alphanumeric character can be used as a separator.  The header line
+separator can be overridden by the 'separator' option (see below).
 Each line in the file must contain the same number of fields as indicated by
 dimension names in the header.  Spaces are generally ignored in the input
 unless used as a separator.  When a space character is used as a separator,
@@ -19,6 +20,10 @@ any number of consecutive spaces are treated as single space.
 
 Blank lines after the header line are ignored.
 
+.. embed::
+
+.. streamable::
+
 Example Input File
 ------------------
 
@@ -46,7 +51,7 @@ Example Pipeline
     {
       "pipeline":[
         {
-          "type":"readers.qfit",
+          "type":"readers.text",
           "filename":"inputfile.txt"
         },
         {
@@ -62,4 +67,10 @@ Options
 filename
   text file to read [Required]
 
+separator
+  Separator character to override that found in header line.
+
+count
+  Maximum number of points to read [Optional]
+
 .. _formatted: http://en.cppreference.com/w/cpp/string/basic_string/stof
diff --git a/doc/stages/readers.tindex.rst b/doc/stages/readers.tindex.rst
index 32f64e5..4ff65a0 100644
--- a/doc/stages/readers.tindex.rst
+++ b/doc/stages/readers.tindex.rst
@@ -17,6 +17,7 @@ data described by the tiles.
 
 
 
+.. embed::
 
 
 Basic Example
@@ -104,6 +105,9 @@ dialect
   `OGR SQL`_ dialect to use when querying tile index layer
   [Default: OGRSQL]
 
+count
+  Maximum number of points to read [Optional]
+
 .. _`OGR SQL`: http://www.gdal.org/ogr_sql.html
 
 
diff --git a/doc/stages/references.bib b/doc/stages/references.bib
new file mode 100644
index 0000000..726e5ae
--- /dev/null
+++ b/doc/stages/references.bib
@@ -0,0 +1,21 @@
+ at article{Myronenko,
+abstract = {Point set registration is a key component in many computer vision tasks. The goal of point set registration is to assign correspondences between two sets of points and to recover the transformation that maps one point set to the other. Multiple factors, including an unknown nonrigid spatial transformation, large dimensionality of point set, noise, and outliers, make the point set registration a challenging problem. We introduce a probabilistic method, called the Coherent Poin [...]
+author = {Myronenko, Andriy and Song, Xubo},
+issn = {1939-3539},
+journal = {IEEE transactions on pattern analysis and machine intelligence},
+month = {dec},
+number = {12},
+pages = {2262--75},
+pmid = {20975122},
+publisher = {Institute of Electrical {\&} Electronics Engineers (IEEE)},
+title = {{Point set registration: coherent point drift.}},
+volume = {32},
+year = {2010}
+}
+
+ at article{Yuille1998,
+author = {Yuille, Alan L. and Grzywacz, Norberto M.},
+journal = {Second International Conference on Computer Vision},
+title = {{The Motion Coherence Theory}},
+year = {1988}
+}
diff --git a/doc/stages/writers.bpf.rst b/doc/stages/writers.bpf.rst
index 58abd4e..2182f2f 100644
--- a/doc/stages/writers.bpf.rst
+++ b/doc/stages/writers.bpf.rst
@@ -7,6 +7,10 @@ BPF is an NGA specification for point cloud data. The specification can be
 found at https://nsgreg.nga.mil/doc/view?i=4202 The PDAL **BPF Writer**
 only supports writing of version 3 BPF format files.
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/stages/writers.gdal.rst b/doc/stages/writers.gdal.rst
index 0ff2baa..225dd58 100644
--- a/doc/stages/writers.gdal.rst
+++ b/doc/stages/writers.gdal.rst
@@ -4,31 +4,28 @@ writers.gdal
 ================================================================================
 
 The `GDAL`_ writer creates a raster from a point cloud using an interpolation
-algorithm.  Output is produced using GDAL and can therefore use any `driver
-that supports creation of rasters`_.
+algorithm.  Output is produced using GDAL and can use any `driver
+that supports creation of rasters`_.  A data_type_ can be specified for the
+raster (double, float, int32, etc.).  If no data type is specified, the
+data type with the largest range supported by the driver is used.
 
 .. _`GDAL`: http://gdal.org
 .. _`driver that supports creation of rasters`: http://www.gdal.org/formats_list.html
 
 The technique used to create the raster is a simple interpolation where
-each point that falls within a given radius of a raster cell center
-potentially contributes to the raster's value.
-
-.. note::
-
-    If a circle with the provided radius doesn't encompass the entire cell,
-    it is possible that some points will not be considered at all, including
-    those that may be within the bounds of the raster cell.
-
-.. note::
-    If no radius_ is provided, it is set to the product of the resolution_ and
-    the square root of two. This is consistent with the original Points2Grid_
-    application from which this algorithm has its roots.
+each point that falls within a given radius_ of a raster cell center
+potentially contributes to the raster's value.  If no radius is provided,
+it is set to the product of the resolution_ and the square root of two.
+This is consistent with the original Points2Grid_ application from which
+this algorithm has its roots.  If a circle with the provided radius
+doesn't encompass the entire cell, it is possible that some points will
+not be considered at all, including those that may be within the bounds
+of the raster cell.
 
 .. _Points2Grid: http://www.opentopography.org/otsoftware/points2grid
 
-The GDAL writer creates rasters using the data specified in the ``dimension``
-option (defaults to `Z`).The writer will creates up to six rasters based on
+The GDAL writer creates rasters using the data specified in the dimension_
+option (defaults to `Z`). The writer creates up to six rasters based on
 different statistics in the output dataset.  The order of the layers in the
 dataset is as follows:
 
@@ -56,16 +53,22 @@ stdev
 
 If no points fall within the circle about a raster cell, a secondary
 algorithm can be used to attempt to provide a value after the standard
-interpolation is complete.  If the window_size_ option is set to a non-zero
-value, a square of rasters surrounding an empty cell, and the value of each
-non-empty surrounding is averaged using inverse distance weighting to provide
-a value for the subject cell.  The value provided for window_size is the
+interpolation is complete.  If the window_size_ option is non-zero, the
+values of a square of rasters surrounding an empty cell is applied
+using inverse distance weighting of any non-empty cells.
+The value provided for window_size is the
 maximum horizontal or vertical distance that a donor cell may be in order to
 contribute to the subject cell (A window_size of 1 essentially creates a 3x3
 array around the subject cell.  A window_size of 2 creates a 5x5 array, and
 so on.)
 
-Cells that have no value after interpolation are given the empty value of -9999.
+Cells that have no value after interpolation are given a value specified by
+the nodata_ option.
+
+.. embed::
+
+.. streamable::
+
 
 Basic Example
 --------------------------------------------------------------------------------
@@ -105,7 +108,7 @@ resolution
 
 radius
     Radius about cell center bounding points to use to calculate a cell value.
-    [Default: ``resolution`` * sqrt(2)]
+    [Default: resolution_ * sqrt(2)]
 
 gdaldriver
     Name of the GDAL driver to use to write the output. [Default: "GTiff"]
@@ -119,6 +122,22 @@ gdalopts
         The INTERLEAVE GDAL driver option is not supported.  writers.gdal
         always uses BAND interleaving.
 
+.. _data_type:
+
+data_type
+    The data type to use for the output raster (double, float, int32,
+    uint16, etc.).  Many GDAL drivers only
+    support a limited set of output data types. The default value depends
+    on the driver.
+
+.. _nodata:
+
+nodata
+    The value to use for a raster cell if no data exists in the input data
+    with which to compute an output cell value. [Default: depends on the
+    data_type_.  -9999 for double, float, int and short, 9999 for
+    unsigned int and unsigned short, 255 for unsigned char and -128 for char]
+
 .. _output_type:
 
 output_type
@@ -133,5 +152,16 @@ window_size
     the fallback interpolation method.  See the stage description for more
     information. [Default: 0]
 
+.. _dimension:
+
 dimension
-  A dimension name to use for the interpolation. [Default: ``Z``]
+  A dimension name to use for the interpolation. [Default: "Z"]
+
+.. _bounds:
+
+bounds
+  The bounds of the data to be written.  Points not in bounds are discarded.
+  The format is ([minx, maxx],[miny,maxy]).
+
+.. note::
+  The bounds_ option is required when a pipeline is run in streaming mode.
diff --git a/doc/stages/writers.geowave.rst b/doc/stages/writers.geowave.rst
index a7ed431..9357a4a 100644
--- a/doc/stages/writers.geowave.rst
+++ b/doc/stages/writers.geowave.rst
@@ -9,6 +9,7 @@ The **GeoWave writer** uses `GeoWave`_ to write to Accumulo.  GeoWave entries
 are stored using `EPSG:4326 <http://epsg.io/4326/>`__.  Instructions for
 configuring the GeoWave plugin can be found `here`_.
 
+.. plugin::
 
 Example
 --------------------------------------------------------------------------------
diff --git a/doc/stages/writers.las.rst b/doc/stages/writers.las.rst
index 777d318..9b0b44c 100644
--- a/doc/stages/writers.las.rst
+++ b/doc/stages/writers.las.rst
@@ -9,7 +9,11 @@ interchange file format for LIDAR data.
 .. warning::
 
     Scale/offset are not preserved from an input LAS file.  See below for
-    information on the scale/offset options and the `forward` option.
+    information on the scale/offset options and the ``forward`` option.
+
+.. embed::
+
+.. streamable::
 
 VLRs
 -------
@@ -148,7 +152,7 @@ system_id
 
 a_srs
   The spatial reference system of the file to be written. Can be an EPSG string
-  (e.g. "EPSG:268910") or a WKT string. [Default: Not set]
+  (e.g. "EPSG:26910") or a WKT string. [Default: Not set]
 
 global_encoding
   Various indicators to describe the data.  See the LAS documentation.  Note
diff --git a/doc/stages/writers.matlab.png b/doc/stages/writers.matlab.png
new file mode 100644
index 0000000..9fb301b
Binary files /dev/null and b/doc/stages/writers.matlab.png differ
diff --git a/doc/stages/writers.matlab.rst b/doc/stages/writers.matlab.rst
index 5d51e73..9ff7a6f 100644
--- a/doc/stages/writers.matlab.rst
+++ b/doc/stages/writers.matlab.rst
@@ -5,15 +5,17 @@ writers.matlab
 
 The **Matlab Writer** supports writing Matlab `.mat` files.
 
-The produced files have two variables, `Dimensions` and `Points`.  `Dimensions`
-is a comma-delimited list of dimension names, and `Points` is a double array of
-all dimensions of every points.  This output array can get very large
-very quickly.
+The produced files has a single variable, `PDAL`, an array struct.
 
+.. image:: ./writers.matlab.png
 
 .. note::
 
-    The Matlab writer requires the Mat-File API from MathWorks.
+    The Matlab writer requires the Mat-File API from MathWorks, and
+    it must be explicitly enabled at compile time with the ``BUILD_PLUGIN_MATLAB=ON``
+    variable
+
+.. plugin::
 
 Example
 -------
@@ -42,3 +44,6 @@ filename
 
 output_dims
   Dimensions to include in the output file [OPTIONAL, defaults to all available dimensions]
+
+struct
+  Array structure name to read [OPTIONAL, defaults ``PDAL``]
diff --git a/doc/stages/writers.nitf.rst b/doc/stages/writers.nitf.rst
index e91f703..3724046 100644
--- a/doc/stages/writers.nitf.rst
+++ b/doc/stages/writers.nitf.rst
@@ -13,6 +13,10 @@ of imagery.  It supports various formats inside a generic wrapper.
     No other content type beyond those two is widely supported as
     of January of 2016.
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/stages/writers.null.rst b/doc/stages/writers.null.rst
index 206e299..3894d27 100644
--- a/doc/stages/writers.null.rst
+++ b/doc/stages/writers.null.rst
@@ -6,6 +6,10 @@ writers.null
 The **null writer** discards its input.  No point output is produced when using
 a **null writer**.
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/stages/writers.oci.rst b/doc/stages/writers.oci.rst
index fb15dae..e9e404f 100644
--- a/doc/stages/writers.oci.rst
+++ b/doc/stages/writers.oci.rst
@@ -5,6 +5,7 @@ writers.oci
 
 The OCI writer is used to write data to `Oracle point cloud`_ databases.
 
+.. plugin::
 
 Example
 -------
diff --git a/doc/stages/writers.ogr.rst b/doc/stages/writers.ogr.rst
new file mode 100644
index 0000000..c05aa21
--- /dev/null
+++ b/doc/stages/writers.ogr.rst
@@ -0,0 +1,74 @@
+.. _writers.ogr:
+
+writers.ogr
+===========
+
+The **OGR Writer** will create files of various `vector formats`_ as supported
+by the OGR library.  PDAL points are generally stored as points in the
+output format, though PDAL will create multipoint objects instead of point
+objects if the 'multicount' argument is set to a value greater than 1.
+Points can be written with a single additional value in addition to location
+if 'measure_dim' specifies a valid PDAL dimension and the output format
+supports measure point types.
+
+By default, the OGR writer will create ESRI shapefiles.  The particular OGR
+driver can be specified with the 'ogrdriver' option.
+
+Example
+-------
+
+.. code-block:: json
+
+    {
+      "pipeline":[
+        "inputfile.las",
+        {
+          "type": "writers.ogr",
+          "filename" "outfile.geojson",
+          "measure_dim": "Compression"
+        }
+      ]
+    }
+
+Options
+-------
+
+filename
+  Output file to write.  The writer will accept a filename containing
+  a single placeholder character (`#`).  If input to the writer consists
+  of multiple PointViews, each will be written to a separate file, where
+  the placeholder will be replaced with an incrementing integer.  If no
+  placeholder is found, all PointViews provided to the writer are
+  aggregated into a single file for output.  Multiple PointViews are usually
+  the result of multiple input files, or using :ref:`filters.splitter`,
+  :ref:`filters.chipper` or :ref:`filters.divider`.
+
+  The driver will use the OGR GEOjson driver if the output filename
+  extension is 'geojson', and the ESRI shapefile driver if the output
+  filename extension is 'shp'.
+  If neither extension is recognized, the filename is taken
+  to represent a directory in which ESRI shapefiles are written.  The
+  driver can be explicitly specified by using the 'ogrdriver' option.
+
+multicount
+  If 1, point objects will be written.  If greater than 1, specifies the
+  number of points to group into a multipoint object.  Not all OGR
+  drivers support multipoint objects. [Default: 1]
+
+measure_dim
+  If specified, points will be written with an extra data field, the dimension
+  of which is specified by this option. Not all output formats support
+  measure data. [Default: None]
+
+  .. note::
+
+    The **measure_dim** option is only supported if PDAL is built with
+    GDAL version 2.1 or later.
+
+ogrdriver
+  The OGR driver to use for output.  This option overrides any inference made
+  about output drivers from 'filename'.
+
+
+.. _vector formats: http://www.gdal.org/ogr_formats.html
+
diff --git a/doc/stages/writers.pcd.rst b/doc/stages/writers.pcd.rst
index 25e52df..bf7e978 100644
--- a/doc/stages/writers.pcd.rst
+++ b/doc/stages/writers.pcd.rst
@@ -10,10 +10,13 @@ By default, compression is not enabled, and the PCD writer will output ASCII
 formatted data. When compression is enabled, the output is PCD's
 binary-compressed format.
 
+.. plugin::
+
 .. note::
 
     The `PCD Writer` requires linkage of the `PCL`_ library.
 
+
 Example
 -------
 
diff --git a/doc/stages/writers.pgpointcloud.rst b/doc/stages/writers.pgpointcloud.rst
index 42262fb..a415350 100644
--- a/doc/stages/writers.pgpointcloud.rst
+++ b/doc/stages/writers.pgpointcloud.rst
@@ -3,11 +3,20 @@
 writers.pgpointcloud
 ====================
 
-The **PostgreSQL Pointcloud Writer** allows you to write to PostgreSQL database that have the `PostgreSQL Pointcloud`_ extension enabled. The Pointcloud extension stores point cloud data in tables that contain rows of patches. Each patch in turn contains a large number of spatially nearby points.
+The **PostgreSQL Pointcloud Writer** allows you to write to PostgreSQL database
+that have the `PostgreSQL Pointcloud`_ extension enabled. The Pointcloud
+extension stores point cloud data in tables that contain rows of patches. Each
+patch in turn contains a large number of spatially nearby points.
 
-While you can theoretically store the contents of a whole file of points in a single patch, it is more practical to store a table full of smaller patches, where the patches are under the PostgreSQL page size (8kb). For most LIDAR data, this practically means a patch size of between 400 and 600 points.
+While you can theoretically store the contents of a whole file of points in a
+single patch, it is more practical to store a table full of smaller patches,
+where the patches are under the PostgreSQL page size (8kb). For most LIDAR
+data, this practically means a patch size of between 400 and 600 points.
 
-In order to create patches of the right size, the Pointcloud writer should be preceded in the pipeline file by :ref:`filters.chipper`.
+In order to create patches of the right size, the Pointcloud writer should be
+preceded in the pipeline file by :ref:`filters.chipper`.
+
+.. plugin::
 
 Example
 -------
diff --git a/doc/stages/writers.ply.rst b/doc/stages/writers.ply.rst
index cc0e93b..ac94862 100644
--- a/doc/stages/writers.ply.rst
+++ b/doc/stages/writers.ply.rst
@@ -3,18 +3,15 @@
 writers.ply
 ===========
 
-The **ply writer** writes the `polygon file format`_, a common file format for storing three dimensional models.
-The `rply library`_ is included with the PDAL source, so there are no external dependencies.
+The **ply writer** writes the `polygon file format`_, a common file format
+for storing three dimensional models.  The writer emits points as PLY vertices.
+The writer can also emit a mesh as a set of faces.
+:ref:`filters.greedyprojection` and :ref:`filters.poisson` create a
+mesh suitable for output as faces.
 
-Use the ``storage_mode`` option to choose the type of ply file to write.
-You can choose from:
-
-- ``default``: write a binary ply file using your host's byte ordering.
-  If you do not specify a ``storage_mode``, this is the default.
-- ``ascii``: write an ascii file (warning: these can be HUGE).
-- ``little endian``: write a binary ply file with little endian byte ordering.
-- ``big endian``: write a binary ply file with big endian byte ordering.
+.. embed::
 
+.. streamable::
 
 Example
 -------
@@ -44,8 +41,15 @@ filename
   ply file to write [Required]
 
 storage_mode
-  Type of ply file to write [default: host-ordered binary]
+  Type of ply file to write. Valid values are 'ascii', 'little endian',
+  'big endian', and 'default'. 'default' is binary output in the endianness
+  of the machine. [Default: 'default']
+
+dims
+  List of dimensions to write as elements. [Default: all dimensions]
 
+faces
+  Write a mesh as faces in addition to writing points as vertices.
+  [Default: false]
 
 .. _polygon file format: http://paulbourke.net/dataformats/ply/
-.. _rply library: http://w3.impa.br/~diego/software/rply/
diff --git a/doc/stages/writers.sqlite.rst b/doc/stages/writers.sqlite.rst
index d04e2eb..90adedf 100644
--- a/doc/stages/writers.sqlite.rst
+++ b/doc/stages/writers.sqlite.rst
@@ -6,6 +6,8 @@ writers.sqlite
 The `SQLite`_ driver outputs point cloud data into a PDAL-sepecific scheme
 that matches the approach of :ref:`readers.pgpointcloud` and :ref:`readers.oci`.
 
+.. plugin::
+
 Example
 -------
 
diff --git a/doc/stages/writers.text.rst b/doc/stages/writers.text.rst
index 0f9da9f..4fefa14 100644
--- a/doc/stages/writers.text.rst
+++ b/doc/stages/writers.text.rst
@@ -8,6 +8,10 @@ getting smaller files into an easily parseable format.  The text writer
 supports both `GeoJSON`_ and `CSV`_ output.
 
 
+.. embed::
+
+.. streamable::
+
 Example
 -------
 
diff --git a/doc/tutorial/calculating-normalized-heights.rst b/doc/tutorial/calculating-normalized-heights.rst
deleted file mode 100644
index 5a29b8d..0000000
--- a/doc/tutorial/calculating-normalized-heights.rst
+++ /dev/null
@@ -1,235 +0,0 @@
-.. height:
-
-==============================
-Calculating Normalized Heights
-==============================
-
-:Author: Bradley Chambers
-:Contact: brad.chambers at gmail.com
-:Date: 11/11/2015
-
-
-This tutorial will describe the creation of a new filter for calculating
-normalized heights, ``filters.height``.
-
-.. note::
-
-  ``filters.height`` required PCL and has since been replaced by
-  :ref:`filters.hag`, which is a native PDAL filter. We leave this tutorial as
-  an example of how to create a filter, and of how to work with the PCL plugin,
-  but the filter in reference is no longer available.
-
-Introduction
--------------------------------------------------------------------------------
-
-Normalized heights are a commonly used attribute of point cloud data. This can
-also be referred to as *height above ground* (HAG) or *above ground level*
-(AGL) heights. In the end, it is simply a measure of a point's relative height
-as opposed to its raw elevation value.
-
-The process of computing normalized heights is straightforward. First, we must
-have an estimate of the underlying terrain model. With this we can compute the
-difference between each point's elevation and the elevation of the terrain
-model at the same XY coordinate. The quality of the normalized heights will be
-a function of the quality of the terrain model, which of course depends on the
-quality of the ground segmentation approach and any interpolation that is
-required to arrive at the terrain elevation for a given XY coordinate.
-
-We will use a nearest neighbor interpolation scheme to estimate terrain
-elevations. While this may not be the most accurate approach, it is available
-in PDAL today, and we hope it will inspire you to implement your own methods!
-
-Approach
--------------------------------------------------------------------------------
-
-For the height filter, we only assume that our input point cloud has an already
-existing ``Classification`` dimension with some subset of points marked as
-ground (``Classification=2``). This could, for example, be generated by
-:ref:`filters.pmf` (see :ref:`pcl_ground`), but you can use whichever method
-you choose, as long as the ground returns are marked.
-
-.. note::
-
-   We expect ground returns to have the classification value of 2 in keeping with the ASPRS Standard LIDAR Point Classes (see http://www.asprs.org/a/society/committees/standards/LAS_1_4_r13.pdf).
-
-For the full source, please see ``HeightFilter.cpp`` in the
-``plugins/pcl/filters`` folder. Below, we dissect the key aspects of the
-algorithm and its implementation.
-
-The bulk of our processing is actually taking place within PCL. For
-convenience, we've defined:
-
-.. code-block:: cpp
-
-    typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
-
-Our first step is to convert the filter's incoming PDAL ``PointView`` to a PCL
-``PointCloud``, which requires that we first calculate our bounds so that we
-can subtract our XYZ offsets in the conversion step.
-
-.. code-block:: cpp
-
-    BOX3D bounds;
-    view.calculateBounds(bounds);
-
-    Cloud::Ptr cloud_in(new Cloud);
-    pclsupport::PDALtoPCD(std::make_shared<PointView>(view), *cloud_in, bounds);
-
-Next, we will create two vectors of indices - one for ground returns, one for
-non-ground returns - and make our first pass through the point cloud to
-populate these.
-
-.. code-block:: cpp
-
-    pcl::PointIndices::Ptr ground(new pcl::PointIndices());
-    ground->indices.reserve(view.size());
-
-    std::vector<PointId> nonground;
-    nonground.reserve(view.size());
-
-    for (PointId id = 0; id < view.size(); ++id)
-    {
-        double c = view.getFieldAs<double>(Dimension::Id::Classification, id);
-
-        if (c == 2)
-            ground->indices.push_back(id);
-        else
-            nonground.push_back(id);
-    }
-
-With our ground indices identified, we can use PCL to extract the ground
-returns into a new ``PointCloud``.
-
-.. code-block:: cpp
-
-    pcl::ExtractIndices<pcl::PointXYZ> extract;
-    extract.setInputCloud(cloud_in);
-    extract.setIndices(ground);
-
-    Cloud::Ptr cloud_ground(new Cloud);
-    extract.setNegative(false);
-    extract.filter(*cloud_ground);
-
-We repeat the extraction now, flipping ``setNegative`` from false to true to
-extract the non-ground returns into a new ``PointCloud``.
-
-.. code-block:: cpp
-
-    Cloud::Ptr cloud_nonground(new Cloud);
-    extract.setNegative(true);
-    extract.filter(*cloud_nonground);
-
-To compute the normalized height, we wish to find the nearest ground point for
-each non-ground point. Here, we achieve this by using a nearest neighbor
-interpolation scheme. One may prefer to use a more sophisticated interpolation
-scheme, but that is beyond the scope of this tutorial. We begin by defining
-model coefficients that will allow us to project the ground and non-ground
-clouds into the XY plane.
-
-.. code-block:: cpp
-
-    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
-    coefficients->values.resize(4);
-    coefficients->values[0] = coefficients->values[1] = 0;
-    coefficients->values[2] = 1.0;
-    coefficients->values[3] = 0;
-
-We can now project the ground points
-
-.. code-block:: cpp
-
-    pcl::ProjectInliers<pcl::PointXYZ> proj;
-    proj.setModelType(pcl::SACMODEL_PLANE);
-
-    Cloud::Ptr cloud_ground_projected(new Cloud);
-    proj.setInputCloud(cloud_ground);
-    proj.setModelCoefficients(coefficients);
-    proj.filter(*cloud_ground_projected);
-
-followed by the non-ground points
-
-.. code-block:: cpp
-
-    Cloud::Ptr cloud_nonground_projected(new Cloud);
-    proj.setInputCloud(cloud_nonground);
-    proj.setModelCoefficients(coefficients);
-    proj.filter(*cloud_nonground_projected);
-
-Next, we create a KdTree to accelerate our nearest neighbor search. The tree is
-composed of only ground returns, as our non-ground returns will serve as query
-points for the nearest neighbor search.
-
-.. code-block:: cpp
-
-    pcl::search::KdTree<pcl::PointXYZ>::Ptr ground_tree;
-    ground_tree.reset(new pcl::search::KdTree<pcl::PointXYZ> (false));
-    ground_tree->setInputCloud(cloud_ground_projected);
-
-We iterate over each of our projected non-ground points, searching for our
-nearest neighbor in the ground points. Using the indices of each the query
-(non-ground) and nearest neighbor (ground), we can retrieve the Z dimension
-from the input cloud, compute the height, and set this field in our original
-``PointView``.
-
-.. code-block:: cpp
-
-    for (int i = 0; i < cloud_nonground_projected->size(); ++i)
-    {
-        pcl::PointXYZ nonground_query = cloud_nonground_projected->points[i];
-        std::vector<int> neighbors(1);
-        std::vector<float> sqr_distances(1);
-        ground_tree->nearestKSearch(nonground_query, 1, neighbors, sqr_distances);
-
-        double nonground_Z = view.getFieldAs<double>(Dimension::Id::Z, nonground[i]);
-        double ground_Z = view.getFieldAs<double>(Dimension::Id::Z, ground->indices[neighbors[0]]);
-        double height = nonground_Z - ground_Z;
-
-        view.setField(m_heightDim, nonground[i], height);
-    }
-
-The only thing left is to set the height field to 0.0 for each of the ground points.
-
-.. code-block:: cpp
-
-    for (auto const& ground_idx : ground->indices)
-        view.setField(m_heightDim, ground_idx, 0.0);
-
-Example #1
--------------------------------------------------------------------------------
-
-Using the autzen dataset (here shown colored by elevation)
-
-.. image:: autzen-elevation.png
-   :height: 400px
-
-we run the following PDAL CLI command
-
-::
-
-    $ pdal translate autzen.laz autzen-height.bpf height \
-      --writers.bpf.output_dims="X,Y,Z,HeightAboveGround"
-
-The result, when colored by the normalized height instead of elevation is
-
-.. image:: autzen-height.png
-   :height: 400px
-
-Example #2
--------------------------------------------------------------------------------
-
-If you'd like to overwrite your Z values, follow the height filter with :ref:`filters.ferry`.
-
-::
-
-    $ pdal translate input.laz output-height-as-Z.bpf height ferry \
-      --writers.bpf.output_dims="X,Y,Z" --filters.ferry.dimensions="HeightAboveGround=Z"
-
-Example #3
--------------------------------------------------------------------------------
-
-If you don't yet have points classified as ground, start with :ref:`filters.pmf`.
-
-::
-
-    $ pdal translate input.laz output-ground-height.bpf ground height \
-      --writers.bpf.output_dims="X,Y,Z,HeightAboveGround"
diff --git a/doc/tutorial/clipping-with-shapefile.rst b/doc/tutorial/clipping-with-shapefile.rst
deleted file mode 100644
index 0fefb2d..0000000
--- a/doc/tutorial/clipping-with-shapefile.rst
+++ /dev/null
@@ -1,189 +0,0 @@
-.. _clipping:
-
-================================================================================
-Clipping with Geometries
-================================================================================
-
-:Author: Howard Butler
-:Contact: howard at hobu.co
-:Date: 11/09/2015
-
-
-Introduction
--------------------------------------------------------------------------------
-
-This tutorial describes how to construct a pipeline that takes in geometries
-and clips out data with given geometry attributes.  It is common to desire
-being able to cut or clip point cloud data with 2D geometries, often from
-auxillary data sources such as `OGR`_-readable `Shapefiles`_.  This tutorial
-describes how to construct a pipeline that takes in geometries and clips out
-point cloud data inside geometries with matching attributes.
-
-.. contents::
-   :depth: 4
-   :backlinks: none
-
-
-.. _`OGR`: http://www.gdal.org
-.. _`Shapefiles`: https://en.wikipedia.org/wiki/Shapefile
-
-Example Data
--------------------------------------------------------------------------------
-
-This tutorial utilizes the Autzen dataset. In addition to typical PDAL
-software (fetch it from :ref:`download`), you will need to download the
-following two files:
-
-* http://www.liblas.org/samples/autzen/autzen.laz
-* https://github.com/PDAL/PDAL/raw/master/test/data/autzen/attributes.json
-
-Stage Operations
--------------------------------------------------------------------------------
-
-This operation depends on two :ref:`stages <stage_index>` PDAL provides.
-The first is the :ref:`filters.overlay` stage, which allows you to assign
-point values based on polygons read from `OGR`_. The second is the
-:ref:`filters.range`, which allows you to keep or reject points from the
-set that match given criteria.
-
-.. seealso::
-
-    :ref:`filters.predicate` allows you to construct sophisticated logic
-    for keeping or rejecting points in a more expressive environment (`Python`_).
-
-.. _`Python`: http://www.python.org
-
-Data Preparation
--------------------------------------------------------------------------------
-
-.. figure:: autzen-shapes-point-cloud.png
-    :scale: 30%
-
-    Autzen Stadium, a 100 million+ point cloud file.
-
-The data are mixed in two different coordinate systems. The :ref:`LAZ
-<readers.las>` file is in `Oregon State Plane Ft.`_ and the `GeoJSON`_ defining
-the polygons is in `EPSG:4326`_. We have two options -- project the point cloud
-into the coordinate system of the attribute polygons, or project the attribute
-polygons into the coordinate system of the points. The latter is preferable in
-this case because it will be less math and therefore less computation. To make
-it convenient, we can utilize `OGR`_'s `VRT`_ capability to reproject the data
-for us on-the-fly:
-
-.. code-block:: xml
-
-    <OGRVRTDataSource>
-        <OGRVRTWarpedLayer>
-            <OGRVRTLayer name="OGRGeoJSON">
-                <SrcDataSource>attributes.json</SrcDataSource>
-                <LayerSRS>EPSG:4326</LayerSRS>
-            </OGRVRTLayer>
-            <TargetSRS>+proj=lcc +lat_1=43 +lat_2=45.5 +lat_0=41.75 +lon_0=-120.5 +x_0=399999.9999999999 +y_0=0 +ellps=GRS80 +units=ft +no_defs</TargetSRS>
-        </OGRVRTWarpedLayer>
-    </OGRVRTDataSource>
-
-.. note::
-
-    The GeoJSON file does not have an externally-defined coordinate system,
-    so we are explictly setting one with the LayerSRS parameter. If your
-    data does have coordinate system information, you don't need to do that.
-
-Save this VRT definition to a file, called ``attributes.vrt`` in the same location where you
-stored the ``autzen.laz`` and ``attributes.json`` files.
-
-
-The attribute GeoJSON file has a couple of features with different attributes.
-For our scenario, we want to clip out the yellow-green polygon, marked number "5",
-in the upper right hand corner.
-
-
-
-.. figure:: autzen-shapes-to-clip.png
-    :scale: 30%
-
-    We want to clip out the polygon in the upper right hand corner. We can
-    view the `GeoJSON`_ geometry using something like `QGIS`_
-
-.. _`QGIS`: http://qgis.org
-
-Pipeline
--------------------------------------------------------------------------------
-
-A PDAL :ref:`pipeline` is how you define a set of actions to happen to data
-as they are read, filtered, and written.
-
-.. code-block:: json
-
-  {
-    "pipeline":[
-      "autzen.laz",
-      {
-        "type":"filters.overlay",
-        "dimension":"Classification",
-        "datasource":"attributes.vrt",
-        "layer":"OGRGeoJSON",
-        "column":"CLS"
-      },
-      {
-        "type":"filters.range",
-        "limits":"Classification[5:5]"
-      },
-      "output.las"
-    ]
-  }
-
-* :ref:`readers.las`: Define a reader that can read `ASPRS LAS`_ or `LASzip`_
-  data.
-* :ref:`filters.overlay`: Using the VRT we defined in `Data Preparation`_,
-  read attribute polygons out of the data source and assign the values from the
-  ``CLS`` column to the ``Classification`` field.
-* :ref:`filters.range`: Given that we have set the ``Classification`` values
-  for the points that have coincident polygons to 2, 5, and 6, only keep
-  ``Classification`` values in the range of ``5:5``. This functionally means
-  we're only keeping those points with a classification value of 5.
-* :ref:`writers.las`: write our content back out using an `ASPRS LAS`_ writer.
-
-.. note::
-
-    You don't have to use only ``Classification`` to set the attributes
-    with :ref:`filters.overlay`. Any valid dimension name could work, but
-    most LiDAR softwares will display categorical coloring for the
-    ``Classification`` field, and we can leverage that behavior in this
-    scenario.
-
-Processing
--------------------------------------------------------------------------------
-
-1) Save the pipeline to a file called ``shape-clip.json`` in the same directory as
-   your ``attributes.json`` and ``autzen.laz`` files.
-
-2) Call ``pdal pipeline`` on the :ref:`pipeline`.
-
-    ::
-
-        $ pdal pipeline shape-clip.json
-
-3) Visualize ``output.las`` in an environment capable of viewing it. http://plas.io
-   or `CloudCompare`_ should do the trick.
-
-    .. image:: autzen-shapes-clipped.png
-        :scale: 30%
-
-Conclusion
--------------------------------------------------------------------------------
-
-PDAL allows the composition of point cloud operations. This tutorial demonstrated
-how to use the :ref:`filters.overlay` and :ref:`filters.range` stages to clip
-points with shapefiles.
-
-.. _`CloudCompare`: http://www.danielgm.net/cc/
-
-.. _`ASPRS LAS`: http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
-.. _`LASzip`: http://laszip.org
-
-.. _`VRT`: http://www.gdal.org/drv_vrt.html
-
-.. _`EPSG:4326`: http://epsg.io/4326
-.. _`GeoJSON`: http://geojson.org
-
-.. _`Oregon State Plane Ft.`: http://www.oregon.gov/DAS/CIO/GEO/pages/coordination/projections/projections.aspx
diff --git a/doc/tutorial/autzen-shapes-clipped.png b/doc/tutorial/clipping/autzen-shapes-clipped.png
similarity index 100%
rename from doc/tutorial/autzen-shapes-clipped.png
rename to doc/tutorial/clipping/autzen-shapes-clipped.png
diff --git a/doc/tutorial/autzen-shapes-point-cloud.png b/doc/tutorial/clipping/autzen-shapes-point-cloud.png
similarity index 100%
rename from doc/tutorial/autzen-shapes-point-cloud.png
rename to doc/tutorial/clipping/autzen-shapes-point-cloud.png
diff --git a/doc/tutorial/autzen-shapes-to-clip.png b/doc/tutorial/clipping/autzen-shapes-to-clip.png
similarity index 100%
rename from doc/tutorial/autzen-shapes-to-clip.png
rename to doc/tutorial/clipping/autzen-shapes-to-clip.png
diff --git a/doc/tutorial/clipping/index.rst b/doc/tutorial/clipping/index.rst
new file mode 100644
index 0000000..4dde322
--- /dev/null
+++ b/doc/tutorial/clipping/index.rst
@@ -0,0 +1,191 @@
+.. _clipping:
+
+================================================================================
+Clipping with Geometries
+================================================================================
+
+:Author: Howard Butler
+:Contact: howard at hobu.co
+:Date: 11/09/2015
+
+
+Introduction
+-------------------------------------------------------------------------------
+
+This tutorial describes how to construct a pipeline that takes in geometries
+and clips out data with given geometry attributes.  It is common to desire
+being able to cut or clip point cloud data with 2D geometries, often from
+auxillary data sources such as `OGR`_-readable `Shapefiles`_.  This tutorial
+describes how to construct a pipeline that takes in geometries and clips out
+point cloud data inside geometries with matching attributes.
+
+.. contents::
+   :depth: 4
+   :backlinks: none
+
+
+.. _`OGR`: http://www.gdal.org
+.. _`Shapefiles`: https://en.wikipedia.org/wiki/Shapefile
+
+Example Data
+-------------------------------------------------------------------------------
+
+This tutorial utilizes the Autzen dataset. In addition to typical PDAL
+software (fetch it from :ref:`download`), you will need to download the
+following two files:
+
+* http://www.liblas.org/samples/autzen/autzen.laz
+* https://github.com/PDAL/PDAL/raw/master/test/data/autzen/attributes.json
+
+Stage Operations
+-------------------------------------------------------------------------------
+
+This operation depends on two :ref:`stages <stage_index>` PDAL provides.
+The first is the :ref:`filters.overlay` stage, which allows you to assign
+point values based on polygons read from `OGR`_. The second is the
+:ref:`filters.range`, which allows you to keep or reject points from the
+set that match given criteria.
+
+.. seealso::
+
+    :ref:`filters.python` or :ref:`filters.matlab` allows you to construct sophisticated logic
+    for keeping or rejecting points in a more expressive environment (`Python`_) or
+    (`Matlab`_)..
+
+.. _`Python`: http://www.python.org
+.. _`Matlab`: http://www.mathworks.com
+
+Data Preparation
+-------------------------------------------------------------------------------
+
+.. figure:: autzen-shapes-point-cloud.png
+    :scale: 30%
+
+    Autzen Stadium, a 100 million+ point cloud file.
+
+The data are mixed in two different coordinate systems. The :ref:`LAZ
+<readers.las>` file is in `Oregon State Plane Ft.`_ and the `GeoJSON`_ defining
+the polygons is in `EPSG:4326`_. We have two options -- project the point cloud
+into the coordinate system of the attribute polygons, or project the attribute
+polygons into the coordinate system of the points. The latter is preferable in
+this case because it will be less math and therefore less computation. To make
+it convenient, we can utilize `OGR`_'s `VRT`_ capability to reproject the data
+for us on-the-fly:
+
+.. code-block:: xml
+
+    <OGRVRTDataSource>
+        <OGRVRTWarpedLayer>
+            <OGRVRTLayer name="OGRGeoJSON">
+                <SrcDataSource>attributes.json</SrcDataSource>
+                <LayerSRS>EPSG:4326</LayerSRS>
+            </OGRVRTLayer>
+            <TargetSRS>+proj=lcc +lat_1=43 +lat_2=45.5 +lat_0=41.75 +lon_0=-120.5 +x_0=399999.9999999999 +y_0=0 +ellps=GRS80 +units=ft +no_defs</TargetSRS>
+        </OGRVRTWarpedLayer>
+    </OGRVRTDataSource>
+
+.. note::
+
+    The GeoJSON file does not have an externally-defined coordinate system,
+    so we are explictly setting one with the LayerSRS parameter. If your
+    data does have coordinate system information, you don't need to do that.
+
+Save this VRT definition to a file, called ``attributes.vrt`` in the same location where you
+stored the ``autzen.laz`` and ``attributes.json`` files.
+
+
+The attribute GeoJSON file has a couple of features with different attributes.
+For our scenario, we want to clip out the yellow-green polygon, marked number "5",
+in the upper right hand corner.
+
+
+
+.. figure:: autzen-shapes-to-clip.png
+    :scale: 30%
+
+    We want to clip out the polygon in the upper right hand corner. We can
+    view the `GeoJSON`_ geometry using something like `QGIS`_
+
+.. _`QGIS`: http://qgis.org
+
+Pipeline
+-------------------------------------------------------------------------------
+
+A PDAL :ref:`pipeline` is how you define a set of actions to happen to data
+as they are read, filtered, and written.
+
+.. code-block:: json
+
+  {
+    "pipeline":[
+      "autzen.laz",
+      {
+        "type":"filters.overlay",
+        "dimension":"Classification",
+        "datasource":"attributes.vrt",
+        "layer":"OGRGeoJSON",
+        "column":"CLS"
+      },
+      {
+        "type":"filters.range",
+        "limits":"Classification[5:5]"
+      },
+      "output.las"
+    ]
+  }
+
+* :ref:`readers.las`: Define a reader that can read `ASPRS LAS`_ or `LASzip`_
+  data.
+* :ref:`filters.overlay`: Using the VRT we defined in `Data Preparation`_,
+  read attribute polygons out of the data source and assign the values from the
+  ``CLS`` column to the ``Classification`` field.
+* :ref:`filters.range`: Given that we have set the ``Classification`` values
+  for the points that have coincident polygons to 2, 5, and 6, only keep
+  ``Classification`` values in the range of ``5:5``. This functionally means
+  we're only keeping those points with a classification value of 5.
+* :ref:`writers.las`: write our content back out using an `ASPRS LAS`_ writer.
+
+.. note::
+
+    You don't have to use only ``Classification`` to set the attributes
+    with :ref:`filters.overlay`. Any valid dimension name could work, but
+    most LiDAR softwares will display categorical coloring for the
+    ``Classification`` field, and we can leverage that behavior in this
+    scenario.
+
+Processing
+-------------------------------------------------------------------------------
+
+1) Save the pipeline to a file called ``shape-clip.json`` in the same directory as
+   your ``attributes.json`` and ``autzen.laz`` files.
+
+2) Call ``pdal pipeline`` on the :ref:`pipeline`.
+
+    ::
+
+        $ pdal pipeline shape-clip.json
+
+3) Visualize ``output.las`` in an environment capable of viewing it. http://plas.io
+   or `CloudCompare`_ should do the trick.
+
+    .. image:: autzen-shapes-clipped.png
+        :scale: 30%
+
+Conclusion
+-------------------------------------------------------------------------------
+
+PDAL allows the composition of point cloud operations. This tutorial demonstrated
+how to use the :ref:`filters.overlay` and :ref:`filters.range` stages to clip
+points with shapefiles.
+
+.. _`CloudCompare`: http://www.danielgm.net/cc/
+
+.. _`ASPRS LAS`: http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
+.. _`LASzip`: http://laszip.org
+
+.. _`VRT`: http://www.gdal.org/drv_vrt.html
+
+.. _`EPSG:4326`: http://epsg.io/4326
+.. _`GeoJSON`: http://geojson.org
+
+.. _`Oregon State Plane Ft.`: http://www.oregon.gov/DAS/CIO/GEO/pages/coordination/projections/projections.aspx
diff --git a/doc/tutorial/index.rst b/doc/tutorial/index.rst
index 5e5c354..31fa5b6 100644
--- a/doc/tutorial/index.rst
+++ b/doc/tutorial/index.rst
@@ -4,41 +4,19 @@
 Tutorials
 ******************************************************************************
 
-This section provides tutorial-level information on various aspects of PDAL,
-from command-line use to plugin development.
+This section provides a collection of tutorials on how to use the PDAL :ref:`apps` and :ref:`Pipelines <pipeline>` to process data.
 
-Getting Started
----------------
+.. note::
 
-.. toctree::
-   :maxdepth: 1
-
-   using
-
-Using PDAL
-----------
+  Users looking for documentation on how to contribute to PDAL should look :ref:`here <development_index>` and users looking to use the PDAL API in their own applications should look :ref:`here <api>`.
 
 .. toctree::
    :maxdepth: 1
 
    reading
-   writing
    las
    pcl_block_tutorial
-   pcl_ground
-   clipping-with-shapefile
-   calculating-normalized-heights
-   dart-throwing
-
-
-Developing
-----------
-
-.. toctree::
-   :maxdepth: 1
-
-   writing-filter
-   writing-kernel
-   writing-reader
-   writing-writer
-   liblas_to_pdal
+   pcl_ground/index
+   clipping/index
+   sampling/index
+   python-filtering
diff --git a/doc/tutorial/las.rst b/doc/tutorial/las.rst
index 7856710..58a3070 100644
--- a/doc/tutorial/las.rst
+++ b/doc/tutorial/las.rst
@@ -1,4 +1,4 @@
-.. las_tutorial:
+.. _las_tutorial:
 
 ================================================================================
 LAS Reading and Writing with PDAL
@@ -91,7 +91,7 @@ The PDAL :ref:`writers.las` allows you to override or assign the coordinate
 system to an explicit value if you need. Often the coordinate system defined by
 a file might be incorrect or non-existent, and you can set this with PDAL.
 
-The following example sets the ``out_srs`` option of the :ref:`writers.las` to
+The following example sets the ``a_srs`` option of the :ref:`writers.las` to
 ``EPSG:4326``.
 
 
@@ -107,7 +107,7 @@ The following example sets the ``out_srs`` option of the :ref:`writers.las` to
             },
             {
                 "type" : "writers.las",
-                "out_srs": "EPSG:4326",
+                "a_srs": "EPSG:4326",
                 "filename" : "output.las"
             }
         ]
@@ -188,7 +188,7 @@ coordinate system for a file to `UTM Zone 15N NAD83`_ for horizontal and
             },
             {
                 "type" : "writers.las",
-                "out_srs": "EPSG:26915+5703",
+                "a_srs": "EPSG:26915+5703",
                 "filename" : "output.las"
             }
         ]
@@ -527,7 +527,7 @@ into LAS files. Common VLR data include:
 .. note::
 
     There are VLRs that are defined by the specification, and they
-    have the VLR ``user_id``s of `LASF_Spec` or `LASF_Projection`.
+    have the VLR ``user_id`` of `LASF_Spec` or `LASF_Projection`.
     `LASF_Spec` VLRs provide a description of the data beyond that
     available in the header.  `LASF_Projection` VLRs store the spatial
     coordinate system of the data.
diff --git a/doc/tutorial/after-front1.png b/doc/tutorial/pcl_ground/after-front1.png
similarity index 100%
rename from doc/tutorial/after-front1.png
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similarity index 100%
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diff --git a/doc/tutorial/pcl_ground.rst b/doc/tutorial/pcl_ground/index.rst
similarity index 100%
rename from doc/tutorial/pcl_ground.rst
rename to doc/tutorial/pcl_ground/index.rst
diff --git a/doc/tutorial/original.png b/doc/tutorial/pcl_ground/original.png
similarity index 100%
rename from doc/tutorial/original.png
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diff --git a/doc/tutorial/sor_pmf.json b/doc/tutorial/pcl_ground/sor_pmf.json
similarity index 100%
rename from doc/tutorial/sor_pmf.json
rename to doc/tutorial/pcl_ground/sor_pmf.json
diff --git a/doc/tutorial/sor_pmf2.json b/doc/tutorial/pcl_ground/sor_pmf2.json
similarity index 100%
rename from doc/tutorial/sor_pmf2.json
rename to doc/tutorial/pcl_ground/sor_pmf2.json
diff --git a/doc/tutorial/python-filtering.rst b/doc/tutorial/python-filtering.rst
new file mode 100644
index 0000000..30492fc
--- /dev/null
+++ b/doc/tutorial/python-filtering.rst
@@ -0,0 +1,268 @@
+.. python_filtering:
+
+================================================================================
+Filtering Data with Python
+================================================================================
+
+.. include:: ../workshop/includes/substitutions.rst
+
+:Author: Howard Butler
+:Contact: howard at hobu.co
+:Date: 5/12/2017
+
+.. contents:: Table of Contents
+   :depth: 2
+
+
+This tutorial will describe using :ref:`filters.python` to identify
+outlier points in an LAS file.
+
+Introduction
+-------------------------------------------------------------------------------
+
+Noise filtering is a primary challenge in point cloud processing. There are
+many stock options available to you in PDAL to achieve it. These include:
+
+* :ref:`filters.iqr`
+* :ref:`filters.elm`
+* :ref:`filters.outlier`
+
+These filters remove points that are deemed outliers in different ways.
+The don't, however, identify specific points. Python plus |NumPy| would
+be a very quick way to prototype a tool that identified specific points
+we would like to filter.
+
+PDAL has three different ways to manipulate data with Python. The first is
+:ref:`filters.python`, which we will be using in this tutorial.
+The second is the Python extension at
+https://pypi.python.org/pypi/PDAL that allows you to utilize PDAL processing
+operations in your own Python programs.
+
+.. seealso::
+
+    :ref:`python` describes PDAL's Python story in more detail.
+
+
+The Challenge
+-------------------------------------------------------------------------------
+
+We have a |ASPRSLAS| file that has some points that that are completely out of
+range and have bad ``Y`` values. We don't know how those points got in the
+file, but we want to identify **which** points they were, because it might be
+some indication about a failure point in our processing operation. We could
+simply use :ref:`filters.mad` to remove these with stock PDAL operations,
+but that filter doesn't tell us which points it removed. Our own custom Python
+filter can do this for us.
+
+Processing Stategy
+................................................................................
+
+The technique that :ref:`filters.mad` uses will suit our problem. In short,
+we want to identify which points have Y values that are more than three standard
+deviations away from the median. We are going to print a |JSON| object that will
+contain our information, which we can then use in some downstream processing
+operation (as filtered with the `jq`_ command line utility).
+
+We also want to use :ref:`docker` to process our data with a |Bash| script. We want to know
+for sure that we're using PDAL's standard release (``1.5`` in this case), and
+we'd like for our operation to be agnostic to the platform on which it is
+running.
+
+
+.. _`jq`: https://stedolan.github.io/jq/
+
+Python Filter
+-------------------------------------------------------------------------------
+
+Through the use of the :ref:`filters.python`, PDAL allows the use of Python and
+|NumPy| to process point cloud data. This can be very useful in prototyping
+situations, where PDAL can provide convenient data access and the processing
+logic of software that is still taking shape can be constructed with the rapid
+prototyping tools that Python can provide.
+
+
+.. code-block:: python
+    :linenos:
+
+    import numpy as np
+
+    def mad(ins, outs):
+
+        # Fetch the Y dimension, which has our outliers
+        y = ins["Y"]
+
+        # Let numpy compute median
+        median = np.median(y)
+
+        # Let numpy compute stddev
+        stddev = np.std(y)
+
+        # Identify points that are > 3 stddev
+        indexes = np.where( abs(y-median) > 3*stddev)[0]
+
+        # Stuff our output in a dictionary
+        output = {}
+        output['median'] = median
+        output['stddev'] = stddev
+        output['indexes'] = list([v for v in indexes])
+        output['values'] = [y[i] for i in indexes]
+
+        # Print our dict to stdout
+        print output
+
+        # filters.python must return True to tell
+        # PDAL it successfully completed
+        return True
+
+
+PDAL Pipeline
+--------------------------------------------------------------------------------
+
+Our pipeline to apply the filter is straightforward. Because we are going to be
+processing the data with a Bash script, we'll use some substitution to push
+our filename (taken from an argument on the command line) and our script itself.
+There is nothing much interesting except for the fact that we substitute our
+filename in its own entry so PDAL can figure out which driver to read it with.
+This will allow our script to work with any format PDAL can identify.
+
+.. code-block:: json
+    :linenos:
+
+    {
+      "pipeline":[
+        "/data/$filename",
+        {
+        "type" : "filters.python",
+        "function":"mad",
+        "module":"anything",
+        "source":"$script"
+        }  ]
+    }
+
+
+Docker
+--------------------------------------------------------------------------------
+
+As I mentioned before, we want to run this script using Docker so we have
+consistent versioning and so we can use the script in the same way across
+a bunch of machines. To run the command in Docker we need to do two things:
+
+1. Start a Docker container with the PDAL Docker container tag (``pdal/pdal:1.5`` in this case)
+
+2. Run our command on that image once it is running.
+
+
+``docker run`` outputs the SHA of the container instance it is running to STDIN. We
+will capture that and then run our ``pdal pipeline`` command on it.
+
+.. code-block:: shell
+
+
+    # Start the container
+    container=$(docker run -it -d -v `pwd`:/data pdal/pdal:1.5)
+
+    # Echo our pipeline into it and run pdal pipeline on it
+    output=$(echo $pipeline | docker exec -i $container pdal pipeline -i STDIN)
+
+    # redirect stderr and stdout to null. We don't want to know which ID
+    # was killed.
+    docker kill $container &> /dev/null
+
+
+Final Script
+--------------------------------------------------------------------------------
+
+Here's our final script. The junk from lines 53-66 are to get bash to do variable
+substitution into our :ref:`pipeline` |JSON| without breaking its syntax doing double
+quote and newline substitution.
+
+Using our script, we can now identify which points have ``Y`` dimensions greater than
+three standard deviations:
+
+::
+
+    $ ./run.sh bad-y-values.las
+    {'values': [22940882.882926211, 18747910.56323766], 'median': 4322652.908885533, 'stddev': 8292.74344366484, 'indexes': [1375302, 1376129]}
+
+.. code-block:: shell
+    :linenos:
+
+    #!/bin/bash
+
+    filename="$1"
+
+    read -d '' script <<"EOF"
+
+    import numpy as np
+
+    def mad(ins, outs):
+
+        # Fetch the Y dimension, which has our outliers
+        y = ins["Y"]
+
+        # Let numpy compute median
+        median = np.median(y)
+
+        # Let numpy compute stddev
+        stddev = np.std(y)
+
+        # Identify points that are > 3 stddev
+        indexes = np.where( abs(y-median) > 3*stddev)[0]
+
+        # Stuff our output in a dictionary
+        output = {}
+        output['median'] = median
+        output['stddev'] = stddev
+        output['indexes'] = list([v for v in indexes])
+        output['values'] = [y[i] for i in indexes]
+
+        # Print our dict to stdout
+        print output
+
+        # filters.python must return True to tell
+        # PDAL it successfully completed
+        return True
+
+    EOF
+
+    read -d '' pipeline <<"EOF"
+    {
+      "pipeline":[
+        "/data/$filename",
+        {
+        "type" : "filters.python",
+        "function":"mad",
+        "module":"anything",
+        "source":"$script"
+        }  ]
+    }
+    EOF
+
+
+    # Do a bunch of bash vomit to properly substitute
+    # in our $filename and $script variables into the pipeline
+    # variable
+    IFS="%"
+
+    # echo newlines
+    script=$(awk '{printf "%s\\n", $0}' <<< "$script")
+
+    # replace " with \"
+    script=$(sed  's/["]/\\&/g' <<< "$script")
+
+    pipeline=$(awk '{printf "%s", $0}' <<< "$pipeline")
+    pipeline=$(sed  's/["]/\\&/g' <<< "$pipeline")
+    pipeline=$(eval echo $pipeline)
+
+
+    # Start the container
+    container=$(docker run -it -d -v `pwd`:/data pdal/pdal:1.5)
+
+    # Echo our pipeline into it and run pdal pipeline on it
+
+    output=$(echo $pipeline | docker exec -i $container pdal pipeline -i STDIN)
+
+    # redirect stderr and stdout to null. We don't want to know which ID
+    # was killed.
+    docker kill $container &> /dev/null
+
diff --git a/doc/tutorial/dart-throwing.rst b/doc/tutorial/sampling/index.rst
similarity index 100%
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diff --git a/doc/tutorial/writing-reader.rst b/doc/tutorial/writing-reader.rst
deleted file mode 100644
index af5a921..0000000
--- a/doc/tutorial/writing-reader.rst
+++ /dev/null
@@ -1,237 +0,0 @@
-.. _writing-reader:
-
-===============================================================================
-Writing a reader
-===============================================================================
-
-:Authors: Bradley Chambers, Scott Lewis
-:Contact: brad.chambers at gmail.com
-:Date: 10/26/2016
-
-
-PDAL's command-line application can be extended through the development of
-reader functions. In this tutorial, we will give a brief example.
-
-The header
--------------------------------------------------------------------------------
-
-First, we provide a full listing of the reader header.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
-   :language: cpp
-   :linenos:
-
-In your MyReader class, you will declare the necessary methods and variables
-needed to make the reader work and meet the plugin specifications.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
-   :language: cpp
-   :lines: 16-18
-   :linenos:
-
-These methods are required to fulfill the specs for defining a new plugin.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
-   :language: cpp
-   :lines: 20
-   :linenos:
-
-``getDefaultDimensions`` returns a list of :ref:`dimensions` that the
-reader provides.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
-   :language: cpp
-   :lines: 23-25
-   :linenos:
-
-``m_stream`` is used to process the input, while ``m_index`` is used to track
-the index of the records.  ``m_scale_z`` is specific to MyReader, and will
-be described later.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.hpp
-   :language: cpp
-   :lines: 27-31
-   :linenos:
-
-Various other override methods for the stage.  There are a few others that
-could be overridden, which will not be discussed in this tutorial.
-
-.. note::
-
-    See ``./include/pdal/Reader.hpp`` of the source tree for more methods
-    that a reader can override or implement.
-
-The source
--------------------------------------------------------------------------------
-
-Again, we start with a full listing of the reader source.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :linenos:
-
-In your reader implementation, you will use a macro defined in pdal_macros.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 9-12
-   :linenos:
-
-This macro registers the plugin with the PDAL code.  In this case, we are
-declaring this as a SHARED plugin, meaning that it will be located external
-to the main PDAL installation.  The macro is supplied with a version number
-(major and minor), the class of the plugin, the parent class (in this case,
-to identify it as a reader), and an object with information.  This information
-includes the name of the plugin, a description, and a link to documentation.
-
-Creating STATIC plugins requires a few more steps which will not be covered
-in this tutorial.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 18-21
-   :linenos:
-
-This method will process a options for the reader.  In this
-example, we are setting the z_scale value to a default of 1.0, indicating
-that the Z values we read should remain as-is.  (In our reader, this could
-be changed if, for example, the Z values in the file represented mm values,
-and we want to represent them as m in the storage model). ``addArgs`` will
-bind values given for the argument to the ``m_scale_z`` variable of the
-stage.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 23-29
-   :linenos:
-
-This method registers the various dimensions the reader will use.  In our case,
-we are using the X, Y, and Z built-in dimensions, as well as a custom
-dimension MyData.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 31-40
-   :linenos:
-
-This method returns the list of :ref:`dimensions` that the reader can
-provide.
-
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 42-46
-   :linenos:
-
-This method is called when the Reader is ready for use.  It will only be
-called once, regardless of the number of PointViews that are to be
-processed.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 49-62
-   :linenos:
-
-This is a helper function, which will convert a string value into the type
-specified when it's called.  In our example, it will be used to convert
-strings to doubles when reading from the input stream.
-
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 65
-   :linenos:
-
-This method is the main processing method for the reader.  It takes a
-pointer to a Point View which we will build as we read from the file.  We
-initialize some variables as well, and then reset the input stream with
-the filename used for the reader.  Note that in other readers, the contents
-of this method could be very different depending on the format of the file
-being read, but this should serve as a good start for how to build the
-PointView object.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 74-76
-   :linenos:
-
-In preparation for reading the file, we prepare to skip some header lines.  In
-our case, the header is only a single line.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 77-82
-   :linenos:
-
-Here we begin our main loop.  In our example file, the first line is a header,
-and each line thereafter is a single point.  If the file had a different format
-the method of looping and reading would have to change as appropriate.  We make
-sure we are skipping the header lines here before moving on.
-
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 85-94
-   :linenos:
-
-Here we take the line we read in the for block header, split it, and make sure
-that we have the proper number of fields.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 96-109
-   :linenos:
-
-
-Here we take the values we read and put them into the PointView object.  The
-X and Y fields are simply converted from the file and put into the respective
-fields.  MyData is done likewise with the custom dimension we defined.  The Z
-value is read, and multiplied by the scale_z option (defaulted to 1.0), before
-the converted value is put into the field.
-
-When putting the value into the PointView object, we pass in the Dimension
-that we are assigning it to, the ID of the point (which is incremented in
-each iteration of the loop), and the dimension value.
-
-.. literalinclude:: ../../examples/writing-reader/MyReader.cpp
-   :language: cpp
-   :lines: 111-113
-   :linenos:
-
-Finally, we increment the nextId and make a call into the progress callback
-if we have one with our nextId.  After the loop is done, we set the index
-and number read, and return that value as the number of points read.
-This could differ in cases where we read multiple streams, but that won't
-be covered here.
-
-When the read method is finished, the done method is called for any cleanup.
-In this case, we simply make sure the stream is reset.
-
-
-Compiling and Usage
--------------------------------------------------------------------------------
-The MyReader.cpp code can be compiled.  For this example, we'll use cmake.
-Here is the CMakeLists.txt file we will use:
-
-.. literalinclude:: ../../examples/writing-reader/CMakeLists.txt
-    :linenos:
-
-If this file is in the directory containing MyReader.hpp and MyReader.cpp,
-simply run ``cmake .``, followed by ``make``.  This will generate a file called
-``libpdal_plugin_reader_myreader.dylib``.
-
-Put this dylib file into the directory pointed to by ``PDAL_DRIVER_PATH``, and
-then when you run ``pdal --drivers``, you should see an entry for
-readers.myreader.
-
-To test the reader, we will put it into a pipeline and output a text file.
-
-Please download the `pipeline-myreader.json`_ and `test-reader-input.txt`_ files.
-
-In the directory with those two files, run
-``pdal pipeline pipeline-myreader.json``.  You should have an output file
-called ``output.txt``, which will have the same data as in the input file,
-except in a CSV style format, and with the Z values scaled by .001.
-
-.. _`pipeline-myreader.json`: https://github.com/PDAL/PDAL/blob/master/examples/writing-reader/pipeline-myreader.json?raw=true
-.. _`test-reader-input.txt`: https://github.com/PDAL/PDAL/blob/master/examples/writing-reader/test-reader-input.txt?raw=true
diff --git a/doc/tutorial/writing-writer.rst b/doc/tutorial/writing-writer.rst
deleted file mode 100644
index a4c99db..0000000
--- a/doc/tutorial/writing-writer.rst
+++ /dev/null
@@ -1,175 +0,0 @@
-.. _writing-writer:
-
-===============================================================================
-Writing a writer
-===============================================================================
-
-:Authors: Bradley Chambers, Scott Lewis
-:Contact: brad.chambers at gmail.com
-:Date: 10/26/2016
-
-
-PDAL's command-line application can be extended through the development of
-writer functions. In this tutorial, we will give a brief example.
-
-The header
--------------------------------------------------------------------------------
-
-First, we provide a full listing of the writer header.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
-   :language: cpp
-   :linenos:
-
-In your MyWriter class, you will declare the necessary methods and variables
-needed to make the writer work and meet the plugin specifications.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
-   :language: cpp
-   :lines: 11
-   :linenos:
-
-FileStreamPtr is defined to make the declaration of the stream easier to manage
-later on.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
-   :language: cpp
-   :lines: 19-21
-
-These three methods are required to fulfill the specs for defining a new plugin.
-
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
-   :language: cpp
-   :lines: 24-28
-
-These methods are used during various phases of the pipeline.  There are also
-more methods, which will not be covered in this tutorial.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.hpp
-   :language: cpp
-   :lines: 30-36
-
-These are variables our Writer will use, such as the file to write to, the
-newline character to use, the name of the data field to use to write the MyData
-field, precision of the double outputs, the output stream, and the dimension
-that corresponds to the data field for easier lookup.
-
-As mentioned, there cen be additional configurations done as needed.
-
-
-The header
--------------------------------------------------------------------------------
-
-We will start with a full listing of the writer source.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :linenos:
-
-In the writer implementation, we will use a macro defined in pdal_macros,
-which is included in the include chain we are using.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 10-15
-
-Here we define a struct with information regarding the writer, such as the
-name, a description, and a path to documentation.  We then use the macro
-to create a SHARED plugin, which means it will be external to the main PDAL
-installation.  When using the macro, we specify the version (major and minor),
-the class of the plugin, the class of the parent (Writer, in this case), and
-the struct we defined earlier.
-
-Creating STATIC plugins, which would be part of the main PDAL installation, is
-also possible, but requires some extra steps and will not be covered here.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 19-30
-   :linenos:
-
-This struct is used for helping with the FileStreamPtr for cleanup.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 33-40
-   :linenos:
-
-This method defines the arguments the writer provides and binds them to
-private variables.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 47-63
-
-This method initializes our file stream in preparation for writing.
-
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 55-70
-   :linenos:
-
-The ready method is used to prepare the writer for any number of PointViews that
-may be passed in.  In this case, we are setting the precision for our double
-writes, looking up the dimension specified as the one to write into MyData,
-and writing the header of the output file.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 74-90
-   :linenos:
-
-This method is the main method for writing.  In our case, we are writing a very
-simple file, with data in the format of X:Y:Z:MyData.  We loop through each
-index in the PointView, and for each one we take the X, Y, and Z values, as well
-as the value for the specified MyData dimension, and write this to the output
-file.   In particular, note the reading of MyData; in our case, MyData is an
-integer, but the field we are reading might be a double.  Converting from double
-to integer is done via truncation, not rounding, so by adding .5 before making
-the conversion will ensure rounding is done properly.
-
-Note that in this case, the output format is pretty simple.  For more complex
-outputs, you may need to generate helper methods (and possibly helper classes)
-to help generate the proper output.  The key is reading in the appropriate
-values from the PointView, and then writing those in whatever necessary format
-to the output stream.
-
-.. literalinclude:: ../../examples/writing-writer/MyWriter.cpp
-   :language: cpp
-   :lines: 93-96
-   :linenos:
-
-This method is called when the writing is done.  In this case, it simply cleans
-up the output stream by resetting it.
-
-
-Compiling and Usage
--------------------------------------------------------------------------------
-To compile this reader, we will use cmake.  Here is the CMakeLists.txt file we
-will use for this process:
-
-.. literalinclude:: ../../examples/writing-writer/CMakeLists.txt
-    :linenos:
-
-If this file is in the directory with the MyWriter.hpp and MyWriter.cpp files,
-simply run ``cmake .`` followed by ``make``.  This will generate a file called
-``libpdal_plugin_writer_mywriter.dylib``.
-
-Put this dylib file into the directory pointed to by ``PDAL_DRIVER_PATH``, and
-then when you run ``pdal --drivers``, you will see an entry for
-writers.mywriter.
-
-To test the writer, we will put it into a pipeline and read in a LAS file and
-covert it to our output format.  For this example, use `interesting.las`_, and
-run it through `pipeline-mywriter.json`_.
-
-If those files are in the same directory, you would just run the command
-``pdal pipeline pipeline-mywriter.json``, and it will generate an output file
-called output.txt, which will be in the proper format.  From there, if you
-wanted, you could run that output file through the MyReader that was created
-in the previous tutorial, as well.
-
-.. _`interesting.las`: https://github.com/PDAL/PDAL/blob/master/test/data/interesting.las?raw=true
-.. _`pipeline-mywriter.json`: https://github.com/PDAL/PDAL/blob/master/examples/writing-writer/pipeline-mywriter.json?raw=true
diff --git a/doc/workshop/agenda.rst b/doc/workshop/agenda.rst
index 11db4c8..b51993d 100644
--- a/doc/workshop/agenda.rst
+++ b/doc/workshop/agenda.rst
@@ -23,7 +23,7 @@ Materials
 Slides
 ................................................................................
 
-* `Slides <http://www.pdal.io/workshop/slides/>`__
+* `Slides <https://www.pdal.io/workshop/slides/>`__
 
 Workshop Materials
 ................................................................................
@@ -31,8 +31,8 @@ Workshop Materials
 These materials are available at http://pdal.io/workshop/ as both
 a PDF and an HTML website.
 
-* `PDF download <http://pdal.io/PDAL.pdf>`__
-* `Website <http://pdal.io/workshop/>`__
+* `PDF download <https://pdal.io/PDAL.pdf>`__
+* `Website <https://pdal.io/workshop/>`__
 
 USB Example Data Drive
 ................................................................................
diff --git a/doc/workshop/capstone.rst b/doc/workshop/capstone.rst
new file mode 100644
index 0000000..e75d642
--- /dev/null
+++ b/doc/workshop/capstone.rst
@@ -0,0 +1,58 @@
+.. _capstone:
+
+Final Project
+================================================================================
+
+.. include:: ./includes/substitutions.rst
+
+.. index:: capstone, project
+
+The final project brings together a number of PDAL processing workflow
+operations into a single effort It builds upon the exercises to enable
+you to use the capabilities of PDAL in a coherent processing strategy, and it
+will give you ideas about how to orchestrate PDAL in the context of larger data
+processing scenarios.
+
+
+Given the following pipeline for fetching the data, complete the rest of the tasks:
+
+
+.. code-block:: json
+
+
+    {
+        "pipeline": [
+            {
+                "type": "readers.greyhound",
+                "url":"data.greyhound.io",
+                "resource":"dublin",
+                "threads":8,
+                "depth_end":14,
+                "bounds":"([-697041.0, -696241.0], [7045398.0, 7046086.0],[-40, 400])"
+
+            },
+            {
+                "type": "writers.las",
+                "compression": "true",
+                "minor_version": "2",
+                "dataformat_id": "0",
+                "filename":"st-stephens.laz"
+            }
+        ]
+    }
+
+
+* Read data from a |Greyhound| server using :ref:`readers.greyhound` (See :ref:`workshop-greyhound`)
+* Thin it by 1.0 meter spacing using :ref:`filters.sample` (See :ref:`workshop-thinning`)
+* Filter out noise using :ref:`filters.outlier` (See :ref:`workshop-denoising`)
+* Classify ground points using :ref:`filters.smrf` (See :ref:`workshop-ground`)
+* Compute height above ground using :ref:`filters.hag`
+* Generate a digital terrain model (DTM) using :ref:`writers.gdal` (See :ref:`workshop-dtm`)
+* Generate a average vegetative height model using :ref:`writers.gdal`
+
+.. note::
+
+    You should review specific :ref:`exercises` for specifics how to
+    achieve each task.
+
+
diff --git a/doc/workshop/conf.py b/doc/workshop/conf.py
new file mode 100644
index 0000000..fc68d02
--- /dev/null
+++ b/doc/workshop/conf.py
@@ -0,0 +1,330 @@
+# -*- coding: utf-8 -*-
+#
+# PDAL UNAVCO Short Course documentation build configuration file, created by
+# sphinx-quickstart on Wed Mar  9 09:35:07 2016.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys
+import os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.mathjax',
+    'sphinx.ext.intersphinx',
+    'sphinxcontrib.bibtex',
+]
+
+today='July 25th, 2017'
+docstitle='Home'
+
+intersphinx_mapping = {'pdal': ('https://www.pdal.io/', None)}
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'Point Cloud Processing and Analysis with PDAL'
+copyright = u'2017, Howard Butler, Pete Gadomski, Dr. Craig Glennie'
+author = u'Howard Butler, Pete Gadomski, Dr. Craig Glennie'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+#version = u'1.0'
+# The full version, including alpha/beta/rc tags.
+# release = u'1.0'
+releasename = 'PDAL Workshop'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['_build','slides']
+
+# The reST default role (used for this markup: `text`) to use for all
+# documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# If true, keep warnings as "system message" paragraphs in the built documents.
+#keep_warnings = False
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = False
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# $ pip install sphinx_rtd_theme
+import sphinx_rtd_theme
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+html_short_title = "Workshop"
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (relative to this directory) to use as a favicon of
+# the docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Add any extra paths that contain custom files (such as robots.txt or
+# .htaccess) here, relative to this directory. These files are copied
+# directly to the root of the documentation.
+#html_extra_path = []
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+html_show_sourcelink = False
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+#   'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
+#   'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr'
+#html_search_language = 'en'
+
+# A dictionary with options for the search language support, empty by default.
+# Now only 'ja' uses this config value
+#html_search_options = {'type': 'default'}
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+#html_search_scorer = 'scorer.js'
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'PDALUNAVCOShortCoursedoc'
+
+# -- Options for LaTeX output ---------------------------------------------
+
+preamble = r'''
+  \makeatother
+  %\color {blue}
+  %\normalcolor {dark blue}
+  \definecolor{VerbatimColor}{RGB}{239, 239, 239}
+  \definecolor{VerbatimBorderColor}{RGB}{148, 148, 148}
+  \usepackage{geometry}
+   \geometry{
+   letterpaper,
+   left={30mm},
+  }
+  \raggedright
+'''
+
+
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+'papersize': 'letterpaper',
+# 'classoptions': ',oneside',
+# 'babel': '\\usepackage[english]{babel}',
+
+# The font size ('10pt', '11pt' or '12pt').
+'pointsize': '12pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '\setcounter{tocdepth}{0} ',
+'preamble': preamble,
+
+# Latex figure (float) alignment
+'figure_align': 'htbp',
+'releasename':'07/25/2017',
+# 'tocdepth':3,
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'PDAL-workshop.tex', u'Point Cloud Processing and Analysis with PDAL',
+     r'Howard Butler\\Pete Gadomski\\Dr. Craig Glennie', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+latex_logo = '../_static/logo/pdal_logo_only.png'
+
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+latex_use_parts = False
+
+# If true, show page references after internal links.
+latex_show_pagerefs = True
+latex_toplevel_sectioning='part'
+
+# If true, show URL addresses after external links.
+latex_show_urls = True
+
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'PDALWorkshop', u'PDAL Workshop',
+     author, 'PDALWorkshop', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+texinfo_show_urls = 'footnote'
+
+# If true, do not generate a @detailmenu in the "Top" node's menu.
+#texinfo_no_detailmenu = False
+
+pdf_documents = [
+    ('index', u'PDAL-workshop', u'Point Cloud Processing and Analysis with PDAL', u'Howard Butler\\Pete Gadomski\\Dr. Craig Glennie'),
+]
+pdf_stylesheets = ['unavco']
+pdf_break_level = 2
+pdf_use_coverpage = True
+pdf_breakside = 'any'
+pdf_toc_depth = 4
+pdf_default_dpi = 96
+pdf_style_path = ['.' ]
+#pdf_fit_mode="shrink"
+pdf_use_numbered_links = True
+#pdf_fit_background_mode="scale"
+
diff --git a/doc/workshop/exercises/analysis/boundary/boundary-command-boundary.txt b/doc/workshop/exercises/analysis/boundary/boundary-command-boundary.txt
index 1bf188f..d8cd870 100644
--- a/doc/workshop/exercises/analysis/boundary/boundary-command-boundary.txt
+++ b/doc/workshop/exercises/analysis/boundary/boundary-command-boundary.txt
@@ -1,5 +1,3 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal info \
-    /data/exercises/analysis/density/uncompahgre.laz \
+pdal info ^
+    c:/Users/hobu/PDAL/exercises/analysis/density/uncompahgre.laz ^
     --boundary
-
diff --git a/doc/workshop/exercises/analysis/boundary/boundary-command-tindex.txt b/doc/workshop/exercises/analysis/boundary/boundary-command-tindex.txt
index cefef18..109ad0c 100644
--- a/doc/workshop/exercises/analysis/boundary/boundary-command-tindex.txt
+++ b/doc/workshop/exercises/analysis/boundary/boundary-command-tindex.txt
@@ -1,5 +1,4 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal tindex \
-    --tindex /data/exercises/analysis/boundary/boundary.sqlite \
-    --filespec /data/exercises/analysis/density/uncompahgre.laz \
+pdal tindex ^
+    --tindex c:/Users/hobu/PDAL/exercises/analysis/boundary/boundary.sqlite ^
+    --filespec c:/Users/hobu/PDAL/exercises/analysis/density/uncompahgre.laz ^
     -f SQLite
diff --git a/doc/workshop/exercises/analysis/boundary/boundary.rst b/doc/workshop/exercises/analysis/boundary/boundary.rst
index 1132720..265eeca 100644
--- a/doc/workshop/exercises/analysis/boundary/boundary.rst
+++ b/doc/workshop/exercises/analysis/boundary/boundary.rst
@@ -29,6 +29,7 @@ Exercise
     :linenos:
 
 .. image:: ../../../images/boundary-text-output.png
+    :target: ../../../../_images/boundary-text-output.png
 
 ... a giant blizzard of coordinate output scrolls across our terminal. Not very
 useful.
@@ -45,6 +46,7 @@ file.
     :linenos:
 
 .. image:: ../../../images/boundary-tindex-run.png
+    :target: ../../../../_images/boundary-tindex-run.png
 
 Once we've run the :ref:`tindex_command`, we can now visualize our output:
 
@@ -52,11 +54,13 @@ Once we've run the :ref:`tindex_command`, we can now visualize our output:
 Open :ref:`qgis` and select `Add Vector Layer`:
 
 .. image:: ../../../images/density-add-layer.png
+    :target: ../../../../_images/density-add-layer.png
 
 Navigate to the ``exercises/analysis/boundary`` directory and
 then open the ``boundary.sqlite`` file:
 
 .. image:: ../../../images/boundary-qgis-view.png
+    :target: ../../../../_images/boundary-qgis-view.png
 
 Notes
 --------------------------------------------------------------------------------
diff --git a/doc/workshop/exercises/analysis/clipping/attributes.vrt b/doc/workshop/exercises/analysis/clipping/attributes.vrt
index 1362d72..ca52240 100644
--- a/doc/workshop/exercises/analysis/clipping/attributes.vrt
+++ b/doc/workshop/exercises/analysis/clipping/attributes.vrt
@@ -1,7 +1,7 @@
     <OGRVRTDataSource>
         <OGRVRTWarpedLayer>
             <OGRVRTLayer name="OGRGeoJSON">
-                <SrcDataSource>/data/exercises/analysis/clipping/attributes.json</SrcDataSource>
+                <SrcDataSource>c:/Users/hobu/PDAL/exercises/analysis/clipping/attributes.json</SrcDataSource>
                 <LayerSRS>EPSG:4326</LayerSRS>
             </OGRVRTLayer>
             <TargetSRS>+proj=lcc +lat_1=43 +lat_2=45.5 +lat_0=41.75 +lon_0=-120.5 +x_0=399999.9999999999 +y_0=0 +ellps=GRS80 +units=ft +no_defs</TargetSRS>
diff --git a/doc/workshop/exercises/analysis/clipping/clipping-run-command.txt b/doc/workshop/exercises/analysis/clipping/clipping-run-command.txt
index afcf062..72fd998 100644
--- a/doc/workshop/exercises/analysis/clipping/clipping-run-command.txt
+++ b/doc/workshop/exercises/analysis/clipping/clipping-run-command.txt
@@ -1,3 +1,2 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal pipeline \
-       /data/exercises/analysis/clipping/clipping.json
+pdal pipeline ^
+    c:/Users/hobu/PDAL/exercises/analysis/clipping/clipping.json
diff --git a/doc/workshop/exercises/analysis/clipping/clipping.json b/doc/workshop/exercises/analysis/clipping/clipping.json
index d5b35c1..f31ca7e 100644
--- a/doc/workshop/exercises/analysis/clipping/clipping.json
+++ b/doc/workshop/exercises/analysis/clipping/clipping.json
@@ -1,9 +1,9 @@
 {
     "pipeline": [
-        "/data/exercises/analysis/clipping/autzen.laz",
+        "c:/Users/hobu/PDAL/exercises/analysis/clipping/autzen.laz",
         {
             "column": "CLS",
-            "datasource": "/data/exercises/analysis/clipping/attributes.vrt",
+            "datasource": "c:/Users/hobu/PDAL/exercises/analysis/clipping/attributes.vrt",
             "dimension": "Classification",
             "layer": "OGRGeoJSON",
             "type": "filters.overlay"
@@ -12,6 +12,6 @@
             "limits": "Classification[6:6]",
             "type": "filters.range"
         },
-        "/data/exercises/analysis/clipping/stadium.las"
+        "c:/Users/hobu/PDAL/exercises/analysis/clipping/stadium.las"
     ]
 }
diff --git a/doc/workshop/exercises/analysis/clipping/clipping.rst b/doc/workshop/exercises/analysis/clipping/clipping.rst
index f977553..ab9ce40 100644
--- a/doc/workshop/exercises/analysis/clipping/clipping.rst
+++ b/doc/workshop/exercises/analysis/clipping/clipping.rst
@@ -21,6 +21,7 @@ use this file to demonstrate clipping points with a geometry. We're going to
 clip out the stadium into a new LAS file.
 
 .. image:: ../../../images/clipping-autzen-view.png
+    :target: ../../../../_images/clipping-autzen-view.png
 
 
 
@@ -59,6 +60,7 @@ capability to reproject the data for us on-the-fly:
     stream.
 
 .. image:: ../../../images/clipping-view-polygons.png
+    :target: ../../../../_images/clipping-view-polygons.png
 
 .. note::
 
@@ -109,25 +111,26 @@ The attributes in the ``attributes.json`` file include polygons with values
 Execution
 ................................................................................
 
-Invoke the following command, substituting accordingly, in your `Docker
-Quickstart Terminal`:
+Invoke the following command, substituting accordingly, in your `OSGeo4W Shell`:
 
 
 .. literalinclude:: ./clipping-run-command.txt
     :linenos:
 
 .. image:: ../../../images/clipping-run-command.png
+    :target: ../../../../_images/clipping-run-command.png
 
 Visualization
 ................................................................................
 
 Use one of the point cloud visualization tools you installed to take a look at
-your ``c:\Users\Howard\PDAL\exercises\analysis\clipping\stadium.las`` output.
-In the example below, we simply opened the file using the http://plas.io
+your ``c:/Users/Howard/PDAL/exercises/analysis/clipping/stadium.las`` output.
+In the example below, we opened the file to view it using the http://plas.io
 website.
 
 
 .. image:: ../../../images/clipping-stadium-clipped.png
+    :target: ../../../../_images/clipping-stadium-clipped.png
 
 
 Notes
@@ -139,7 +142,6 @@ Notes
 2. Points that are *on* the boundary are included.
 
 
-.. _`NASA Airborne Snow Observatory`: http://aso.jpl.nasa.gov/
 .. _`CloudCompare`: http://www.danielgm.net/cc/
 
 .. _`ASPRS LAS`: http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
diff --git a/doc/workshop/exercises/analysis/colorization/colorization-run-command.txt b/doc/workshop/exercises/analysis/colorization/colorization-run-command.txt
index a26d613..883d316 100644
--- a/doc/workshop/exercises/analysis/colorization/colorization-run-command.txt
+++ b/doc/workshop/exercises/analysis/colorization/colorization-run-command.txt
@@ -1,3 +1,2 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal pipeline \
-       /data/exercises/analysis/colorization/colorize.json
+pdal pipeline ^
+    c:/Users/hobu/PDAL/exercises/analysis/colorization/colorize.json
diff --git a/doc/workshop/exercises/analysis/colorization/colorization.rst b/doc/workshop/exercises/analysis/colorization/colorization.rst
index fee940e..6002cdd 100644
--- a/doc/workshop/exercises/analysis/colorization/colorization.rst
+++ b/doc/workshop/exercises/analysis/colorization/colorization.rst
@@ -38,7 +38,7 @@ point cloud file we're going to read.
 
 ::
 
-    "/data/exercises/analysis/colorization/uncompahgre.laz",
+    "c:/Users/hobu/PDAL/exercises/analysis/colorization/uncompahgre.laz",
 
 2. :ref:`filters.colorization`
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -51,7 +51,7 @@ filter will create PDAL dimensions ``Red``, ``Green``, and ``Blue``.
 
     {
         "type": "filters.colorization",
-        "raster": "/data/exercises/analysis/colorization/casi-2015-04-29-weekly-mosaic.tif"
+        "raster": "c:/Users/hobu/PDAL/exercises/analysis/colorization/casi-2015-04-29-weekly-mosaic.tif"
     },
 
 
@@ -82,7 +82,7 @@ add a few options to have finer control over what is written. These include:
         "compression": "true",
         "minor_version": "2",
         "dataformat_id": "3",
-        "filename":"/data/exercises/colorization/analysis/uncompahgre-colored.laz"
+        "filename":"c:/Users/hobu/PDAL/exercises/colorization/analysis/uncompahgre-colored.laz"
     }
 
 1. ``compression``: |LASzip| data is ~6x smaller than ASPRS LAS.
diff --git a/doc/workshop/exercises/analysis/colorization/colorize.json b/doc/workshop/exercises/analysis/colorization/colorize.json
index 1b0af34..b50d373 100644
--- a/doc/workshop/exercises/analysis/colorization/colorize.json
+++ b/doc/workshop/exercises/analysis/colorization/colorize.json
@@ -1,9 +1,9 @@
 {
     "pipeline": [
-        "/data/exercises/analysis/colorization/uncompahgre.laz",
+        "c:/Users/hobu/PDAL/exercises/analysis/colorization/uncompahgre.laz",
         {
             "type": "filters.colorization",
-            "raster": "/data/exercises/analysis/colorization/casi-2015-04-29-weekly-mosaic.tif"
+            "raster": "c:/Users/hobu/PDAL/exercises/analysis/colorization/casi-2015-04-29-weekly-mosaic.tif"
         },
         {
             "type": "filters.range",
@@ -14,7 +14,7 @@
             "compression": "true",
             "minor_version": "2",
             "dataformat_id": "3",
-            "filename":"/data/exercises/analysis/colorization/uncompahgre-colored.laz"
+            "filename":"c:/Users/hobu/PDAL/exercises/analysis/colorization/uncompahgre-colored.laz"
         }
     ]
 }
diff --git a/doc/workshop/exercises/analysis/denoising/denoise.json b/doc/workshop/exercises/analysis/denoising/denoise.json
index d9a4d82..e52b542 100644
--- a/doc/workshop/exercises/analysis/denoising/denoise.json
+++ b/doc/workshop/exercises/analysis/denoising/denoise.json
@@ -1,23 +1,22 @@
 {
     "pipeline": [
-        "/data/exercises/analysis/denoising/18TWK820985.laz",
+        "c:/Users/hobu/PDAL/exercises/analysis/denoising/18TWK820985.laz",
         {
             "type": "filters.outlier",
             "method": "statistical",
-            "extract": "true",
             "multiplier": 3,
             "mean_k": 8
         },
         {
             "type": "filters.range",
-            "limits": "Z[-100:3000]"
+            "limits": "Classification![7:7],Z[-100:3000]"
         },
         {
             "type": "writers.las",
             "compression": "true",
             "minor_version": "2",
             "dataformat_id": "0",
-            "filename":"/data/exercises/analysis/denoising/clean.laz"
+            "filename":"c:/Users/hobu/PDAL/exercises/analysis/denoising/clean.laz"
         }
     ]
 }
diff --git a/doc/workshop/exercises/analysis/denoising/denoising-run-command.txt b/doc/workshop/exercises/analysis/denoising/denoising-run-command.txt
index f5becdc..5008631 100644
--- a/doc/workshop/exercises/analysis/denoising/denoising-run-command.txt
+++ b/doc/workshop/exercises/analysis/denoising/denoising-run-command.txt
@@ -1,4 +1,3 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal pipeline \
-       /data/exercises/analysis/denoising/denoise.json
+pdal pipeline ^
+   c:/Users/hobu/PDAL/exercises/analysis/denoising/denoise.json
 
diff --git a/doc/workshop/exercises/analysis/denoising/denoising.rst b/doc/workshop/exercises/analysis/denoising/denoising.rst
index 8c12750..2e2e753 100644
--- a/doc/workshop/exercises/analysis/denoising/denoising.rst
+++ b/doc/workshop/exercises/analysis/denoising/denoising.rst
@@ -1,34 +1,19 @@
-.. _denoising:
+.. _workshop-denoising:
 
 Removing noise
 ================================================================================
 
 .. include:: ../../../includes/substitutions.rst
 
-.. index:: Denoising, Filtering
-
-This exercise uses PDAL to remove unwanted noise in an ALS collection.
-
-.. warning::
-
-    Our default :ref:`docker` machine instance is probably going to run out of
-    memory for this operation (it only has 1gb). We may need to recreate it with
-    the following commands to increase the available memory:
-
-    1. Remove the existing machine instances
-
-        .. literalinclude:: ./denoising-docker-machine-delete.txt
-
-    2. Create a new one with 2gb of memory
-
-        .. literalinclude:: ./denoising-docker-machine-delete.txt
+.. index:: Denoising, outliers
 
+This exercise uses PDAL to remove unwanted noise in an airborne LiDAR collection.
 
 
 Exercise
 --------------------------------------------------------------------------------
 
-PDAL provides a :ref:`filter <filters>` through |PCL| to apply a statistical
+PDAL provides the :ref:`outlier filter<filters.outlier>` to apply a statistical
 filter to data.
 
 Because this operation is somewhat complex, we are going to use a pipeline to
@@ -53,19 +38,19 @@ point cloud file we're going to read.
 
 ::
 
-    "/data/exercises/analysis/denoising/18TWK820985.laz",
+    "c:/Users/hobu/PDAL/exercises/analysis/denoising/18TWK820985.laz",
 
 2. :ref:`filters.outlier`
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The :ref:`filters.outlier` PDAL filter does most of the work for this operation.
+The PDAL :ref:`outlier filter<filters.outlier>` does most of the work for this
+operation.
 
 ::
 
     {
         "type": "filters.outlier",
         "method": "statistical",
-        "extract": "true",
         "multiplier": 3,
         "mean_k": 8
     },
@@ -75,19 +60,30 @@ The :ref:`filters.outlier` PDAL filter does most of the work for this operation.
 3. :ref:`filters.range`
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
+At this point, the outliers have been classified per the LAS specification as
+low/noise points with a classification value of 7. The :ref:`range
+filter<filters.range>` can remove these noise points by constructing a
+:ref:`range <ranges>` with the value ``Classification![7:7]``, which passes
+every point with a ``Classification`` value **not** equal to 7.
+
 Even with the :ref:`filters.outlier` operation, there is still a cluster of
 points with extremely negative ``Z`` values. These are some artifact or
-miscomputation of processing, and we don't want these points. We are going to
-use ::ref:`filters.range` to keep only points that are within the range
-``-100 <= Z <= 3000``.
+miscomputation of processing, and we don't want these points. We can construct
+another :ref:`range <ranges>` to keep only points that are within the range
+:math:`-100 <= Z <= 3000`.
+
+Both :ref:`ranges <ranges>` are passed as a comma-separated list to the
+:ref:`range filter<filters.range>` via the ``limits`` option.
 
 ::
 
     {
         "type": "filters.range",
-        "limits": "Z[-100:3000]"
+        "limits": "Classification![7:7],Z[-100:3000]"
     },
 
+.. index:: range filter, classifications
+
 4. :ref:`writers.las`
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -101,7 +97,7 @@ add a few options to have finer control over what is written. These include:
         "compression": "true",
         "minor_version": "2",
         "dataformat_id": "0",
-        "filename":"/data/exercises/analysis/denoising/clean.laz"
+        "filename":"c:/Users/hobu/PDAL/exercises/analysis/denoising/clean.laz"
     }
 
 
@@ -119,12 +115,12 @@ add a few options to have finer control over what is written. These include:
 Execution
 ................................................................................
 
-Invoke the following command, substituting accordingly, in your `Docker
-Quickstart Terminal`:
+Invoke the following command, substituting accordingly, in your `OSGeo4W Shell`:
 
 .. literalinclude:: ./denoising-run-command.txt
 
 .. image:: ../../../images/denoise-run-command.png
+    :target: ../../../../_images/denoise-run-command.png
 
 Visualization
 ................................................................................
@@ -134,6 +130,7 @@ your ``clean.laz`` output. In the example below, we simply
 opened the file using the `Fugro Viewer`_
 
 .. image:: ../../../images/denoise-fugro.png
+    :target: ../../../../_images/denoise-fugro.png
 
 .. _`Fugro Viewer`: http://www.fugroviewer.com/
 
diff --git a/doc/workshop/exercises/analysis/density/density-command.txt b/doc/workshop/exercises/analysis/density/density-command.txt
index 1db75f1..e8b5a49 100644
--- a/doc/workshop/exercises/analysis/density/density-command.txt
+++ b/doc/workshop/exercises/analysis/density/density-command.txt
@@ -1,5 +1,4 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal density \
-       /data/exercises/analysis/density/uncompahgre.laz \
-       -o /data/exercises/analysis/density/density.sqlite \
-       -f SQLite
+pdal density ^
+   c:/Users/hobu/PDAL/exercises/analysis/density/uncompahgre.laz ^
+   -o c:/Users/hobu/PDAL/exercises/analysis/density/density.sqlite ^
+   -f SQLite
diff --git a/doc/workshop/exercises/analysis/density/density.rst b/doc/workshop/exercises/analysis/density/density.rst
index 054bd09..6ca7064 100644
--- a/doc/workshop/exercises/analysis/density/density.rst
+++ b/doc/workshop/exercises/analysis/density/density.rst
@@ -22,14 +22,14 @@ simple interpolation, which we will use for visualization in |QGIS|.
 Command
 ................................................................................
 
-Invoke the following command, substituting accordingly, in your `Docker
-Quickstart Terminal`:
+Invoke the following command, substituting accordingly, in your `OSGeo4W Shell`:
 
 .. literalinclude:: ./density-command.txt
     :linenos:
 
 
 .. image:: ../../../images/density-command-run.png
+    :target: ../../../../_images/density-command-run.png
 
 Visualization
 ................................................................................
@@ -43,14 +43,17 @@ We will now use |QGIS| to visualize them.
 1. Add a vector layer
 
     .. image:: ../../../images/density-add-layer.png
+        :target: ../../../../_images/density-add-layer.png
 
 2. Navigate to the output directory
 
     .. image:: ../../../images/density-select-layer.png
+        :target: ../../../../_images/density-select-layer.png
 
 3. Add the ``density.sqlite`` file to the view
 
     .. image:: ../../../images/density-file-open.png
+        :target: ../../../../_images/density-file-open.png
 
 4. Right click on the ``density.sqlite`` layer in the `Layers` panel
    and then choose ``Properties``.
@@ -58,18 +61,22 @@ We will now use |QGIS| to visualize them.
 5. Pick the ``Graduated`` drop down
 
     .. image:: ../../../images/density-graduated-symbols-pick.png
+        :target: ../../../../_images/density-graduated-symbols-pick.png
 
 6. Choose the ``Count`` column to visualize
 
     .. image:: ../../../images/density-count-attribute.png
+        :target: ../../../../_images/density-count-attribute.png
 
 7. Choose the ``Classify`` button to add intervals
 
     .. image:: ../../../images/density-graduated-symbols.png
+        :target: ../../../../_images/density-Graduated-symbols.png
 
 8. Adjust the visualization as desired
 
     .. image:: ../../../images/density-final-render.png
+        :target: ../../../../_images/density-final-render.png
 
 Notes
 --------------------------------------------------------------------------------
diff --git a/doc/workshop/exercises/analysis/dtm/dtm-hillshade-command.txt b/doc/workshop/exercises/analysis/dtm/dtm-hillshade-command.txt
new file mode 100644
index 0000000..0e6f1fd
--- /dev/null
+++ b/doc/workshop/exercises/analysis/dtm/dtm-hillshade-command.txt
@@ -0,0 +1,4 @@
+gdaldem hillshade ^
+    C:/Users/hobu/pdal/exercises/analysis/dtm/dtm.tif ^
+    C:/Users/hobu/pdal/exercises/analysis/dtm/hillshade.tif ^
+    -z 1.0 -s 1.0 -az 315.0 -alt 45.0 -of GTiff
diff --git a/doc/workshop/exercises/analysis/dtm/dtm-run-command.txt b/doc/workshop/exercises/analysis/dtm/dtm-run-command.txt
index ea4654e..fc8c6f1 100644
--- a/doc/workshop/exercises/analysis/dtm/dtm-run-command.txt
+++ b/doc/workshop/exercises/analysis/dtm/dtm-run-command.txt
@@ -1,3 +1,2 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal pipeline \
-       /data/exercises/analysis/dtm/gdal.json
+pdal pipeline ^
+   c:/Users/hobu/PDAL/exercises/analysis/dtm/gdal.json
diff --git a/doc/workshop/exercises/analysis/dtm/dtm.rst b/doc/workshop/exercises/analysis/dtm/dtm.rst
index d387764..eeb7386 100644
--- a/doc/workshop/exercises/analysis/dtm/dtm.rst
+++ b/doc/workshop/exercises/analysis/dtm/dtm.rst
@@ -1,4 +1,4 @@
-.. _dtm:
+.. _workshop-dtm:
 
 Generating a DTM
 ================================================================================
@@ -21,7 +21,7 @@ Exercise
 
     The primary input for `Digital Terrain Model`_ generation is a point cloud
     with ground classifications. We created this file, called
-    ``ground-filtered.laz``, in the :ref:`ground` exercise. Please produce that
+    ``denoised-ground-only.laz``, in the :ref:`ground` exercise. Please produce that
     file by following that exercise before starting this one.
 
 .. _`Digital Terrain Model`: https://en.wikipedia.org/wiki/Digital_elevation_model
@@ -33,8 +33,7 @@ Exercise
 Command
 ................................................................................
 
-Invoke the following command, substituting accordingly, in your `Docker
-Quickstart Terminal`:
+Invoke the following command, substituting accordingly, in your `OSGeo4W Shell`:
 
 PDAL capability to generate rasterized output is provided by the :ref:`writers.gdal`
 stage. There is no :ref:`application <apps>` to drive this stage, and we
@@ -49,28 +48,24 @@ Pipeline breakdown
 
 .. note::
 
-    this pipeline is available in your workshop materials in the
-    ``./exercises/analysis/dtm/dtm.json`` file.
+    This pipeline is available in your workshop materials in the
+    ``./exercises/analysis/dtm/dtm.json`` file. Make sure to edit the
+    filenames to match your paths.
 
 
 1. Reader
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-``ground-filtered.laz`` is the |LASzip| file we will clip. You should have
+``denoised-ground-only`` is the |LASzip| file we will clip. You should have
 created this output as part of the :ref:`ground` exercise.
 
 
 2. :ref:`writers.gdal`
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The `Points2grid`_ writer that bins the point cloud data into an elevation
+The :ref:`writers.gdal` writer that bins the point cloud data into an elevation
 surface.
 
-
-.. _`Points2grid`: https://github.com/CRREL/points2grid
-
-
-
 Execution
 ................................................................................
 
@@ -78,6 +73,7 @@ Execution
     :linenos:
 
 .. image:: ../../../images/dtm-run-command.png
+    :target: ../../../../_images/dtm-run-command.png
 
 Visualization
 ................................................................................
@@ -88,21 +84,26 @@ see what was produced. Let us use :ref:`qgis` to visualize the output.
 1. Open :ref:`qgis` and `Add Raster Layer`:
 
    .. image:: ../../../images/dtm-add-raster-layer.png
+        :target: ../../../../_images/dtm-add-raster-layer.png
 
-2. Add the `dtm.idw.tif` file from your ``./PDAL/exercises/analysis/dtm``
+2. Add the `dtm.tif` file from your ``./PDAL/exercises/analysis/dtm``
    directory.
 
    .. image:: ../../../images/dtm-add-raster-mean.png
+        :target: ../../../../_images/dtm-add-raster-mean.png
 
    .. image:: ../../../images/dtm-qgis-added.png
+        :target: ../../../../_images/dtm-qgis-added.png
 
-3. Classify the DTM by right-clicking on the `dtm.idw.tif` and choosing
+3. Classify the DTM by right-clicking on the `dtm.tif` and choosing
    `Properties`. Pick the pseudocolor rendering type, and then
    choose a color ramp and click `Classify`.
 
    .. image:: ../../../images/dtm-qgis-classify.png
+        :target: ../../../../_images/dtm-qgis-classify.png
 
    .. image:: ../../../images/dtm-qgis-colorize-dtm.png
+        :target: ../../../../_images/dtm-qgis-colorize-dtm.png
 
 
 4. :ref:`qgis` provides access to |GDAL| processing tools, and we
@@ -110,15 +111,23 @@ see what was produced. Let us use :ref:`qgis` to visualize the output.
    Choose `Raster-->Analysis-->Dem`:
 
    .. image:: ../../../images/dtm-qgis-select-hillshade.png
+        :target: ../../../../_images/dtm-qgis-select-hillshade.png
 
 5. Click the window for the `Output file` and select a location
    to save the ``hillshade.tif`` file.
 
    .. image:: ../../../images/dtm-qgis-gdaldem.png
+        :target: ../../../../_images/dtm-qgis-gdaldem.png
+
+
+   .. literalinclude:: ./dtm-hillshade-command.txt
+       :linenos:
+
 
 6. Click `OK` and the hillshade of your DTM is now available
 
    .. image:: ../../../images/dtm-qgis-hillshade-done.png
+        :target: ../../../../_images/dtm-qgis-hillshade-done.png
 
 Notes
 --------------------------------------------------------------------------------
@@ -126,8 +135,8 @@ Notes
 1. `gdaldem`_, which powers the :ref:`qgis` DEM tools, is a very powerful
    command line utility you can use for processing data.
 
-2. `Points2grid`_ can be used for large data, but it does not interplate
-   typical `TIN`_ surface model before interpolating.
+2. :ref:`writers.gdal` can be used for large data, but it does not interpolate a
+   typical `TIN`_ surface model.
 
 .. _`TIN`: https://en.wikipedia.org/wiki/Triangulated_irregular_network
 .. _`gdaldem`: http://www.gdal.org/gdaldem.html
diff --git a/doc/workshop/exercises/analysis/dtm/gdal.json b/doc/workshop/exercises/analysis/dtm/gdal.json
index 068810f..06a5578 100644
--- a/doc/workshop/exercises/analysis/dtm/gdal.json
+++ b/doc/workshop/exercises/analysis/dtm/gdal.json
@@ -1,8 +1,8 @@
 {
     "pipeline": [
-        "/data/exercises/analysis/ground/ground-filtered.laz",
+        "c:/Users/hobu/PDAL/exercises/analysis/ground/denoised-ground-only.laz",
         {
-            "filename":"/data/exercises/analysis/dtm/dtm",
+            "filename":"c:/Users/hobu/PDAL/exercises/analysis/dtm/dtm.tif",
             "output_format":"tif",
             "output_type":"all",
             "grid_dist_x":"2.0",
diff --git a/doc/workshop/exercises/analysis/ground/ground-run-ground-only.txt b/doc/workshop/exercises/analysis/ground/ground-run-ground-only.txt
index e7f6e1b..57de52d 100644
--- a/doc/workshop/exercises/analysis/ground/ground-run-ground-only.txt
+++ b/doc/workshop/exercises/analysis/ground/ground-run-ground-only.txt
@@ -1,6 +1,8 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal ground \
-       /data/exercises/analysis/ground/CSite1_orig-utm.laz \
-       -o /data/exercises/analysis/ground/ground-only.laz \
-       --classify=true --extract=true \
-       --writers.las.compression=true --verbose 4
+pdal translate ^
+   c:/Users/hobu/PDAL/exercises/analysis/ground/CSite1_orig-utm.laz ^
+   -o c:/Users/hobu/PDAL/exercises/analysis/ground/ground.laz ^
+   smrf ^
+   range ^
+   --filters.range.limits="Classification[2:2]" ^
+   -v 4
+
diff --git a/doc/workshop/exercises/analysis/ground/ground-run-no-filter.txt b/doc/workshop/exercises/analysis/ground/ground-run-no-filter.txt
index 1a5fce3..8f0e767 100644
--- a/doc/workshop/exercises/analysis/ground/ground-run-no-filter.txt
+++ b/doc/workshop/exercises/analysis/ground/ground-run-no-filter.txt
@@ -1,6 +1,6 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal ground \
-       /data/exercises/analysis/ground/CSite1_orig-utm.laz \
-       -o /data/exercises/analysis/ground/ground.laz \
-       --classify=true \
-       --writers.las.compression=true -v 4
+pdal translate ^
+   c:/Users/hobu/PDAL/exercises/analysis/ground/CSite1_orig-utm.laz ^
+   -o c:/Users/hobu/PDAL/exercises/analysis/ground/ground.laz ^
+   smrf ^
+   -v 4
+
diff --git a/doc/workshop/exercises/analysis/ground/ground.rst b/doc/workshop/exercises/analysis/ground/ground.rst
index e18954e..48a4c7c 100644
--- a/doc/workshop/exercises/analysis/ground/ground.rst
+++ b/doc/workshop/exercises/analysis/ground/ground.rst
@@ -1,4 +1,4 @@
-.. _ground:
+.. _workshop-ground:
 
 Identifying ground
 ================================================================================
@@ -7,8 +7,8 @@ Identifying ground
 
 .. index:: ground, classification, filtering
 
-This exercise uses PDAL to classify ground returns using the `Progressive
-Morphological Filter (PMF)` technique.
+This exercise uses PDAL to classify ground returns using the `Simple
+Morphological Filter (SMRF)` technique.
 
 .. note::
 
@@ -21,39 +21,39 @@ Exercise
 
 The primary input for `Digital Terrain Model`_ generation is a point cloud with
 ground vs. not-ground classifications. In this example, we will use an
-algorithm provided by PDAL, the `Progressive Morphological Filter` technique to
+algorithm provided by PDAL, the `Simple Morphological Filter` technique to
 generate a ground surface.
 
 .. seealso::
 
-    You can read more about the specifics of the PMF algorithm from the `paper
-    <http://users.cis.fiu.edu/~chens/PDF/TGRS.pdf>`__, and you can read more
-    about the PDAL implementation in the source code on `github
-    <https://github.com/PDAL/PDAL/blob/master/filters/PMFFilter.cpp>`__.
+    You can read more about the specifics of the SMRF algorithm from [Pingle2013]_`
 
 .. _`Digital Terrain Model`: https://en.wikipedia.org/wiki/Digital_elevation_model
 
 Command
 ................................................................................
 
-Invoke the following command, substituting accordingly, in your `Docker
-Quickstart Terminal`:
+Invoke the following command, substituting accordingly, in your `OSGeo4W Shell`:
 
 .. literalinclude:: ./ground-run-no-filter.txt
     :linenos:
 
 .. image:: ../../../images/ground-run-command.png
+    :target: ../../../../_images/ground-run-command.png
+
 
 As we can see, the algorithm does a great job of discriminating the points, but
 there's a few issues.
 
 .. image:: ../../../images/ground-classified-included.png
+    :target: ../../../../_images/ground-classified-included.png
 
 
 There's noise underneath the main surface that will cause us trouble when we
 generate a terrain surface.
 
 .. image:: ../../../images/ground-classified-included-side.png
+    :target: ../../../../_images/ground-classified-included-side.png
 
 Filtering
 ................................................................................
@@ -67,25 +67,24 @@ technique we learned about in :ref:`denoising`.
 
 .. literalinclude:: ./ground-run-ground-only.txt
     :linenos:
-    :emphasize-lines: 6
-
-.. note::
-
-    The ``filters.pmf.extract=true`` item causes all data except
-    ground-classified points to be removed from the set.
-
-Buildings and other non-ground points are removed with the ``extract`` option
-of :ref:`filters.pmf`
+    :emphasize-lines: 5
 
 .. image:: ../../../images/ground-ground-only-view.png
+    :target: ../../../../_images/ground-ground-only-view.png
 
 
-2. Now we will remove the noise, using the :ref:`translate_command` to stack the
-:ref:`filters.outlier` and :ref:`filters.pmf` stages:
+2. Now we will instead use the :ref:`translate_command` command to stack the
+:ref:`filters.outlier` and :ref:`filters.smrf` stages:
 
 .. literalinclude:: ./translate-run-ground-only.txt
    :linenos:
-   
+
+In this invocation, we have more control over the process. First the outlier
+filter merely classifies outliers with a ``Classification`` value of 7. These
+outliers are then ignored during PMF processing with the ``ignore`` option.
+Finally, we add a range filter to extract only the ground returns (i.e.,
+``Classification`` value of 2).
+
 The result is a more accurate representation of the ground returns.
 
 .. image:: ../../../images/ground-filtered.png
diff --git a/doc/workshop/exercises/analysis/ground/translate-run-ground-only.txt b/doc/workshop/exercises/analysis/ground/translate-run-ground-only.txt
index 2602e43..12c2eba 100644
--- a/doc/workshop/exercises/analysis/ground/translate-run-ground-only.txt
+++ b/doc/workshop/exercises/analysis/ground/translate-run-ground-only.txt
@@ -1,11 +1,10 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal translate \
-       /data/exercises/analysis/ground/CSite1_orig-utm.laz \
-       -o /data/exercises/analysis/ground/denoised-ground-only.laz \
-       outlier pmf \
-       --filters.outlier.method="statistical" \
-       --filters.outlier.mean_k=8 \
-       --filters.outlier.multiplier=3.0 \
-       --filters.pmf.cell_size=1.5 \
-       --filters.pmf.extract=true \
-       --writers.las.compression=true --verbose 4
+pdal translate ^
+   c:/Users/hobu/PDAL/exercises/analysis/ground/CSite1_orig-utm.laz ^
+   -o c:/Users/hobu/PDAL/exercises/analysis/ground/denoised-ground-only.laz ^
+   outlier smrf range ^
+   --filters.outlier.method="statistical" ^
+   --filters.outlier.mean_k=8 ^
+   --filters.outlier.multiplier=3.0 ^
+   --filters.smrf.ignore="Classification[7:7]" ^
+   --filters.range.limits="Classification[2:2]" ^
+   --writers.las.compression=true --verbose 4
diff --git a/doc/workshop/exercises/analysis/thinning/thinning-run-dartsample.txt b/doc/workshop/exercises/analysis/thinning/thinning-run-dartsample.txt
index bf74173..867dbd5 100644
--- a/doc/workshop/exercises/analysis/thinning/thinning-run-dartsample.txt
+++ b/doc/workshop/exercises/analysis/thinning/thinning-run-dartsample.txt
@@ -1,6 +1,5 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-       pdal translate \
-       /data/exercises/analysis/density/uncompahgre.laz \
-       /data/exercises/analysis/thinning/uncompahgre-thin.laz \
-       sample \
-       --filters.sample.radius=20
+pdal translate ^
+   c:/Users/hobu/PDAL/exercises/analysis/density/uncompahgre.laz ^
+   c:/Users/hobu/PDAL/exercises/analysis/thinning/uncompahgre-thin.laz ^
+   sample ^
+   --filters.sample.radius=20
diff --git a/doc/workshop/exercises/analysis/thinning/thinning.rst b/doc/workshop/exercises/analysis/thinning/thinning.rst
index 85a0efb..135401c 100644
--- a/doc/workshop/exercises/analysis/thinning/thinning.rst
+++ b/doc/workshop/exercises/analysis/thinning/thinning.rst
@@ -1,4 +1,4 @@
-.. _thinning:
+.. _workshop-thinning:
 
 Thinning
 ================================================================================
@@ -38,6 +38,7 @@ should operate similarly for the :ref:`filters.voxelgrid` approach too. See
 :ref:`dart-throwing-tutorial` for description of how to randomly filter.
 
 .. figure:: ../../../images/thinning-overview.png
+    :target: ../../../../_images/thinning-overview.png
 
     Thinning strategies available in PDAL
 
@@ -52,6 +53,7 @@ Quickstart Terminal`:
     :linenos:
 
 .. image:: ../../../images/thinning-command-run.png
+    :target: ../../../../_images/thinning-command-run.png
 
 Visualization
 ................................................................................
@@ -61,14 +63,17 @@ are going to use that ability to view both the ``uncompahgre.laz`` and the
 ``uncompahgre-thin.laz`` file.
 
 .. figure:: ../../../images/thinning-select-data.png
+    :target: ../../../../_images/thinning-select-data.png
 
     Selecting multiple data sets in http://plas.io
 
 .. figure:: ../../../images/thinning-full-res.png
+    :target: ../../../../_images/thinning-select-data.png
 
     Full resolution Uncompahgre data set
 
 .. figure:: ../../../images/thinning-poisson-thin.png
+    :target: ../../../../_images/thinning-poisson-thin.png
 
     Uncompahgre thinned at a radius of 20m
 
diff --git a/doc/workshop/exercises/georeferencing/georeferencing-command.txt b/doc/workshop/exercises/georeferencing/georeferencing-command.txt
index 5301f7d..edb9735 100644
--- a/doc/workshop/exercises/georeferencing/georeferencing-command.txt
+++ b/doc/workshop/exercises/georeferencing/georeferencing-command.txt
@@ -1,7 +1,6 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal translate \
-    /data/exercises/georeferencing/S1C1_csd_004.csd \
-    /data/exercises/georeferencing/S1C1_csd_004.laz \
-    reprojection range \
-    --filters.reprojection.out_srs="EPSG:32614" \
+pdal translate ^
+    c:/Users/hobu/PDAL/exercises/georeferencing/S1C1_csd_004.csd ^
+    c:/Users/hobu/PDAL/exercises/georeferencing/S1C1_csd_004.laz ^
+    reprojection range ^
+    --filters.reprojection.out_srs="EPSG:32614" ^
     --filters.range.limits="Intensity[0:500]"
diff --git a/doc/workshop/exercises/georeferencing/index.rst b/doc/workshop/exercises/georeferencing/index.rst
index 9026f31..b9c62bf 100644
--- a/doc/workshop/exercises/georeferencing/index.rst
+++ b/doc/workshop/exercises/georeferencing/index.rst
@@ -7,44 +7,61 @@ Georeferencing
 
 .. include:: ../../includes/substitutions.rst
 
-As discussed :ref:`in the introduction <georeferencing-introduction>`, laser returns from a mobile |LiDAR| system must be georeferenced, i.e. placed into a local or global coordinate system by combining data from the laser and from a GNSS/IMU.
-As of this writing, PDAL does **not** include generic georeferencing tools — this is considered future work.
-However, the |Optech| csd file format includes both laser return and GNSS/IMU data in the same file, and the PDAL csd reader includes built in georeferencing support.
+As discussed :ref:`in the introduction <georeferencing-introduction>`, laser
+returns from a mobile |LiDAR| system must be georeferenced, i.e. placed into a
+local or global coordinate system by combining data from the laser and from a
+GNSS/IMU.  As of this writing, PDAL does **not** include generic georeferencing
+tools — this is considered future work.  However, the |Optech| csd file format
+includes both laser return and GNSS/IMU data in the same file, and the PDAL csd
+reader includes built in georeferencing support.
 
-In this section, we will demonstrate how to georeference an |Optech| csd file and reproject that file into a UTM projection.
+In this section, we will demonstrate how to georeference an |Optech| csd file
+and reproject that file into a UTM projection.
 
 .. note::
 
-   `Optech's <http://www.teledyneoptech.com/>`__ csd format is just one of several vendor-specific data formats PDAL supports; we also support data files directly from |Riegl| sensors and from several project-specific government platforms.
+   `Optech's <http://www.teledyneoptech.com/>`__ csd format is just one of
+   several vendor-specific data formats PDAL supports; we also support data
+   files directly from |Riegl| sensors and from several project-specific
+   government platforms.
 
 Exercise
 -----------
 
 The file `S1C1_csd_004.csd` contains airborne data from an |Optech| sensor.
-Without georeferencing these points, they would be impossible to interpret — once they are georeferenced, we will be able to inspect and analyze these points like any other point cloud.
+Without georeferencing these points, they would be impossible to interpret —
+once they are georeferenced, we will be able to inspect and analyze these
+points like any other point cloud.
 
-In addition to georeferencing, we are going to make two other tweaks to our point cloud:
+In addition to georeferencing, we are going to make two other tweaks to our
+point cloud:
 
-- The point cloud is, by default, in |WGS84|, but we will reproject these points to a |UTM| coordinate system for visualization purposes.
+- The point cloud is, by default, in |WGS84|, but we will reproject these
+  points to a |UTM| coordinate system for visualization purposes.
 
-- Because these are raw data coming from the sensor, these data are noisy.
-  In particular, there are a few points *very* close to the sensor which were probably caused by air returns or laser light reflecting off of part of the airplane or sensor.
-  These points have very high intensity values, which will screw up our visualization.
-  We will use the :ref:`filters.range` PDAL filter to drop all points with very high intensity values.
+- Because these are raw data coming from the sensor, these data are noisy.  In
+  particular, there are a few points *very* close to the sensor which were
+  probably caused by air returns or laser light reflecting off of part of the
+  airplane or sensor.  These points have very high intensity values, which will
+  screw up our visualization.  We will use the :ref:`filters.range` PDAL filter
+  to drop all points with very high intensity values.
 
 .. note::
 
-    These data were provided by Dr. Craig Glennie and were collected by |NCALM|, the National Center for Airborne Laser Mapping.
-    The collect area is southwest of Austin, TX.
+    These data were provided by Dr. Craig Glennie and were collected by
+    |NCALM|, the National Center for Airborne Laser Mapping.  The collect area
+    is southwest of Austin, TX.
 
 Command
 .............
 
-Invoke the following command, substituting accordingly, into your `Docker Quickstart Terminal`:
+Invoke the following command, substituting accordingly, into your `OSGeo4W
+Shell`:
 
 .. literalinclude:: georeferencing-command.txt
 
 .. image:: ../../images/georeferencing-run-command.png
+    :target: ../../../_images/georeferencing-run-command.png
 
 Visualization
 .................
@@ -52,5 +69,7 @@ Visualization
 View your georeferenced point cloud in http://plas.io.
 
 .. figure:: ../../images/georeference-plasio.png
+    :target: ../../../_images/georeference-plasio.png
 
-    Our airborne laser point cloud after georeferencing, reprojection, and intensity filtering.
+    Our airborne laser point cloud after georeferencing, reprojection, and
+    intensity filtering.
diff --git a/doc/workshop/exercises/index.rst b/doc/workshop/exercises/index.rst
index 1ec253f..b4ca067 100644
--- a/doc/workshop/exercises/index.rst
+++ b/doc/workshop/exercises/index.rst
@@ -26,6 +26,7 @@ Translation
 
    translation/compression
    translation/reprojection
+   translation/greyhound
 
 
 .. _analysisa:
@@ -45,6 +46,14 @@ Analysis
    analysis/ground/ground
    analysis/dtm/dtm
 
+Python
+--------------------------------------------------------------------------------
+
+.. toctree::
+   :maxdepth: 3
+
+   python/histogram
+
 
 Georeferencing
 --------------------------------------------------------------------------------
diff --git a/doc/workshop/exercises/info/metadata-command-jq.txt b/doc/workshop/exercises/info/metadata-command-jq.txt
new file mode 100644
index 0000000..b7e6938
--- /dev/null
+++ b/doc/workshop/exercises/info/metadata-command-jq.txt
@@ -0,0 +1,2 @@
+pdal info c:/Users/hobu/PDAL/exercises/info/interesting.las --metadata ^
+    | jq  ".metadata.compressed, .metadata.system_id"
diff --git a/doc/workshop/exercises/info/metadata-command.txt b/doc/workshop/exercises/info/metadata-command.txt
index b9ffc1d..21f13de 100644
--- a/doc/workshop/exercises/info/metadata-command.txt
+++ b/doc/workshop/exercises/info/metadata-command.txt
@@ -1,2 +1 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal info /data/exercises/info/interesting.las --metadata
+pdal info c:/Users/hobu/PDAL/exercises/info/interesting.las --metadata
diff --git a/doc/workshop/exercises/info/metadata.rst b/doc/workshop/exercises/info/metadata.rst
index 732440a..ae64dda 100644
--- a/doc/workshop/exercises/info/metadata.rst
+++ b/doc/workshop/exercises/info/metadata.rst
@@ -11,7 +11,7 @@ Exercise
 --------------------------------------------------------------------------------
 
 This exercise uses PDAL to print metadata information. Issue the
-following command in your `Docker Quickstart Terminal`.
+following command in your `OSGeo4W Shell`.
 
 
 .. literalinclude:: ./metadata-command.txt
@@ -28,7 +28,7 @@ following command in your `Docker Quickstart Terminal`.
 
 .. seealso::
 
-    Use the `JSON`_ processing capabilities of your favorite processing
+    Use the |JSON| processing capabilities of your favorite processing
     software to selectively access and manipulate values.
 
     * `Python JSON library`_
@@ -42,11 +42,50 @@ following command in your `Docker Quickstart Terminal`.
 .. _`Ruby JSON library`: http://ruby-doc.org/stdlib-2.0.0/libdoc/json/rdoc/JSON.html
 
 
+Structured Metadata Output
+................................................................................
+
+Many command-line utilities output their data in a human-readable custom
+format. The downsides to this approach are significant. PDAL was designed to be
+used in the context of other software tools driving it. For example, it is
+quite common for PDAL to be used in data validation scenarios. Other programs
+might need to inspect information in PDAL's output and then act based on the
+values. A human-readable format would mean that downstream program would need
+to write a parser to consume PDAL's special format.
+
+|JSON| provides a nice balance between human- and machine- readable, but
+even then it can be quite hard to find what you're looking for, especially
+if the output is long. ``pdal`` command output used in conjunction with a
+JSON parsing tool like ``jq`` provide a powerful inspection combination.
+
+For example, we might only care about the ``system_id`` and ``compressed``
+flag for this particular file. Our simple ``pdal info --metadata`` command
+gives us that, but it also gives us a bunch of other stuff we don't need
+at the moment either. Let's focus on extracting what we want using the
+``jq`` command.
+
+.. literalinclude:: ./metadata-command-jq.txt
+    :linenos:
+
+.. image:: ../../images/info-interesting-metadata-jq.png
+
+.. note::
+
+    PDAL's JSON output is very powerfully combined with the processing
+    capabilities of other programming languages such as JavaScript or Python.
+    Both of these languages have excellent built-in tools for consuming
+    JSON, along with plenty of other features to allow you to do something
+    with the data inside the data structures. As we will see later
+    in the workshop, this PDAL feature is one that makes construction
+    of custom data processing workflows with PDAL very convenient.
+
+
+
 Notes
 --------------------------------------------------------------------------------
 
-1. PDAL uses `JSON`_ as the exchange format when printing information from :ref:`info_command`.
-   JSON is a structured, human-readable format that is much simpler than its `XML`_ cousin.
+1. PDAL uses |JSON| as the exchange format when printing information from :ref:`info_command`.
+   JSON is a structured, human-readable format that is much simpler than its |XML| cousin.
 
 2. The PDAL :ref:`metadata document <metadata>` contains background and
    information about specific metadata entries and what they mean.
@@ -61,6 +100,3 @@ Notes
    in PDAL.
 
 
-.. _`CSV`: https://en.wikipedia.org/wiki/Comma-separated_values
-.. _`JSON`: https://en.wikipedia.org/wiki/JSON
-.. _`XML`: https://en.wikipedia.org/wiki/XML
diff --git a/doc/workshop/exercises/info/near-command-1.txt b/doc/workshop/exercises/info/near-command-1.txt
index 3b4954f..44a77f2 100644
--- a/doc/workshop/exercises/info/near-command-1.txt
+++ b/doc/workshop/exercises/info/near-command-1.txt
@@ -1,2 +1,2 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal info /data/exercises/info/interesting.las --all
+pdal info c:/Users/hobu/pdal/exercises/info/interesting.las --all ^
+    | jq .stats.bbox.native.bbox
diff --git a/doc/workshop/exercises/info/near-command-2.txt b/doc/workshop/exercises/info/near-command-2.txt
index 4c1245c..37e0248 100644
--- a/doc/workshop/exercises/info/near-command-2.txt
+++ b/doc/workshop/exercises/info/near-command-2.txt
@@ -1,3 +1,2 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal info /data/exercises/info/interesting.las \
+pdal info c:/Users/hobu/pdal/exercises/info/interesting.las ^
     --query "637301.20, 851217.57, 496.49/3"
diff --git a/doc/workshop/exercises/info/near.rst b/doc/workshop/exercises/info/near.rst
index 8361b15..efeca2c 100644
--- a/doc/workshop/exercises/info/near.rst
+++ b/doc/workshop/exercises/info/near.rst
@@ -20,6 +20,7 @@ print the ``--all`` info for the file and look for the ``bbox`` output:
 .. literalinclude:: ./near-command-1.txt
 
 .. image:: ../../images/info-near-bbox.png
+    :target: ../../../_images/info-near-bbox.png
 
 Find the average the ``X``, ``Y``, and ``Z`` values:
 
@@ -42,6 +43,7 @@ and return the three nearest points to it:
     return data in closest-distance ordering.
 
 .. image:: ../../images/info-near-point.png
+    :target: ../../../_images/info-near-point.png
 
 Notes
 --------------------------------------------------------------------------------
diff --git a/doc/workshop/exercises/info/single-point-command.txt b/doc/workshop/exercises/info/single-point-command.txt
index 3edb58b..a855fab 100644
--- a/doc/workshop/exercises/info/single-point-command.txt
+++ b/doc/workshop/exercises/info/single-point-command.txt
@@ -1,2 +1 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal info /data/exercises/info/interesting.las -p 0
+pdal info c:/Users/hobu/PDAL/exercises/info/interesting.las -p 0
diff --git a/doc/workshop/exercises/info/single-point.rst b/doc/workshop/exercises/info/single-point.rst
index 732fa59..df310d2 100644
--- a/doc/workshop/exercises/info/single-point.rst
+++ b/doc/workshop/exercises/info/single-point.rst
@@ -5,62 +5,47 @@ Printing the first point
 
 .. include:: ../../includes/substitutions.rst
 
-.. index:: info command, Start Here, docker run
+.. index:: info command, Start Here, installation
 
 Exercise
 --------------------------------------------------------------------------------
 
 This exercise uses PDAL to print information from the first point. Issue the
-following command in your `Docker Quickstart Terminal`.
+following command in your `OSGeo4W Shell`.
 
 .. literalinclude:: ./single-point-command.txt
     :linenos:
 
 Here's a summary of what's going on with that command invocation
 
-1. ``docker``: We are running PDAL within the context of docker, so all of our
-   commands will start with the ``docker`` command.
+1. ``pdal``: The ``pdal`` application :)
 
-2. ``run``: Tells docker we're going to run an image
-
-3. ``-v /c/Users/Howard/PDAL:/data``: Maps our workshop directory to a directory called
-   ``/data`` inside the container.
-
-   .. seealso::
-
-       The `Docker Volume <https://docs.docker.com/engine/userguide/dockervolumes/>`__
-       document describes mounting volumes in more detail.
-
-4. ``pdal/pdal``: This is the Docker image we are going to run. We fetched it in the
-   :ref:`docker` portion of the workshop.
-
-5. ``pdal``: We're finally going to run the ``pdal`` application :)
-
-6. ``info``: We want to run :ref:`info_command` on the data. All commands
+2. ``info``: We want to run :ref:`info_command` on the data. All commands
    are run by the ``pdal`` application.
 
-7. ``/data/exercises/info/interesting.las``: The ``pdal`` command is now
-   running in the context of our container, which we mounted a ``/data``
-   directory in with the volume mount operation in Step #3. Our
-   ``interesting.las`` file resides there.
+3. ``c:/Users/hobu/PDAL/exercises/info/interesting.las``: The file we
+   are running the command on. PDAL will be able to identify this file
+   is an |ASPRSLAS| file from the extension, ``.las``, but not every
+   file type is easily identified. You can use a :ref:`pipeline <pipeline_command>`
+   to override which :ref:`reader <readers>` PDAL will use to
+   open the file.
 
-8. ``-p 0``: ``-p`` corresponds to "print a point", and ``0`` means to print
+4. ``-p 0``: ``-p`` corresponds to "print a point", and ``0`` means to print
    the first one (computer people count from 0).
 
 
 .. image:: ../../images/info-interesting-single-point.png
+    :target: ../../../_images/info-interesting-single-point.png
 
 Notes
 --------------------------------------------------------------------------------
 
-.. index:: JSON
+.. index:: JSON, CSV
 
-1. PDAL uses `JSON`_ as the exchange format when printing information from :ref:`info_command`.
-   JSON is a structured, human-readable format that is much simpler than its `XML`_ cousin.
+1. PDAL uses |JSON| as the exchange format when printing information from :ref:`info_command`.
+   JSON is a structured, human-readable format that is much simpler than its |XML| cousin.
 
-.. index:: CSV
-
-2. You can use the :ref:`writers.text` writer to output point attributes to `CSV`_ format for
+2. You can use the :ref:`writers.text` writer to output point attributes to |CSV| format for
    other processing.
 
 3. Output help information on the command line by issuing the ``--help`` option
@@ -68,11 +53,3 @@ Notes
 4. A common query with ``pdal info`` is ``--all``, which will print all header,
    metadata, and statistics about a file.
 
-5. In the command, we add the ``\`` character for line continuation. All items on the
-   ``docker run`` command must be on the same line. You will see this convention
-   throughout the workshop to make the command easier to read, but remember
-   that everything needs to be on one line.
-
-.. _`CSV`: https://en.wikipedia.org/wiki/Comma-separated_values
-.. _`JSON`: https://en.wikipedia.org/wiki/JSON
-.. _`XML`: https://en.wikipedia.org/wiki/XML
diff --git a/doc/workshop/exercises/python/histogram-command.txt b/doc/workshop/exercises/python/histogram-command.txt
new file mode 100644
index 0000000..a994a3c
--- /dev/null
+++ b/doc/workshop/exercises/python/histogram-command.txt
@@ -0,0 +1 @@
+pdal pipeline c:/Users/hobu/PDAL/exercises/python/histogram.json
diff --git a/doc/workshop/exercises/python/histogram.json b/doc/workshop/exercises/python/histogram.json
new file mode 100644
index 0000000..46bad86
--- /dev/null
+++ b/doc/workshop/exercises/python/histogram.json
@@ -0,0 +1,17 @@
+{
+    "pipeline":[
+                    {
+                        "filename":"c:/Users/hobu/PDAL/exercies/python/athletic-fields.laz"
+                    },
+                    {
+                        "type":"filters.programmable",
+                        "function":"make_plot",
+                        "module":"anything",
+                        "pdalargs":"{\"filename\":\"histogram.png\"}",
+                        "script":"c:/Users/hobu/PDAL/exercies/python/histogram.py"
+                    },
+                    {
+                        "type":"writers.null"
+                    }
+                ]
+}
diff --git a/doc/workshop/exercises/python/histogram.py b/doc/workshop/exercises/python/histogram.py
new file mode 100644
index 0000000..6230103
--- /dev/null
+++ b/doc/workshop/exercises/python/histogram.py
@@ -0,0 +1,80 @@
+# import numpy
+import numpy as np
+
+# import matplotlib stuff and make sure to use the
+# AGG renderer.
+import matplotlib
+matplotlib.use('Agg')
+import matplotlib.pyplot as plt
+import matplotlib.mlab as mlab
+
+# This only works for Python 3. Use
+# StringIO for Python 2.
+from io import BytesIO
+
+# The make_plot function will do all of our work. The
+# filters.programmable filter expects a function name in the
+# module that has at least two arguments -- "ins" which
+# are numpy arrays for each dimension, and the "outs" which
+# the script can alter/set/adjust to have them updated for
+# further processing.
+def make_plot(ins, outs):
+
+    # figure position and row will increment
+    figure_position = 1
+    row = 1
+
+    fig = plt.figure(figure_position, figsize=(6, 8.5), dpi=300)
+
+    for key in ins:
+        dimension = ins[key]
+        ax = fig.add_subplot(len(ins.keys()), 1, row)
+
+        # histogram the current dimension with 30 bins
+        n, bins, patches = ax.hist( dimension, 30,
+                                    normed=0,
+                                    facecolor='grey',
+                                    alpha=0.75,
+                                    align='mid',
+                                    histtype='stepfilled',
+                                    linewidth=None)
+
+        # Set plot particulars
+        ax.set_ylabel(key, size=10, rotation='horizontal')
+        ax.get_xaxis().set_visible(False)
+        ax.set_yticklabels('')
+        ax.set_yticks((),)
+        ax.set_xlim(min(dimension), max(dimension))
+        ax.set_ylim(min(n), max(n))
+
+        # increment plot position
+        row = row + 1
+        figure_position = figure_position + 1
+
+    # We will save the PNG bytes to a BytesIO instance
+    # and the nwrite that to a file.
+    output = BytesIO()
+    plt.savefig(output,format="PNG")
+
+    # a module global variable, called 'pdalargs' is available
+    # to filters.programmable and filters.predicate modules that contains
+    # a dictionary of arguments that can be explicitly passed into
+    # the module by the user. We passed in a filename arg in our `pdal pipeline` call
+    if 'filename' in pdalargs:
+        filename = pdalargs['filename']
+    else:
+        filename = 'histogram.png'
+
+    # open up the filename and write out the
+    # bytes of the PNG stored in the BytesIO instance
+    o = open(filename, 'wb')
+    o.write(output.getvalue())
+    o.close()
+
+
+    # filters.programmable scripts need to
+    # return True to tell the filter it was successful.
+    return True
+
+
+
diff --git a/doc/workshop/exercises/python/histogram.rst b/doc/workshop/exercises/python/histogram.rst
new file mode 100644
index 0000000..de90e52
--- /dev/null
+++ b/doc/workshop/exercises/python/histogram.rst
@@ -0,0 +1,98 @@
+.. _workshop-histogram:
+
+Plotting a histogram
+================================================================================
+
+.. include:: ../../includes/substitutions.rst
+
+Exercise
+--------------------------------------------------------------------------------
+
+PDAL doesn't provide every possible analysis option, but it strives to make it
+convenient to link PDAL to other places with substantial functionality.  One of
+those is the Python/Numpy universe, which is accessed through PDAL's
+:ref:`python` bindings and the :ref:`filters.programmable` and
+:ref:`filters.predicate` filters. These tools allow you to manipulate point
+cloud data with convenient Python tools rather than constructing substantial
+C/C++ software to achieve simple tasks, compute simple statistics, or
+investigate data quality issues.
+
+This exercise uses PDAL to create a histogram plot of all of the dimensions of
+a file. `matplotlib`_ is a Python package for plotting graphs and figures, and
+we can use it in combination with the :ref:`python` bindings for PDAL to create
+a nice histogram. These histograms can be useful diagnostics in an analysis
+pipeline. We will combine a Python script to make a histogram plot with a
+:ref:`pipeline_command`.
+
+
+.. note::
+
+    Python allows you to enhance and build functionality that you can use
+    in the context of other :ref:`pipeline` operations.
+
+
+PDAL Pipeline
+................................................................................
+
+We're going to create a PDAL :ref:`pipeline` to tell PDAL to run our Python
+script in a :ref:`filters.programmable` stage.
+
+
+.. literalinclude:: ./histogram.json
+   :linenos:
+
+.. note::
+
+    This pipeline is available in your workshop materials in the
+    ``./exercies/python/histogram.json`` file.
+
+
+Python script
+................................................................................
+
+The following Python script will do the actual work of creating the histogram
+plot with `matplotlib`_. Store it as ``histogram.py`` next to the
+``histogram.json`` :ref:`pipeline` file above.  The script is mostly regular
+Python except for the ``ins`` and ``outs`` arguments to the function -- those
+are special arguments that PDAL expects to be a dictionary of Numpy
+dictionaries.
+
+.. note::
+
+    This Python file is available in your workshop materials in the
+    ``./exercies/python/histogram.py`` file.
+
+.. literalinclude:: ./histogram.py
+   :linenos:
+   :emphasize-lines: 34-40
+
+Run ``pdal pipeline``
+................................................................................
+
+.. literalinclude:: ./histogram-command.txt
+   :linenos:
+
+.. image:: ../../images/python-histogram-command.png
+    :target: ../../../_images/python-histogram-command.png
+
+
+Output
+................................................................................
+
+.. image:: ../../images/python-histogram.png
+    :target: ../../../_images/python-histogram.png
+
+
+Notes
+--------------------------------------------------------------------------------
+
+.. index:: histogram, Python, matplotlib, Numpy
+
+1. :ref:`writers.null` simply swallows the output of the pipeline. We
+   don't need to write any data.
+
+2. The ``pdalargs`` JSON needs to be escaped because a valid Python
+   dictionary entry isn't always valid JSON.
+
+
+.. _`matplotlib`: https://matplotlib.org/
diff --git a/doc/workshop/exercises/translation/compression-command-verify.txt b/doc/workshop/exercises/translation/compression-command-verify.txt
index 3354a3b..f0d82d4 100644
--- a/doc/workshop/exercises/translation/compression-command-verify.txt
+++ b/doc/workshop/exercises/translation/compression-command-verify.txt
@@ -1,5 +1,3 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    ls -alh /data/exercises/translation/interesting.laz
+dir c:\Users\hobu\PDAL\exercises\translation\interesting.laz
 
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    ls -alh /data/exercises/translation/interesting.las
+dir c:\Users\hobu\PDAL\exercises\translation\interesting.las
diff --git a/doc/workshop/exercises/translation/compression-command.txt b/doc/workshop/exercises/translation/compression-command.txt
index bb789b2..4de5ed7 100644
--- a/doc/workshop/exercises/translation/compression-command.txt
+++ b/doc/workshop/exercises/translation/compression-command.txt
@@ -1,3 +1,3 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal translate /data/exercises/translation/interesting.las \
-    /data/exercises/translation/interesting.laz
+pdal translate ^
+    c:/Users/hobu/pdal/exercises/translation/interesting.las ^
+    c:/Users/hobu/pdal/exercises/translation/interesting.laz
diff --git a/doc/workshop/exercises/translation/compression.rst b/doc/workshop/exercises/translation/compression.rst
index 0607b98..98d49ed 100644
--- a/doc/workshop/exercises/translation/compression.rst
+++ b/doc/workshop/exercises/translation/compression.rst
@@ -8,34 +8,37 @@ Compression
 Exercise
 --------------------------------------------------------------------------------
 
-This exercise uses PDAL to compress `ASPRS LAS`_ data into `LASzip`_.
+This exercise uses PDAL to compress |ASPRSLAS| data into |LASzip|.
 
 .. _`LASzip`: http://laszip.org
-.. _`ASPRS LAS`: http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
 
-Issue the following command in your `Docker Quickstart Terminal`.
+1. Issue the following command in your `OSGeo4W Shell`.
 
 
-.. literalinclude:: ./compression-command.txt
+    .. literalinclude:: ./compression-command.txt
 
-LAS is a very fluffy binary format. Because of the way the data are stored,
-there is ample redundant information, and `LASzip`_ is an open source solution
-for compressing this information
+    LAS is a very fluffy binary format. Because of the way the data are stored,
+    there is ample redundant information, and |LASzip| is an open source solution
+    for compressing this information
 
 
-1. Verify that the data are in fact compressed:
+2. Verify that the data are in fact compressed:
 
-   .. literalinclude:: ./compression-command-verify.txt
+    .. literalinclude:: ./compression-command-verify.txt
 
 
-   .. image:: ../../images/compression-verify.png
+    .. image:: ../../images/compression-verify.png
+        :target: ../../../_images/compression-verify.png
 
+.. seealso::
+    :ref:`las_tutorial` contains many pointers about settings for |ASPRSLAS|
+    data and how to achieve specific data behaviors with PDAL.
 
 Notes
 --------------------------------------------------------------------------------
 
-1. Typical `LASzip`_ compression is 5:1 to 8:1, depending on the type of
-   |LiDAR|. It is a compression format specifically for the `ASPRS LAS`_
+1. Typical |LASzip| compression is 5:1 to 8:1, depending on the type of
+   |LiDAR|. It is a compression format specifically for the |ASPRSLAS|
    model, however, and will not be as efficient for other types of
    point cloud data.
 
diff --git a/doc/workshop/exercises/translation/greyhound-command.txt b/doc/workshop/exercises/translation/greyhound-command.txt
new file mode 100644
index 0000000..c98a400
--- /dev/null
+++ b/doc/workshop/exercises/translation/greyhound-command.txt
@@ -0,0 +1 @@
+pdal pipeline greyhound.json
diff --git a/doc/workshop/exercises/translation/greyhound-info-command.txt b/doc/workshop/exercises/translation/greyhound-info-command.txt
new file mode 100644
index 0000000..72b679a
--- /dev/null
+++ b/doc/workshop/exercises/translation/greyhound-info-command.txt
@@ -0,0 +1,2 @@
+pdal info just-ground.las | ^
+    jq .stats.bbox.native
diff --git a/doc/workshop/exercises/translation/greyhound.json b/doc/workshop/exercises/translation/greyhound.json
new file mode 100644
index 0000000..fa3302c
--- /dev/null
+++ b/doc/workshop/exercises/translation/greyhound.json
@@ -0,0 +1,21 @@
+{
+    "pipeline": [
+        {
+            "type": "readers.greyhound",
+            "url":"data.greyhound.io",
+            "depth_begin":0,
+            "depth_end":11,
+            "resource":"dublin",
+            "filter":{
+                "Classification": 2
+            }
+        },
+        {
+            "type": "writers.las",
+            "compression": "true",
+            "minor_version": "2",
+            "dataformat_id": "0",
+            "filename":"just-ground.laz"
+        }
+    ]
+}
diff --git a/doc/workshop/exercises/translation/greyhound.rst b/doc/workshop/exercises/translation/greyhound.rst
new file mode 100644
index 0000000..e469484
--- /dev/null
+++ b/doc/workshop/exercises/translation/greyhound.rst
@@ -0,0 +1,71 @@
+.. _workshop-greyhound:
+
+Greyhound
+================================================================================
+
+.. include:: ../../includes/substitutions.rst
+
+Exercise
+--------------------------------------------------------------------------------
+
+This exercise uses PDAL to fetch data from a Greyhound server. Greyhound is a
+web server for point cloud data. You can learn more about what it is by
+visiting http://lidarnews.com/articles/open-source-point-cloud-web-services-with-greyhound/
+
+.. index:: greyhound, web services
+
+
+See the Dublin data used in this example in your browser at
+
+http://potree.entwine.io/data/dublin.html
+
+.. index:: Potree
+
+
+1. View the ``greyhound.json`` file in your editor
+
+
+    .. literalinclude:: ./greyhound.json
+
+    .. note::
+
+        If you use the `Developer Console`_ when visiting
+        http://speck.ly or http://potree.entwine.io, you can see the
+        browser making requests against the Greyhound server at
+        http://data.greyhound.io
+
+2. Issue the following command in your |Terminal|.
+
+
+    .. literalinclude:: ./greyhound-command.txt
+
+    .. image:: ../../images/greyhound-command.png
+        :target: ../../../_images/greyhound-command.png
+
+.. _`Developer Console`: https://developers.google.com/web/tools/chrome-devtools/console/
+
+3. Verify that the data look ok:
+
+    .. literalinclude:: ./greyhound-info-command.txt
+
+    .. image:: ../../images/greyhound-info-verify.png
+        :target: ../../../_images/greyhound-info-verify.png
+
+
+4. Visualize the data in http://plas.io
+
+    .. image:: ../../images/greyhound-view.png
+        :target: ../../../_images/greyhound-view.png
+
+
+Notes
+--------------------------------------------------------------------------------
+
+1. :ref:`readers.greyhound` contains more detailed documentation about how to
+   use PDAL's |Greyhound| reader .
+
+2. As ``depth_end`` gets larger, the number of possible points goes up by
+   nearly a factor of 4. Use the ``bounds`` option of the reader to split
+   up the boxes you are querying to decrease the potential number of points a
+   query might return.
+
diff --git a/doc/workshop/exercises/translation/reprojection-command-1.txt b/doc/workshop/exercises/translation/reprojection-command-1.txt
index 77c892e..adef0e3 100644
--- a/doc/workshop/exercises/translation/reprojection-command-1.txt
+++ b/doc/workshop/exercises/translation/reprojection-command-1.txt
@@ -1,5 +1,4 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal translate /data/exercises/analysis/ground/CSite1_orig-utm.laz \
-    /data/exercises/translation/csite-dd.laz \
-    reprojection \
+pdal translate ^
+    c:/Users/hobu/PDAL/exercises/translation/csite-dd.laz ^
+    reprojection ^
     --filters.reprojection.out_srs="EPSG:4326"
diff --git a/doc/workshop/exercises/translation/reprojection-command-2.txt b/doc/workshop/exercises/translation/reprojection-command-2.txt
index 61683f4..79331d9 100644
--- a/doc/workshop/exercises/translation/reprojection-command-2.txt
+++ b/doc/workshop/exercises/translation/reprojection-command-2.txt
@@ -1,10 +1,9 @@
-docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-    pdal translate \
-    /data/exercises/analysis/ground/CSite1_orig-utm.laz \
-    /data/exercises/translation/csite-dd.laz \
-    reprojection \
-    --filters.reprojection.out_srs="EPSG:4326" \
-    --writers.las.scale_x=0.0000001 \
-    --writers.las.scale_y=0.0000001 \
-    --writers.las.offset_x="auto" \
+pdal translate ^
+    c:/Users/hobu/PDAL/exercises/analysis/ground/CSite1_orig-utm.laz ^
+    c:/Users/hobu/PDAL/exercises/translation/csite-dd.laz ^
+    reprojection ^
+    --filters.reprojection.out_srs="EPSG:4326" ^
+    --writers.las.scale_x=0.0000001 ^
+    --writers.las.scale_y=0.0000001 ^
+    --writers.las.offset_x="auto" ^
     --writers.las.offset_y="auto"
diff --git a/doc/workshop/exercises/translation/reprojection.rst b/doc/workshop/exercises/translation/reprojection.rst
index f3677d6..5129a7a 100644
--- a/doc/workshop/exercises/translation/reprojection.rst
+++ b/doc/workshop/exercises/translation/reprojection.rst
@@ -10,18 +10,19 @@ Reprojection
 Exercise
 --------------------------------------------------------------------------------
 
-This exercise uses PDAL to reproject `ASPRS LAS`_ data
+This exercise uses PDAL to reproject |ASPRSLAS| data
 
 .. _`LASzip`: http://laszip.org
 .. _`ASPRS LAS`: http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
 
-Issue the following command in your `Docker Quickstart Terminal`.
+Issue the following command in your `OSGeo4W Shell`.
 
 
 .. literalinclude:: ./reprojection-command-1.txt
     :linenos:
 
 .. image:: ../../images/reprojection-run-command.png
+    :target: ../../../_images/reprojection-run-command.png
 
 
 Unfortunately this doesn't produce the intended results for us. Issue the following
@@ -29,11 +30,22 @@ Unfortunately this doesn't produce the intended results for us. Issue the follow
 
 ::
 
-    docker run -v /c/Users/Howard/PDAL:/data -t pdal/pdal \
-        pdal info /data/exercises/translation/csite-dd.laz --all
+        pdal info c:/Users/hobu/PDAL/exercises/translation/csite-dd.laz --all ^
+            | jq .stats.bbox.native.bbox
 
 .. image:: ../../images/reprojection-wrong-scale.png
+    :target: ../../../_images/reprojection-wrong-scale.png
 
+``--all`` dumps all :ref:`info_command` information about the file, and we
+can then use the |jq| command to extract out the "native" (same coordinate
+system as the file itself) bounding box. As we can see, the problem is
+we only have two decimal places of precision on the bounding box. For
+geographic coordinate systems, this isn't enough precision.
+
+Printing the first point confirms this problem:
+
+.. image:: ../../images/reprojection-first-point.png
+    :target: ../../../_images/reprojection-first-point.png
 
 Some formats, like :ref:`writers.las` do not automatically set scaling
 information. PDAL cannot really do this for you because there are a number
@@ -46,6 +58,7 @@ to ``auto`` so you don't have to compute it.
     :linenos:
 
 .. image:: ../../images/reprojection-run-with-scale.png
+    :target: ../../../_images/reprojection-run-with-scale.png
 
 
 Run the `pdal info` command again to verify the ``X``, ``Y``, and ``Z``
@@ -53,6 +66,7 @@ dimensions:
 
 
 .. image:: ../../images/reprojection-proper-scale.png
+    :target: ../../../_images/reprojection-proper-scale.png
 
 Notes
 --------------------------------------------------------------------------------
@@ -63,11 +77,7 @@ Notes
    is not correct, not completely specified, or your system doesn't have
    all of the required supporting coordinate system dictionaries.
 
-2. PDAL uses `proj.4`_ library for reprojection. This library includes
+2. PDAL uses |Proj.4| library for reprojection. This library includes
    the capability to do both vertical and horizontal datum transformations.
 
-.. _`proj.4`: http://proj4.org
 
-.. _`CSV`: https://en.wikipedia.org/wiki/Comma-separated_values
-.. _`JSON`: https://en.wikipedia.org/wiki/JSON
-.. _`XML`: https://en.wikipedia.org/wiki/XML
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diff --git a/doc/workshop/images/reprojection-wrong-scale.png b/doc/workshop/images/reprojection-wrong-scale.png
index 20223f7..2b5ba20 100644
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diff --git a/doc/workshop/images/thinning-command-run.png b/doc/workshop/images/thinning-command-run.png
index e22bc90..3e0fc34 100644
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diff --git a/doc/workshop/includes/substitutions.rst b/doc/workshop/includes/substitutions.rst
index 74ba5ad..d0e9cf5 100644
--- a/doc/workshop/includes/substitutions.rst
+++ b/doc/workshop/includes/substitutions.rst
@@ -8,6 +8,13 @@
 .. |libLAS| replace:: `libLAS <http://liblas.org/>`__
 .. |QGIS| replace:: `QGIS <http://qgis.org>`__
 .. |GDAL| replace:: `GDAL <http://gdal.org/>`__
+.. |JSON| replace:: `JSON <https://en.wikipedia.org/wiki/JSON>`__
+.. |XML| replace:: `XML <https://en.wikipedia.org/wiki/XML>`__
+.. |jq| replace:: `jq <https://stedolan.github.io/jq/>`__
+.. |CSV| replace:: `CSV <https://en.wikipedia.org/wiki/Comma-separated_values>`__
+.. |NumPy| replace:: `NumPy <http://www.numpy.org/>`__
+.. |Bash| replace:: `Bash <https://en.wikipedia.org/wiki/Bash_(Unix_shell)>`__
+.. |OSGeo4W| replace:: `OSGeo4W <https://trac.osgeo.org/osgeo4w/>`__
 .. |GEOS| replace:: `GEOS <https://trac.osgeo.org/geos/>`__
 .. |LASzip| replace:: `LASzip <http://laszip.org>`__
 .. |Python| replace:: `Python <http://python.org/>`__
@@ -17,7 +24,9 @@
 .. |Hobu| replace:: `Hobu <httsp://hobu.co/>`__
 .. |Optech| replace:: `Optech <http://www.teledyneoptech.com/>`__
 .. |Riegl| replace:: `Riegl <http://riegl.com/>`__
+.. |Greyhound| replace:: `Greyhound <http://greyhound.io/>`__
 .. |NCALM| replace:: `NCALM <http://ncalm.cive.uh.edu/>`__
 .. |UTM| replace:: `UTM <https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system>`__
 .. |WGS84| replace:: `WGS84 <https://en.wikipedia.org/wiki/Geodetic_datum>`__
 .. |WellKnownText| replace:: `Well Known Text <https://en.wikipedia.org/wiki/Well-known_text#Coordinate_reference_systems>`__
+.. |Terminal| replace:: `OSGeo4W Shell`
diff --git a/doc/workshop/index.rst b/doc/workshop/index.rst
index 3a0556b..eff1ba3 100644
--- a/doc/workshop/index.rst
+++ b/doc/workshop/index.rst
@@ -7,7 +7,7 @@ Point Cloud Processing and Analysis with PDAL
 :Author: Pete Gadomski
 :Author: Dr. Craig Glennie
 :Contact: howard at hobu.co
-:Date: 03/30/2016
+:Date: 07/25/2017
 
 
 .. include:: ./includes/substitutions.rst
@@ -19,3 +19,5 @@ Point Cloud Processing and Analysis with PDAL
    lidar-introduction
    software
    exercises/index
+   capstone
+   notes
diff --git a/doc/workshop/notes.rst b/doc/workshop/notes.rst
new file mode 100644
index 0000000..018fae4
--- /dev/null
+++ b/doc/workshop/notes.rst
@@ -0,0 +1,167 @@
+Notes
+--------------------------------------------------------------------------------
+
+
+Notes
+................................................................................
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+
+.. raw:: latex
+
+    \newpage
+
+Notes
+................................................................................
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+
+.. raw:: latex
+
+    \newpage
+
+Notes
+................................................................................
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+..........
+
+.. raw:: latex
+
+    \newpage
+
+Notes
+................................................................................
+
+.. raw:: latex
+
+    \newpage
+
+Notes
+................................................................................
+
+.. raw:: latex
+
+    \newpage
+
+Notes
+................................................................................
+
+.. raw:: latex
+
+    \newpage
diff --git a/doc/workshop/osgeo4w.rst b/doc/workshop/osgeo4w.rst
new file mode 100644
index 0000000..fe44da4
--- /dev/null
+++ b/doc/workshop/osgeo4w.rst
@@ -0,0 +1,63 @@
+.. workshop-osgeo4w:
+
+
+OSGeo4W
+================================================================================
+
+.. index:: OSGeo4W, software installation
+
+.. include:: ./includes/substitutions.rst
+
+
+
+
+What is OSGeo4W?
+--------------------------------------------------------------------------------
+
+|OSGeo4W| is a distribution of geospatial software built for Windows. The PDAL
+project provides Windows builds through this distribution.
+
+
+How will we use OSGeo4W?
+--------------------------------------------------------------------------------
+
+PDAL stands on the shoulders of giants. It uses GDAL, GEOS, and
+:ref:`many other dependencies <building>`. Because of this, it is very
+challenging to build it yourself. We could easily burn an entire workshop
+learning the esoteric build miseries of PDAL and all of its dependencies.
+Fortunately, OSGeo4W provides us a fully-featured known
+configuration to run our examples and exercises without having to suffer
+so much.
+
+
+.. note::
+
+    Not everyone uses Windows. Another alternative to get a known configuration
+    is to go through the workshop using :ref:`docker` as your platform. A
+    previous edition of the workshop was provided as Docker, but it was
+    found to be a bit too difficult to follow.
+
+Installing OSGeo4W
+--------------------------------------------------------------------------------
+
+1. Copy the entire contents of your workshop USB key to a ``PDAL`` directory in your
+   home directory (something like ``C:\Users\hobu\PDAL``). We will refer to
+   this location for the rest of the workshop materials.
+
+2. Download the OSGeo4W setup.exe http://download.osgeo.org/osgeo4w/osgeo4w-setup-x86_64.exe
+
+   .. warning::
+
+       PDAL is only available via the 64-bit verison of OSGeo4W. There is an older
+       32-bit version, but none of the workshop materials will work in that
+       environment. You must be able to run 64-bit Windows applications to follow
+       this workshop.
+
+3. Run the installer and choose the "Advanced Install" option.
+
+   .. image:: ./images/osgeo4w-advanced-selection.png
+
+4. Search for "PDAL" in the search box or drill down through the Commandline_Utilities
+   section and choose the ``PDAL`` package.
+
+   .. image:: ./images/osgeo4w-pdal-selection.png
diff --git a/doc/workshop/qgis.rst b/doc/workshop/qgis.rst
index 65fa41d..f7e5965 100644
--- a/doc/workshop/qgis.rst
+++ b/doc/workshop/qgis.rst
@@ -27,18 +27,18 @@ Installing QGIS
 --------------------------------------------------------------------------------
 
 1. Copy the contents of your |Hobu| USB key to a ``PDAL`` directory in your
-   home directory (something like ``C:\Users\Howard\PDAL``). We will refer to
+   home directory (something like ``C:\Users\hobu\PDAL``). We will refer to
    this location for the rest of the workshop materials.
 
 2. After your materials are copied, navigate to the
-   ``c:\Users\Howard\PDAL\software`` directory.
+   ``c:\Users\hobu\PDAL\software`` directory.
 
 .. image:: ./images/qgis-select-qgis.png
 
 .. note::
 
     It is assumed your |Hobu| USB drive has all of its contents
-    copied to the ``C:\Users\Howard\PDAL`` folder. Please adjust your
+    copied to the ``C:\Users\hobu\PDAL`` folder. Please adjust your
     locations when reading these tutorial documents accordingly.
 
 3. Choose the install image, Windows or Mac, and install |QGIS|
@@ -50,7 +50,7 @@ Installing QGIS
 
 
 4. Once installed, verify you can run |QGIS| by opening the application.
-   Navigate to the ``C:\Users\Howard\PDAL\exercises\analysis\colorization``
+   Navigate to the ``C:\Users\hobu\PDAL\exercises\analysis\colorization``
    directory.
 
 .. image:: ./images/qgis-add-raster-layer.png
diff --git a/doc/workshop/slides/source/basic_info.rst b/doc/workshop/slides/source/basic_info.rst
index 9d11ee4..3765e9c 100644
--- a/doc/workshop/slides/source/basic_info.rst
+++ b/doc/workshop/slides/source/basic_info.rst
@@ -3,6 +3,9 @@
 Basic Information
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
+
 * Inspection of file contents
 * Location determination
 * Investigate suitability
@@ -10,46 +13,38 @@ Basic Information
 Exercises
 ================================================================================
 
-1. :ref:`single-point`
-2. :ref:`metadata`
-3. :ref:`near`
+1. :ref:`pdal:workshop-single-point`
+2. :ref:`pdal:workshop-metadata`
+3. :ref:`pdal:near`
 
 Printing a Single Point
 ================================================================================
 
 Purpose:
-    * Learn how to run PDAL via :ref:`docker`
     * Verify PDAL is working correctly
     * Learn about point cloud data types
+    * Familiarize yourself with terminal
 
-:ref:`Workshop Materials <unavco:single-point>`
+:ref:`Workshop Materials <pdal:workshop-single-point>`
 
-Command (first point)
+Start Terminal (first point)
 ================================================================================
 
-In your `Docker Quickstart Terminal`, issue the following:
-
-.. literalinclude:: ../../exercises/info/single-point-command.txt
-    :linenos:
-
-1. ``docker``: All our commands start with ``docker``
-
-2. ``run``: Tells docker we're going to run an image
+1. Start the |Terminal|
 
-3. ``-v /c/Users/Howard/PDAL:/data``: Maps our workshop directory to a directory called
-   ``/data`` inside the container.
+.. figure:: ./img/osgeo4w-shell.png
 
 Command (first point)
 ================================================================================
 
+In your |Terminal|, issue the following:
+
 .. literalinclude:: ../../exercises/info/single-point-command.txt
     :linenos:
 
-4. ``pdal/pdal``: Run the image with name ``pdal/pdal``
-
-5. ``pdal``: Inside the ``pdal/pdal`` image, run the `pdal` command
+1. ``pdal``: Inside the ``pdal/pdal`` image, run the `pdal` command
 
-6. ``info``: `info` is a "kernel" in PDAL-speak. It is a unit
+2. ``info``: `info` is a "kernel" in PDAL-speak. It is a unit
    of functionality driven by the command line.
 
 Command (first point)
@@ -58,12 +53,12 @@ Command (first point)
 .. literalinclude:: ../../exercises/info/single-point-command.txt
     :linenos:
 
-7. ``/data/exercises/info/interesting.las``: Our directory
-   is now mounted at ``/data``
+3. ``c:/Users/hobu/PDAL/exercises/info/interesting.las``:
+   File to run ``info`` command on
 
-8. ``-p``: ``-p`` corresponds to "print a point".
+4. ``-p``: argument corresponds to "print a point".
 
-9. ``0`` means to print the first
+5. ``0`` means to print the first (starting from 0)
 
 Run (first point)
 ================================================================================
@@ -87,12 +82,12 @@ Purpose:
     * Compute bounding box
     * Retrieve supporting information
 
-:ref:`Metadata Workshop Materials <unavco:metadata>`
+:ref:`Metadata Workshop Materials <pdal:workshop-metadata>`
 
 Command (metadata)
 ================================================================================
 
-In your `Docker Quickstart Terminal`, issue the following:
+In your |Terminal|, issue the following:
 
 .. literalinclude:: ../../exercises/info/metadata-command.txt
     :linenos:
@@ -121,7 +116,7 @@ Purpose:
 Command (near - metadata)
 ================================================================================
 
-In your `Docker Quickstart Terminal`, issue the following:
+In your |Terminal|, issue the following:
 
 .. literalinclude:: ../../exercises/info/near-command-1.txt
     :linenos:
@@ -133,7 +128,7 @@ In your `Docker Quickstart Terminal`, issue the following:
 Command (near - query)
 ================================================================================
 
-In your `Docker Quickstart Terminal`, issue the following:
+In your |Terminal|, issue the following:
 
 .. literalinclude:: ../../exercises/info/near-command-2.txt
     :linenos:
diff --git a/doc/workshop/slides/source/boundary.rst b/doc/workshop/slides/source/boundary.rst
index c0a597d..468fe5e 100644
--- a/doc/workshop/slides/source/boundary.rst
+++ b/doc/workshop/slides/source/boundary.rst
@@ -3,13 +3,16 @@
 Boundary
 ================================================================================
 
+
+.. include:: ../../includes/substitutions.rst
+
 Purpose:
     * Estimate spatial footprint
     * Do it quickly
     * Balance speed/quality
     * Look with :ref:`qgis`
 
-:ref:`Boundary Workshop Materials <unavco:boundary>`
+:ref:`Boundary Workshop Materials <pdal:boundary>`
 
 Boundary (command)
 ================================================================================
diff --git a/doc/workshop/slides/source/clipping.rst b/doc/workshop/slides/source/clipping.rst
index 432e670..bea7708 100644
--- a/doc/workshop/slides/source/clipping.rst
+++ b/doc/workshop/slides/source/clipping.rst
@@ -3,12 +3,16 @@
 Cliping data with polygons
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
+
+
 Purpose:
     * Subset data with a polygon
     * Assign attribute data
     * Use PDAL pipeline
 
-:ref:`Clipping Workshop Materials <unavco:clipping>`
+:ref:`Clipping Workshop Materials <pdal:workshop-clipping>`
 
 Clipping (Autzen)
 ================================================================================
@@ -94,6 +98,17 @@ Clipping (verify)
 
 .. image:: ../../images/clipping-stadium-clipped.png
 
+
+Other ways to clip
+================================================================================
+
+* Clip using multiple :ref:`filters.range`
+* :ref:`filters.divider` or :ref:`filters.chipper`
+
+    .. image:: ../../../stages/filters.chipper.img2.png
+
+
+
 Next
 ================================================================================
 
diff --git a/doc/workshop/slides/source/colorization.rst b/doc/workshop/slides/source/colorization.rst
index 89d1c28..a2a10a8 100644
--- a/doc/workshop/slides/source/colorization.rst
+++ b/doc/workshop/slides/source/colorization.rst
@@ -3,12 +3,14 @@
 Colorizing points with imagery
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
 Purpose:
     * Top-down projection of RGB imagery
     * Improve visualization
     * Assign other GDAL data to points
 
-:ref:`Colorizing Workshop Materials <unavco:colorization>`
+:ref:`Colorizing Workshop Materials <pdal:colorization>`
 
 
 Colorization (setup)
diff --git a/doc/workshop/slides/source/conf.py b/doc/workshop/slides/source/conf.py
index f9f6aa8..77052c5 100644
--- a/doc/workshop/slides/source/conf.py
+++ b/doc/workshop/slides/source/conf.py
@@ -35,6 +35,7 @@ extensions = [
     'sphinx.ext.coverage',
     'sphinx.ext.pngmath',
     'sphinx.ext.ifconfig',
+    'hieroglyph',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -53,7 +54,7 @@ master_doc = 'index'
 
 # General information about the project.
 project = u'Point Cloud Processing with PDAL'
-copyright = u'2016, Howard Butler'
+copyright = u'2017, Howard Butler'
 author = u'Howard Butler'
 
 # The version info for the project you're documenting, acts as replacement for
@@ -61,9 +62,9 @@ author = u'Howard Butler'
 # built documents.
 #
 # The short X.Y version.
-version = u'2016.03.23'
+version = u'2017.07.25'
 # The full version, including alpha/beta/rc tags.
-release = u'2016.03.23'
+release = u'2017.07.25'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -314,6 +315,6 @@ slide_theme_options = {
 
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'pdal': ('http://www.pdal.io/', None),
+intersphinx_mapping = {'pdal': ('https://www.pdal.io/', None),
                        'unavco': ('../../_build/html/../../../../_build/html/', '../../_build/html/objects.inv')}
 
diff --git a/doc/workshop/slides/source/denoising.rst b/doc/workshop/slides/source/denoising.rst
index c6cdf25..0635615 100644
--- a/doc/workshop/slides/source/denoising.rst
+++ b/doc/workshop/slides/source/denoising.rst
@@ -3,11 +3,13 @@
 Removing noise
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
 Purpose:
     * Remove noise with a statistical method
     * Maintain point integrity
 
-:ref:`Denoising Workshop Materials <unavco:colorization>`
+:ref:`Denoising Workshop Materials <pdal:colorization>`
 
 
 Pipeline
@@ -28,7 +30,6 @@ Denoising (pipeline)
 ================================================================================
 
 .. literalinclude:: ../../exercises/analysis/denoising/denoise.json
-    :linenos:
 
 Denoising (command)
 ================================================================================
diff --git a/doc/workshop/slides/source/density.rst b/doc/workshop/slides/source/density.rst
index c4a5a84..3f26e99 100644
--- a/doc/workshop/slides/source/density.rst
+++ b/doc/workshop/slides/source/density.rst
@@ -3,10 +3,13 @@
 Visualizing acquisition density
 ================================================================================
 
+
+.. include:: ../../includes/substitutions.rst
+
 Purpose:
     * Characterize collection density
 
-:ref:`Density Workshop Materials <unavco:density>`
+:ref:`Density Workshop Materials <pdal:density>`
 
 
 Density (execution)
diff --git a/doc/workshop/slides/source/dtm.rst b/doc/workshop/slides/source/dtm.rst
index f1cb8e8..bf18103 100644
--- a/doc/workshop/slides/source/dtm.rst
+++ b/doc/workshop/slides/source/dtm.rst
@@ -3,20 +3,26 @@
 Generating a DTM
 ================================================================================
 
+
+.. include:: ../../includes/substitutions.rst
+
+
+
 Purpose:
     * Generate a DTM from ground-filtered data
     * Data was created in :ref:`ground`
     * Visualize DTM using :ref:`qgis`
 
 
-:ref:`DTM Workshop Materials <unavco:dtm>`
+:ref:`DTM Workshop Materials <pdal:dtm>`
 
 
 writers.gdal
 ================================================================================
 
 * :ref:`writers.gdal`
-* Generated using points2grid (OpenTopography)
+* Ported points2grid (OpenTopography)
+* IDW available for fill-in
 * Write TIFF/ASCII raster
 * Control pixel size
 
@@ -24,7 +30,6 @@ DTM (pipeline)
 ================================================================================
 
 .. literalinclude:: ../../exercises/analysis/dtm/gdal.json
-    :linenos:
 
 DTM (execution)
 ================================================================================
diff --git a/doc/workshop/slides/source/ground.rst b/doc/workshop/slides/source/ground.rst
index 2fb6415..30f22a0 100644
--- a/doc/workshop/slides/source/ground.rst
+++ b/doc/workshop/slides/source/ground.rst
@@ -3,11 +3,13 @@
 Identifying ground
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
+
 Purpose:
     * Filter and classify ground points
 
-
-:ref:`Ground Workshop Materials <unavco:ground>`
+:ref:`Ground Workshop Materials <pdal:ground>`
 
 
 filters.ground
diff --git a/doc/workshop/slides/source/img/osgeo4w-shell.png b/doc/workshop/slides/source/img/osgeo4w-shell.png
new file mode 100644
index 0000000..8c842d6
Binary files /dev/null and b/doc/workshop/slides/source/img/osgeo4w-shell.png differ
diff --git a/doc/workshop/slides/source/introduction.rst b/doc/workshop/slides/source/introduction.rst
index e455d01..c524926 100644
--- a/doc/workshop/slides/source/introduction.rst
+++ b/doc/workshop/slides/source/introduction.rst
@@ -3,11 +3,10 @@
 Order of business
 ================================================================================
 
-* Materials https://hobu.co/workshops/unavco/
-* Follow along https://hobu.co/workshops/unavco/slides/
-* PDF https://hobu.co/workshops/unavco/PDAL-UNAVCO-ShortCourse.pdf
+* Materials https://s3.amazonaws.com/pdal/workshop/PDAL.zip
+* Follow along https://pdal.io/workshop/slides/
+* PDF http://pdal.io/PDAL.pdf
 * Links everywhere
-* First time guinea pigs
 
 Guinea Pigs
 ================================================================================
@@ -28,8 +27,9 @@ Who are we
 ================================================================================
 
 * Howard Butler
-* Pete Gadomski
-* Dr. Craig Glennie
+* Connor Manning
+* Rick Brown
+
 
 Howard Butler
 ================================================================================
@@ -41,20 +41,20 @@ Howard Butler
 
 .. _`Hobu, Inc.`: http://hobu.co
 
-Pete Gadomski
+Connor Manning
 ================================================================================
 
-* Physical Scientist at CRREL
-* Graduate student in Geosensing Systems Engineering and Sciences at UH
-* Writes code, collects data
-* https://github.com/gadomski
+* Works @ `Hobu, Inc.`_
+* Develops Entwine https://entwine.io
+* Develops Greyhound http://greyhound.io
+* Tweets @ http://twitter.com/csmannin
 
-Dr. Craig Glennie
+Rick Brown
 ================================================================================
 
-* Co-PI National Center for Airborne Laser Mapping (NCALM)
-* University of Houston
-* Formerly VP Engineering, Terrapoint
+* Works here!
+* LiDAR data processing and management
+* Entwine with Connor Manning
 
 Next
 ================================================================================
diff --git a/doc/workshop/slides/source/lidar_intro.rst b/doc/workshop/slides/source/lidar_intro.rst
index ac3e059..122770b 100644
--- a/doc/workshop/slides/source/lidar_intro.rst
+++ b/doc/workshop/slides/source/lidar_intro.rst
@@ -35,7 +35,7 @@ How is LiDAR used?
 Discrete vs. full-waveform
 ============================
 
-- Outgoing puses are *not* instantaneous — they have a finite width and height (approximated by a Gaussian)
+- Outgoing pulses are *not* instantaneous — they have a finite width and height (approximated by a Gaussian)
 - Return energy is not instantaneous either (see picture)
 - The "full waveform" output (see picture) is usually simplified down to single points (discrete-return)
 
@@ -55,7 +55,7 @@ How is LiDAR processed?
 
 * Vendor-specific software (e.g. RiSCAN Pro and RiProcess, from |Riegl|)
 * Other commercial softwares (e.g. TerraStation, QT Modeler)
-* Mixed-source software (e.g. LasTools)
+* Mixed-source software (e.g. LASTools)
 * Open-source software (e.g. CloudCompare, PDAL, laspy)
 
 
diff --git a/doc/workshop/slides/source/pdal_intro.rst b/doc/workshop/slides/source/pdal_intro.rst
index 336d305..1f8af8b 100644
--- a/doc/workshop/slides/source/pdal_intro.rst
+++ b/doc/workshop/slides/source/pdal_intro.rst
@@ -3,6 +3,8 @@
 Introduction to PDAL
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
 * Point Data Abstraction Library
 * "GDAL for point cloud data"
 * Focus (in priority)
@@ -19,11 +21,12 @@ Introduction to PDAL
 Open Source
 ================================================================================
 
-* `BSD`_ license
+* https://pdal.io
 * https://github.com/PDAL/PDAL
 * `Tested with every commit`_
 * 30+ `contributors`_
 * Driven by real world use
+* `BSD`_ license
 
 .. _`Tested with every commit`: http://travis-ci.org/PDAL/PDAL/builds/
 .. _`BSD`: https://opensource.org/licenses/BSD-2-Clause
@@ -70,7 +73,7 @@ Processing Pipeline
 Pipeline Architecture
 ================================================================================
 
-.. image:: ../../images/pdal-reader-writer.png
+.. image:: ../../../images/las-crop-bpf-pipeline.png
 
 Pipeline Architecture
 ================================================================================
@@ -128,11 +131,11 @@ Filters
 Filters (cont)
 ================================================================================
 
-* :ref:`Ground classification<filters.ground>`
-* :ref:`Normalized heights <filters.height>`
+* :ref:`Ground classification<filters.smrf>`
+* :ref:`Normalized heights <filters.hag>`
 * :ref:`Sorting <filters.sort>`
 * :ref:`Spatial curve sorting <filters.mortonorder>`
-* :ref:`Noise filtering <filters.statisticaloutlier>`
+* :ref:`Noise filtering <filters.outlier>`
 * :ref:`Merge<filters.merge>`
 
 Filters (cont)
@@ -181,6 +184,15 @@ Python (cont)
        outs['Mask'] = keep
        return True
 
+Matlab
+================================================================================
+
+* :ref:`writers.matlab` and :ref:`readers.matlab` for i/o
+
+* Embed
+
+  * Use Matlab scripts inline with :ref:`pipeline <pipeline>` operations
+
 Next
 ================================================================================
 
diff --git a/doc/workshop/slides/source/software.rst b/doc/workshop/slides/source/software.rst
index f30f1c7..7160da5 100644
--- a/doc/workshop/slides/source/software.rst
+++ b/doc/workshop/slides/source/software.rst
@@ -3,29 +3,33 @@
 Software installation
 ================================================================================
 
-1. :ref:`Docker <docker>`
+.. include:: ../../includes/substitutions.rst
+
+(Done for you already)
+
+.. 1. :ref:`Docker <docker>`
     * Run PDAL and GDAL command line applications
 
-2. :ref:`QGIS<qgis>`
+.. 2. :ref:`QGIS<qgis>`
     * Visualize vector and raster data
 
-3. `QT Reader`_
+.. 3. `QT Reader`_
     * Visualize point cloud data
 
-4. `Fugro Viewer`_
+.. 4. `Fugro Viewer`_
     * Visualize point cloud data
 
-5. http://plas.io
+.. 5. http://plas.io
     * Visualize point cloud data
 
-6. `CloudCompare`_
+.. 6. `CloudCompare`_
     * Visualize point cloud data
 
 .. _`QT Reader`: http://appliedimagery.com/download/
 .. _`Fugro Viewer`: http://www.fugroviewer.com/
 .. _`CloudCompare`: http://www.danielgm.net/cc/
 
-File copying
+Data installation
 ================================================================================
 
 1. Copy entire contents:
@@ -34,85 +38,7 @@ File copying
 
     C:\Users\Howard\PDAL
 
-2. Navigate to ``software`` directory:
-
-::
-
-    c:\Users\Howard\PDAL\software
-
-
-
-Docker Installation
-================================================================================
-
-.. image:: ../../images/docker-file-navigate.png
-
-1. :ref:`Docker <Docker>`
-2. :ref:`QGIS`
-
-
-Docker
-================================================================================
-
-* Containerization
-* Not virtual machines
-* Operating system isolation
-
-Virtual Machine
-================================================================================
-
-.. image:: ./img/vm-diagram.png
-    :target: https://www.docker.com/what-docker
-    :scale: 75%
-
-Docker
-================================================================================
-
-.. image:: ./img/docker-diagram.png
-    :target: https://www.docker.com/what-docker
-    :scale: 75%
-
-Why Docker?
-================================================================================
-
-* Rapid development
-* Compiling is pain
-* Windows development is pain
-* Old software is pain
-
-Compile yourself?
-================================================================================
-
-.. image:: ./img/life-so-hard.gif
-    :scale: 50%
-
-Benefits
-================================================================================
-
-* Freshies
-    * Short bug fix cycle
-
-* Known configuration
-    * Developer configures
-    * *All* the features
-
-* Replicability of configuration
-    * Runs the same on all machines
-    * Inspectable
-    * Repeatable bugs
-
-How it works
-================================================================================
-
-* Linux
-* On Windows, you actually run on a Linux VM
-    * Same on Mac
-    * We will use `VirtualBox`_
-    * `Docker Toolbox`_ does all of it for us
-    * Both free and open source
 
-.. _`VirtualBox`: https://www.virtualbox.org/wiki/Downloads
-.. _`Docker Toolbox`: https://www.docker.com/products/docker-toolbox
 
 Next
 ================================================================================
diff --git a/doc/workshop/slides/source/thinning.rst b/doc/workshop/slides/source/thinning.rst
index efa5188..fd24ad9 100644
--- a/doc/workshop/slides/source/thinning.rst
+++ b/doc/workshop/slides/source/thinning.rst
@@ -3,16 +3,18 @@
 Thinning
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
 Purpose:
     * Reduce collection density
 
-:ref:`Thinning Workshop Materials <unavco:thinning>`
+:ref:`Thinning Workshop Materials <pdal:thinning>`
 
 
 PDAL Thinning Techniques
 ================================================================================
 
-* :ref:`filters.dartsample`
+* :ref:`filters.sample`
 * :ref:`filters.voxelgrid`
 * :ref:`filters.randomize` + :ref:`filters.decimation`
 
diff --git a/doc/workshop/slides/source/translation.rst b/doc/workshop/slides/source/translation.rst
index 53396f3..c2d440f 100644
--- a/doc/workshop/slides/source/translation.rst
+++ b/doc/workshop/slides/source/translation.rst
@@ -3,6 +3,9 @@
 Translation
 ================================================================================
 
+.. include:: ../../includes/substitutions.rst
+
+
 * Convert one format to another
 * Do stuff along the way
 
@@ -10,13 +13,12 @@ Compression
 ================================================================================
 
 Purpose:
-    * Output a compressed `LAZ`_
+    * Output a compressed |LASzip|
     * Learn about point cloud metadata
     * Learn about |ASPRSLAS|
 
-:ref:`Compression Workshop Materials <unavco:compression>`
+:ref:`Compression Workshop Materials <pdal:compression>`
 
-.. include:: ../../includes/substitutions.rst
 .. _`LAZ`: http://laszip.org
 
 LASzip
@@ -54,15 +56,14 @@ Purpose:
     * Utilize driver options
     * Scale output data
 
-:ref:`Reprojection Workshop Materials <unavco:reprojection>`
+:ref:`Reprojection Workshop Materials <pdal:reprojection>`
 
 Command (reproject)
 ================================================================================
 
 .. literalinclude:: ../../exercises/translation/reprojection-command-1.txt
-    :linenos:
 
-* We tell ``filters.reprojection`` to output to ``EPSG:4326``
+* We tell :ref:`filters.reprojection` to output to ``EPSG:4326``
 * Add ``reprojection`` filter directly to ``translate`` command
 * Define reprojection filter option via command line
 
@@ -75,7 +76,6 @@ Command (scale)
 ================================================================================
 
 .. literalinclude:: ../../exercises/translation/reprojection-command-2.txt
-    :linenos:
 
 * Scale set to ``1e-7``
 * Offset to ``auto`` (PDAL calculates minimum)
diff --git a/doc/workshop/software.rst b/doc/workshop/software.rst
index e9ec824..22d66a3 100644
--- a/doc/workshop/software.rst
+++ b/doc/workshop/software.rst
@@ -8,9 +8,4 @@ Software Installation
 .. toctree::
    :maxdepth: 2
 
-   docker
-   qgis
-
-
-
-
+   osgeo4w
diff --git a/examples/writing-reader/MyReader.cpp b/examples/writing-reader/MyReader.cpp
index b662ef5..12961ab 100644
--- a/examples/writing-reader/MyReader.cpp
+++ b/examples/writing-reader/MyReader.cpp
@@ -28,24 +28,12 @@ namespace pdal
     layout->registerOrAssignDim("MyData", Dimension::Type::Unsigned64);
   }
 
-  Dimension::IdList MyReader::getDefaultDimensions()
-  {
-    Dimension::IdList ids;
-
-    ids.push_back(Dimension::Id::X);
-    ids.push_back(Dimension::Id::Y);
-    ids.push_back(Dimension::Id::Z);
-
-    return ids;
-  }
-
   void MyReader::ready(PointTableRef)
   {
     SpatialReference ref("EPSG:4385");
     setSpatialReference(ref);
   }
 
-
   template <typename T>
   T convert(const StringList& s, const std::string& name, size_t fieldno)
   {
diff --git a/examples/writing-reader/MyReader.hpp b/examples/writing-reader/MyReader.hpp
index e7b8ff0..76057fa 100644
--- a/examples/writing-reader/MyReader.hpp
+++ b/examples/writing-reader/MyReader.hpp
@@ -17,8 +17,6 @@ namespace pdal
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
   private:
     std::unique_ptr<ILeStream> m_stream;
     point_count_t m_index;
diff --git a/filters/AssignFilter.cpp b/filters/AssignFilter.cpp
index 8269aed..0773f0a 100644
--- a/filters/AssignFilter.cpp
+++ b/filters/AssignFilter.cpp
@@ -63,14 +63,14 @@ void AssignRange::parse(const std::string& r)
     char *end;
 
     pos = subParse(r);
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
 
     if (r[pos] != '=')
         throw error("Missing '=' assignment separator.");
     pos++;
 
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
 
     // Extract value
@@ -90,7 +90,14 @@ std::istream& operator>>(std::istream& in, AssignRange& r)
     std::string s;
 
     std::getline(in, s);
-    r.parse(s);
+    try
+    {
+        r.parse(s);
+    }
+    catch (DimRange::error)
+    {
+        in.setstate(std::ios_base::failbit);
+    }
     return in;
 }
 
@@ -126,7 +133,7 @@ void AssignFilter::prepared(PointTableRef table)
     {
         r.m_id = layout->findDim(r.m_name);
         if (r.m_id == Dimension::Id::Unknown)
-            throwError("Invalid dimension name in 'values' option: '" +
+            throwError("Invalid dimension name in 'assignment' option: '" +
                 r.m_name + "'.");
     }
 }
diff --git a/filters/ChipperFilter.cpp b/filters/ChipperFilter.cpp
index ab67176..65d8d63 100644
--- a/filters/ChipperFilter.cpp
+++ b/filters/ChipperFilter.cpp
@@ -57,13 +57,9 @@ of the spare array then becomes the active array for the narrow direction.
 This avoids resorting of the arrays, which are already sorted.
 
 This procedure is then recursively applied to the created blocks until
-they contains only one or two partitions.  In the case of one partition,
-we are done, and we simply store away the contents of the block.  If there are
-two partitions in a block, we avoid the recopying the narrow array to the
-spare since the wide array already contains the desired points partitioned
-into two blocks.  We simply need to locate the maximum and minimum values
-from the narrow array so that the approriate extrema of the block can
-be stored.
+they contains only one or two partitions.  In the case of one or two
+partitions we are done, and we simply store away the contents of the
+blocks.
 **/
 
 #include <pdal/pdal_macros.hpp>
@@ -221,10 +217,15 @@ void ChipperFilter::split(ChipRefList& wide, ChipRefList& narrow, ChipRefList& s
 
     if (pright - pleft == 1)
         emit(wide, left, right);
-    else if (pright - pleft == 2)
-        finalSplit(wide, narrow, pleft, pright);
-    else
-    {
+    else if (pright - pleft == 2) {
+        center = m_partitions[pright - 1];
+        emit(wide,
+             left,
+             center - 1);
+        emit(wide,
+             center,
+             right);
+    } else {
         pcenter = (pleft + pright) / 2;
         center = m_partitions[pcenter];
 
@@ -250,79 +251,9 @@ void ChipperFilter::split(ChipRefList& wide, ChipRefList& narrow, ChipRefList& s
             }
         }
 
-        // Save away the direction so we know which array is X and which is Y
-        // so that when we emit, we can properly label the max/min points.
-        Direction dir = narrow.m_dir;
-        spare.m_dir = dir;
         decideSplit(wide, spare, narrow, pleft, pcenter);
         decideSplit(wide, spare, narrow, pcenter, pright);
-        narrow.m_dir = dir;
-    }
-}
-
-// In this case the wide array is like we want it.  The narrow array is
-// ordered, but not for our split, so we have to find the max/min entries
-// for each partition in the final split.
-void ChipperFilter::finalSplit(ChipRefList& wide, ChipRefList& narrow,
-    PointId pleft, PointId pright)
-{
-
-    int64_t left1 = -1;
-    int64_t left2 = -1;
-    int64_t right1 = -1;
-    int64_t right2 = -1;
-
-    // It appears we're using int64_t here because we're using -1 as
-    // an indicator.  I'm not 100% sure that i ends up <0, but I don't
-    // think so.  These casts will at least shut up the compiler, but
-    // I think this code should be revisited to use std::vector<uint32_t>::const_iterator
-    // or std::vector<uint32_t>::size_type instead of this int64_t stuff -- hobu 11/15/10
-    int64_t left = m_partitions[pleft];
-    int64_t right = static_cast<int64_t>(m_partitions[pright] - 1);
-    int64_t center = static_cast<int64_t>(m_partitions[pright - 1]);
-
-    // Find left values for the partitions.
-    for (int64_t i = left; i <= right; ++i)
-    {
-        int64_t idx = static_cast<int64_t>(narrow[static_cast<uint32_t>(i)].m_oindex);
-        if (left1 < 0 && (idx < center))
-        {
-            left1 = i;
-            if (left2 >= 0)
-                break;
-        }
-        else if (left2 < 0 && (idx >= center))
-        {
-            left2 = i;
-            if (left1 >= 0)
-                break;
-        }
-    }
-    // Find right values for the partitions.
-    for (int64_t i = right; i >= left; --i)
-    {
-        int64_t idx = static_cast<int64_t>(narrow[static_cast<uint32_t>(i)].m_oindex);
-        if (right1 < 0 && (idx < center))
-        {
-            right1 = i;
-            if (right2 >= 0)
-                break;
-        }
-        else if (right2 < 0 && (idx >= center))
-        {
-            right2 = i;
-            if (right1 >= 0)
-                break;
-        }
     }
-
-    // Emit results.
-    emit(wide,
-         left,
-         center - 1);
-    emit(wide,
-         center,
-         right);
 }
 
 void ChipperFilter::emit(ChipRefList& wide, PointId widemin, PointId widemax)
diff --git a/filters/ChipperFilter.hpp b/filters/ChipperFilter.hpp
index 4d39ecf..74985a4 100644
--- a/filters/ChipperFilter.hpp
+++ b/filters/ChipperFilter.hpp
@@ -57,14 +57,6 @@ class Stage;
 
 class PDAL_DLL ChipperFilter;
 
-enum Direction
-{
-    DIR_X,
-    DIR_Y,
-    DIR_NONE
-};
-
-
 class PDAL_DLL ChipPtRef
 {
     friend class ChipRefList;
@@ -89,10 +81,7 @@ class PDAL_DLL ChipRefList
 
 private:
     std::vector<ChipPtRef> m_vec;
-    Direction m_dir;
 
-    ChipRefList(Direction dir = DIR_NONE) : m_dir(dir)
-    {}
     std::vector<ChipPtRef>::size_type size() const
     {
         return m_vec.size();
@@ -121,25 +110,13 @@ private:
     {
         return m_vec[pos];
     }
-    std::string Dir()
-    {
-        if (m_dir == DIR_X)
-            return "X";
-        else if (m_dir == DIR_Y)
-            return "Y";
-        else
-            return "NONE";
-    }
 };
 
 
 class PDAL_DLL ChipperFilter : public pdal::Filter
 {
 public:
-    ChipperFilter() : Filter(),
-        m_xvec(DIR_X), m_yvec(DIR_Y), m_spare(DIR_NONE)
-    {}
-
+    ChipperFilter() {}
     static void * create();
     static int32_t destroy(void *);
     std::string getName() const;
@@ -155,8 +132,6 @@ private:
         ChipRefList& spare, PointId left, PointId right);
     void split(ChipRefList& wide, ChipRefList& narrow,
         ChipRefList& spare, PointId left, PointId right);
-    void finalSplit(ChipRefList& wide, ChipRefList& narrow,
-        PointId pleft, PointId pcenter);
     void emit(ChipRefList& wide, PointId widemin, PointId widemax);
 
     PointId m_threshold;
diff --git a/filters/ClusterFilter.cpp b/filters/ClusterFilter.cpp
index ffe1aa8..0ac35a3 100644
--- a/filters/ClusterFilter.cpp
+++ b/filters/ClusterFilter.cpp
@@ -73,7 +73,7 @@ void ClusterFilter::filter(PointView& view)
     auto clusters = Segmentation::extractClusters(view, m_minPoints,
         m_maxPoints, m_tolerance);
 
-    uint64_t id = 0;
+    uint64_t id = 1;
     for (auto const& c : clusters)
     {
         for (auto const& i : c)
diff --git a/filters/ColorinterpFilter.cpp b/filters/ColorinterpFilter.cpp
index 470ec90..7575b56 100644
--- a/filters/ColorinterpFilter.cpp
+++ b/filters/ColorinterpFilter.cpp
@@ -94,6 +94,7 @@ std::shared_ptr<gdal::Raster> openRamp(std::string& rampFilename)
     GETRAMP(blue_red);
     GETRAMP(heat_map);
     GETRAMP(pestel_shades);
+    GETRAMP(blue_orange);
 
     std::shared_ptr<gdal::Raster>
         output(new gdal::Raster(rampFilename.c_str()));
@@ -103,8 +104,10 @@ std::shared_ptr<gdal::Raster> openRamp(std::string& rampFilename)
 void ColorinterpFilter::addArgs(ProgramArgs& args)
 {
     args.add("dimension", "Dimension to interpolate", m_interpDimString, "Z");
-    args.add("minimum", "Minimum value to use for scaling", m_min);
-    args.add("maximum", "Maximum value to use for scaling", m_max);
+    args.add("minimum", "Minimum value to use for scaling", m_min,
+        std::numeric_limits<double>::quiet_NaN());
+    args.add("maximum", "Maximum value to use for scaling", m_max,
+        std::numeric_limits<double>::quiet_NaN());
     args.add("ramp", "GDAL-readable color ramp image to use", m_colorramp,
         "pestel_shades");
     args.add("invert", "Invert the ramp direction", m_invertRamp, false);
@@ -122,19 +125,39 @@ void ColorinterpFilter::addDimensions(PointLayoutPtr layout)
         Dimension::Id::Green, Dimension::Id::Blue});
 }
 
-void ColorinterpFilter::initialize()
+
+void ColorinterpFilter::prepared(PointTableRef table)
+{
+    PointLayoutPtr layout(table.layout());
+    m_interpDim = layout->findDim(m_interpDimString);
+    if (m_interpDim == Dimension::Id::Unknown)
+        throwError("Dimension '" + m_interpDimString + "' does not exist.");
+    if (!std::isnan(m_min) && !std::isnan(m_max) && m_max <= m_min)
+        throwError("Specified 'minimum' value must be less than "
+            "'maximum' value.");
+}
+
+
+/**
+  Read the band data into local vectors.
+
+  \param table  Point table.
+*/
+void ColorinterpFilter::ready(PointTableRef table)
 {
     gdal::registerDrivers();
 
     m_raster = openRamp(m_colorramp);
-    m_raster->open();
+    gdal::GDALError err = m_raster->open();
+    if (err != gdal::GDALError::None && err != gdal::GDALError::NoTransform)
+        throwError(m_raster->errorMsg());
 
     log()->get(LogLevel::Debug) << getName() << " raster connection: " <<
         m_raster->filename() << std::endl;
 
-    m_interpDim = Dimension::id(m_interpDimString);
-    if (m_interpDim == Dimension::Id::Unknown)
-        throwError("provided dimension name is not known.");
+    m_raster->readBand(m_redBand, 1);
+    m_raster->readBand(m_greenBand, 2);
+    m_raster->readBand(m_blueBand, 3);
 }
 
 
@@ -146,7 +169,7 @@ void ColorinterpFilter::filter(PointView& view)
     // If the user set a 'k' value, we use that
     // defaulting to using a computed stddev if we
     // were not told to use MAD.
-    if ( m_stdDevThreshold != 0.0)
+    if (m_stdDevThreshold != 0.0)
     {
         std::vector<double> values(view.size());
 
@@ -174,8 +197,7 @@ void ColorinterpFilter::filter(PointView& view)
                    [median](double v) { return std::fabs(v - median); });
              mad = compute_median(values);
 
-             mad = mad * m_madMultiplier;
-             double threshold = m_stdDevThreshold * mad;
+             double threshold = mad * m_madMultiplier * m_stdDevThreshold;
              m_min = median - threshold;
              m_max = median + threshold;
 
@@ -203,12 +225,11 @@ void ColorinterpFilter::filter(PointView& view)
              log()->get(LogLevel::Debug) << getName() << " maximum " <<
                 m_max << std::endl;
         }
-
     }
 
     // If the user didn't set min/max values and hadn't set a stddev, we
     // compute them.
-    else if ((m_min == 0.0 && m_max == 0.0) )
+    else if (std::isnan(m_min) || std::isnan(m_max))
     {
         stats::Summary summary(Dimension::name(m_interpDim),
             stats::Summary::NoEnum);
@@ -218,42 +239,45 @@ void ColorinterpFilter::filter(PointView& view)
             summary.insert(v);
         }
 
-        m_min = summary.minimum();
-        m_max = summary.maximum();
+        if (std::isnan(m_min))
+            m_min = summary.minimum();
+        if (std::isnan(m_max))
+            m_max = summary.maximum();
     }
 
-    m_raster->readBand(m_redBand, 1);
-    m_raster->readBand(m_greenBand, 2 );
-    m_raster->readBand(m_blueBand, 3);
-
+    PointRef point(view, 0);
     for (PointId idx = 0; idx < view.size(); ++idx)
     {
+        point.setPointId(idx);
+        processOne(point);
+    }
+}
 
-        double v = view.getFieldAs<double>(m_interpDim, idx);
 
-        size_t img_width = m_redBand.size();
-        double factor = (v - m_min) / (m_max - m_min);
+bool ColorinterpFilter::processOne(PointRef& point)
+{
+    // This will throw if min or max aren't defined.
+    if (std::isnan(m_min) || std::isnan(m_max))
+        throwStreamingError();
 
-        if (m_invertRamp)
-            factor = 1 - factor;
+    double v = point.getFieldAs<double>(m_interpDim);
 
-        size_t position(std::floor(factor * img_width));
+    // Don't color points that aren't in the min/max range.
+    if (v < m_min || v >= m_max)
+        return true;
 
-        // Don't color points whose computed position
-        // would fall outside the image
-        if (position > img_width)
-        {
-            continue;
-        }
+    double factor = (v - m_min) / (m_max - m_min);
+    size_t img_width = m_redBand.size();
+    size_t position = std::floor(factor * img_width);
 
-        double red = m_redBand[position];
-        double blue = m_blueBand[position];
-        double green = m_greenBand[position];
+    if (m_invertRamp)
+        position = (img_width - 1) - position;
 
-        view.setField(Dimension::Id::Red, idx, red);
-        view.setField(Dimension::Id::Green, idx, green);
-        view.setField(Dimension::Id::Blue, idx, blue);
-    }
+    point.setField(Dimension::Id::Red, m_redBand[position]);
+    point.setField(Dimension::Id::Blue, m_blueBand[position]);
+    point.setField(Dimension::Id::Green, m_greenBand[position]);
+
+    return true;
 }
 
 } // namespace pdal
diff --git a/filters/ColorinterpFilter.hpp b/filters/ColorinterpFilter.hpp
index a9252ec..e940311 100644
--- a/filters/ColorinterpFilter.hpp
+++ b/filters/ColorinterpFilter.hpp
@@ -79,9 +79,10 @@ public:
 private:
     virtual void addArgs(ProgramArgs& args);
     virtual void filter(PointView& view);
-    virtual void initialize();
+    virtual void prepared(PointTableRef table);
+    virtual void ready(PointTableRef table);
     virtual void addDimensions(PointLayoutPtr layout);
-
+    virtual bool processOne(PointRef& point);
 
     Dimension::Id m_interpDim;
     std::string m_interpDimString;
diff --git a/filters/ColorizationFilter.cpp b/filters/ColorizationFilter.cpp
index 1cefaf9..c9e6f62 100644
--- a/filters/ColorizationFilter.cpp
+++ b/filters/ColorizationFilter.cpp
@@ -70,7 +70,7 @@ ColorizationFilter::BandInfo parseDim(const std::string& dim,
 
     pos = 0;
     // Skip leading whitespace.
-    count = Utils::extract(dim, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(dim, pos);
     pos += count;
 
     count = Dimension::extractName(dim, pos);
@@ -79,7 +79,7 @@ ColorizationFilter::BandInfo parseDim(const std::string& dim,
     name = dim.substr(pos, count);
     pos += count;
 
-    count = Utils::extract(dim, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(dim, pos);
     pos += count;
 
     if (pos < dim.size() && dim[pos] == ':')
@@ -91,7 +91,7 @@ ColorizationFilter::BandInfo parseDim(const std::string& dim,
             band = defaultBand;
         pos += (end - start);
 
-        count = Utils::extract(dim, pos, (int(*)(int))std::isspace);
+        count = Utils::extractSpaces(dim, pos);
         pos += count;
 
         if (pos < dim.size() && dim[pos] == ':')
@@ -105,7 +105,7 @@ ColorizationFilter::BandInfo parseDim(const std::string& dim,
         }
     }
 
-    count = Utils::extract(dim, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(dim, pos);
     pos += count;
 
     if (pos != dim.size())
diff --git a/filters/CropFilter.cpp b/filters/CropFilter.cpp
index 825ffb1..84c450f 100644
--- a/filters/CropFilter.cpp
+++ b/filters/CropFilter.cpp
@@ -40,7 +40,8 @@
 #include <pdal/Polygon.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <pdal/util/ProgramArgs.hpp>
-#include <filters/private/crop/Point.hpp>
+
+#include "private/Point.hpp"
 
 #include <sstream>
 #include <cstdarg>
@@ -94,6 +95,11 @@ void CropFilter::initialize()
             m_geoms.push_back(poly);
         }
     }
+
+    m_boxes.clear();
+    for (auto& bound : m_bounds)
+        m_boxes.push_back(bound.to2d());
+
     m_distance2 = m_distance * m_distance;
 }
 
@@ -102,7 +108,13 @@ void CropFilter::ready(PointTableRef table)
 {
     // If the user didn't provide an SRS, take one from the table.
     if (m_assignedSrs.empty())
+    {
         m_assignedSrs = table.anySpatialReference();
+        if (!table.spatialReferenceUnique())
+            log()->get(LogLevel::Warning) << "Can't determine spatial "
+                "reference for provided bounds.  Consider using 'a_srs' "
+                "option.\n";
+    }
     for (auto& geom : m_geoms)
         geom.setSpatialReference(m_assignedSrs);
 }
@@ -114,8 +126,8 @@ bool CropFilter::processOne(PointRef& point)
         if (!crop(point, geom))
             return false;
 
-    for (auto& box : m_bounds)
-        if (!crop(point, box.to2d()))
+    for (auto& box : m_boxes)
+        if (!crop(point, box))
             return false;
 
     for (auto& center: m_centers)
@@ -153,17 +165,19 @@ void CropFilter::transform(const SpatialReference& srs)
         throwError("Unable to transform crop geometry to point "
             "coordinate system.");
 
-    for (auto& box : m_bounds)
+    for (auto& box : m_boxes)
     {
-        BOX3D b3d = box.to3d();
-        gdal::reprojectBounds(b3d, m_assignedSrs.getWKT(), srs.getWKT());
-        box = b3d;
+        if (!gdal::reprojectBounds(box, m_assignedSrs.getWKT(), srs.getWKT()))
+            throwError("Unable to reproject bounds.");
     }
     for (auto& point : m_centers)
     {
-        gdal::reprojectPoint(point.x, point.y, point.z,
-            m_assignedSrs.getWKT(), srs.getWKT());
+        if (!gdal::reprojectPoint(point.x, point.y, point.z,
+            m_assignedSrs.getWKT(), srs.getWKT()))
+            throwError("Unable to reproject point center.");
     }
+    // Set the assigned SRS for the points/bounds to the one we've
+    // transformed to.
     m_assignedSrs = srs;
 }
 
@@ -180,10 +194,10 @@ PointViewSet CropFilter::run(PointViewPtr view)
         viewSet.insert(outView);
     }
 
-    for (auto& box : m_bounds)
+    for (auto& box : m_boxes)
     {
         PointViewPtr outView = view->makeNew();
-        crop(box.to2d(), *view, *outView);
+        crop(box, *view, *outView);
         viewSet.insert(outView);
     }
 
@@ -238,12 +252,12 @@ void CropFilter::crop(const Polygon& g, PointView& input, PointView& output)
 }
 
 
-bool CropFilter::crop(const PointRef& point, const cropfilter::Point& center)
+bool CropFilter::crop(const PointRef& point, const filter::Point& center)
 {
     double x = point.getFieldAs<double>(Dimension::Id::X);
     double y = point.getFieldAs<double>(Dimension::Id::Y);
-    x -= center.x;
-    y -= center.y;
+    x = std::abs(x - center.x);
+    y = std::abs(y - center.y);
     if (x > m_distance || y > m_distance)
         return (m_cropOutside);
 
@@ -251,7 +265,7 @@ bool CropFilter::crop(const PointRef& point, const cropfilter::Point& center)
     if (center.is3d())
     {
         double z = point.getFieldAs<double>(Dimension::Id::Z);
-        z -= center.z;
+        z = std::abs(z - center.z);
         if (z > m_distance)
             return (m_cropOutside);
         inside = (x * x + y * y + z * z < m_distance2);
@@ -262,7 +276,7 @@ bool CropFilter::crop(const PointRef& point, const cropfilter::Point& center)
 }
 
 
-void CropFilter::crop(const cropfilter::Point& center, PointView& input,
+void CropFilter::crop(const filter::Point& center, PointView& input,
     PointView& output)
 {
     PointRef point = input.point(0);
diff --git a/filters/CropFilter.hpp b/filters/CropFilter.hpp
index 197eb9e..d5977b4 100644
--- a/filters/CropFilter.hpp
+++ b/filters/CropFilter.hpp
@@ -38,16 +38,13 @@
 #include <pdal/Polygon.hpp>
 #include <pdal/plugin.hpp>
 
+#include "private/Point.hpp"
+
 extern "C" int32_t CropFilter_ExitFunc();
 extern "C" PF_ExitFunc CropFilter_InitPlugin();
 
 namespace pdal
 {
-namespace cropfilter
-{
-    class Point;
-};
-
 
 class ProgramArgs;
 
@@ -69,8 +66,9 @@ private:
     SpatialReference m_assignedSrs;
     double m_distance;
     double m_distance2;
-    std::vector<cropfilter::Point> m_centers;
+    std::vector<filter::Point> m_centers;
     std::vector<Polygon> m_geoms;
+    std::vector<BOX2D> m_boxes;
 
     void addArgs(ProgramArgs& args);
     virtual void initialize();
@@ -82,8 +80,8 @@ private:
     void crop(const BOX2D& box, PointView& input, PointView& output);
     bool crop(const PointRef& point, const Polygon& g);
     void crop(const Polygon& g, PointView& input, PointView& output);
-    bool crop(const PointRef& point, const cropfilter::Point& center);
-    void crop(const cropfilter::Point& center, PointView& input,
+    bool crop(const PointRef& point, const filter::Point& center);
+    void crop(const filter::Point& center, PointView& input,
         PointView& output);
     void transform(const SpatialReference& srs);
 
@@ -92,4 +90,3 @@ private:
 };
 
 } // namespace pdal
-
diff --git a/filters/FerryFilter.cpp b/filters/FerryFilter.cpp
index 7c982b0..510049e 100644
--- a/filters/FerryFilter.cpp
+++ b/filters/FerryFilter.cpp
@@ -36,6 +36,7 @@
 
 #include <pdal/pdal_export.hpp>
 #include <pdal/pdal_macros.hpp>
+#include <pdal/util/Algorithm.hpp>
 #include <pdal/util/ProgramArgs.hpp>
 
 namespace pdal
@@ -59,9 +60,10 @@ void FerryFilter::addArgs(ProgramArgs& args)
 
 void FerryFilter::initialize()
 {
+    std::vector<std::string> toNames;
     for (auto& dim : m_dimSpec)
     {
-        StringList s = Utils::split2(dim, '=');
+        StringList s = Utils::split(dim, '=');
         if (s.size() != 2)
             throwError("Invalid dimension specified '" + dim + "'.  Need "
                 "<from dimension>=<to dimension>.  See documentation for "
@@ -70,46 +72,44 @@ void FerryFilter::initialize()
         Utils::trim(s[1]);
         if (s[0] == s[1])
             throwError("Can't ferry dimension '" + s[0] + "' to itself.");
-        m_name_map[s[0]] = s[1];
+        if (Utils::contains(toNames, s[1]))
+            throwError("Can't ferry two source dimensions to the same "
+                "destination dimension.");
+        toNames.push_back(s[1]);
+        m_dims.emplace_back( s[0], s[1] );
     }
 }
 
 
 void FerryFilter::addDimensions(PointLayoutPtr layout)
 {
-    for (const auto& dim_par : m_name_map)
-    {
-        layout->registerOrAssignDim(dim_par.second, Dimension::Type::Double);
-    }
+    for (auto& info : m_dims)
+        info.m_toId = layout->registerOrAssignDim(info.m_toName,
+            Dimension::Type::Double);
 }
 
 
 void FerryFilter::prepared(PointTableRef table)
 {
-    for (const auto& dims : m_name_map)
-        if (table.layout()->findDim(dims.first) == Dimension::Id::Unknown)
-            throwError("Can't ferry dimension '" + dims.first + "'. "
-                "Dimension doesn't exist.");
-}
-
-void FerryFilter::ready(PointTableRef table)
-{
-    const PointLayoutPtr layout(table.layout());
-    for (const auto& dim_par : m_name_map)
+    for (auto& info : m_dims)
     {
-        Dimension::Id f = layout->findDim(dim_par.first);
-        Dimension::Id t = layout->findDim(dim_par.second);
-        m_dimensions_map.insert(std::make_pair(f,t));
+        info.m_fromId = table.layout()->findDim(info.m_fromName);
+        if (info.m_fromId == Dimension::Id::Unknown && info.m_fromName.size())
+            throwError("Can't ferry dimension '" + info.m_fromName + "'. "
+                "Dimension doesn't exist.");
     }
 }
 
 
 bool FerryFilter::processOne(PointRef& point)
 {
-    for (const auto& dim_par : m_dimensions_map)
+    for (const auto& info : m_dims)
     {
-        double v = point.getFieldAs<double>(dim_par.first);
-        point.setField(dim_par.second, v);
+        if (info.m_fromId != Dimension::Id::Unknown)
+        {
+            double v = point.getFieldAs<double>(info.m_fromId);
+            point.setField(info.m_toId, v);
+        }
     }
     return true;
 }
diff --git a/filters/FerryFilter.hpp b/filters/FerryFilter.hpp
index 830220c..db023df 100644
--- a/filters/FerryFilter.hpp
+++ b/filters/FerryFilter.hpp
@@ -37,7 +37,7 @@
 #include <pdal/Filter.hpp>
 #include <pdal/plugin.hpp>
 
-#include <map>
+#include <vector>
 #include <string>
 
 extern "C" int32_t FerryFilter_ExitFunc();
@@ -48,6 +48,19 @@ namespace pdal
 
 class PDAL_DLL FerryFilter : public Filter
 {
+    struct Info
+    {
+        std::string m_fromName;
+        std::string m_toName;
+        Dimension::Id m_fromId;
+        Dimension::Id m_toId;
+
+        Info(const std::string& fromName, const std::string& toName) :
+            m_fromName(fromName), m_toName(toName),
+            m_fromId(Dimension::Id::Unknown),
+            m_toId(Dimension::Id::Unknown)
+        {}
+    };
 public:
     FerryFilter()
     {}
@@ -61,7 +74,6 @@ private:
     virtual void initialize();
     virtual void addDimensions(PointLayoutPtr layout);
     virtual void prepared(PointTableRef table);
-    virtual void ready(PointTableRef table);
     virtual bool processOne(PointRef& point);
     virtual void filter(PointView& view);
 
@@ -69,8 +81,7 @@ private:
     FerryFilter(const FerryFilter&) = delete;
 
     StringList m_dimSpec;
-    std::map<std::string, std::string> m_name_map;
-    std::map<Dimension::Id, Dimension::Id> m_dimensions_map;
+    std::vector<Info> m_dims;
 };
 
 } // namespace pdal
diff --git a/filters/GreedyProjection.cpp b/filters/GreedyProjection.cpp
new file mode 100644
index 0000000..ee5cbad
--- /dev/null
+++ b/filters/GreedyProjection.cpp
@@ -0,0 +1,1886 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+#include <cassert>
+
+#include <pdal/KDIndex.hpp>
+#include <pdal/pdal_macros.hpp>
+#include <filters/NormalFilter.hpp>
+
+#include "GreedyProjection.hpp"
+
+namespace pdal
+{
+
+static PluginInfo const s_info =
+    PluginInfo("filters.greedymesh", "Greedy Triangulation filter",
+                   "http://pdal.io/stages/filters.greedymesh.html");
+
+CREATE_STATIC_PLUGIN(1, 0, GreedyProjection, Filter, s_info)
+
+std::string GreedyProjection::getName() const
+{
+    return s_info.name;
+}
+
+
+void GreedyProjection::addArgs(ProgramArgs& args)
+{
+    args.add("multiplier", "Nearest neighbor distance multiplier",
+        mu_).setPositional();
+    args.add("radius", "Search radius for neighbors",
+        search_radius_).setPositional();
+    args.add("num_neighbors", "Number of nearest neighbors to consider",
+        nnn_, 100);
+    args.add("min_angle", "Minimum angle for created triangles",
+        minimum_angle_, M_PI / 18);  // 10 degrees default
+    args.add("max_angle", "Maximum angle for created triangles",
+        maximum_angle_, 2 * M_PI / 3);  // 120 degrees default
+    args.add("eps_angle", "Max normal difference angle for triangulation "
+        "consideration", eps_angle_, M_PI / 4);
+}
+
+
+void GreedyProjection::addDimensions(PointLayoutPtr layout)
+{
+    layout->registerDims( { Dimension::Id::NormalX, Dimension::Id::NormalY,
+        Dimension::Id::NormalZ } );
+}
+
+
+void GreedyProjection::initialize()
+{
+    if (search_radius_ <= 0)
+        throwError("Invalid search radius of '" +
+            std::to_string(search_radius_) + "'.  Must be greater than 0.");
+    if (mu_ <= 0)
+        throwError("Invalid distance multiplier of '" +
+            std::to_string(mu_) + "'.  Must be greater than 0.");
+}
+
+Eigen::Vector3d GreedyProjection::getCoord(PointId id)
+{
+    assert(view_);
+
+    return Eigen::Vector3d(
+        view_->getFieldAs<double>(Dimension::Id::X, id),
+        view_->getFieldAs<double>(Dimension::Id::Y, id),
+        view_->getFieldAs<double>(Dimension::Id::Z, id)
+    );
+}
+
+
+Eigen::Vector3d GreedyProjection::getNormalCoord(PointId id)
+{
+    assert(view_);
+
+    return Eigen::Vector3d(
+        view_->getFieldAs<double>(Dimension::Id::NormalX, id),
+        view_->getFieldAs<double>(Dimension::Id::NormalY, id),
+        view_->getFieldAs<double>(Dimension::Id::NormalZ, id)
+    );
+}
+
+
+void GreedyProjection::addTriangle(PointId a, PointId b, PointId c)
+{
+    mesh_->add(a, b, c);
+}
+
+
+void GreedyProjection::filter(PointView& view)
+{
+    pdal::NormalFilter().doFilter(view);
+
+    pdal::KD3Index& tree = view.build3dIndex();
+
+    view_ = &view;
+    mesh_ = view_->createMesh(getName());
+    const double sqr_mu = mu_ * mu_;
+    const double sqr_max_edge = search_radius_*search_radius_;
+
+    nnn_ = (int)std::min((point_count_t)nnn_, view.size());
+
+    // Variables to hold the results of nearest neighbor searches
+    std::vector<PointId> nnIdx(nnn_);
+    std::vector<double> sqrDists(nnn_);
+
+    // current number of connected components
+    int part_index = 0;
+
+    // 2D coordinates of points
+    const Eigen::Vector2d uvn_nn_qp_zero = Eigen::Vector2d::Zero();
+    Eigen::Vector2d uvn_current;
+    Eigen::Vector2d uvn_prev;
+    Eigen::Vector2d uvn_next;
+
+    // initializing fields
+    already_connected_ = false; // see declaration for comments :P
+
+    // initializing states and fringe neighbors
+    part_.clear ();
+    state_.clear ();
+    source_.clear ();
+    ffn_.clear ();
+    sfn_.clear ();
+    part_.resize(view.size ()); // indices of point's part
+    state_.resize(view.size (), GP3Type::FREE);
+    source_.resize(view.size ());
+    ffn_.resize(view.size());
+    sfn_.resize(view.size());
+    fringe_queue_.clear ();
+    int fqIdx = 0; // current fringe's index in the queue to be processed
+
+  // Avoiding NaN coordinates if needed
+  /**
+  if (!input_->is_dense)
+  {
+    // Skip invalid points from the indices list
+    for (std::vector<int>::const_iterator it = indices_->begin ();o
+        it != indices_->end (); ++it)
+      if (!pcl_isfinite (input_->points[*it].x) ||
+          !pcl_isfinite (input_->points[*it].y) ||
+          !pcl_isfinite (input_->points[*it].z))
+        state_[*it] = GP3Type::NONE;
+  }
+  **/
+
+  // Saving coordinates and point to index mapping
+  /**
+  coords_.clear ();
+  coords_.reserve (indices_->size ());
+  std::vector<int> point2index (input_->points.size (), -1);
+  for (int cp = 0; cp < static_cast<int> (indices_->size ()); ++cp)
+  {
+    coords_.push_back(input_->points[(*indices_)[cp]].getVector3fMap());
+    point2index[(*indices_)[cp]] = cp;
+  }
+  **/
+
+  // Initializing
+  PointId isFree = 0;
+  bool done = false;
+  int nr_parts=0, increase_nnn4fn=0, increase_nnn4s=0, increase_dist=0, nr_touched = 0;
+  bool is_fringe;
+  angles_.resize(nnn_);
+  std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > uvn_nn (nnn_);
+  Eigen::Vector2d uvn_s;
+
+  // iterating through fringe points and finishing them until everything is done
+  while (!done)
+  {
+    R_ = isFree;
+    if (state_[R_] == GP3Type::FREE)
+    {
+      state_[R_] = GP3Type::NONE;
+//ABELL - What is part_index?
+      part_[R_] = part_index++;
+
+      // creating starting triangle
+      tree.knnSearch(R_, nnn_, &nnIdx, &sqrDists);
+
+      double sqr_dist_threshold =
+          (std::min)(sqr_max_edge, sqr_mu * sqrDists[1]);
+
+/**
+      // Search tree returns indices into the original cloud, but we are working with indices. TODO: make that optional!
+      for (int i = 1; i < nnn_; i++)
+      {
+        //if (point2index[nnIdx[i]] == -1)
+        //  std::cerr << R_ << " [" << indices_->at (R_) << "] " << i << ": " << nnIdx[i] << " / " << point2index[nnIdx[i]] << std::endl;
+        nnIdx[i] = point2index[nnIdx[i]];
+      }
+**/
+
+      // Get the normal estimate at the current point
+      const Eigen::Vector3d nc(getNormalCoord(R_));
+
+      // Get a coordinate system that lies on a plane defined by its normal
+      v_ = nc.unitOrthogonal ();
+      u_ = nc.cross (v_);
+
+      // Projecting point onto the surface
+      Eigen::Vector3d coord(getCoord(R_));
+      float dist = nc.dot (coord);
+      proj_qp_ = coord - dist * nc;
+
+      // Converting coords, calculating angles and saving the
+      // projected near boundary edges
+      size_t nr_edge = 0;
+      std::vector<doubleEdge> doubleEdges;
+      // nearest neighbor with index 0 is the query point R_ itself
+      for (int i = 1; i < nnn_; i++)
+      {
+        // Transforming coordinates
+        tmp_ = getCoord(nnIdx[i]) - proj_qp_;
+        uvn_nn[i][0] = tmp_.dot(u_);
+        uvn_nn[i][1] = tmp_.dot(v_);
+        // Computing the angle between each neighboring point and
+        // the query point itself
+        angles_[i].angle = atan2(uvn_nn[i][1], uvn_nn[i][0]);
+        // initializing angle descriptors
+        angles_[i].index = nnIdx[i];
+        if ((state_[nnIdx[i]] == GP3Type::COMPLETED) ||
+            (state_[nnIdx[i]] == GP3Type::BOUNDARY) ||
+            (state_[nnIdx[i]] == GP3Type::NONE) ||
+            (sqrDists[i] > sqr_dist_threshold))
+          angles_[i].visible = false;
+        else
+          angles_[i].visible = true;
+        // Saving the edges between nearby boundary points
+        if ((state_[nnIdx[i]] == GP3Type::FRINGE) ||
+            (state_[nnIdx[i]] == GP3Type::BOUNDARY))
+        {
+          doubleEdge e;
+          e.index = i;
+          nr_edge++;
+          tmp_ = getCoord(ffn_[nnIdx[i]]) - proj_qp_;
+          e.first[0] = tmp_.dot(u_);
+          e.first[1] = tmp_.dot(v_);
+          tmp_ = getCoord(sfn_[nnIdx[i]]) - proj_qp_;
+          e.second[0] = tmp_.dot(u_);
+          e.second[1] = tmp_.dot(v_);
+          doubleEdges.push_back(e);
+        }
+      }
+      angles_[0].visible = false;
+
+      // Verify the visibility of each potential new vertex
+      // nearest neighbor with index 0 is the query point R_ itself
+      for (int i = 1; i < nnn_; i++)
+        if ((angles_[i].visible) && (ffn_[R_] != nnIdx[i]) &&
+            (sfn_[R_] != nnIdx[i]))
+        {
+          bool visibility = true;
+          for (size_t j = 0; j < nr_edge; j++)
+          {
+            if (ffn_[nnIdx[doubleEdges[j].index]] != nnIdx[i])
+              visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index],
+                doubleEdges[j].first, Eigen::Vector2d::Zero());
+            if (!visibility)
+              break;
+            if (sfn_[nnIdx[doubleEdges[j].index]] != nnIdx[i])
+              visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index],
+                  doubleEdges[j].second, Eigen::Vector2d::Zero());
+            if (!visibility == false)
+              break;
+          }
+          angles_[i].visible = visibility;
+        }
+
+      // Selecting first two visible free neighbors
+      bool not_found = true;
+      PointId left = 1;
+      do
+      {
+        while ((left < (PointId)nnn_) &&
+            ((!angles_[left].visible) || stateSet(nnIdx[left])))
+            left++;
+        if (left >= (PointId)nnn_)
+          break;
+        else
+        {
+          int right = left+1;
+          do
+          {
+            while ((right < nnn_) &&
+                ((!angles_[right].visible) || stateSet(nnIdx[right])))
+                    right++;
+            if (right >= nnn_)
+              break;
+            else if ((getCoord(nnIdx[left]) -
+                getCoord(nnIdx[right])).squaredNorm () > sqr_max_edge)
+              right++;
+            else
+            {
+              addFringePoint (nnIdx[right], R_);
+              addFringePoint (nnIdx[left], nnIdx[right]);
+              addFringePoint (R_, nnIdx[left]);
+              state_[R_] = state_[nnIdx[left]] =
+                  state_[nnIdx[right]] = GP3Type::FRINGE;
+              ffn_[R_] = nnIdx[left];
+              sfn_[R_] = nnIdx[right];
+              ffn_[nnIdx[left]] = nnIdx[right];
+              sfn_[nnIdx[left]] = R_;
+              ffn_[nnIdx[right]] = R_;
+              sfn_[nnIdx[right]] = nnIdx[left];
+              addTriangle (R_, nnIdx[left], nnIdx[right]);
+              nr_parts++;
+              not_found = false;
+              break;
+            }
+          }
+          while (true);
+          left++;
+        }
+      }
+      while (not_found);
+    }
+
+    // Set the index of the first free point in isFree.
+    done = true;
+    auto it = std::find(state_.begin(), state_.end(), GP3Type::FREE);
+    if (it == state_.end())
+        done = true;
+    else
+    {
+        done = false;
+        isFree = std::distance(state_.begin(), it);
+    }
+
+    is_fringe = true;
+    while (is_fringe)
+    {
+      is_fringe = false;
+
+      int fqSize = static_cast<int> (fringe_queue_.size ());
+      while ((fqIdx < fqSize) &&
+          (state_[fringe_queue_[fqIdx]] != GP3Type::FRINGE))
+        fqIdx++;
+
+      // an unfinished fringe point is found
+      if (fqIdx >= fqSize)
+      {
+        continue;
+      }
+
+      R_ = fringe_queue_[fqIdx];
+      is_fringe = true;
+
+      if (ffn_[R_] == sfn_[R_])
+      {
+        state_[R_] = GP3Type::COMPLETED;
+        continue;
+      }
+      tree.knnSearch(R_, nnn_, &nnIdx, &sqrDists);
+
+/**
+      // Search tree returns indices into the original cloud, but we are working with indices TODO: make that optional!
+      for (int i = 1; i < nnn_; i++)
+      {
+        //if (point2index[nnIdx[i]] == -1)
+        //  std::cerr << R_ << " [" << indices_->at (R_) << "] " << i << ": " << nnIdx[i] << " / " << point2index[nnIdx[i]] << std::endl;
+        nnIdx[i] = point2index[nnIdx[i]];
+      }
+**/
+
+      Eigen::Vector3d coord(getCoord(R_));
+      // Locating FFN and SFN to adapt distance threshold
+      double sqr_source_dist = (coord - getCoord(source_[R_])).squaredNorm ();
+      double sqr_ffn_dist = (coord - getCoord(ffn_[R_])).squaredNorm ();
+      double sqr_sfn_dist = (coord - getCoord(sfn_[R_])).squaredNorm ();
+      double max_sqr_fn_dist = (std::max)(sqr_ffn_dist, sqr_sfn_dist);
+      double sqr_dist_threshold = (std::min)(sqr_max_edge, sqr_mu * sqrDists[1]);
+      if (max_sqr_fn_dist > sqrDists[nnn_-1])
+      {
+        if (0 == increase_nnn4fn)
+          log()->get(LogLevel::Warning) << "Not enough neighbors are "
+              "considered: ffn or sfn out of range! Consider increasing "
+              "nnn_... Setting R = " << R_ << " to be BOUNDARY!\n";
+        increase_nnn4fn++;
+        state_[R_] = GP3Type::BOUNDARY;
+        continue;
+      }
+      double max_sqr_fns_dist = (std::max)(sqr_source_dist, max_sqr_fn_dist);
+      if (max_sqr_fns_dist > sqrDists[nnn_-1])
+      {
+        if (0 == increase_nnn4s)
+          log()->get(LogLevel::Warning) << "Not enough neighbors are "
+              "considered: source of R " << R_ << " is out of range! "
+              "Consider increasing nnn_...\n";
+        increase_nnn4s++;
+      }
+
+      // Get the normal estimate at the current point
+      const Eigen::Vector3d nc(getNormalCoord(R_));
+
+      // Get a coordinate system that lies on a plane defined by its normal
+      v_ = nc.unitOrthogonal ();
+      u_ = nc.cross (v_);
+
+      const Eigen::Vector3d c(getCoord(R_));
+      // Projecting point onto the surface
+      float dist = nc.dot (c);
+      proj_qp_ = c - dist * nc;
+
+      // Converting coords, calculating angles and saving the projected
+      // near boundary edges
+      size_t nr_edge = 0;
+      std::vector<doubleEdge> doubleEdges;
+      // nearest neighbor with index 0 is the query point R_ itself
+      for (int i = 1; i < nnn_; i++)
+      {
+        tmp_ = getCoord(nnIdx[i]) - proj_qp_;
+        uvn_nn[i][0] = tmp_.dot(u_);
+        uvn_nn[i][1] = tmp_.dot(v_);
+
+        // Computing the angle between each neighboring point and the
+        // query point itself
+        angles_[i].angle = atan2(uvn_nn[i][1], uvn_nn[i][0]);
+        // initializing angle descriptors
+        angles_[i].index = nnIdx[i];
+        angles_[i].nnIndex = i;
+        if ((state_[nnIdx[i]] == GP3Type::COMPLETED) ||
+            (state_[nnIdx[i]] == GP3Type::BOUNDARY) ||
+            (state_[nnIdx[i]] == GP3Type::NONE) ||
+            (sqrDists[i] > sqr_dist_threshold))
+          angles_[i].visible = false;
+        else
+          angles_[i].visible = true;
+        if ((ffn_[R_] == nnIdx[i]) || (sfn_[R_] == nnIdx[i]))
+          angles_[i].visible = true;
+        bool same_side = true;
+        const Eigen::Vector3d neighbor_normal = getNormalCoord(nnIdx[i]);
+        double cosine = nc.dot (neighbor_normal);
+        if (cosine > 1) cosine = 1;
+        if (cosine < -1) cosine = -1;
+        double angle = acos (cosine);
+        if ((!consistent_) && (angle > M_PI/2))
+          angle = M_PI - angle;
+        if (angle > eps_angle_)
+        {
+          angles_[i].visible = false;
+          same_side = false;
+        }
+        // Saving the edges between nearby boundary points
+        if ((i!=0) && (same_side) &&
+            ((state_[nnIdx[i]] == GP3Type::FRINGE) ||
+             (state_[nnIdx[i]] == GP3Type::BOUNDARY)))
+        {
+          doubleEdge e;
+          e.index = i;
+          nr_edge++;
+          tmp_ = getCoord(ffn_[nnIdx[i]]) - proj_qp_;
+          e.first[0] = tmp_.dot(u_);
+          e.first[1] = tmp_.dot(v_);
+          tmp_ = getCoord(sfn_[nnIdx[i]]) - proj_qp_;
+          e.second[0] = tmp_.dot(u_);
+          e.second[1] = tmp_.dot(v_);
+          doubleEdges.push_back(e);
+          // Pruning by visibility criterion
+          if ((state_[nnIdx[i]] == GP3Type::FRINGE) &&
+              (ffn_[R_] != nnIdx[i]) && (sfn_[R_] != nnIdx[i]))
+          {
+            double angle1 = atan2(e.first[1] - uvn_nn[i][1],
+                e.first[0] - uvn_nn[i][0]);
+            double angle2 = atan2(e.second[1] - uvn_nn[i][1],
+                e.second[0] - uvn_nn[i][0]);
+            double angleMin, angleMax;
+            if (angle1 < angle2)
+            {
+              angleMin = angle1;
+              angleMax = angle2;
+            }
+            else
+            {
+              angleMin = angle2;
+              angleMax = angle1;
+            }
+            double angleR = angles_[i].angle + M_PI;
+            if (angleR >= 2*M_PI)
+              angleR -= 2*M_PI;
+            if ((source_[nnIdx[i]] == ffn_[nnIdx[i]]) || (source_[nnIdx[i]] == sfn_[nnIdx[i]]))
+            {
+              if ((angleMax - angleMin) < M_PI)
+              {
+                if ((angleMin < angleR) && (angleR < angleMax))
+                  angles_[i].visible = false;
+              }
+              else
+              {
+                if ((angleR < angleMin) || (angleMax < angleR))
+                  angles_[i].visible = false;
+              }
+            }
+            else
+            {
+              tmp_ = getCoord(source_[nnIdx[i]]) - proj_qp_;
+              uvn_s[0] = tmp_.dot(u_);
+              uvn_s[1] = tmp_.dot(v_);
+              double angleS = atan2(uvn_s[1] - uvn_nn[i][1],
+                  uvn_s[0] - uvn_nn[i][0]);
+              if ((angleMin < angleS) && (angleS < angleMax))
+              {
+                if ((angleMin < angleR) && (angleR < angleMax))
+                  angles_[i].visible = false;
+              }
+              else
+              {
+                if ((angleR < angleMin) || (angleMax < angleR))
+                  angles_[i].visible = false;
+              }
+            }
+          }
+        }
+      }
+      angles_[0].visible = false;
+
+      // Verify the visibility of each potential new vertex
+      // nearest neighbor with index 0 is the query point R_ itself
+      for (int i = 1; i < nnn_; i++)
+        if ((angles_[i].visible) &&
+            (ffn_[R_] != nnIdx[i]) && (sfn_[R_] != nnIdx[i]))
+        {
+          bool visibility = true;
+          for (size_t j = 0; j < nr_edge; j++)
+          {
+            //ABELL - This seems weird.  i is just a count of the nearest
+            // neighbors, not a point index.  Are some indicies the index
+            // of the nearest neighbors?  If so, confusing.
+            if (doubleEdges[j].index != (PointId)i)
+            {
+              PointId f = ffn_[nnIdx[doubleEdges[j].index]];
+              if ((f != nnIdx[i]) && (f != R_))
+                visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index],
+                    doubleEdges[j].first, Eigen::Vector2d::Zero());
+              if (visibility == false)
+                break;
+
+              PointId s = sfn_[nnIdx[doubleEdges[j].index]];
+              if ((s != nnIdx[i]) && (s != R_))
+                visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index],
+                    doubleEdges[j].second, Eigen::Vector2d::Zero());
+              if (visibility == false)
+                break;
+            }
+          }
+          angles_[i].visible = visibility;
+        }
+
+      // Sorting angles
+      std::sort(angles_.begin (), angles_.end (),
+          [](const nnAngle& a1, const nnAngle& a2)
+      {
+          return (a1.visible == a2.visible ?
+            a1.angle < a2.angle :
+            a1.visible);
+      });
+
+      // Triangulating
+      if (angles_[2].visible == false)
+      {
+        if ( !( (angles_[0].index == ffn_[R_] && angles_[1].index == sfn_[R_])
+            || (angles_[0].index == sfn_[R_] && angles_[1].index == ffn_[R_]) ))
+        {
+          state_[R_] = GP3Type::BOUNDARY;
+        }
+        else
+        {
+          if ((source_[R_] == angles_[0].index) ||
+              (source_[R_] == angles_[1].index))
+            state_[R_] = GP3Type::BOUNDARY;
+          else
+          {
+            if (sqr_max_edge <
+                (getCoord(ffn_[R_]) - getCoord(sfn_[R_])).squaredNorm ())
+            {
+              state_[R_] = GP3Type::BOUNDARY;
+            }
+            else
+            {
+              tmp_ = getCoord(source_[R_]) - proj_qp_;
+              uvn_s[0] = tmp_.dot(u_);
+              uvn_s[1] = tmp_.dot(v_);
+              double angleS = atan2(uvn_s[1], uvn_s[0]);
+              double dif = angles_[1].angle - angles_[0].angle;
+              if ((angles_[0].angle < angleS) && (angleS < angles_[1].angle))
+              {
+                if (dif < 2*M_PI - maximum_angle_)
+                  state_[R_] = GP3Type::BOUNDARY;
+                else
+                  closeTriangle();
+              }
+              else
+              {
+                if (dif >= maximum_angle_)
+                  state_[R_] = GP3Type::BOUNDARY;
+                else
+                  closeTriangle();
+              }
+            }
+          }
+        }
+        continue;
+      }
+
+      // Finding the FFN and SFN
+      int start = -1, end = -1;
+      for (int i=0; i<nnn_; i++)
+      {
+        if (ffn_[R_] == angles_[i].index)
+        {
+          start = i;
+          if (sfn_[R_] == angles_[i+1].index)
+            end = i+1;
+          else
+            if (i==0)
+            {
+              for (i = i+2; i < nnn_; i++)
+                if (sfn_[R_] == angles_[i].index)
+                  break;
+              end = i;
+            }
+            else
+            {
+              for (i = i+2; i < nnn_; i++)
+                if (sfn_[R_] == angles_[i].index)
+                  break;
+              end = i;
+            }
+          break;
+        }
+        if (sfn_[R_] == angles_[i].index)
+        {
+          start = i;
+          if (ffn_[R_] == angles_[i+1].index)
+            end = i+1;
+          else
+            if (i==0)
+            {
+              for (i = i+2; i < nnn_; i++)
+                if (ffn_[R_] == angles_[i].index)
+                  break;
+              end = i;
+            }
+            else
+            {
+              for (i = i+2; i < nnn_; i++)
+                if (ffn_[R_] == angles_[i].index)
+                  break;
+              end = i;
+            }
+          break;
+        }
+      }
+
+      // start and end are always set, as we checked if ffn or sfn are out
+      // of range before, but let's check anyways if < 0
+      if ((start < 0) || (end < 0) || (end == nnn_) ||
+          (!angles_[start].visible) || (!angles_[end].visible))
+      {
+        state_[R_] = GP3Type::BOUNDARY;
+        continue;
+      }
+
+      // Finding last visible nn
+      int last_visible = end;
+      while ((last_visible+1<nnn_) && (angles_[last_visible+1].visible))
+          last_visible++;
+
+      // Finding visibility region of R
+      bool need_invert = false;
+      int sourceIdx = nnn_;
+      if ((source_[R_] == ffn_[R_]) || (source_[R_] == sfn_[R_]))
+      {
+        if ((angles_[end].angle - angles_[start].angle) < M_PI)
+          need_invert = true;
+      }
+      else
+      {
+        for (sourceIdx=0; sourceIdx<nnn_; sourceIdx++)
+          if (angles_[sourceIdx].index == source_[R_])
+            break;
+        if (sourceIdx == nnn_)
+        {
+          // any free visible and nearest completed or boundary neighbor of R
+          int vis_free(-1);
+          int nnCB(-1);
+
+          // nearest neighbor with index 0 is the query point R_ itself
+          for (int i = 1; i < nnn_; i++)
+          {
+            // NOTE: nnCB is an index in nnIdx
+            if ((state_[nnIdx[i]] == GP3Type::COMPLETED) ||
+                (state_[nnIdx[i]] == GP3Type::BOUNDARY))
+            {
+              if (nnCB == -1)
+              {
+                nnCB = i;
+                if (vis_free != -1)
+                  break;
+              }
+            }
+            // NOTE: vis_free is an index in angles
+            if (!stateSet(angles_[i].index))
+            {
+              if (i <= last_visible)
+              {
+                vis_free = i;
+                if (nnCB != -1)
+                  break;
+              }
+            }
+          }
+          // NOTE: nCB is an index in angles
+          int nCB = 0;
+          if (nnCB != -1)
+            while (angles_[nCB].index != nnIdx[nnCB]) nCB++;
+          else
+            nCB = -1;
+
+          if (vis_free != -1)
+          {
+            if ((vis_free < start) || (vis_free > end))
+              need_invert = true;
+          }
+          else
+          {
+            if (nCB != -1)
+            {
+              if ((nCB == start) || (nCB == end))
+              {
+                bool inside_CB = false;
+                bool outside_CB = false;
+                for (int i=0; i<nnn_; i++)
+                {
+                  if (
+                      ((state_[angles_[i].index] == GP3Type::COMPLETED) ||
+                       (state_[angles_[i].index] == GP3Type::BOUNDARY)) &&
+                       (i != start) && (i != end)
+                     )
+                    {
+                      if ((angles_[start].angle <= angles_[i].angle) &&
+                          (angles_[i].angle <= angles_[end].angle))
+                      {
+                        inside_CB = true;
+                        if (outside_CB)
+                          break;
+                      }
+                      else
+                      {
+                        outside_CB = true;
+                        if (inside_CB)
+                          break;
+                      }
+                    }
+                }
+                if (inside_CB && !outside_CB)
+                  need_invert = true;
+                else if (!(!inside_CB && outside_CB))
+                {
+                  if ((angles_[end].angle - angles_[start].angle) < M_PI)
+                    need_invert = true;
+                }
+              }
+              else
+              {
+                if ((angles_[nCB].angle > angles_[start].angle) &&
+                    (angles_[nCB].angle < angles_[end].angle))
+                  need_invert = true;
+              }
+            }
+            else
+            {
+              if (start == end-1)
+                need_invert = true;
+            }
+          }
+        }
+        else if ((angles_[start].angle < angles_[sourceIdx].angle) &&
+            (angles_[sourceIdx].angle < angles_[end].angle))
+          need_invert = true;
+      }
+
+      // switching start and end if necessary
+      if (need_invert)
+        std::swap(start, end);
+
+      // Arranging visible nnAngles in the order they need to be connected and
+      // compute the maximal angle difference between two consecutive visible
+      // angles
+      bool is_boundary = false, is_skinny = false;
+      std::vector<bool> gaps (nnn_, false);
+      std::vector<bool> skinny (nnn_, false);
+      std::vector<double> dif (nnn_);
+      std::vector<int> angleIdx; angleIdx.reserve (nnn_);
+      if (start > end)
+      {
+        for (int j=start; j<last_visible; j++)
+        {
+          dif[j] = (angles_[j+1].angle - angles_[j].angle);
+          if (dif[j] < minimum_angle_)
+          {
+            skinny[j] = is_skinny = true;
+          }
+          else if (maximum_angle_ <= dif[j])
+          {
+            gaps[j] = is_boundary = true;
+          }
+          if ((!gaps[j]) &&
+              (sqr_max_edge <
+                  (getCoord(angles_[j+1].index) - getCoord(angles_[j].index)).
+                  squaredNorm ()))
+          {
+            gaps[j] = is_boundary = true;
+          }
+          angleIdx.push_back(j);
+        }
+
+        dif[last_visible] = (2 * M_PI + angles_[0].angle -
+            angles_[last_visible].angle);
+        if (dif[last_visible] < minimum_angle_)
+        {
+          skinny[last_visible] = is_skinny = true;
+        }
+        else if (maximum_angle_ <= dif[last_visible])
+        {
+          gaps[last_visible] = is_boundary = true;
+        }
+        if ((!gaps[last_visible]) &&
+            (sqr_max_edge < (getCoord(angles_[0].index) -
+                getCoord(angles_[last_visible].index)).squaredNorm ()))
+        {
+          gaps[last_visible] = is_boundary = true;
+        }
+        angleIdx.push_back(last_visible);
+
+        for (int j=0; j<end; j++)
+        {
+          dif[j] = (angles_[j+1].angle - angles_[j].angle);
+          if (dif[j] < minimum_angle_)
+          {
+            skinny[j] = is_skinny = true;
+          }
+          else if (maximum_angle_ <= dif[j])
+          {
+            gaps[j] = is_boundary = true;
+          }
+          if ((!gaps[j]) &&
+              (sqr_max_edge < (getCoord(angles_[j+1].index) -
+                  getCoord(angles_[j].index)).squaredNorm ()))
+          {
+            gaps[j] = is_boundary = true;
+          }
+          angleIdx.push_back(j);
+        }
+        angleIdx.push_back(end);
+      }
+      // start < end
+      else
+      {
+        for (int j=start; j<end; j++)
+        {
+          dif[j] = (angles_[j+1].angle - angles_[j].angle);
+          if (dif[j] < minimum_angle_)
+          {
+            skinny[j] = is_skinny = true;
+          }
+          else if (maximum_angle_ <= dif[j])
+          {
+            gaps[j] = is_boundary = true;
+          }
+          if ((!gaps[j]) &&
+              (sqr_max_edge < (getCoord(angles_[j+1].index) -
+                  getCoord(angles_[j].index)).squaredNorm ()))
+          {
+            gaps[j] = is_boundary = true;
+          }
+          angleIdx.push_back(j);
+        }
+        angleIdx.push_back(end);
+      }
+
+      // Set the state of the point
+      state_[R_] = is_boundary ? GP3Type::BOUNDARY : GP3Type::COMPLETED;
+
+      std::vector<int>::iterator first_gap_after = angleIdx.end ();
+      std::vector<int>::iterator last_gap_before = angleIdx.begin ();
+      int nr_gaps = 0;
+      for (auto it = angleIdx.begin (); it != angleIdx.end () - 1; it++)
+      {
+        if (gaps[*it])
+        {
+          nr_gaps++;
+          if (first_gap_after == angleIdx.end())
+            first_gap_after = it;
+          last_gap_before = it + 1;
+        }
+      }
+      if (nr_gaps > 1)
+      {
+        angleIdx.erase(first_gap_after+1, last_gap_before);
+      }
+
+      // Neglecting points that would form skinny triangles (if possible)
+      if (is_skinny)
+      {
+        double angle_so_far = 0, angle_would_be;
+        double max_combined_angle =
+            (std::min)(maximum_angle_, M_PI-2*minimum_angle_);
+        Eigen::Vector2d X;
+        Eigen::Vector2d S1;
+        Eigen::Vector2d S2;
+        std::vector<int> to_erase;
+        for (auto it = angleIdx.begin()+1; it != angleIdx.end()-1; it++)
+        {
+          if (gaps[*(it-1)])
+            angle_so_far = 0;
+          else
+            angle_so_far += dif[*(it-1)];
+          if (gaps[*it])
+            angle_would_be = angle_so_far;
+          else
+            angle_would_be = angle_so_far + dif[*it];
+          if (
+              (skinny[*it] || skinny[*(it-1)]) &&
+              (!stateSet(angles_[*it].index) ||
+               !stateSet(angles_[*(it-1)].index)) &&
+              ((!gaps[*it]) ||
+                  (angles_[*it].nnIndex > angles_[*(it-1)].nnIndex)) &&
+              ((!gaps[*(it-1)]) ||
+                  (angles_[*it].nnIndex > angles_[*(it+1)].nnIndex)) &&
+              (angle_would_be < max_combined_angle)
+             )
+          {
+            if (gaps[*(it-1)])
+            {
+              gaps[*it] = true;
+              to_erase.push_back(*it);
+            }
+            else if (gaps[*it])
+            {
+              gaps[*(it-1)] = true;
+              to_erase.push_back(*it);
+            }
+            else
+            {
+              int erased_idx = static_cast<int> (to_erase.size ()) -1;
+              auto prev_it = it - 1;
+              for (; (erased_idx != -1) && (it != angleIdx.begin()); it--)
+                if (*it == to_erase[erased_idx])
+                  erased_idx--;
+                else
+                  break;
+              bool can_delete = true;
+              for (auto curr_it = prev_it+1; curr_it != it+1; curr_it++)
+              {
+                tmp_ = getCoord(angles_[*curr_it].index) - proj_qp_;
+                X[0] = tmp_.dot(u_);
+                X[1] = tmp_.dot(v_);
+                tmp_ = getCoord(angles_[*prev_it].index) - proj_qp_;
+                S1[0] = tmp_.dot(u_);
+                S1[1] = tmp_.dot(v_);
+                tmp_ = getCoord(angles_[*(it+1)].index) - proj_qp_;
+                S2[0] = tmp_.dot(u_);
+                S2[1] = tmp_.dot(v_);
+                // check for inclusions
+                if (isVisible(X,S1,S2))
+                {
+                  can_delete = false;
+                  angle_so_far = 0;
+                  break;
+                }
+              }
+              if (can_delete)
+              {
+                to_erase.push_back(*it);
+              }
+            }
+          }
+          else
+            angle_so_far = 0;
+        }
+        for (auto it = to_erase.begin(); it != to_erase.end(); it++)
+        {
+          for (auto iter = angleIdx.begin(); iter != angleIdx.end(); iter++)
+            if (*it == *iter)
+            {
+              angleIdx.erase(iter);
+              break;
+            }
+        }
+      }
+
+      // Writing edges and updating edge-front
+      changed_1st_fn_ = false;
+      changed_2nd_fn_ = false;
+//ABELL - This seems bad - sentinel for index that's positive.
+      new2boundary_ = -1;
+      for (auto it = angleIdx.begin() + 1; it != angleIdx.end() - 1; it++)
+      {
+        current_index_ = angles_[*it].index;
+
+        is_current_free_ = false;
+        if (!stateSet(current_index_))
+        {
+          state_[current_index_] = GP3Type::FRINGE;
+          is_current_free_ = true;
+        }
+        else if (!already_connected_)
+        {
+          prev_is_ffn_ = (ffn_[current_index_] ==
+            angles_[*(it-1)].index) && (!gaps[*(it-1)]);
+          prev_is_sfn_ = (sfn_[current_index_] ==
+            angles_[*(it-1)].index) && (!gaps[*(it-1)]);
+          next_is_ffn_ = (ffn_[current_index_] ==
+              angles_[*(it+1)].index) && (!gaps[*it]);
+          next_is_sfn_ = (sfn_[current_index_] ==
+              angles_[*(it+1)].index) && (!gaps[*it]);
+          if (!prev_is_ffn_ && !next_is_sfn_ && !prev_is_sfn_ && !next_is_ffn_)
+          {
+            nr_touched++;
+          }
+        }
+
+        if (gaps[*it])
+          if (gaps[*(it-1)])
+          {
+            if (is_current_free_)
+              state_[current_index_] = GP3Type::NONE; /// TODO: document!
+          }
+
+          else // (gaps[*it]) && ^(gaps[*(it-1)])
+          {
+            addTriangle (current_index_, angles_[*(it-1)].index, R_);
+            addFringePoint (current_index_, R_);
+            new2boundary_ = current_index_;
+            if (!already_connected_)
+              connectPoint (angles_[*(it-1)].index, R_, angles_[*(it+1)].index,
+                  uvn_nn[angles_[*it].nnIndex],
+                  uvn_nn[angles_[*(it-1)].nnIndex], uvn_nn_qp_zero);
+            else
+                already_connected_ = false;
+            if (ffn_[R_] == angles_[*(angleIdx.begin())].index)
+            {
+              ffn_[R_] = new2boundary_;
+            }
+            else if (sfn_[R_] == angles_[*(angleIdx.begin())].index)
+            {
+              sfn_[R_] = new2boundary_;
+            }
+          }
+
+        else // ^(gaps[*it])
+          if (gaps[*(it-1)])
+          {
+            addFringePoint (current_index_, R_);
+            new2boundary_ = current_index_;
+            if (!already_connected_)
+                connectPoint(R_, angles_[*(it+1)].index,
+                    (it+2) == angleIdx.end() ? -1 : angles_[*(it+2)].index,
+                    uvn_nn[angles_[*it].nnIndex], uvn_nn_qp_zero,
+                    uvn_nn[angles_[*(it+1)].nnIndex]);
+            else
+                already_connected_ = false;
+            if (ffn_[R_] == angles_[*(angleIdx.end()-1)].index)
+            {
+              ffn_[R_] = new2boundary_;
+            }
+            else if (sfn_[R_] == angles_[*(angleIdx.end()-1)].index)
+            {
+              sfn_[R_] = new2boundary_;
+            }
+          }
+
+          else // ^(gaps[*it]) && ^(gaps[*(it-1)])
+          {
+            addTriangle (current_index_, angles_[*(it-1)].index, R_);
+            addFringePoint (current_index_, R_);
+            if (!already_connected_)
+                connectPoint (angles_[*(it-1)].index, angles_[*(it+1)].index,
+                    (it+2) == angleIdx.end() ? -1 :
+                        gaps[*(it+1)] ? R_ :
+                        angles_[*(it+2)].index,
+                    uvn_nn[angles_[*it].nnIndex],
+                    uvn_nn[angles_[*(it-1)].nnIndex],
+                    uvn_nn[angles_[*(it+1)].nnIndex]);
+            else
+                already_connected_ = false;
+          }
+      }
+
+      // Finishing up R_
+      if (ffn_[R_] == sfn_[R_])
+      {
+        state_[R_] = GP3Type::COMPLETED;
+      }
+      if (!gaps[*(angleIdx.end()-2)])
+      {
+        addTriangle (angles_[*(angleIdx.end()-2)].index,
+            angles_[*(angleIdx.end()-1)].index, R_);
+        addFringePoint (angles_[*(angleIdx.end()-2)].index, R_);
+        if (R_ == ffn_[angles_[*(angleIdx.end()-1)].index])
+        {
+          if (angles_[*(angleIdx.end()-2)].index ==
+              sfn_[angles_[*(angleIdx.end()-1)].index])
+          {
+            state_[angles_[*(angleIdx.end()-1)].index] = GP3Type::COMPLETED;
+          }
+          else
+          {
+            ffn_[angles_[*(angleIdx.end()-1)].index] =
+                angles_[*(angleIdx.end()-2)].index;
+          }
+        }
+        else if (R_ == sfn_[angles_[*(angleIdx.end()-1)].index])
+        {
+          if (angles_[*(angleIdx.end()-2)].index ==
+              ffn_[angles_[*(angleIdx.end()-1)].index])
+          {
+            state_[angles_[*(angleIdx.end()-1)].index] = GP3Type::COMPLETED;
+          }
+          else
+          {
+            sfn_[angles_[*(angleIdx.end()-1)].index] =
+                angles_[*(angleIdx.end()-2)].index;
+          }
+        }
+      }
+      if (!gaps[*(angleIdx.begin())])
+      {
+        if (R_ == ffn_[angles_[*(angleIdx.begin())].index])
+        {
+          if (angles_[*(angleIdx.begin()+1)].index ==
+              sfn_[angles_[*(angleIdx.begin())].index])
+          {
+            state_[angles_[*(angleIdx.begin())].index] = GP3Type::COMPLETED;
+          }
+          else
+          {
+            ffn_[angles_[*(angleIdx.begin())].index] =
+                angles_[*(angleIdx.begin()+1)].index;
+          }
+        }
+        else if (R_ == sfn_[angles_[*(angleIdx.begin())].index])
+        {
+          if (angles_[*(angleIdx.begin()+1)].index ==
+              ffn_[angles_[*(angleIdx.begin())].index])
+          {
+            state_[angles_[*(angleIdx.begin())].index] = GP3Type::COMPLETED;
+          }
+          else
+          {
+            sfn_[angles_[*(angleIdx.begin())].index] =
+                angles_[*(angleIdx.begin()+1)].index;
+          }
+        }
+      }
+    }
+  }
+  log()->get(LogLevel::Debug) << "Number of triangles: " <<
+      mesh_->size() << ".\n";
+  log()->get(LogLevel::Debug) << "Number of unconnected parts: " << nr_parts <<
+      ".\n";
+  if (increase_nnn4fn > 0)
+      log()->get(LogLevel::Warning) << "Number of neighborhood size "
+          "increase requests for fringe neighbors: " << increase_nnn4fn <<
+          ".\n";
+  if (increase_nnn4s > 0)
+      log()->get(LogLevel::Warning) << "Number of neighborhood size "
+          "increase requests for source: " << increase_nnn4s << ".\n";
+  if (increase_dist > 0)
+      log()->get(LogLevel::Warning) << "Number of automatic maximum "
+          "distance increases: " << increase_dist << ".\n";
+
+  // sorting and removing doubles from fringe queue
+  std::sort (fringe_queue_.begin(), fringe_queue_.end ());
+  fringe_queue_.erase (std::unique(fringe_queue_.begin(), fringe_queue_.end()),
+      fringe_queue_.end ());
+  log()->get(LogLevel::Debug) << "Number of processed points: " <<
+      fringe_queue_.size() << " / " << view.size() << "!\n";
+  view_ = nullptr;
+}
+
+void GreedyProjection::closeTriangle ()
+{
+  state_[R_] = GP3Type::COMPLETED;
+  addTriangle (angles_[0].index, angles_[1].index, R_);
+  for (int aIdx=0; aIdx<2; aIdx++)
+  {
+    if (ffn_[angles_[aIdx].index] == R_)
+    {
+      if (sfn_[angles_[aIdx].index] == angles_[(aIdx+1)%2].index)
+      {
+        state_[angles_[aIdx].index] = GP3Type::COMPLETED;
+      }
+      else
+      {
+        ffn_[angles_[aIdx].index] = angles_[(aIdx+1)%2].index;
+      }
+    }
+    else if (sfn_[angles_[aIdx].index] == R_)
+    {
+      if (ffn_[angles_[aIdx].index] == angles_[(aIdx+1)%2].index)
+      {
+        state_[angles_[aIdx].index] = GP3Type::COMPLETED;
+      }
+      else
+      {
+        sfn_[angles_[aIdx].index] = angles_[(aIdx+1)%2].index;
+      }
+    }
+  }
+}
+
+void GreedyProjection::connectPoint (
+    PointId prev_index, PointId next_index, PointId next_next_index,
+    const Eigen::Vector2d &uvn_current,
+    const Eigen::Vector2d &uvn_prev,
+    const Eigen::Vector2d &uvn_next)
+{
+  if (is_current_free_)
+  {
+    ffn_[current_index_] = prev_index;
+    sfn_[current_index_] = next_index;
+  }
+  else
+  {
+    if ((prev_is_ffn_ && next_is_sfn_) || (prev_is_sfn_ && next_is_ffn_))
+      state_[current_index_] = GP3Type::COMPLETED;
+    else if (prev_is_ffn_ && !next_is_sfn_)
+      ffn_[current_index_] = next_index;
+    else if (next_is_ffn_ && !prev_is_sfn_)
+      ffn_[current_index_] = prev_index;
+    else if (prev_is_sfn_ && !next_is_ffn_)
+      sfn_[current_index_] = next_index;
+    else if (next_is_sfn_ && !prev_is_ffn_)
+      sfn_[current_index_] = prev_index;
+    else
+    {
+      bool found_triangle = false;
+      if ((prev_index != R_) &&
+          ((ffn_[current_index_] == ffn_[prev_index]) ||
+           (ffn_[current_index_] == sfn_[prev_index])))
+      {
+        found_triangle = true;
+        addTriangle (current_index_, ffn_[current_index_], prev_index);
+        state_[prev_index] = GP3Type::COMPLETED;
+        state_[ffn_[current_index_]] = GP3Type::COMPLETED;
+        ffn_[current_index_] = next_index;
+      }
+      else if ((prev_index != R_) &&
+          ((sfn_[current_index_] == ffn_[prev_index]) ||
+           (sfn_[current_index_] == sfn_[prev_index])))
+      {
+        found_triangle = true;
+        addTriangle (current_index_, sfn_[current_index_], prev_index);
+        state_[prev_index] = GP3Type::COMPLETED;
+        state_[sfn_[current_index_]] = GP3Type::COMPLETED;
+        sfn_[current_index_] = next_index;
+      }
+      else if (stateSet(next_index))
+      {
+        if ((ffn_[current_index_] == ffn_[next_index]) ||
+            (ffn_[current_index_] == sfn_[next_index]))
+        {
+          found_triangle = true;
+          addTriangle (current_index_, ffn_[current_index_], next_index);
+
+          if (ffn_[current_index_] == ffn_[next_index])
+          {
+            ffn_[next_index] = current_index_;
+          }
+          else
+          {
+            sfn_[next_index] = current_index_;
+          }
+          state_[ffn_[current_index_]] = GP3Type::COMPLETED;
+          ffn_[current_index_] = prev_index;
+        }
+        else if ((sfn_[current_index_] == ffn_[next_index]) ||
+            (sfn_[current_index_] == sfn_[next_index]))
+        {
+          found_triangle = true;
+          addTriangle (current_index_, sfn_[current_index_], next_index);
+
+          if (sfn_[current_index_] == ffn_[next_index])
+          {
+            ffn_[next_index] = current_index_;
+          }
+          else
+          {
+            sfn_[next_index] = current_index_;
+          }
+          state_[sfn_[current_index_]] = GP3Type::COMPLETED;
+          sfn_[current_index_] = prev_index;
+        }
+      }
+
+      if (found_triangle)
+      {
+      }
+      else
+      {
+        tmp_ = getCoord(ffn_[current_index_]) - proj_qp_;
+        uvn_ffn_[0] = tmp_.dot(u_);
+        uvn_ffn_[1] = tmp_.dot(v_);
+        tmp_ = getCoord(sfn_[current_index_]) - proj_qp_;
+        uvn_sfn_[0] = tmp_.dot(u_);
+        uvn_sfn_[1] = tmp_.dot(v_);
+        bool prev_ffn = isVisible(uvn_prev, uvn_next, uvn_current, uvn_ffn_) &&
+            isVisible(uvn_prev, uvn_sfn_, uvn_current, uvn_ffn_);
+        bool prev_sfn = isVisible(uvn_prev, uvn_next, uvn_current, uvn_sfn_) &&
+            isVisible(uvn_prev, uvn_ffn_, uvn_current, uvn_sfn_);
+        bool next_ffn = isVisible(uvn_next, uvn_prev, uvn_current, uvn_ffn_) &&
+            isVisible(uvn_next, uvn_sfn_, uvn_current, uvn_ffn_);
+        bool next_sfn = isVisible(uvn_next, uvn_prev, uvn_current, uvn_sfn_) &&
+            isVisible(uvn_next, uvn_ffn_, uvn_current, uvn_sfn_);
+        int min_dist = -1;
+        if (prev_ffn && next_sfn && prev_sfn && next_ffn)
+        {
+          /* should be never the case */
+          double prev2f = (getCoord(ffn_[current_index_]) -
+              getCoord(prev_index)).squaredNorm ();
+          double next2s = (getCoord(sfn_[current_index_]) -
+              getCoord(next_index)).squaredNorm ();
+          double prev2s = (getCoord(sfn_[current_index_]) -
+              getCoord(prev_index)).squaredNorm ();
+          double next2f = (getCoord(ffn_[current_index_]) -
+              getCoord(next_index)).squaredNorm ();
+          if (prev2f < prev2s)
+          {
+            if (prev2f < next2f)
+            {
+              if (prev2f < next2s)
+                min_dist = 0;
+              else
+                min_dist = 3;
+            }
+            else
+            {
+              if (next2f < next2s)
+                min_dist = 2;
+              else
+                min_dist = 3;
+            }
+          }
+          else
+          {
+            if (prev2s < next2f)
+            {
+              if (prev2s < next2s)
+                min_dist = 1;
+              else
+                min_dist = 3;
+            }
+            else
+            {
+              if (next2f < next2s)
+                min_dist = 2;
+              else
+                min_dist = 3;
+            }
+          }
+        }
+        else if (prev_ffn && next_sfn)
+        {
+          /* a clear case */
+          double prev2f = (getCoord(ffn_[current_index_]) -
+              getCoord(prev_index)).squaredNorm();
+          double next2s = (getCoord(sfn_[current_index_]) -
+              getCoord(next_index)).squaredNorm ();
+          if (prev2f < next2s)
+            min_dist = 0;
+          else
+            min_dist = 3;
+        }
+        else if (prev_sfn && next_ffn)
+        {
+          /* a clear case */
+          double prev2s = (getCoord(sfn_[current_index_]) -
+              getCoord(prev_index)).squaredNorm ();
+          double next2f = (getCoord(ffn_[current_index_]) -
+              getCoord(next_index)).squaredNorm ();
+          if (prev2s < next2f)
+            min_dist = 1;
+          else
+            min_dist = 2;
+        }
+        /* straightforward cases */
+        else if (prev_ffn && !next_sfn && !prev_sfn && !next_ffn)
+          min_dist = 0;
+        else if (!prev_ffn && !next_sfn && prev_sfn && !next_ffn)
+          min_dist = 1;
+        else if (!prev_ffn && !next_sfn && !prev_sfn && next_ffn)
+          min_dist = 2;
+        else if (!prev_ffn && next_sfn && !prev_sfn && !next_ffn)
+          min_dist = 3;
+        /* messed up cases */
+        else if (prev_ffn)
+        {
+          double prev2f = (getCoord(ffn_[current_index_]) -
+              getCoord(prev_index)).squaredNorm ();
+          if (prev_sfn)
+          {
+            double prev2s = (getCoord(sfn_[current_index_]) -
+                getCoord(prev_index)).squaredNorm ();
+            if (prev2s < prev2f)
+              min_dist = 1;
+            else
+              min_dist = 0;
+          }
+          else if (next_ffn)
+          {
+            double next2f = (getCoord(ffn_[current_index_]) -
+                getCoord(next_index)).squaredNorm ();
+            if (next2f < prev2f)
+              min_dist = 2;
+            else
+              min_dist = 0;
+          }
+        }
+        else if (next_sfn)
+        {
+          double next2s = (getCoord(sfn_[current_index_]) -
+              getCoord(next_index)).squaredNorm ();
+          if (prev_sfn)
+          {
+            double prev2s = (getCoord(sfn_[current_index_]) -
+                getCoord(prev_index)).squaredNorm ();
+            if (prev2s < next2s)
+              min_dist = 1;
+            else
+              min_dist = 3;
+          }
+          else if (next_ffn)
+          {
+            double next2f = (getCoord(ffn_[current_index_]) -
+                getCoord(next_index)).squaredNorm ();
+            if (next2f < next2s)
+              min_dist = 2;
+            else
+              min_dist = 3;
+          }
+        }
+        switch (min_dist)
+        {
+          case 0://prev2f:
+          {
+            addTriangle (current_index_, ffn_[current_index_], prev_index);
+
+            /* updating prev_index */
+            if (ffn_[prev_index] == current_index_)
+            {
+              ffn_[prev_index] = ffn_[current_index_];
+            }
+            else if (sfn_[prev_index] == current_index_)
+            {
+              sfn_[prev_index] = ffn_[current_index_];
+            }
+            else if (ffn_[prev_index] == R_)
+            {
+              changed_1st_fn_ = true;
+              ffn_[prev_index] = ffn_[current_index_];
+            }
+            else if (sfn_[prev_index] == R_)
+            {
+              changed_1st_fn_ = true;
+              sfn_[prev_index] = ffn_[current_index_];
+            }
+            else if (prev_index == R_)
+            {
+              new2boundary_ = ffn_[current_index_];
+            }
+
+            /* updating ffn */
+            if (ffn_[ffn_[current_index_]] == current_index_)
+            {
+              ffn_[ffn_[current_index_]] = prev_index;
+            }
+            else if (sfn_[ffn_[current_index_]] == current_index_)
+            {
+              sfn_[ffn_[current_index_]] = prev_index;
+            }
+
+            /* updating current */
+            ffn_[current_index_] = next_index;
+
+            break;
+          }
+          case 1://prev2s:
+          {
+            addTriangle (current_index_, sfn_[current_index_], prev_index);
+
+            /* updating prev_index */
+            if (ffn_[prev_index] == current_index_)
+            {
+              ffn_[prev_index] = sfn_[current_index_];
+            }
+            else if (sfn_[prev_index] == current_index_)
+            {
+              sfn_[prev_index] = sfn_[current_index_];
+            }
+            else if (ffn_[prev_index] == R_)
+            {
+              changed_1st_fn_ = true;
+              ffn_[prev_index] = sfn_[current_index_];
+            }
+            else if (sfn_[prev_index] == R_)
+            {
+              changed_1st_fn_ = true;
+              sfn_[prev_index] = sfn_[current_index_];
+            }
+            else if (prev_index == R_)
+            {
+              new2boundary_ = sfn_[current_index_];
+            }
+
+            /* updating sfn */
+            if (ffn_[sfn_[current_index_]] == current_index_)
+            {
+              ffn_[sfn_[current_index_]] = prev_index;
+            }
+            else if (sfn_[sfn_[current_index_]] == current_index_)
+            {
+              sfn_[sfn_[current_index_]] = prev_index;
+            }
+
+            /* updating current */
+            sfn_[current_index_] = next_index;
+
+            break;
+          }
+          case 2://next2f:
+          {
+            addTriangle (current_index_, ffn_[current_index_], next_index);
+            PointId neighbor_update = next_index;
+
+            /* updating next_index */
+            if (!stateSet(next_index))
+            {
+              state_[next_index] = GP3Type::FRINGE;
+              ffn_[next_index] = current_index_;
+              sfn_[next_index] = ffn_[current_index_];
+            }
+            else
+            {
+              if (ffn_[next_index] == R_)
+              {
+                changed_2nd_fn_ = true;
+                ffn_[next_index] = ffn_[current_index_];
+              }
+              else if (sfn_[next_index] == R_)
+              {
+                changed_2nd_fn_ = true;
+                sfn_[next_index] = ffn_[current_index_];
+              }
+              else if (next_index == R_)
+              {
+                new2boundary_ = ffn_[current_index_];
+                if (next_next_index == new2boundary_)
+                  already_connected_ = true;
+              }
+              else if (ffn_[next_index] == next_next_index)
+              {
+                already_connected_ = true;
+                ffn_[next_index] = ffn_[current_index_];
+              }
+              else if (sfn_[next_index] == next_next_index)
+              {
+                already_connected_ = true;
+                sfn_[next_index] = ffn_[current_index_];
+              }
+              else
+              {
+                tmp_ = getCoord(ffn_[next_index]) - proj_qp_;
+                uvn_next_ffn_[0] = tmp_.dot(u_);
+                uvn_next_ffn_[1] = tmp_.dot(v_);
+                tmp_ = getCoord(sfn_[next_index]) - proj_qp_;
+                uvn_next_sfn_[0] = tmp_.dot(u_);
+                uvn_next_sfn_[1] = tmp_.dot(v_);
+
+                bool ffn_next_ffn =
+                  isVisible(uvn_next_ffn_, uvn_next, uvn_current, uvn_ffn_) &&
+                  isVisible(uvn_next_ffn_, uvn_next, uvn_next_sfn_, uvn_ffn_);
+                bool sfn_next_ffn =
+                  isVisible(uvn_next_sfn_, uvn_next, uvn_current, uvn_ffn_) &&
+                  isVisible(uvn_next_sfn_, uvn_next, uvn_next_ffn_, uvn_ffn_);
+
+                int connect2ffn = -1;
+                if (ffn_next_ffn && sfn_next_ffn)
+                {
+                  double fn2f = (getCoord(ffn_[current_index_]) -
+                      getCoord(ffn_[next_index])).squaredNorm ();
+                  double sn2f = (getCoord(ffn_[current_index_]) -
+                      getCoord(sfn_[next_index])).squaredNorm ();
+                  if (fn2f < sn2f)
+                      connect2ffn = 0;
+                  else
+                      connect2ffn = 1;
+                }
+                else if (ffn_next_ffn)
+                    connect2ffn = 0;
+                else if (sfn_next_ffn)
+                    connect2ffn = 1;
+
+                switch (connect2ffn)
+                {
+                  case 0: // ffn[next]
+                  {
+                    addTriangle (next_index, ffn_[current_index_],
+                        ffn_[next_index]);
+                    neighbor_update = ffn_[next_index];
+
+                    /* ffn[next_index] */
+                    if ((ffn_[ffn_[next_index]] == ffn_[current_index_]) ||
+                        (sfn_[ffn_[next_index]] == ffn_[current_index_]))
+                    {
+                      state_[ffn_[next_index]] = GP3Type::COMPLETED;
+                    }
+                    else if (ffn_[ffn_[next_index]] == next_index)
+                    {
+                      ffn_[ffn_[next_index]] = ffn_[current_index_];
+                    }
+                    else if (sfn_[ffn_[next_index]] == next_index)
+                    {
+                      sfn_[ffn_[next_index]] = ffn_[current_index_];
+                    }
+
+                    ffn_[next_index] = current_index_;
+
+                    break;
+                  }
+                  case 1: // sfn[next]
+                  {
+                    addTriangle (next_index, ffn_[current_index_],
+                        sfn_[next_index]);
+                    neighbor_update = sfn_[next_index];
+
+                    /* sfn[next_index] */
+                    if ((ffn_[sfn_[next_index]] = ffn_[current_index_]) ||
+                        (sfn_[sfn_[next_index]] == ffn_[current_index_]))
+                    {
+                      state_[sfn_[next_index]] = GP3Type::COMPLETED;
+                    }
+                    else if (ffn_[sfn_[next_index]] == next_index)
+                    {
+                      ffn_[sfn_[next_index]] = ffn_[current_index_];
+                    }
+                    else if (sfn_[sfn_[next_index]] == next_index)
+                    {
+                      sfn_[sfn_[next_index]] = ffn_[current_index_];
+                    }
+
+                    sfn_[next_index] = current_index_;
+
+                    break;
+                  }
+                  default:;
+                }
+              }
+            }
+
+            /* updating ffn */
+            if ((ffn_[ffn_[current_index_]] == neighbor_update) ||
+                (sfn_[ffn_[current_index_]] == neighbor_update))
+            {
+              state_[ffn_[current_index_]] = GP3Type::COMPLETED;
+            }
+            else if (ffn_[ffn_[current_index_]] == current_index_)
+            {
+              ffn_[ffn_[current_index_]] = neighbor_update;
+            }
+            else if (sfn_[ffn_[current_index_]] == current_index_)
+            {
+              sfn_[ffn_[current_index_]] = neighbor_update;
+            }
+
+            /* updating current */
+            ffn_[current_index_] = prev_index;
+
+            break;
+          }
+          case 3://next2s:
+          {
+            addTriangle (current_index_, sfn_[current_index_], next_index);
+            PointId neighbor_update = next_index;
+
+            /* updating next_index */
+            if (!stateSet(next_index))
+            {
+              state_[next_index] = GP3Type::FRINGE;
+              ffn_[next_index] = current_index_;
+              sfn_[next_index] = sfn_[current_index_];
+            }
+            else
+            {
+              if (ffn_[next_index] == R_)
+              {
+                changed_2nd_fn_ = true;
+                ffn_[next_index] = sfn_[current_index_];
+              }
+              else if (sfn_[next_index] == R_)
+              {
+                changed_2nd_fn_ = true;
+                sfn_[next_index] = sfn_[current_index_];
+              }
+              else if (next_index == R_)
+              {
+                new2boundary_ = sfn_[current_index_];
+                if (next_next_index == new2boundary_)
+                  already_connected_ = true;
+              }
+              else if (ffn_[next_index] == next_next_index)
+              {
+                already_connected_ = true;
+                ffn_[next_index] = sfn_[current_index_];
+              }
+              else if (sfn_[next_index] == next_next_index)
+              {
+                already_connected_ = true;
+                sfn_[next_index] = sfn_[current_index_];
+              }
+              else
+              {
+                tmp_ = getCoord(ffn_[next_index]) - proj_qp_;
+                uvn_next_ffn_[0] = tmp_.dot(u_);
+                uvn_next_ffn_[1] = tmp_.dot(v_);
+                tmp_ = getCoord(sfn_[next_index]) - proj_qp_;
+                uvn_next_sfn_[0] = tmp_.dot(u_);
+                uvn_next_sfn_[1] = tmp_.dot(v_);
+
+                bool ffn_next_sfn =
+                    isVisible(uvn_next_ffn_, uvn_next, uvn_current, uvn_sfn_) &&
+                    isVisible(uvn_next_ffn_, uvn_next, uvn_next_sfn_, uvn_sfn_);
+                bool sfn_next_sfn =
+                    isVisible(uvn_next_sfn_, uvn_next, uvn_current, uvn_sfn_) &&
+                    isVisible(uvn_next_sfn_, uvn_next, uvn_next_ffn_, uvn_sfn_);
+
+                int connect2sfn = -1;
+                if (ffn_next_sfn && sfn_next_sfn)
+                {
+                  double fn2s = (getCoord(sfn_[current_index_]) -
+                      getCoord(ffn_[next_index])).squaredNorm ();
+                  double sn2s = (getCoord(sfn_[current_index_]) -
+                      getCoord(sfn_[next_index])).squaredNorm ();
+                  if (fn2s < sn2s)
+                      connect2sfn = 0;
+                  else
+                      connect2sfn = 1;
+                }
+                else if (ffn_next_sfn)
+                    connect2sfn = 0;
+                else if (sfn_next_sfn)
+                    connect2sfn = 1;
+
+                switch (connect2sfn)
+                {
+                  case 0: // ffn[next]
+                  {
+                    addTriangle (next_index, sfn_[current_index_],
+                        ffn_[next_index]);
+                    neighbor_update = ffn_[next_index];
+
+                    /* ffn[next_index] */
+                    if ((ffn_[ffn_[next_index]] == sfn_[current_index_]) ||
+                        (sfn_[ffn_[next_index]] == sfn_[current_index_]))
+                    {
+                      state_[ffn_[next_index]] = GP3Type::COMPLETED;
+                    }
+                    else if (ffn_[ffn_[next_index]] == next_index)
+                    {
+                      ffn_[ffn_[next_index]] = sfn_[current_index_];
+                    }
+                    else if (sfn_[ffn_[next_index]] == next_index)
+                    {
+                      sfn_[ffn_[next_index]] = sfn_[current_index_];
+                    }
+
+                    ffn_[next_index] = current_index_;
+
+                    break;
+                  }
+                  case 1: // sfn[next]
+                  {
+                    addTriangle (next_index, sfn_[current_index_],
+                        sfn_[next_index]);
+                    neighbor_update = sfn_[next_index];
+
+                    /* sfn[next_index] */
+                    if ((ffn_[sfn_[next_index]] == sfn_[current_index_]) ||
+                        (sfn_[sfn_[next_index]] == sfn_[current_index_]))
+                    {
+                      state_[sfn_[next_index]] = GP3Type::COMPLETED;
+                    }
+                    else if (ffn_[sfn_[next_index]] == next_index)
+                    {
+                      ffn_[sfn_[next_index]] = sfn_[current_index_];
+                    }
+                    else if (sfn_[sfn_[next_index]] == next_index)
+                    {
+                      sfn_[sfn_[next_index]] = sfn_[current_index_];
+                    }
+
+                    sfn_[next_index] = current_index_;
+
+                    break;
+                  }
+                  default:;
+                }
+              }
+            }
+
+            /* updating sfn */
+            if ((ffn_[sfn_[current_index_]] == neighbor_update) ||
+                (sfn_[sfn_[current_index_]] == neighbor_update))
+            {
+              state_[sfn_[current_index_]] = GP3Type::COMPLETED;
+            }
+            else if (ffn_[sfn_[current_index_]] == current_index_)
+            {
+              ffn_[sfn_[current_index_]] = neighbor_update;
+            }
+            else if (sfn_[sfn_[current_index_]] == current_index_)
+            {
+              sfn_[sfn_[current_index_]] = neighbor_update;
+            }
+
+            sfn_[current_index_] = prev_index;
+
+            break;
+          }
+          default:;
+        }
+      }
+    }
+  }
+}
+
+/**
+std::vector<std::vector<size_t> >
+GreedyProjection::getTriangleList (const pcl::PolygonMesh &input)
+{
+  std::vector<std::vector<size_t> > triangleList (input.cloud.width * input.cloud.height);
+
+  for (size_t i=0; i < input.polygons.size (); ++i)
+    for (size_t j=0; j < input.polygons[i].vertices.size (); ++j)
+      triangleList[input.polygons[i].vertices[j]].push_back (i);
+  return (triangleList);
+}
+**/
+
+} // namespace pdal
diff --git a/filters/GreedyProjection.hpp b/filters/GreedyProjection.hpp
new file mode 100644
index 0000000..c688a59
--- /dev/null
+++ b/filters/GreedyProjection.hpp
@@ -0,0 +1,445 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2010-2011, Willow Garage, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+#pragma once
+
+#include <fstream>
+#include <iostream>
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+#include <Eigen/Dense>
+
+extern "C" int32_t GreedyProjection_ExitFunc();
+extern "C" PF_ExitFunc GreedyProjection_InitPlugin();
+
+namespace pdal
+{
+  class TriangularMesh;
+
+  /** \brief Returns if a point X is visible from point R (or the origin)
+    * when taking into account the segment between the points S1 and S2
+    * \param X 2D coordinate of the point
+    * \param S1 2D coordinate of the segment's first point
+    * \param S2 2D coordinate of the segment's secont point
+    * \param R 2D coorddinate of the reference point (defaults to 0,0)
+    * \ingroup surface
+    */
+  inline bool
+  isVisible (const Eigen::Vector2d &X, const Eigen::Vector2d &S1,
+      const Eigen::Vector2d &S2,
+      const Eigen::Vector2d &R = Eigen::Vector2d::Zero ())
+  {
+    double a0 = S1[1] - S2[1];
+    double b0 = S2[0] - S1[0];
+    double c0 = S1[0]*S2[1] - S2[0]*S1[1];
+    double a1 = -X[1];
+    double b1 = X[0];
+    double c1 = 0;
+    if (R != Eigen::Vector2d::Zero())
+    {
+      a1 += R[1];
+      b1 -= R[0];
+      c1 = R[0]*X[1] - X[0]*R[1];
+    }
+    double div = a0*b1 - b0*a1;
+    double x = (b0*c1 - b1*c0) / div;
+    double y = (a1*c0 - a0*c1) / div;
+
+    bool intersection_outside_XR;
+    if (R == Eigen::Vector2d::Zero())
+    {
+      if (X[0] > 0)
+        intersection_outside_XR = (x <= 0) || (x >= X[0]);
+      else if (X[0] < 0)
+        intersection_outside_XR = (x >= 0) || (x <= X[0]);
+      else if (X[1] > 0)
+        intersection_outside_XR = (y <= 0) || (y >= X[1]);
+      else if (X[1] < 0)
+        intersection_outside_XR = (y >= 0) || (y <= X[1]);
+      else
+        intersection_outside_XR = true;
+    }
+    else
+    {
+      if (X[0] > R[0])
+        intersection_outside_XR = (x <= R[0]) || (x >= X[0]);
+      else if (X[0] < R[0])
+        intersection_outside_XR = (x >= R[0]) || (x <= X[0]);
+      else if (X[1] > R[1])
+        intersection_outside_XR = (y <= R[1]) || (y >= X[1]);
+      else if (X[1] < R[1])
+        intersection_outside_XR = (y >= R[1]) || (y <= X[1]);
+      else
+        intersection_outside_XR = true;
+    }
+    if (intersection_outside_XR)
+      return true;
+    else
+    {
+      if (S1[0] > S2[0])
+        return (x <= S2[0]) || (x >= S1[0]);
+      else if (S1[0] < S2[0])
+        return (x >= S2[0]) || (x <= S1[0]);
+      else if (S1[1] > S2[1])
+        return (y <= S2[1]) || (y >= S1[1]);
+      else if (S1[1] < S2[1])
+        return (y >= S2[1]) || (y <= S1[1]);
+      else
+        return false;
+    }
+  }
+
+  /** \brief GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points
+    * based on local 2D projections. It assumes locally smooth surfaces and relatively smooth transitions between
+    * areas with different point densities.
+    * \author Zoltan Csaba Marton
+    * \ingroup surface
+    */
+  class PDAL_DLL GreedyProjection : public Filter
+  {
+    public:
+
+      enum class GP3Type
+      {
+        NONE = -1,    // not-defined
+        FREE = 0,
+        FRINGE = 1,
+        BOUNDARY = 2,
+        COMPLETED = 3
+      };
+
+      /** \brief Empty constructor. */
+      GreedyProjection () :
+        mu_ (0),
+        search_radius_ (0), // must be set by user
+        nnn_ (100),
+        minimum_angle_ (M_PI/18), // 10 degrees
+        maximum_angle_ (2*M_PI/3), // 120 degrees
+        eps_angle_(M_PI/4), //45 degrees,
+        consistent_(false),
+        consistent_ordering_ (false),
+        angles_ (),
+        R_ (),
+        state_ (),
+        source_ (),
+        ffn_ (),
+        sfn_ (),
+        part_ (),
+        fringe_queue_ (),
+        is_current_free_ (false),
+        current_index_ (),
+        prev_is_ffn_ (false),
+        prev_is_sfn_ (false),
+        next_is_ffn_ (false),
+        next_is_sfn_ (false),
+        changed_1st_fn_ (false),
+        changed_2nd_fn_ (false),
+        new2boundary_ (),
+        already_connected_ (false),
+        proj_qp_ (),
+        u_ (),
+        v_ (),
+        uvn_ffn_ (),
+        uvn_sfn_ (),
+        uvn_next_ffn_ (),
+        uvn_next_sfn_ (),
+        tmp_ (),
+        view_(nullptr),
+        mesh_(nullptr)
+      {};
+
+      static void * create();
+      static int32_t destroy(void *);
+      std::string getName() const;
+
+      /** \brief Don't consider points for triangulation if their normal deviates more than this value from the query point's normal.
+        * \param[in] eps_angle maximum surface angle
+        * \note As normal estimation methods usually give smooth transitions at sharp edges, this ensures correct triangulation
+        *       by avoiding connecting points from one side to points from the other through forcing the use of the edge points.
+        */
+      inline void
+      setMaximumSurfaceAngle (double eps_angle) { eps_angle_ = eps_angle; }
+
+      /** \brief Get the maximum surface angle. */
+      inline double
+      getMaximumSurfaceAngle () const { return (eps_angle_); }
+
+      /** \brief Set the flag if the input normals are oriented consistently.
+        * \param[in] consistent set it to true if the normals are
+           consistently oriented
+        */
+      inline void
+      setNormalConsistency (bool consistent) { consistent_ = consistent; }
+
+      /** \brief Get the flag for consistently oriented normals. */
+      inline bool
+      getNormalConsistency () const { return (consistent_); }
+
+      /** \brief Set the flag to order the resulting triangle vertices
+          consistently (positive direction around normal).
+        * @note Assumes consistently oriented normals (towards the viewpoint)
+          -- see setNormalConsistency ()
+        * \param[in] consistent_ordering set it to true if triangle
+          vertices should be ordered consistently
+        */
+      inline void
+      setConsistentVertexOrdering (bool consistent_ordering) { consistent_ordering_ = consistent_ordering; }
+
+      /** \brief Get the flag signaling consistently ordered triangle vertices. */
+      inline bool
+      getConsistentVertexOrdering () const { return (consistent_ordering_); }
+
+      /** \brief Get the state of each point after reconstruction.
+        * \note Options are defined as constants: FREE, FRINGE, COMPLETED, BOUNDARY and NONE
+        */
+
+    protected:
+      /** \brief The nearest neighbor distance multiplier to obtain the
+          final search radius.
+      */
+      double mu_;
+
+      /** \brief Nearest neighbors search radius for each point and
+          the maximum edge length.
+      */
+      double search_radius_;
+
+      /** \brief  Maximum number of nearest neighbors accepted by searching. */
+      int nnn_;
+
+      /** \brief The preferred minimum angle for the triangles. */
+      double minimum_angle_;
+
+      /** \brief The maximum angle for the triangles. */
+      double maximum_angle_;
+
+      /** \brief Maximum surface angle. */
+      double eps_angle_;
+
+      /** \brief Set this to true if the normals of the input are
+          consistently oriented.
+      */
+      bool consistent_;
+
+      /** \brief Set this to true if the output triangle vertices should
+          be consistently oriented.
+      */
+      bool consistent_ordering_;
+
+     private:
+      /** \brief Struct for storing the angles to nearest neighbors **/
+      struct nnAngle
+      {
+        double angle;
+        PointId index;
+        int nnIndex;
+        bool visible;
+      };
+
+      /** \brief Struct for storing the edges starting from a fringe point **/
+      struct doubleEdge
+      {
+        doubleEdge () : index (0), first (), second () {}
+        PointId index;
+        Eigen::Vector2d first;
+        Eigen::Vector2d second;
+      };
+
+      // Variables made global to decrease the number of parameters to helper functions
+
+      /** \brief A list of angles to neighbors **/
+      std::vector<nnAngle> angles_;
+      /** \brief Index of the current query point **/
+      PointId R_;
+      /** \brief List of point states **/
+      std::vector<GP3Type> state_;
+      /** \brief List of sources **/
+      std::vector<PointId> source_;
+      /** \brief List of fringe neighbors in one direction **/
+      std::vector<PointId> ffn_;
+      /** \brief List of fringe neighbors in other direction **/
+      std::vector<PointId> sfn_;
+      /** \brief Connected component labels for each point **/
+      std::vector<PointId> part_;
+      /** \brief Points on the outer edge from which the mesh is grown **/
+      std::vector<PointId> fringe_queue_;
+
+      /** \brief Flag to set if the current point is free **/
+      bool is_current_free_;
+      /** \brief Current point's index **/
+      PointId current_index_;
+      /** \brief Flag set if the previous point is the first fringe neighbor **/
+      bool prev_is_ffn_;
+      /** \brief Flag to set if the next point is the second fringe neighbor **/
+      bool prev_is_sfn_;
+      /** \brief Flag to set if the next point is the first fringe neighbor **/
+      bool next_is_ffn_;
+      /** \brief Flag to set if the next point is the second fringe neighbor **/
+      bool next_is_sfn_;
+      /** \brief Flag to set if the first fringe neighbor was changed **/
+      bool changed_1st_fn_;
+      /** \brief Flag to set if the second fringe neighbor was changed **/
+      bool changed_2nd_fn_;
+      /** \brief New boundary point **/
+      PointId new2boundary_;
+      /** \brief Flag to set if the next neighbor was already connected in the previous step.
+        * To avoid inconsistency it should not be connected again.
+        */
+      bool already_connected_;
+
+      /** \brief Point coordinates projected onto the plane defined by the point normal **/
+      Eigen::Vector3d proj_qp_;
+      /** \brief First coordinate vector of the 2D coordinate frame **/
+      Eigen::Vector3d u_;
+      /** \brief Second coordinate vector of the 2D coordinate frame **/
+      Eigen::Vector3d v_;
+      /** \brief 2D coordinates of the first fringe neighbor **/
+      Eigen::Vector2d uvn_ffn_;
+      /** \brief 2D coordinates of the second fringe neighbor **/
+      Eigen::Vector2d uvn_sfn_;
+      /** \brief 2D coordinates of the 1st fringe neighbor of the next point **/
+      Eigen::Vector2d uvn_next_ffn_;
+      /** \brief 2D coordinates of the 2nd fringe neighbor of the next point **/
+      Eigen::Vector2d uvn_next_sfn_;
+      /** \brief Temporary variable to store 3 coordiantes **/
+      Eigen::Vector3d tmp_;
+      /** \brief Pointer to current point view. **/
+      PointView *view_;
+      /** \brief Pointer to the mesh we're creating. **/
+      TriangularMesh *mesh_;
+
+      /** \brief Forms a new triangle by connecting the current neighbor to the query point
+        * and the previous neighbor
+        * \param[in] prev_index index of the previous point
+        * \param[in] next_index index of the next point
+        * \param[in] next_next_index index of the point after the next one
+        * \param[in] uvn_current 2D coordinate of the current point
+        * \param[in] uvn_prev 2D coordinates of the previous point
+        * \param[in] uvn_next 2D coordinates of the next point
+        */
+      void
+      connectPoint (PointId prev_index,
+                    PointId next_index,
+                    PointId next_next_index,
+                    const Eigen::Vector2d &uvn_current,
+                    const Eigen::Vector2d &uvn_prev,
+                    const Eigen::Vector2d &uvn_next);
+
+      /** \brief Whenever a query point is part of a boundary loop containing 3 points, that triangle is created
+        * (called if angle constraints make it possible)
+        * \param[out] polygons the polygon mesh to be updated
+        */
+      void closeTriangle();
+
+      /** \brief Get the list of containing triangles for each vertex in a PolygonMesh
+        * \param[in] polygonMesh the input polygon mesh
+        */
+      /**
+      std::vector<std::vector<size_t> >
+      getTriangleList (const pcl::PolygonMesh &input);
+      **/
+
+      /** \brief Add a new triangle to the current polygon mesh
+        * \param[in] a index of the first vertex
+        * \param[in] b index of the second vertex
+        * \param[in] c index of the third vertex
+        */
+
+      /**
+      inline void
+      addTriangle (PointId a, PointId b, PointId c)
+      {
+        triangle_.vertices.resize (3);
+        if (consistent_ordering_)
+        {
+          const PointInT p = input_->at (indices_->at (a));
+          const Eigen::Vector3f pv = p.getVector3fMap ();
+          if (p.getNormalVector3fMap ().dot (
+                (pv - input_->at (indices_->at (b)).getVector3fMap ()).cross (
+                 pv - input_->at (indices_->at (c)).getVector3fMap ()) ) > 0)
+          {
+            triangle_.vertices[0] = a;
+            triangle_.vertices[1] = b;
+            triangle_.vertices[2] = c;
+          }
+          else
+          {
+            triangle_.vertices[0] = a;
+            triangle_.vertices[1] = c;
+            triangle_.vertices[2] = b;
+          }
+        }
+        else
+        {
+          triangle_.vertices[0] = a;
+          triangle_.vertices[1] = b;
+          triangle_.vertices[2] = c;
+        }
+        polygons.push_back (triangle_);
+      }
+**/
+
+      /** \brief Add a new vertex to the advancing edge front and set its source point
+        * \param[in] v index of the vertex that was connected
+        * \param[in] s index of the source point
+        */
+      inline void
+      addFringePoint (int v, int s)
+      {
+        source_[v] = s;
+        part_[v] = part_[s];
+        fringe_queue_.push_back(v);
+      }
+
+      bool stateSet(PointId idx)
+      {
+          return state_[idx] != GP3Type::NONE && state_[idx] != GP3Type::FREE;
+      }
+
+      void addArgs(ProgramArgs& args);
+      void addDimensions(PointLayoutPtr layout);
+      void initialize();
+      void filter(PointView& view);
+      void addTriangle(PointId a, PointId b, PointId c);
+      Eigen::Vector3d getCoord(PointId id);
+      Eigen::Vector3d getNormalCoord(PointId id);
+  };
+
+} // namespace pdal
+
diff --git a/filters/HeadFilter.cpp b/filters/HeadFilter.cpp
new file mode 100644
index 0000000..1caa50d
--- /dev/null
+++ b/filters/HeadFilter.cpp
@@ -0,0 +1,51 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of the Andrew Bell or libLAS nor the names of
+ *       its contributors may be used to endorse or promote products derived
+ *       from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "HeadFilter.hpp"
+#include <pdal/pdal_macros.hpp>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.head", "Return N points from beginning of the point cloud.",
+    "http://pdal.io/stages/filters.head.html");
+
+CREATE_STATIC_PLUGIN(1, 0, HeadFilter, Filter, s_info)
+
+std::string HeadFilter::getName() const
+{
+    return s_info.name;
+}
+
+} // namespace pdal
diff --git a/filters/HeadFilter.hpp b/filters/HeadFilter.hpp
new file mode 100644
index 0000000..42d65fb
--- /dev/null
+++ b/filters/HeadFilter.hpp
@@ -0,0 +1,85 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/PointViewIter.hpp>
+#include <pdal/plugin.hpp>
+
+extern "C" int32_t HeadFilter_ExitFunc();
+extern "C" PF_ExitFunc HeadFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL HeadFilter : public Filter
+{
+public:
+    HeadFilter()
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+
+private:
+    point_count_t m_count;
+
+    void addArgs(ProgramArgs& args)
+    {
+        args.add("count", "Number of points to return from beginning.", m_count,
+                 point_count_t(10));
+    }
+
+    PointViewSet run(PointViewPtr view)
+    {
+        if (m_count > view->size())
+            log()->get(LogLevel::Warning)
+                << "Requested number of points (count=" << m_count
+                << ") exceeds number of available points.\n";
+        PointViewSet viewSet;
+        PointViewPtr outView = view->makeNew();
+        for (PointId i = 0; i < std::min(m_count, view->size()); ++i)
+            outView->appendPoint(*view, i);
+        viewSet.insert(outView);
+        return viewSet;
+    }
+
+    HeadFilter& operator=(const HeadFilter&); // not implemented
+    HeadFilter(const HeadFilter&);            // not implemented
+};
+
+} // namespace pdal
diff --git a/filters/MergeFilter.hpp b/filters/MergeFilter.hpp
index a73b2c2..f8a2f3f 100644
--- a/filters/MergeFilter.hpp
+++ b/filters/MergeFilter.hpp
@@ -43,7 +43,7 @@ extern "C" PF_ExitFunc MergeFilter_InitPlugin();
 namespace pdal
 {
 
-class PDAL_DLL MergeFilter : public MultiFilter
+class PDAL_DLL MergeFilter : public Filter
 {
 public:
     MergeFilter ()
diff --git a/filters/NormalFilter.cpp b/filters/NormalFilter.cpp
index 4cc4770..60bbf7a 100644
--- a/filters/NormalFilter.cpp
+++ b/filters/NormalFilter.cpp
@@ -1,36 +1,36 @@
 /******************************************************************************
-* Copyright (c) 2016, Bradley J Chambers (brad.chambers at gmail.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
+ * Copyright (c) 2016-2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
 
 #include "NormalFilter.hpp"
 
@@ -58,28 +58,43 @@ std::string NormalFilter::getName() const
     return s_info.name;
 }
 
-
 void NormalFilter::addArgs(ProgramArgs& args)
 {
     args.add("knn", "k-Nearest Neighbors", m_knn, 8);
+    m_viewpointArg =
+        &args.add("viewpoint", "Viewpoint as WKT or GeoJSON", m_viewpoint);
+    args.add("always_up", "Normals always oriented with positive Z?", m_up,
+             true);
 }
 
-
 void NormalFilter::addDimensions(PointLayoutPtr layout)
 {
-    m_nx = layout->registerOrAssignDim("NormalX", Dimension::Type::Double);
-    m_ny = layout->registerOrAssignDim("NormalY", Dimension::Type::Double);
-    m_nz = layout->registerOrAssignDim("NormalZ", Dimension::Type::Double);
-    m_curvature = layout->registerOrAssignDim("Curvature",
-        Dimension::Type::Double);
+    using namespace Dimension;
+
+    layout->registerDims(
+        {Id::NormalX, Id::NormalY, Id::NormalZ, Id::Curvature});
 }
 
-void NormalFilter::filter(PointView& view)
+// public method to access filter, used by GreedyProjection and Poisson filters
+void NormalFilter::doFilter(PointView& view)
 {
-    using namespace Eigen;
+    m_knn = 8;
+    filter(view);
+}
 
-    KD3Index kdi(view);
-    kdi.build();
+void NormalFilter::prepared(PointTableRef table)
+{
+    if (m_up && m_viewpointArg->set())
+    {
+        log()->get(LogLevel::Warning)
+            << "Viewpoint provided. Ignoring always_up = TRUE." << std::endl;
+        m_up = false;
+    }
+}
+
+void NormalFilter::filter(PointView& view)
+{
+    KD3Index& kdi = view.build3dIndex();
 
     for (PointId i = 0; i < view.size(); ++i)
     {
@@ -90,18 +105,35 @@ void NormalFilter::filter(PointView& view)
         auto B = eigen::computeCovariance(view, ids);
 
         // perform the eigen decomposition
-        SelfAdjointEigenSolver<Matrix3f> solver(B);
-        if (solver.info() != Success)
+        Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> solver(B);
+        if (solver.info() != Eigen::Success)
             throwError("Cannot perform eigen decomposition.");
         auto eval = solver.eigenvalues();
-        auto evec = solver.eigenvectors().col(0);
-
-        view.setField(m_nx, i, evec[0]);
-        view.setField(m_ny, i, evec[1]);
-        view.setField(m_nz, i, evec[2]);
+        Eigen::Vector3f normal = solver.eigenvectors().col(0);
+
+        if (m_viewpointArg->set())
+        {
+            PointRef p = view.point(i);
+            Eigen::Vector3f vp(
+                m_viewpoint.x - p.getFieldAs<double>(Dimension::Id::X),
+                m_viewpoint.y - p.getFieldAs<double>(Dimension::Id::Y),
+                m_viewpoint.z - p.getFieldAs<double>(Dimension::Id::Z));
+            if (vp.dot(normal) < 0)
+                normal *= -1.0;
+        }
+        else if (m_up)
+        {
+            if (normal[2] < 0)
+                normal *= -1.0;
+        }
+
+        view.setField(Dimension::Id::NormalX, i, normal[0]);
+        view.setField(Dimension::Id::NormalY, i, normal[1]);
+        view.setField(Dimension::Id::NormalZ, i, normal[2]);
 
         double sum = eval[0] + eval[1] + eval[2];
-        view.setField(m_curvature, i, sum ? std::fabs(eval[0] / sum) : 0);
+        view.setField(Dimension::Id::Curvature, i,
+                      sum ? std::fabs(eval[0] / sum) : 0);
     }
 }
 
diff --git a/filters/NormalFilter.hpp b/filters/NormalFilter.hpp
index 052a4a2..cb2228a 100644
--- a/filters/NormalFilter.hpp
+++ b/filters/NormalFilter.hpp
@@ -1,41 +1,44 @@
 /******************************************************************************
-* Copyright (c) 2016, Bradley J Chambers (brad.chambers at gmail.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
+ * Copyright (c) 2016-2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
 
 #pragma once
 
 #include <pdal/Filter.hpp>
 #include <pdal/plugin.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+
+#include "private/Point.hpp"
 
 #include <cstdint>
 #include <memory>
@@ -55,22 +58,27 @@ class PDAL_DLL NormalFilter : public Filter
 {
 public:
     NormalFilter() : Filter()
-    {}
+    {
+    }
     NormalFilter& operator=(const NormalFilter&) = delete;
     NormalFilter(const NormalFilter&) = delete;
 
-    static void * create();
-    static int32_t destroy(void *);
+    void doFilter(PointView& view);
+
+    static void* create();
+    static int32_t destroy(void*);
     std::string getName() const;
 
 private:
     int m_knn;
-    Dimension::Id m_nx, m_ny, m_nz, m_curvature;
+    filter::Point m_viewpoint;
+    Arg* m_viewpointArg;
+    bool m_up;
 
-    virtual void addDimensions(PointLayoutPtr layout);
     virtual void addArgs(ProgramArgs& args);
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual void prepared(PointTableRef table);
     virtual void filter(PointView& view);
-
 };
 
 } // namespace pdal
diff --git a/filters/PMFFilter.cpp b/filters/PMFFilter.cpp
index 373181d..a3fa1c7 100644
--- a/filters/PMFFilter.cpp
+++ b/filters/PMFFilter.cpp
@@ -32,15 +32,18 @@
  * OF SUCH DAMAGE.
  ****************************************************************************/
 
+// PDAL implementation of K. Zhang, S.-C. Chen, D. Whitman, M.-L. Shyu, J. Yan,
+// and C. Zhang, “A progressive morphological filter for removing nonground
+// measurements from airborne LIDAR data,” Geosci. Remote Sensing, IEEE Trans.,
+// vol. 41, no. 4, pp. 872–882, 2003.
+
 #include "PMFFilter.hpp"
 
 #include <pdal/EigenUtils.hpp>
 #include <pdal/KDIndex.hpp>
-#include <pdal/QuadIndex.hpp>
 #include <pdal/Segmentation.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <pdal/util/ProgramArgs.hpp>
-#include <pdal/util/Utils.hpp>
 
 #include "private/DimRange.hpp"
 
@@ -60,14 +63,15 @@ std::string PMFFilter::getName() const
 
 void PMFFilter::addArgs(ProgramArgs& args)
 {
-    args.add("max_window_size", "Maximum window size", m_maxWindowSize, 33.0);
-    args.add("slope", "Slope", m_slope, 1.0);
-    args.add("max_distance", "Maximum distance", m_maxDistance, 2.5);
-    args.add("initial_distance", "Initial distance", m_initialDistance, 0.15);
     args.add("cell_size", "Cell size", m_cellSize, 1.0);
-    args.add("approximate", "Use approximate algorithm?", m_approximate);
+    args.add("exponential", "Exponential growth of window size?", m_exponential,
+             true);
     args.add("ignore", "Ignore values", m_ignored);
+    args.add("initial_distance", "Initial distance", m_initialDistance, 0.15);
     args.add("last", "Consider last returns only?", m_lastOnly, true);
+    args.add("max_distance", "Maximum distance", m_maxDistance, 2.5);
+    args.add("max_window_size", "Maximum window size", m_maxWindowSize, 33.0);
+    args.add("slope", "Slope", m_slope, 1.0);
 }
 
 void PMFFilter::addDimensions(PointLayoutPtr layout)
@@ -95,203 +99,121 @@ void PMFFilter::prepared(PointTableRef table)
     }
 }
 
-std::vector<double> PMFFilter::morphOpen(PointViewPtr view, float radius)
-{
-    point_count_t np(view->size());
-
-    QuadIndex idx(*view);
-
-    std::vector<double> minZ(np), maxZ(np);
-
-    // erode
-    for (PointId i = 0; i < np; ++i)
-    {
-        double x = view->getFieldAs<double>(Dimension::Id::X, i);
-        double y = view->getFieldAs<double>(Dimension::Id::Y, i);
-
-        std::vector<PointId> ids =
-            idx.getPoints(x - radius, y - radius, x + radius, y + radius);
-
-        double localMin(std::numeric_limits<double>::max());
-        for (auto const& j : ids)
-        {
-            double z = view->getFieldAs<double>(Dimension::Id::Z, j);
-            if (z < localMin)
-                localMin = z;
-        }
-        minZ[i] = localMin;
-    }
-
-    // dilate
-    for (PointId i = 0; i < np; ++i)
-    {
-        double x = view->getFieldAs<double>(Dimension::Id::X, i);
-        double y = view->getFieldAs<double>(Dimension::Id::Y, i);
-
-        std::vector<PointId> ids =
-            idx.getPoints(x - radius, y - radius, x + radius, y + radius);
-
-        double localMax(std::numeric_limits<double>::lowest());
-        for (auto const& j : ids)
-        {
-            double z = minZ[j];
-            if (z > localMax)
-                localMax = z;
-        }
-        maxZ[i] = localMax;
-    }
-
-    return maxZ;
-}
-
-std::vector<PointId> PMFFilter::processGround(PointViewPtr view)
+PointViewSet PMFFilter::run(PointViewPtr input)
 {
-    // Compute the series of window sizes and height thresholds
-    std::vector<float> htvec;
-    std::vector<float> wsvec;
-    int iter = 0;
-    float ws = 0.0f;
-    float ht = 0.0f;
-
-    while (ws < m_maxWindowSize)
-    {
-        // Determine the initial window size.
-        if (1) // exponential
-            ws = m_cellSize * (2.0f * std::pow(2, iter) + 1.0f);
-        else
-            ws = m_cellSize * (2.0f * (iter + 1) * 2 + 1.0f);
-
-        // Calculate the height threshold to be used in the next iteration.
-        if (iter == 0)
-            ht = m_initialDistance;
-        else
-            ht = m_slope * (ws - wsvec[iter - 1]) * m_cellSize +
-                 m_initialDistance;
-
-        // Enforce max distance on height threshold
-        if (ht > m_maxDistance)
-            ht = m_maxDistance;
-
-        wsvec.push_back(ws);
-        htvec.push_back(ht);
-
-        iter++;
-    }
-
-    std::vector<PointId> groundIdx;
-    for (PointId i = 0; i < view->size(); ++i)
-        groundIdx.push_back(i);
-
-    // Progressively filter ground returns using morphological open
-    for (size_t j = 0; j < wsvec.size(); ++j)
-    {
-        // Limit filtering to those points currently considered ground returns
-        PointViewPtr ground = view->makeNew();
-        for (auto const& i : groundIdx)
-            ground->appendPoint(*view, i);
+    PointViewSet viewSet;
+    if (!input->size())
+        return viewSet;
 
-        log()->get(LogLevel::Debug)
-            << "Iteration " << j << " (height threshold = " << htvec[j]
-            << ", window size = " << wsvec[j] << ")...\n";
+    // Segment input view into ignored/kept views.
+    PointViewPtr ignoredView = input->makeNew();
+    PointViewPtr keptView = input->makeNew();
+    if (m_ignored.m_id == Dimension::Id::Unknown)
+        keptView->append(*input);
+    else
+        Segmentation::ignoreDimRange(m_ignored, input, keptView, ignoredView);
 
-        // Create new cloud to hold the filtered results. Apply the
-        // morphological opening operation at the current window size.
-        auto maxZ = morphOpen(ground, wsvec[j] * 0.5);
+    // Classify remaining points with value of 1. processGround will mark ground
+    // returns as 2.
+    for (PointId i = 0; i < keptView->size(); ++i)
+        keptView->setField(Dimension::Id::Classification, i, 1);
 
-        // Find indices of the points whose difference between the source and
-        // filtered point clouds is less than the current height threshold.
-        std::vector<PointId> groundNewIdx;
-        for (PointId i = 0; i < ground->size(); ++i)
-        {
-            double z0 = ground->getFieldAs<double>(Dimension::Id::Z, i);
-            float diff = z0 - maxZ[i];
-            if (diff < htvec[j])
-                groundNewIdx.push_back(groundIdx[i]);
-        }
+    // Segment kept view into last/other-than-last return views.
+    PointViewPtr lastView = keptView->makeNew();
+    PointViewPtr nonlastView = keptView->makeNew();
+    if (m_lastOnly)
+        Segmentation::segmentLastReturns(keptView, lastView, nonlastView);
+    else
+        lastView->append(*keptView);
 
-        groundIdx.swap(groundNewIdx);
+    // Run the actual PMF algorithm.
+    processGround(lastView);
 
-        log()->get(LogLevel::Debug)
-            << "Ground now has " << groundIdx.size() << " points.\n";
-    }
+    // Prepare the output PointView.
+    PointViewPtr outView = input->makeNew();
+    outView->append(*ignoredView);
+    outView->append(*nonlastView);
+    outView->append(*lastView);
+    viewSet.insert(outView);
 
-    return groundIdx;
+    return viewSet;
 }
 
-std::vector<double> PMFFilter::fillNearest(PointViewPtr view, size_t rows,
-                                           size_t cols, double cell_size,
-                                           BOX2D bounds)
+void PMFFilter::processGround(PointViewPtr view)
 {
-    using namespace Dimension;
+    // initialize bounds, rows, columns, and surface
+    BOX2D bounds;
+    view->calculateBounds(bounds);
+    size_t cols = ((bounds.maxx - bounds.minx) / m_cellSize) + 1;
+    size_t rows = ((bounds.maxy - bounds.miny) / m_cellSize) + 1;
 
+    // initialize surface to NaN
     std::vector<double> ZImin(rows * cols,
                               std::numeric_limits<double>::quiet_NaN());
 
+    // loop through all points, identifying minimum Z value for each populated
+    // cell
     for (PointId i = 0; i < view->size(); ++i)
     {
-        double x = view->getFieldAs<double>(Id::X, i);
-        double y = view->getFieldAs<double>(Id::Y, i);
-        double z = view->getFieldAs<double>(Id::Z, i);
-
-        int c = static_cast<int>(floor(x - bounds.minx) / cell_size);
-        int r = static_cast<int>(floor(y - bounds.miny) / cell_size);
-
-        if (z < ZImin[c * rows + r] || std::isnan(ZImin[c * rows + r]))
-            ZImin[c * rows + r] = z;
+        double x = view->getFieldAs<double>(Dimension::Id::X, i);
+        double y = view->getFieldAs<double>(Dimension::Id::Y, i);
+        double z = view->getFieldAs<double>(Dimension::Id::Z, i);
+        int c = static_cast<int>(floor(x - bounds.minx) / m_cellSize);
+        int r = static_cast<int>(floor(y - bounds.miny) / m_cellSize);
+        size_t idx = c * rows + r;
+        if (z < ZImin[idx] || std::isnan(ZImin[idx]))
+            ZImin[idx] = z;
     }
 
-    // convert cz into PointView
+    // convert vector to PointView for indexing
     PointViewPtr temp = view->makeNew();
     PointId i(0);
     for (size_t c = 0; c < cols; ++c)
     {
         for (size_t r = 0; r < rows; ++r)
         {
-            if (std::isnan(ZImin[c * rows + r]))
+            size_t idx = c * rows + r;
+            if (std::isnan(ZImin[idx]))
                 continue;
-
-            temp->setField(Id::X, i, bounds.minx + (c + 0.5) * cell_size);
-            temp->setField(Id::Y, i, bounds.miny + (r + 0.5) * cell_size);
-            temp->setField(Id::Z, i, ZImin[c * rows + r]);
+            double x = bounds.minx + (c + 0.5) * m_cellSize;
+            double y = bounds.miny + (r + 0.5) * m_cellSize;
+            temp->setField(Dimension::Id::X, i, x);
+            temp->setField(Dimension::Id::Y, i, y);
+            temp->setField(Dimension::Id::Z, i, ZImin[idx]);
             i++;
         }
     }
 
-    // make a 2D KDIndex
+    // build the 2D KD-tree
     KD2Index kdi(*temp);
     kdi.build();
 
+    // loop through all cells, and for each NaN, replace with elevation of
+    // nearest neighbor
     std::vector<double> out = ZImin;
     for (size_t c = 0; c < cols; ++c)
     {
         for (size_t r = 0; r < rows; ++r)
         {
-            if (!std::isnan(out[c * rows + r]))
+            size_t idx = c * rows + r;
+            if (!std::isnan(out[idx]))
                 continue;
-
-            // find k nearest points
-            double x = bounds.minx + (c + 0.5) * cell_size;
-            double y = bounds.miny + (r + 0.5) * cell_size;
+            double x = bounds.minx + (c + 0.5) * m_cellSize;
+            double y = bounds.miny + (r + 0.5) * m_cellSize;
             int k = 1;
             std::vector<PointId> neighbors(k);
             std::vector<double> sqr_dists(k);
             kdi.knnSearch(x, y, k, &neighbors, &sqr_dists);
-
-            out[c * rows + r] =
-                temp->getFieldAs<double>(Dimension::Id::Z, neighbors[0]);
+            out[idx] = temp->getFieldAs<double>(Dimension::Id::Z, neighbors[0]);
         }
     }
 
-    return out;
-};
-
-std::vector<PointId> PMFFilter::processGroundApprox(PointViewPtr view)
-{
-    BOX2D bounds;
-    view->calculateBounds(bounds);
+    ZImin.swap(out);
 
-    size_t cols = ((bounds.maxx - bounds.minx) / m_cellSize) + 1;
-    size_t rows = ((bounds.maxy - bounds.miny) / m_cellSize) + 1;
+    // initialize ground indices
+    std::vector<PointId> groundIdx;
+    for (PointId i = 0; i < view->size(); ++i)
+        groundIdx.push_back(i);
 
     // Compute the series of window sizes and height thresholds
     std::vector<float> htvec;
@@ -300,10 +222,11 @@ std::vector<PointId> PMFFilter::processGroundApprox(PointViewPtr view)
     float ws = 0.0f;
     float ht = 0.0f;
 
+    // pre-compute window sizes and height thresholds
     while (ws < m_maxWindowSize)
     {
         // Determine the initial window size.
-        if (1) // exponential
+        if (m_exponential)
             ws = m_cellSize * (2.0f * std::pow(2, iter) + 1.0f);
         else
             ws = m_cellSize * (2.0f * (iter + 1) * 2 + 1.0f);
@@ -325,13 +248,6 @@ std::vector<PointId> PMFFilter::processGroundApprox(PointViewPtr view)
         iter++;
     }
 
-    std::vector<PointId> groundIdx;
-    for (PointId i = 0; i < view->size(); ++i)
-        groundIdx.push_back(i);
-
-    std::vector<double> ZImin =
-        fillNearest(view, rows, cols, m_cellSize, bounds);
-
     // Progressively filter ground returns using morphological open
     for (size_t j = 0; j < wsvec.size(); ++j)
     {
@@ -339,10 +255,10 @@ std::vector<PointId> PMFFilter::processGroundApprox(PointViewPtr view)
             << "Iteration " << j << " (height threshold = " << htvec[j]
             << ", window size = " << wsvec[j] << ")...\n";
 
-        std::vector<double> me =
-            eigen::erodeDiamond(ZImin, rows, cols, 0.5 * (wsvec[j] - 1));
-        std::vector<double> mo =
-            eigen::dilateDiamond(me, rows, cols, 0.5 * (wsvec[j] - 1));
+        int iters = 0.5 * (wsvec[j] - 1);
+        using namespace eigen;
+        std::vector<double> me = erodeDiamond(ZImin, rows, cols, iters);
+        std::vector<double> mo = dilateDiamond(me, rows, cols, iters);
 
         std::vector<PointId> groundNewIdx;
         for (auto p_idx : groundIdx)
@@ -365,73 +281,13 @@ std::vector<PointId> PMFFilter::processGroundApprox(PointViewPtr view)
             << "Ground now has " << groundIdx.size() << " points.\n";
     }
 
-    return groundIdx;
-}
-
-PointViewSet PMFFilter::run(PointViewPtr input)
-{
-    PointViewSet viewSet;
-    if (!input->size())
-        return viewSet;
-
-    // Segment input view into ignored/kept views.
-    PointViewPtr ignoredView = input->makeNew();
-    PointViewPtr keptView = input->makeNew();
-    if (m_ignored.m_id == Dimension::Id::Unknown)
-        keptView->append(*input);
-    else
-        Segmentation::ignoreDimRange(m_ignored, input, keptView, ignoredView);
-
-    // Segment kept view into last/other-than-last return views.
-    PointViewPtr lastView = keptView->makeNew();
-    PointViewPtr nonlastView = keptView->makeNew();
-    if (m_lastOnly)
-        Segmentation::segmentLastReturns(keptView, lastView, nonlastView);
-    else
-        lastView->append(*keptView);
-
-    for (PointId i = 0; i < nonlastView->size(); ++i)
-        nonlastView->setField(Dimension::Id::Classification, i, 1);
-
-    for (PointId i = 0; i < lastView->size(); ++i)
-        lastView->setField(Dimension::Id::Classification, i, 1);
-
-    std::vector<PointId> idx;
-    if (m_approximate)
-        idx = processGroundApprox(lastView);
-    else
-        idx = processGround(lastView);
+    log()->get(LogLevel::Debug2)
+        << "Labeled " << groundIdx.size() << " ground returns!\n";
 
-    PointViewPtr outView = input->makeNew();
-    if (!idx.empty())
-    {
-
-        log()->get(LogLevel::Debug2)
-            << "Labeled " << idx.size() << " ground returns!\n";
-
-        // set the classification label of ground returns as 2
-        // (corresponding to ASPRS LAS specification)
-        for (const auto& i : idx)
-        {
-            lastView->setField(Dimension::Id::Classification, i, 2);
-        }
-
-        outView->append(*ignoredView);
-        outView->append(*nonlastView);
-        outView->append(*lastView);
-    }
-    else
-    {
-        if (idx.empty())
-            log()->get(LogLevel::Debug2) << "Filtered cloud has no "
-                                            "ground returns!\n";
-
-        // return the input buffer unchanged
-        outView->append(*input);
-    }
-    viewSet.insert(outView);
-
-    return viewSet;
+    // set the classification label of ground returns as 2
+    // (corresponding to ASPRS LAS specification)
+    for (const auto& i : groundIdx)
+        view->setField(Dimension::Id::Classification, i, 2);
 }
 
 } // namespace pdal
diff --git a/filters/PMFFilter.hpp b/filters/PMFFilter.hpp
index d2655d4..d41b1eb 100644
--- a/filters/PMFFilter.hpp
+++ b/filters/PMFFilter.hpp
@@ -39,19 +39,12 @@
 
 #include "private/DimRange.hpp"
 
-#include <memory>
-
 extern "C" int32_t PMFFilter_ExitFunc();
 extern "C" PF_ExitFunc PMFFilter_InitPlugin();
 
 namespace pdal
 {
 
-class Options;
-class PointLayout;
-class PointTable;
-class PointView;
-
 class PDAL_DLL PMFFilter : public Filter
 {
 public:
@@ -64,25 +57,22 @@ public:
     std::string getName() const;
 
 private:
-    double m_maxWindowSize;
-    double m_slope;
-    double m_maxDistance;
-    double m_initialDistance;
     double m_cellSize;
-    bool m_approximate;
+    bool m_exponential;
     DimRange m_ignored;
+    double m_initialDistance;
     bool m_lastOnly;
+    double m_maxDistance;
+    double m_maxWindowSize;
+    double m_slope;
 
     virtual void addDimensions(PointLayoutPtr layout);
     virtual void addArgs(ProgramArgs& args);
-    std::vector<double> fillNearest(PointViewPtr view, size_t rows, size_t cols,
-                                    double cell_size, BOX2D bounds);
-    std::vector<double> morphOpen(PointViewPtr view, float radius);
     virtual void prepared(PointTableRef table);
-    std::vector<PointId> processGround(PointViewPtr view);
-    std::vector<PointId> processGroundApprox(PointViewPtr view);
     virtual PointViewSet run(PointViewPtr view);
 
+    void processGround(PointViewPtr view);
+
     PMFFilter& operator=(const PMFFilter&); // not implemented
     PMFFilter(const PMFFilter&);            // not implemented
 };
diff --git a/filters/PoissonFilter.cpp b/filters/PoissonFilter.cpp
new file mode 100644
index 0000000..59d27ad
--- /dev/null
+++ b/filters/PoissonFilter.cpp
@@ -0,0 +1,282 @@
+/******************************************************************************
+* Copyright (c) 2016, Bradley J Chambers (brad.chambers at gmail.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "PoissonFilter.hpp"
+#include "NormalFilter.hpp"
+
+#include <pdal/pdal_macros.hpp>
+
+#include <kazhdan/PoissonRecon.h>
+#include <kazhdan/point_source/PointSource.h>
+
+namespace pdal
+{
+
+class PointViewSource : public PointSource
+{
+public:
+    PointViewSource(PointView& view) : m_view(view), m_current(0)
+        {}
+
+    virtual void reset()
+        { m_current = 0; }
+    virtual bool nextPoint(Point& point)
+    {
+        using namespace Dimension;
+
+        if (m_current >= m_view.size())
+            return false;
+        point.p.coords[0] = m_view.getFieldAs<double>(Id::X, m_current);
+        point.p.coords[1] = m_view.getFieldAs<double>(Id::Y, m_current);
+        point.p.coords[2] = m_view.getFieldAs<double>(Id::Z, m_current);
+        point.n.coords[0] = m_view.getFieldAs<double>(Id::NormalX, m_current);
+        point.n.coords[1] = m_view.getFieldAs<double>(Id::NormalY, m_current);
+        point.n.coords[2] = m_view.getFieldAs<double>(Id::NormalZ, m_current);
+        m_current++;
+        return true;
+    }
+
+private:
+    PointView& m_view;
+    PointId m_current;
+};
+
+class ColorPointViewSource : public ColorPointSource
+{
+public:
+    ColorPointViewSource(PointView& view) : m_view(view), m_current(0)
+        {}
+
+    virtual void reset()
+        { m_current = 0; }
+    virtual bool nextPoint(Point& point, Point3D<double>& color)
+    {
+        using namespace Dimension;
+
+        if (m_current >= m_view.size())
+            return false;
+        point.p.coords[0] = m_view.getFieldAs<double>(Id::X, m_current);
+        point.p.coords[1] = m_view.getFieldAs<double>(Id::Y, m_current);
+        point.p.coords[2] = m_view.getFieldAs<double>(Id::Z, m_current);
+        point.n.coords[0] = m_view.getFieldAs<double>(Id::NormalX, m_current);
+        point.n.coords[1] = m_view.getFieldAs<double>(Id::NormalY, m_current);
+        point.n.coords[2] = m_view.getFieldAs<double>(Id::NormalZ, m_current);
+        color.coords[0] = m_view.getFieldAs<double>(Id::Red, m_current);
+        color.coords[1] = m_view.getFieldAs<double>(Id::Green, m_current);
+        color.coords[2] = m_view.getFieldAs<double>(Id::Blue, m_current);
+        m_current++;
+        return true;
+    }
+
+private:
+    PointView& m_view;
+    PointId m_current;
+};
+
+class PointViewMesh : public Kazhdan::Mesh
+{
+public:
+    PointViewMesh(PointView& view, bool color) : m_view(view),
+        m_mesh(*(m_view.createMesh("poisson"))), m_doColor(color)
+    { resetIterator(); }
+
+    virtual int pointCount() const
+        { return m_view.size(); }
+    virtual int polygonCount() const
+        { return m_mesh.size(); }
+    virtual int newPoint(const std::array<double, 3>& position)
+    {
+        PointId cnt = m_view.size();
+        m_view.setField(Dimension::Id::X, cnt, position[0]);
+        m_view.setField(Dimension::Id::Y, cnt, position[1]);
+        m_view.setField(Dimension::Id::Z, cnt, position[2]);
+        return cnt;
+    }
+
+    virtual int newPoint(const std::array<double, 3>& position, double density)
+    {
+        PointId cnt = m_view.size();
+        m_view.setField(Dimension::Id::X, cnt, position[0]);
+        m_view.setField(Dimension::Id::Y, cnt, position[1]);
+        m_view.setField(Dimension::Id::Z, cnt, position[2]);
+        m_view.setField(Dimension::Id::Density, cnt, density);
+        return cnt;
+    }
+
+    virtual int newPoint(const std::array<double, 3>& position,
+        const std::array<uint8_t, 3>& color, double density)
+    {
+        PointId cnt = m_view.size();
+        m_view.setField(Dimension::Id::X, cnt, position[0]);
+        m_view.setField(Dimension::Id::Y, cnt, position[1]);
+        m_view.setField(Dimension::Id::Z, cnt, position[2]);
+        m_view.setField(Dimension::Id::Red, cnt, color[0]);
+        m_view.setField(Dimension::Id::Green, cnt, color[1]);
+        m_view.setField(Dimension::Id::Blue, cnt, color[2]);
+        m_view.setField(Dimension::Id::Density, cnt, density);
+        return cnt;
+    }
+
+    virtual void newPolygon(std::vector<int>& poly)
+    {
+        assert(poly.size() == 3);
+        m_mesh.add(poly[0], poly[1], poly[2]);
+    }
+
+    virtual bool hasDensity() const
+        { return m_view.hasDim(Dimension::Id::Density); }
+
+    virtual void resetIterator()
+    {
+        m_polyIdx = 0;
+        m_pointIdx = 0;
+    }
+
+    virtual bool nextPolygon(Kazhdan::Polygon& poly)
+    {
+        if (m_polyIdx >= m_mesh.size())
+            return false;
+
+        const Triangle& t = m_mesh[m_polyIdx];
+        poly.insert(poly.end(), { (int)t.m_a, (int)t.m_b, (int)t.m_c } );
+        m_polyIdx++;
+        return true;
+    }
+
+    virtual bool nextPoint(Kazhdan::Point& point)
+    {
+        if (m_pointIdx > m_view.size())
+            return false;
+        point.m_position[0] = m_view.getFieldAs<double>(Dimension::Id::X,
+            m_pointIdx);
+        point.m_position[1] = m_view.getFieldAs<double>(Dimension::Id::Y,
+            m_pointIdx);
+        point.m_position[2] = m_view.getFieldAs<double>(Dimension::Id::Z,
+            m_pointIdx);
+        point.m_density = m_view.getFieldAs<double>(Dimension::Id::Density,
+            m_pointIdx);
+        if (m_doColor)
+        {
+            point.m_color[0] = m_view.getFieldAs<uint8_t>(Dimension::Id::Red,
+                m_pointIdx);
+            point.m_color[1] = m_view.getFieldAs<uint8_t>(Dimension::Id::Green,
+                m_pointIdx);
+            point.m_color[2] = m_view.getFieldAs<uint8_t>(Dimension::Id::Blue,
+                m_pointIdx);
+        }
+        m_pointIdx++;
+        return true;
+    }
+
+private:
+    PointView& m_view;
+    TriangularMesh& m_mesh;
+    size_t m_polyIdx;
+    size_t m_pointIdx;
+    bool m_doColor;
+};
+
+static PluginInfo const s_info =
+    PluginInfo("filters.poisson", "Poisson Surface Reconstruction Filter",
+               "http://pdal.io/stages/filters.poisson.html");
+
+CREATE_STATIC_PLUGIN(1, 0, PoissonFilter, Filter, s_info)
+
+std::string PoissonFilter::getName() const { return s_info.name; }
+
+void PoissonFilter::addDimensions(PointLayoutPtr layout)
+{
+    if (layout->hasDim(Dimension::Id::Red) &&
+        layout->hasDim(Dimension::Id::Green) &&
+        layout->hasDim(Dimension::Id::Blue))
+        m_doColor = true;
+
+    if (layout->hasDim(Dimension::Id::NormalX))
+    {
+        if ((!layout->hasDim(Dimension::Id::NormalY)) ||
+            (!layout->hasDim(Dimension::Id::NormalZ)))
+            throwError("If normals are provided as part of the input "
+                "dataset, all of X, Y and Z must be provided.");
+        m_normalsProvided = true;
+    }
+    else
+        layout->registerDims( {Dimension::Id::NormalX, Dimension::Id::NormalY,
+             Dimension::Id::NormalZ} );
+}
+
+
+void PoissonFilter::addArgs(ProgramArgs& args)
+{
+    args.add("density", "Output density estimates", m_density);
+    args.add("depth", "Maximum depth of the octree used for reconstruction",
+        m_depth, 8);
+}
+
+
+PointViewSet PoissonFilter::run(PointViewPtr view)
+{
+    if (!m_normalsProvided)
+        NormalFilter().doFilter(*view);
+
+    std::unique_ptr<PointSource> source;
+    if (m_doColor)
+        source.reset(new ColorPointViewSource(*view));
+    else
+        source.reset(new PointViewSource(*view));
+
+    PoissonOpts<double> opts;
+
+    opts.m_depth = m_depth;
+    opts.m_density = m_density;
+    opts.m_solveDepth = m_depth;
+    opts.m_kernelDepth = m_depth - 2;
+    if (m_doColor)
+    {
+        opts.m_color = 16;
+        opts.m_hasColor = true;
+    }
+
+    PoissonRecon<double> recon(opts, *source);
+    recon.execute();
+    recon.evaluate();
+
+    PointViewSet s;
+    PointViewPtr outView = view->makeNew();
+    s.insert(outView);
+    PointViewMesh mesh(*outView, m_doColor);
+    recon.extractMesh(mesh);
+    return s;
+}
+
+} // namespace pdal
diff --git a/filters/PoissonFilter.hpp b/filters/PoissonFilter.hpp
new file mode 100644
index 0000000..0e526a1
--- /dev/null
+++ b/filters/PoissonFilter.hpp
@@ -0,0 +1,69 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc. (info at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+
+extern "C" int32_t PoissonFilter_ExitFunc();
+extern "C" PF_ExitFunc PoissonFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL PoissonFilter : public Filter
+{
+public:
+    PoissonFilter() : Filter(), m_normalsProvided(false)
+    {}
+    PoissonFilter& operator=(const PoissonFilter&) = delete;
+    PoissonFilter(const PoissonFilter&) = delete;
+
+    static void * create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+private:
+    bool m_density;
+    int m_depth;
+    bool m_normalsProvided;
+    bool m_doColor;
+
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual PointViewSet run(PointViewPtr view);
+    virtual void addArgs(ProgramArgs& args);
+};
+
+} // namespace pdal
diff --git a/filters/SampleFilter.cpp b/filters/SampleFilter.cpp
index d1f6beb..80086b5 100644
--- a/filters/SampleFilter.cpp
+++ b/filters/SampleFilter.cpp
@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright (c) 2016, Bradley J Chambers (brad.chambers at gmail.com)
+ * Copyright (c) 2016-2017, Bradley J Chambers (brad.chambers at gmail.com)
  *
  * All rights reserved.
  *
@@ -35,9 +35,9 @@
 #include "SampleFilter.hpp"
 
 #include <pdal/KDIndex.hpp>
-#include <pdal/util/Utils.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <pdal/util/ProgramArgs.hpp>
+#include <pdal/util/Utils.hpp>
 
 #include <string>
 #include <vector>
@@ -84,19 +84,12 @@ PointViewSet SampleFilter::run(PointViewPtr inView)
     KD3Index index(*inView);
     index.build();
 
-    // The result looks much better if we take some time to shuffle the indices.
-    std::srand(std::time(NULL));
-    std::vector<PointId> indices(np);
-    for (PointId i = 0; i < np; ++i)
-        indices[i] = i;
-    std::random_shuffle(indices.begin(), indices.end());
-
     // All points are marked as kept (1) by default. As they are masked by
     // neighbors within the user-specified radius, their value is changed to 0.
     std::vector<int> keep(np, 1);
 
     // We are able to subsample in a single pass over the shuffled indices.
-    for (auto const& i : indices)
+    for (PointId i = 0; i < np; ++i)
     {
         // If a point is masked, it is forever masked, and cannot be part of the
         // sampled cloud. Otherwise, the current index is appended to the output
@@ -108,16 +101,15 @@ PointViewSet SampleFilter::run(PointViewPtr inView)
         // We now proceed to mask all neighbors within m_radius of the kept
         // point.
         auto ids = index.radius(i, m_radius);
-        for (PointId j = 1; j < ids.size(); ++j)
-            keep[ids[j]] = 0;
+        for (auto const& id : ids)
+            keep[id] = 0;
     }
 
     // Simply calculate the percentage of retained points.
     double frac = (double)outView->size() / (double)inView->size();
-    log()->get(LogLevel::Debug2) << "Retaining "
-                                 << outView->size() << " of "
-                                 << inView->size() << " points ("
-                                 << 100*frac << "%)\n";
+    log()->get(LogLevel::Debug2)
+        << "Retaining " << outView->size() << " of " << inView->size()
+        << " points (" << 100 * frac << "%)\n";
 
     viewSet.insert(outView);
     return viewSet;
diff --git a/filters/SplitterFilter.cpp b/filters/SplitterFilter.cpp
index 52608c6..e390ecd 100644
--- a/filters/SplitterFilter.cpp
+++ b/filters/SplitterFilter.cpp
@@ -63,8 +63,18 @@ void SplitterFilter::addArgs(ProgramArgs& args)
         std::numeric_limits<double>::quiet_NaN());
     args.add("origin_y", "Y origin for a cell", m_yOrigin,
         std::numeric_limits<double>::quiet_NaN());
+    args.add("buffer", "Size of buffer (overlap) to include around each tile.",
+        m_buffer, 0.0);
 }
 
+void SplitterFilter::initialize() {
+    if (!(m_buffer < m_length / 2.)) {
+        std::stringstream oss;
+        oss << "Buffer (" << m_buffer << 
+            ") must be less than half of length (" << m_length << ")";
+        throw pdal_error(oss.str());
+    }
+}
 
 PointViewSet SplitterFilter::run(PointViewPtr inView)
 {
@@ -72,6 +82,14 @@ PointViewSet SplitterFilter::run(PointViewPtr inView)
     if (!inView->size())
         return viewSet;
 
+    auto addPoint = [this, &inView](PointId idx, int xpos, int ypos) {
+        Coord loc(xpos, ypos);
+        PointViewPtr& outView = m_viewMap[loc];
+        if (!outView)
+            outView = inView->makeNew();
+        outView->appendPoint(*inView.get(), idx);
+    };
+
     // Use the location of the first point as the origin, unless specified.
     // (!= test == isnan(), which doesn't exist on windows)
     if (m_xOrigin != m_xOrigin)
@@ -84,22 +102,31 @@ PointViewSet SplitterFilter::run(PointViewPtr inView)
     for (PointId idx = 0; idx < inView->size(); idx++)
     {
         double x = inView->getFieldAs<double>(Dimension::Id::X, idx);
-        x -= m_xOrigin;
-        int xpos = x / m_length;
-        if (x < 0)
+        double dx = x - m_xOrigin;
+        int xpos = dx / m_length;
+        if (dx < 0)
             xpos--;
 
         double y = inView->getFieldAs<double>(Dimension::Id::Y, idx);
-        y -= m_yOrigin;
-        int ypos = y / m_length;
-        if (y < 0)
+        double dy = y - m_yOrigin;
+        int ypos = dy / m_length;
+        if (dy < 0)
             ypos--;
 
-        Coord loc(xpos, ypos);
-        PointViewPtr& outView = m_viewMap[loc];
-        if (!outView)
-            outView = inView->makeNew();
-        outView->appendPoint(*inView.get(), idx);
+        addPoint(idx, xpos, ypos);
+
+        if (m_buffer > 0.0) {
+            if (squareContains(xpos - 1, ypos, x, y)) {
+                addPoint(idx, xpos - 1, ypos);
+            } else if (squareContains(xpos + 1, ypos, x, y)) {
+                addPoint(idx, xpos + 1, ypos);
+            }
+            if (squareContains(xpos, ypos - 1, x, y)) {
+                addPoint(idx, xpos, ypos - 1);
+            } else if (squareContains(xpos, ypos + 1, x, y)) {
+                addPoint(idx, xpos, ypos + 1);
+            }
+        }
     }
 
     // Pull the buffers out of the map and stick them in the standard
@@ -109,4 +136,12 @@ PointViewSet SplitterFilter::run(PointViewPtr inView)
     return viewSet;
 }
 
+bool SplitterFilter::squareContains(int xpos, int ypos, double x, double y) const {
+    double minx = m_xOrigin + xpos * m_length - m_buffer; 
+    double maxx = minx + m_length + 2 * m_buffer;
+    double miny = m_yOrigin + ypos * m_length - m_buffer;
+    double maxy = miny + m_length + 2 * m_buffer;
+    return minx < x && x < maxx && miny < y && y < maxy;
+}
+
 } // pdal
diff --git a/filters/SplitterFilter.hpp b/filters/SplitterFilter.hpp
index 6711b35..8c79197 100644
--- a/filters/SplitterFilter.hpp
+++ b/filters/SplitterFilter.hpp
@@ -71,10 +71,13 @@ private:
     double m_length;
     double m_xOrigin;
     double m_yOrigin;
+    double m_buffer;
     std::map<Coord, PointViewPtr, CoordCompare> m_viewMap;
 
     virtual void addArgs(ProgramArgs& args);
+    virtual void initialize();
     virtual PointViewSet run(PointViewPtr view);
+    bool squareContains(int xpos, int ypos, double x, double y) const;
 
     SplitterFilter& operator=(const SplitterFilter&); // not implemented
     SplitterFilter(const SplitterFilter&); // not implemented
diff --git a/filters/StreamCallbackFilter.hpp b/filters/StreamCallbackFilter.hpp
index 97ab9c5..937f695 100644
--- a/filters/StreamCallbackFilter.hpp
+++ b/filters/StreamCallbackFilter.hpp
@@ -61,6 +61,16 @@ public:
         { m_callback = cb; }
 
 private:
+    virtual void filter(PointView& view)
+    {
+        PointRef p(view, 0);
+        for (PointId idx = 0; idx < view.size(); ++idx)
+        {
+            p.setPointId(idx);
+            processOne(p);
+        }
+    }
+
     virtual bool processOne(PointRef& point)
     {
         if (m_callback)
diff --git a/filters/TailFilter.cpp b/filters/TailFilter.cpp
new file mode 100644
index 0000000..f4a5d75
--- /dev/null
+++ b/filters/TailFilter.cpp
@@ -0,0 +1,51 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of the Andrew Bell or libLAS nor the names of
+ *       its contributors may be used to endorse or promote products derived
+ *       from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "TailFilter.hpp"
+#include <pdal/pdal_macros.hpp>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.tail", "Return N points from end of the point cloud.",
+    "http://pdal.io/stages/filters.tail.html");
+
+CREATE_STATIC_PLUGIN(1, 0, TailFilter, Filter, s_info)
+
+std::string TailFilter::getName() const
+{
+    return s_info.name;
+}
+
+} // namespace pdal
diff --git a/filters/TailFilter.hpp b/filters/TailFilter.hpp
new file mode 100644
index 0000000..fc45ecb
--- /dev/null
+++ b/filters/TailFilter.hpp
@@ -0,0 +1,86 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/PointViewIter.hpp>
+#include <pdal/plugin.hpp>
+
+extern "C" int32_t TailFilter_ExitFunc();
+extern "C" PF_ExitFunc TailFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL TailFilter : public Filter
+{
+public:
+    TailFilter()
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+
+private:
+    point_count_t m_count;
+
+    void addArgs(ProgramArgs& args)
+    {
+        args.add("count", "Number of points to return from end.", m_count,
+                 point_count_t(10));
+    }
+
+    PointViewSet run(PointViewPtr view)
+    {
+        if (m_count > view->size())
+            log()->get(LogLevel::Warning)
+                << "Requested number of points (count=" << m_count
+                << ") exceeds number of available points.\n";
+        PointViewSet viewSet;
+        PointViewPtr outView = view->makeNew();
+        for (PointId i = view->size() - std::min(m_count, view->size());
+             i < view->size(); ++i)
+            outView->appendPoint(*view, i);
+        viewSet.insert(outView);
+        return viewSet;
+    }
+
+    TailFilter& operator=(const TailFilter&); // not implemented
+    TailFilter(const TailFilter&);            // not implemented
+};
+
+} // namespace pdal
diff --git a/filters/VoxelCenterNearestNeighborFilter.cpp b/filters/VoxelCenterNearestNeighborFilter.cpp
new file mode 100644
index 0000000..baa3903
--- /dev/null
+++ b/filters/VoxelCenterNearestNeighborFilter.cpp
@@ -0,0 +1,107 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "VoxelCenterNearestNeighborFilter.hpp"
+
+#include <pdal/KDIndex.hpp>
+#include <pdal/pdal_macros.hpp>
+
+#include <set>
+#include <string>
+#include <tuple>
+#include <vector>
+
+namespace pdal
+{
+
+static PluginInfo const s_info =
+    PluginInfo("filters.voxelcenternearestneighbor",
+               "Voxel Center Nearest Neighbor Filter",
+               "http://pdal.io/stages/filters.voxelcenternearestneighbor.html");
+
+CREATE_STATIC_PLUGIN(1, 0, VoxelCenterNearestNeighborFilter, Filter, s_info)
+
+std::string VoxelCenterNearestNeighborFilter::getName() const
+{
+    return s_info.name;
+}
+
+void VoxelCenterNearestNeighborFilter::addArgs(ProgramArgs& args)
+{
+    args.add("cell", "Cell size", m_cell, 1.0);
+}
+
+PointViewSet VoxelCenterNearestNeighborFilter::run(PointViewPtr view)
+{
+    BOX3D bounds;
+    view->calculateBounds(bounds);
+
+    KD3Index kdi(*view);
+    kdi.build();
+
+    // Make an initial pass through the input PointView to detect populated
+    // voxels.
+    std::set<std::tuple<size_t, size_t, size_t>> populated_voxels;
+    for (PointId id = 0; id < view->size(); ++id)
+    {
+        double y = view->getFieldAs<double>(Dimension::Id::Y, id);
+        double x = view->getFieldAs<double>(Dimension::Id::X, id);
+        double z = view->getFieldAs<double>(Dimension::Id::Z, id);
+        size_t r = static_cast<size_t>(floor(y - bounds.miny) / m_cell);
+        size_t c = static_cast<size_t>(floor(x - bounds.minx) / m_cell);
+        size_t d = static_cast<size_t>(floor(z - bounds.minz) / m_cell);
+        populated_voxels.emplace(std::make_tuple(r, c, d));
+    }
+
+    // Make a second pass through the populated voxels to find the nearest
+    // neighbor to each voxel center.
+    PointViewPtr output = view->makeNew();
+    for (auto const& t : populated_voxels)
+    {
+        auto& r = std::get<0>(t);
+        auto& c = std::get<1>(t);
+        auto& d = std::get<2>(t);
+        double y = bounds.miny + (r + 0.5) * m_cell;
+        double x = bounds.minx + (c + 0.5) * m_cell;
+        double z = bounds.minz + (d + 0.5) * m_cell;
+        std::vector<PointId> neighbors = kdi.neighbors(x, y, z, 1);
+        output->appendPoint(*view, neighbors[0]);
+    }
+
+    PointViewSet viewSet;
+    viewSet.insert(output);
+    return viewSet;
+}
+
+} // namespace pdal
diff --git a/filters/VoxelCenterNearestNeighborFilter.hpp b/filters/VoxelCenterNearestNeighborFilter.hpp
new file mode 100644
index 0000000..4d93f8c
--- /dev/null
+++ b/filters/VoxelCenterNearestNeighborFilter.hpp
@@ -0,0 +1,75 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+
+#include <cstdint>
+#include <string>
+
+extern "C" int32_t VoxelCenterNearestNeighborFilter_ExitFunc();
+extern "C" PF_ExitFunc VoxelCenterNearestNeighborFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PointLayout;
+class PointView;
+
+class PDAL_DLL VoxelCenterNearestNeighborFilter : public Filter
+{
+public:
+    VoxelCenterNearestNeighborFilter() : Filter()
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+
+private:
+    double m_cell;
+
+    virtual void addArgs(ProgramArgs& args);
+    virtual PointViewSet run(PointViewPtr view);
+
+    VoxelCenterNearestNeighborFilter&
+    operator=(const VoxelCenterNearestNeighborFilter&); // not implemented
+    VoxelCenterNearestNeighborFilter(
+        const VoxelCenterNearestNeighborFilter&); // not implemented
+};
+
+} // namespace pdal
diff --git a/filters/VoxelCentroidNearestNeighborFilter.cpp b/filters/VoxelCentroidNearestNeighborFilter.cpp
new file mode 100644
index 0000000..e8ce156
--- /dev/null
+++ b/filters/VoxelCentroidNearestNeighborFilter.cpp
@@ -0,0 +1,107 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "VoxelCentroidNearestNeighborFilter.hpp"
+
+#include <pdal/EigenUtils.hpp>
+#include <pdal/KDIndex.hpp>
+#include <pdal/pdal_macros.hpp>
+
+#include <map>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <Eigen/Dense>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.voxelcentroidnearestneighbor",
+    "Voxel Centroid Nearest Neighbor Filter",
+    "http://pdal.io/stages/filters.voxelcentroidnearestneighbor.html");
+
+CREATE_STATIC_PLUGIN(1, 0, VoxelCentroidNearestNeighborFilter, Filter, s_info)
+
+std::string VoxelCentroidNearestNeighborFilter::getName() const
+{
+    return s_info.name;
+}
+
+void VoxelCentroidNearestNeighborFilter::addArgs(ProgramArgs& args)
+{
+    args.add("cell", "Cell size", m_cell, 1.0);
+}
+
+PointViewSet VoxelCentroidNearestNeighborFilter::run(PointViewPtr view)
+{
+    BOX3D bounds;
+    view->calculateBounds(bounds);
+
+    KD3Index kdi(*view);
+    kdi.build();
+
+    // Make an initial pass through the input PointView to index PointIds by
+    // row, column, and depth.
+    std::map<std::tuple<size_t, size_t, size_t>, std::vector<PointId>>
+        populated_voxel_ids;
+    for (PointId id = 0; id < view->size(); ++id)
+    {
+        double y = view->getFieldAs<double>(Dimension::Id::Y, id);
+        double x = view->getFieldAs<double>(Dimension::Id::X, id);
+        double z = view->getFieldAs<double>(Dimension::Id::Z, id);
+        size_t r = static_cast<size_t>(floor(y - bounds.miny) / m_cell);
+        size_t c = static_cast<size_t>(floor(x - bounds.minx) / m_cell);
+        size_t d = static_cast<size_t>(floor(z - bounds.minz) / m_cell);
+        populated_voxel_ids[std::make_tuple(r, c, d)].push_back(id);
+    }
+
+    // Make a second pass through the populated voxels to compute the voxel
+    // centroid and to find its nearest neighbor.
+    PointViewPtr output = view->makeNew();
+    for (auto const& t : populated_voxel_ids)
+    {
+        Eigen::Vector3f centroid = eigen::computeCentroid(*view, t.second);
+        std::vector<PointId> neighbors =
+            kdi.neighbors(centroid[0], centroid[1], centroid[2], 1);
+        output->appendPoint(*view, neighbors[0]);
+    }
+
+    PointViewSet viewSet;
+    viewSet.insert(output);
+    return viewSet;
+}
+
+} // namespace pdal
diff --git a/filters/VoxelCentroidNearestNeighborFilter.hpp b/filters/VoxelCentroidNearestNeighborFilter.hpp
new file mode 100644
index 0000000..49cb949
--- /dev/null
+++ b/filters/VoxelCentroidNearestNeighborFilter.hpp
@@ -0,0 +1,75 @@
+/******************************************************************************
+ * Copyright (c) 2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+
+#include <cstdint>
+#include <string>
+
+extern "C" int32_t VoxelCentroidNearestNeighborFilter_ExitFunc();
+extern "C" PF_ExitFunc VoxelCentroidNearestNeighborFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PointLayout;
+class PointView;
+
+class PDAL_DLL VoxelCentroidNearestNeighborFilter : public Filter
+{
+public:
+    VoxelCentroidNearestNeighborFilter() : Filter()
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+
+private:
+    double m_cell;
+
+    virtual void addArgs(ProgramArgs& args);
+    virtual PointViewSet run(PointViewPtr view);
+
+    VoxelCentroidNearestNeighborFilter&
+    operator=(const VoxelCentroidNearestNeighborFilter&); // not implemented
+    VoxelCentroidNearestNeighborFilter(
+        const VoxelCentroidNearestNeighborFilter&); // not implemented
+};
+
+} // namespace pdal
diff --git a/filters/private/DimRange.cpp b/filters/private/DimRange.cpp
index 83fddd0..29115d5 100644
--- a/filters/private/DimRange.cpp
+++ b/filters/private/DimRange.cpp
@@ -57,10 +57,10 @@ std::string::size_type DimRange::subParse(const std::string& r)
     negate = false;
     pos = 0;
     // Skip leading whitespace.
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
 
-    count = Utils::extract(r, pos, (int(*)(int))std::isalpha);
+    count = Dimension::extractName(r, pos);
     if (count == 0)
         throw error("No dimension name.");
     name = r.substr(pos, count);
@@ -85,7 +85,7 @@ std::string::size_type DimRange::subParse(const std::string& r)
         lb = std::numeric_limits<double>::lowest();
     pos += (end - start);
 
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
 
     if (r[pos] != ':')
@@ -98,7 +98,7 @@ std::string::size_type DimRange::subParse(const std::string& r)
         ub = std::numeric_limits<double>::max();
     pos += (end - start);
 
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
 
     if (r[pos] == ')')
@@ -107,7 +107,7 @@ std::string::size_type DimRange::subParse(const std::string& r)
         throw error("Missing ')' or ']'.");
     pos++;
 
-    count = Utils::extract(r, pos, (int(*)(int))std::isspace);
+    count = Utils::extractSpaces(r, pos);
     pos += count;
     return pos;
 }
diff --git a/filters/private/Point.cpp b/filters/private/Point.cpp
new file mode 100644
index 0000000..3339007
--- /dev/null
+++ b/filters/private/Point.cpp
@@ -0,0 +1,119 @@
+/******************************************************************************
+* Copyright (c) 2016, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "Point.hpp"
+
+namespace pdal
+{
+
+namespace filter
+{
+
+namespace
+{
+
+const double LOWEST = (std::numeric_limits<double>::lowest)();
+const double HIGHEST = (std::numeric_limits<double>::max)();
+
+}
+
+Point::Point()
+    : Geometry()
+    , x(LOWEST)
+    , y(LOWEST)
+    , z(LOWEST)
+{}
+
+
+Point::Point(const std::string& wkt_or_json, SpatialReference ref)
+    : Geometry(wkt_or_json, ref), x(LOWEST), y(LOWEST), z(LOWEST)
+{}
+
+
+void Point::update(const std::string& wkt_or_json)
+{
+    Geometry::update(wkt_or_json);
+
+    int t = GEOSGeomTypeId_r(m_geoserr.ctx(), m_geom.get());
+    if (t == -1)
+        throw pdal_error("Unable to fetch geometry point type");
+    if (t > 0)
+        throw pdal_error("Geometry type is not point!");
+
+    int nGeometries = GEOSGetNumGeometries_r(m_geoserr.ctx(), m_geom.get());
+    if (nGeometries > 1)
+        throw pdal_error("Geometry count is > 1!");
+
+    const GEOSGeometry* g = GEOSGetGeometryN_r(m_geoserr.ctx(), m_geom.get(), 0);
+
+    GEOSCoordSequence const* coords = GEOSGeom_getCoordSeq_r(m_geoserr.ctx(),  g);
+
+    uint32_t numInputDims;
+    GEOSCoordSeq_getDimensions_r(m_geoserr.ctx(), coords, &numInputDims);
+
+    uint32_t count(0);
+    GEOSCoordSeq_getSize_r(m_geoserr.ctx(), coords, &count);
+    if (count == 0)
+        throw pdal_error("No coordinates in geometry!");
+
+    for (unsigned i = 0; i < count; ++i)
+    {
+        GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 0, &x);
+        GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 1, &y);
+        if (numInputDims > 2)
+            GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 2, &z);
+    }
+}
+
+
+void Point::clear()
+{
+    x = LOWEST; y = LOWEST; z = LOWEST;
+}
+
+
+bool Point::empty() const
+{
+    return  x == LOWEST && y == LOWEST && z == LOWEST;
+}
+
+
+bool Point::is3d() const
+{
+    return (z != LOWEST);
+}
+
+} // namespace filter
+
+} // namespace pdal
diff --git a/filters/private/Point.hpp b/filters/private/Point.hpp
new file mode 100644
index 0000000..3f6140c
--- /dev/null
+++ b/filters/private/Point.hpp
@@ -0,0 +1,64 @@
+/******************************************************************************
+* Copyright (c) 2016, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/Geometry.hpp>
+
+namespace pdal
+{
+
+namespace filter
+{
+
+class PDAL_DLL Point : public Geometry
+{
+public:
+    Point();
+    Point(const std::string& wkt_or_json,
+           SpatialReference ref);
+    bool is3d() const;
+    bool empty() const;
+    void clear();
+
+    virtual void update(const std::string& wkt_or_json);
+
+    double x;
+    double y;
+    double z;
+};
+
+} // namespace filter
+
+} // namespace pdal
diff --git a/filters/private/crop/Point.cpp b/filters/private/crop/Point.cpp
deleted file mode 100644
index 072f5e9..0000000
--- a/filters/private/crop/Point.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2016, Howard Butler (howard at hobu.co)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include "Point.hpp"
-
-namespace pdal
-{
-
-namespace
-{
-
-const double LOWEST = (std::numeric_limits<double>::lowest)();
-const double HIGHEST = (std::numeric_limits<double>::max)();
-
-}
-
-namespace cropfilter
-{
-
-Point::Point()
-    : Geometry()
-    , x(LOWEST)
-    , y(LOWEST)
-    , z(LOWEST)
-{}
-
-
-Point::Point(const std::string& wkt_or_json, SpatialReference ref)
-    : Geometry(wkt_or_json, ref), x(LOWEST), y(LOWEST), z(LOWEST)
-{}
-
-
-void Point::update(const std::string& wkt_or_json)
-{
-    Geometry::update(wkt_or_json);
-
-    int t = GEOSGeomTypeId_r(m_geoserr.ctx(), m_geom.get());
-    if (t == -1)
-        throw pdal_error("Unable to fetch geometry point type");
-    if (t > 0)
-        throw pdal_error("Geometry type is not point!");
-
-    int nGeometries = GEOSGetNumGeometries_r(m_geoserr.ctx(), m_geom.get());
-    if (nGeometries > 1)
-        throw pdal_error("Geometry count is > 1!");
-
-    const GEOSGeometry* g = GEOSGetGeometryN_r(m_geoserr.ctx(), m_geom.get(), 0);
-
-    GEOSCoordSequence const* coords = GEOSGeom_getCoordSeq_r(m_geoserr.ctx(),  g);
-
-    uint32_t numInputDims;
-    GEOSCoordSeq_getDimensions_r(m_geoserr.ctx(), coords, &numInputDims);
-
-    uint32_t count(0);
-    GEOSCoordSeq_getSize_r(m_geoserr.ctx(), coords, &count);
-    if (count == 0)
-        throw pdal_error("No coordinates in geometry!");
-
-    for (unsigned i = 0; i < count; ++i)
-    {
-        GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 0, &x);
-        GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 1, &y);
-        if (numInputDims > 2)
-            GEOSCoordSeq_getOrdinate_r(m_geoserr.ctx(), coords, i, 2, &z);
-    }
-}
-
-
-void Point::clear()
-{
-    x = LOWEST; y = LOWEST; z = LOWEST;
-}
-
-
-bool Point::empty() const
-{
-    return  x == LOWEST && y == LOWEST && z == LOWEST;
-}
-
-
-bool Point::is3d() const
-{
-    return (z != LOWEST);
-}
-
-} //namespace cropfilter
-
-} //namespace pdal
-
diff --git a/filters/private/crop/Point.hpp b/filters/private/crop/Point.hpp
deleted file mode 100644
index 792fa3e..0000000
--- a/filters/private/crop/Point.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2016, Howard Butler (howard at hobu.co)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <pdal/Geometry.hpp>
-
-namespace pdal
-{
-
-namespace cropfilter
-{
-
-class PDAL_DLL Point : public Geometry
-{
-public:
-    Point();
-    Point(const std::string& wkt_or_json,
-           SpatialReference ref);
-    bool is3d() const;
-    bool empty() const;
-    void clear();
-
-    virtual void update(const std::string& wkt_or_json);
-
-    double x;
-    double y;
-    double z;
-};
-} // namespace cropfilter
-} // namespace pdal
diff --git a/io/GDALGrid.cpp b/io/GDALGrid.cpp
index af38bcd..adb18c5 100644
--- a/io/GDALGrid.cpp
+++ b/io/GDALGrid.cpp
@@ -44,10 +44,9 @@ namespace pdal
 {
 
 GDALGrid::GDALGrid(size_t width, size_t height, double edgeLength,
-        double radius, double noData, int outputTypes, size_t windowSize) :
+        double radius, int outputTypes, size_t windowSize) :
     m_width(width), m_height(height), m_windowSize(windowSize),
-    m_edgeLength(edgeLength), m_radius(radius), m_noData(noData),
-    m_outputTypes(outputTypes)
+    m_edgeLength(edgeLength), m_radius(radius), m_outputTypes(outputTypes)
 {
     size_t size(width * height);
 
@@ -148,26 +147,20 @@ int GDALGrid::numBands() const
 }
 
 
-uint8_t *GDALGrid::data(const std::string& name)
+double *GDALGrid::data(const std::string& name)
 {
-    if (name == "count")
-        return (m_outputTypes & statCount ?
-            (uint8_t *)m_count->data() : nullptr);
-    if (name == "min")
-        return (m_outputTypes & statMin ?
-            (uint8_t *)m_min->data() : nullptr);
-    if (name == "max")
-        return (m_outputTypes & statMax ?
-            (uint8_t *)m_max->data() : nullptr);
-    if (name == "mean")
-        return (m_outputTypes & statMean ?
-            (uint8_t *)m_mean->data() : nullptr);
-    if (name == "idw")
-        return (m_outputTypes & statIdw ?
-            (uint8_t *)m_idw->data() : nullptr);
-    if (name == "stdev")
-        return (m_outputTypes & statStdDev ?
-            (uint8_t *)m_stdDev->data() : nullptr);
+    if (name == "count" && (m_outputTypes & statCount))
+        return m_count->data();
+    if (name == "min" && (m_outputTypes & statMin))
+        return m_min->data();
+    if (name == "max" && (m_outputTypes & statMax))
+        return m_max->data();
+    if (name == "mean" && (m_outputTypes & statMean))
+        return m_mean->data();
+    if (name == "idw" && (m_outputTypes & statIdw))
+         return m_idw->data();
+    if (name == "stdev" && (m_outputTypes & statStdDev))
+        return m_stdDev->data();
     return nullptr;
 }
 
@@ -288,7 +281,9 @@ void GDALGrid::addPoint(double x, double y, double z)
     // This is a questionable case.  If a point is in a cell, shouldn't
     // it just be counted?
     double d = distance(iOrigin, jOrigin, x, y);
-    if (d < m_radius)
+    if (d < m_radius &&
+        iOrigin >= 0 && jOrigin >= 0 &&
+        iOrigin < (int)m_width && jOrigin <= (int)m_height)
         update(iOrigin, jOrigin, z, d);
 }
 
@@ -389,15 +384,15 @@ void GDALGrid::finalize()
 void GDALGrid::fillNodata(size_t i)
 {
     if (m_min)
-        (*m_min)[i] = m_noData;
+        (*m_min)[i] = std::numeric_limits<double>::quiet_NaN();
     if (m_max)
-        (*m_max)[i] = m_noData;
+        (*m_max)[i] = std::numeric_limits<double>::quiet_NaN();
     if (m_mean)
-        (*m_mean)[i] = m_noData;
+        (*m_mean)[i] = std::numeric_limits<double>::quiet_NaN();
     if (m_idw)
-        (*m_idw)[i] = m_noData;
+        (*m_idw)[i] = std::numeric_limits<double>::quiet_NaN();
     if (m_stdDev)
-        (*m_stdDev)[i] = m_noData;
+        (*m_stdDev)[i] = std::numeric_limits<double>::quiet_NaN();
 }
 
 
diff --git a/io/GDALGrid.hpp b/io/GDALGrid.hpp
index e6e0ad8..524a9ae 100644
--- a/io/GDALGrid.hpp
+++ b/io/GDALGrid.hpp
@@ -58,7 +58,7 @@ public:
     };
 
     GDALGrid(size_t width, size_t height, double edgeLength, double radius,
-        double noData, int outputTypes, size_t windowSize);
+        int outputTypes, size_t windowSize);
 
     void expand(size_t width, size_t height, size_t xshift, size_t yshift);
 
@@ -66,7 +66,7 @@ public:
     int numBands() const;
 
     // Return a pointer to the data in a raster band, row-major ordered.
-    uint8_t *data(const std::string& name);
+    double *data(const std::string& name);
 
     // Add a point to the raster grid.
     void addPoint(double x, double y, double z);
@@ -80,16 +80,12 @@ public:
     size_t height() const
         { return m_height; }
 
-    double noData() const
-        { return m_noData; }
-
 private:
     size_t m_width;
     size_t m_height;
     size_t m_windowSize;
     double m_edgeLength;
     double m_radius;
-    double m_noData;
 
     typedef std::vector<double> DataVec;
     typedef std::unique_ptr<DataVec> DataPtr;
diff --git a/io/GDALReader.cpp b/io/GDALReader.cpp
index 010e8cd..1b3ff73 100644
--- a/io/GDALReader.cpp
+++ b/io/GDALReader.cpp
@@ -149,24 +149,60 @@ point_count_t GDALReader::read(PointViewPtr view, point_count_t num)
     for (int b = 0; b < m_raster->bandCount(); ++b)
     {
         // Bands count from 1
-        m_raster->readBand(band, b + 1);
-        std::stringstream oss;
-        oss << "band-" << (b + 1);
-        log()->get(LogLevel::Info) << "Read band '" << oss.str() << "'" <<
-            std::endl;
-
-        Dimension::Id d = view->layout()->findDim(oss.str());
-        size_t dimSize = Dimension::size(band_types[b]);
-        uint8_t* p = band.data();
-        for (point_count_t i = 0; i < count; ++i)
+        switch (band_types[b])
         {
-            view->setField(d, band_types[b], i, p);
-            p = p + dimSize;
+        case Dimension::Type::Signed8:
+            readBandData<int8_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Unsigned8:
+            readBandData<uint8_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Signed16:
+            readBandData<int16_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Unsigned16:
+            readBandData<uint16_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Signed32:
+            readBandData<int32_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Unsigned32:
+            readBandData<uint32_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Signed64:
+            readBandData<int64_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Unsigned64:
+            readBandData<uint64_t>(b + 1, view, count);
+            break;
+        case Dimension::Type::Float:
+            readBandData<float>(b + 1, view, count);
+            break;
+        case Dimension::Type::Double:
+            readBandData<double>(b + 1, view, count);
+            break;
+        case Dimension::Type::None:
+            break;
         }
     }
-
     return view->size();
 }
 
+
+template<typename T>
+void GDALReader::readBandData(int band, PointViewPtr view, point_count_t count)
+{
+    std::vector<T> buf;
+
+    m_raster->readBand(buf, band);
+    std::stringstream oss;
+    oss << "band-" << (band);
+    log()->get(LogLevel::Info) << "Read band '" << oss.str() << "'" <<
+       std::endl;
+    Dimension::Id d = view->layout()->findDim(oss.str());
+    for (point_count_t i = 0; i < count; ++i)
+        view->setField(d, i, buf[i]);
+}
+
 } // namespace pdal
 
diff --git a/io/GDALReader.hpp b/io/GDALReader.hpp
index d811a18..fba9613 100644
--- a/io/GDALReader.hpp
+++ b/io/GDALReader.hpp
@@ -64,8 +64,6 @@ public:
 
     GDALReader();
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
     virtual void initialize();
     virtual void addDimensions(PointLayoutPtr layout);
@@ -74,6 +72,8 @@ private:
     virtual void done(PointTableRef table)
         { m_raster->close(); }
     virtual QuickInfo inspect();
+    template<typename T>
+    void readBandData(int band, PointViewPtr view, point_count_t count);
 
     std::unique_ptr<gdal::Raster> m_raster;
     point_count_t m_index;
diff --git a/io/GDALWriter.cpp b/io/GDALWriter.cpp
index f0249fb..4c9f100 100644
--- a/io/GDALWriter.cpp
+++ b/io/GDALWriter.cpp
@@ -68,9 +68,13 @@ void GDALWriter::addArgs(ProgramArgs& args)
         m_options);
     args.add("output_type", "Statistics produced ('min', 'max', 'mean', "
         "'idw', 'count', 'stdev' or 'all')", m_outputTypeString, {"all"} );
+    args.add("data_type", "Data type for output grid (\"int8\", \"uint64\", "
+        "\"float\", etc.)", m_dataType, Dimension::Type::Double);
     args.add("window_size", "Cell distance for fallback interpolation",
         m_windowSize);
-    args.add("nodata", "No data value", m_noData, -9999.0);
+    // Nan is a sentinal value to say that no value was set for nodata.
+    args.add("nodata", "No data value", m_noData,
+        std::numeric_limits<double>::quiet_NaN());
     args.add("dimension", "Dimension to use", m_interpDimString, "Z");
     args.add("bounds", "Bounds of data.  Required in streaming mode.",
         m_bounds);
@@ -140,7 +144,7 @@ void GDALWriter::createGrid(BOX2D bounds)
     m_curBounds = bounds;
     size_t width = ((m_curBounds.maxx - m_curBounds.minx) / m_edgeLength) + 1;
     size_t height = ((m_curBounds.maxy - m_curBounds.miny) / m_edgeLength) + 1;
-    m_grid.reset(new GDALGrid(width, height, m_edgeLength, m_radius, m_noData,
+    m_grid.reset(new GDALGrid(width, height, m_edgeLength, m_radius,
         m_outputTypes, m_windowSize));
 }
 
@@ -220,30 +224,35 @@ void GDALWriter::doneFile()
     m_grid->finalize();
 
     gdal::GDALError err = raster.open(m_grid->width(), m_grid->height(),
-        m_grid->numBands(), Dimension::Type::Double, m_grid->noData(),
-        m_options);
+        m_grid->numBands(), m_dataType, m_noData, m_options);
+
     if (err != gdal::GDALError::None)
         throwError(raster.errorMsg());
     int bandNum = 1;
-    uint8_t *buf;
-    buf = m_grid->data("min");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "min");
-    buf = m_grid->data("max");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "max");
-    buf = m_grid->data("mean");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "mean");
-    buf = m_grid->data("idw");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "idw");
-    buf = m_grid->data("count");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "count");
-    buf = m_grid->data("stdev");
-    if (buf)
-        raster.writeBand(buf, bandNum++, "stdev");
+
+    // Perhaps the grid should return an iterator, which would work as well.
+    double *src;
+    src = m_grid->data("min");
+    double srcNoData = std::numeric_limits<double>::quiet_NaN();
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "min");
+    src = m_grid->data("max");
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "max");
+    src = m_grid->data("mean");
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "mean");
+    src = m_grid->data("idw");
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "idw");
+    src = m_grid->data("count");
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "count");
+    src = m_grid->data("stdev");
+    if (src && err == gdal::GDALError::None)
+        err = raster.writeBand(src, srcNoData, bandNum++, "stdev");
+    if (err != gdal::GDALError::None)
+        throwError(raster.errorMsg());
 
     getMetadata().addList("filename", m_filename);
 }
diff --git a/io/GDALWriter.hpp b/io/GDALWriter.hpp
index 3a8236b..7a600a0 100644
--- a/io/GDALWriter.hpp
+++ b/io/GDALWriter.hpp
@@ -86,6 +86,7 @@ private:
     double m_noData;
     Dimension::Id m_interpDim;
     std::string m_interpDimString;
+    Dimension::Type m_dataType;
 };
 
 }
diff --git a/io/GeotiffSupport.cpp b/io/GeotiffSupport.cpp
index bf117d3..8649dd8 100644
--- a/io/GeotiffSupport.cpp
+++ b/io/GeotiffSupport.cpp
@@ -99,21 +99,29 @@ GeotiffSrs::GeotiffSrs(const std::vector<uint8_t>& directoryRec,
     };
 #pragma pack(pop)
 
-    ShortKeyHeader *header = (ShortKeyHeader *)directoryRec.data();
+    const ShortKeyHeader *header = (const ShortKeyHeader *)directoryRec.data();
     size_t declaredSize = (header->numKeys + 1) * 4;
     if (directoryRec.size() < declaredSize)
         return;
+
+    uint8_t *dirData = const_cast<uint8_t *>(directoryRec.data());
     ST_SetKey(ctx.tiff, GEOTIFF_DIRECTORY_RECORD_ID,
-        (1 + header->numKeys) * 4, STT_SHORT, (void *)directoryRec.data());
+        (1 + header->numKeys) * 4, STT_SHORT, (void *)dirData);
 
     if (doublesRec.size())
+    {
+        uint8_t *doubleData = const_cast<uint8_t *>(doublesRec.data());
         ST_SetKey(ctx.tiff, GEOTIFF_DOUBLES_RECORD_ID,
             doublesRec.size() / sizeof(double), STT_DOUBLE,
-            (void *)doublesRec.data());
+            (void *)doubleData);
+    }
 
     if (asciiRec.size())
+    {
+        uint8_t *asciiData = const_cast<uint8_t *>(asciiRec.data());
         ST_SetKey(ctx.tiff, GEOTIFF_ASCII_RECORD_ID,
-            asciiRec.size(), STT_ASCII, (void *)asciiRec.data());
+            asciiRec.size(), STT_ASCII, (void *)asciiData);
+    }
 
     ctx.gtiff = GTIFNewSimpleTags(ctx.tiff);
 
diff --git a/io/HeaderVal.hpp b/io/HeaderVal.hpp
index e83bc00..fbaf59b 100644
--- a/io/HeaderVal.hpp
+++ b/io/HeaderVal.hpp
@@ -46,7 +46,7 @@ protected:
     T m_defVal;
     bool m_valSet;
 
-    BaseHeaderVal() : m_valSet(false)
+    BaseHeaderVal() : m_val(T()), m_valSet(false)
     {}
 
     BaseHeaderVal(const T& t) : m_defVal(t), m_valSet(false)
diff --git a/io/Ilvis2Reader.cpp b/io/Ilvis2Reader.cpp
index 175ba8f..19dd164 100644
--- a/io/Ilvis2Reader.cpp
+++ b/io/Ilvis2Reader.cpp
@@ -115,19 +115,6 @@ void Ilvis2Reader::addDimensions(PointLayoutPtr layout)
 }
 
 
-Dimension::IdList Ilvis2Reader::getDefaultDimensions()
-{
-    using namespace pdal::Dimension;
-    Dimension::IdList ids;
-
-    ids.push_back(Id::GpsTime);
-    ids.push_back(Id::Y);
-    ids.push_back(Id::X);
-    ids.push_back(Id::Z);
-    return ids;
-}
-
-
 void Ilvis2Reader::initialize(PointTableRef)
 {
     if (!m_metadataFile.empty() && !FileUtils::fileExists(m_metadataFile))
diff --git a/io/Ilvis2Reader.hpp b/io/Ilvis2Reader.hpp
index cf65be6..ee0f64e 100644
--- a/io/Ilvis2Reader.hpp
+++ b/io/Ilvis2Reader.hpp
@@ -80,8 +80,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
     std::ifstream m_stream;
     IlvisMapping m_mapping;
diff --git a/io/LasHeader.cpp b/io/LasHeader.cpp
index 86be602..2648780 100644
--- a/io/LasHeader.cpp
+++ b/io/LasHeader.cpp
@@ -38,6 +38,7 @@
 #include <pdal/pdal_config.hpp>
 #include <pdal/Scaling.hpp>
 #include <pdal/util/Utils.hpp>
+#include <pdal/util/Algorithm.hpp>
 
 #include "LasSummaryData.hpp"
 
@@ -128,24 +129,12 @@ void LasHeader::setScaling(const Scaling& scaling)
 
 uint16_t LasHeader::basePointLen(uint8_t type)
 {
-    switch (type)
-    {
-    case 0:
-        return 20;
-    case 1:
-        return 28;
-    case 2:
-        return 26;
-    case 3:
-        return 34;
-    case 6:
-        return 30;
-    case 7:
-        return 36;
-    case 8:
-        return 38;
-    }
-    return 0;
+    const uint16_t len[] = { 20, 28, 26, 34, 57, 63, 30, 36, 38, 59, 67 };
+    const size_t numTypes = sizeof(len) / sizeof(len[0]);
+
+    if (type > numTypes)
+        return 0;
+    return len[type];
 }
 
 
@@ -238,6 +227,31 @@ void LasHeader::setSrs()
 }
 
 
+void LasHeader::removeVLR(const std::string& userId, uint16_t recordId)
+{
+    auto matches = [&userId, recordId](const LasVLR& vlr)
+    {
+        return vlr.matches(userId, recordId);
+    };
+
+    Utils::remove_if(m_vlrs, matches);
+    Utils::remove_if(m_eVlrs, matches);
+}
+
+
+void LasHeader::removeVLR(const std::string& userId)
+{
+
+    auto matches = [&userId ](const LasVLR& vlr)
+    {
+        return vlr.matches(userId);
+    };
+
+    Utils::remove_if(m_vlrs, matches);
+    Utils::remove_if(m_eVlrs, matches);
+}
+
+
 LasVLR *LasHeader::findVlr(const std::string& userId,
     uint16_t recordId)
 {
diff --git a/io/LasHeader.hpp b/io/LasHeader.hpp
index 709121d..c3e016f 100644
--- a/io/LasHeader.hpp
+++ b/io/LasHeader.hpp
@@ -382,6 +382,8 @@ public:
     bool valid() const;
     Dimension::IdList usedDims() const;
     LasVLR *findVlr(const std::string& userId, uint16_t recordId);
+    void removeVLR(const std::string& userId, uint16_t recordId);
+    void removeVLR(const std::string& userId);
     void setLog(LogPtr log)
         { m_log = log; }
     const VlrList& vlrs() const
diff --git a/io/LasReader.cpp b/io/LasReader.cpp
index 5a68d8a..d6c8026 100644
--- a/io/LasReader.cpp
+++ b/io/LasReader.cpp
@@ -48,7 +48,6 @@
 #include "GeotiffSupport.hpp"
 #include "LasHeader.hpp"
 #include "LasVLR.hpp"
-#include "LasZipPoint.hpp"
 
 namespace pdal
 {
@@ -70,6 +69,7 @@ void LasReader::addArgs(ProgramArgs& args)
     args.add("extra_dims", "Dimensions to assign to extra byte data",
         m_extraDimSpec);
     args.add("compression", "Decompressor to use", m_compression, "EITHER");
+    args.add("ignore_vlr", "VLR userid/recordid to ignore", m_ignoreVLROption);
 }
 
 
@@ -108,17 +108,8 @@ QuickInfo LasReader::inspect()
 }
 
 
-void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
+void LasReader::handleCompressionOption()
 {
-    try
-    {
-        m_extraDims = LasUtils::parse(m_extraDimSpec);
-    }
-    catch (const LasUtils::error& err)
-    {
-        throwError(err.what());
-    }
-
     std::string compression = Utils::toupper(m_compression);
 #if defined(PDAL_HAVE_LAZPERF) && defined(PDAL_HAVE_LASZIP)
     if (compression == "EITHER")
@@ -147,12 +138,32 @@ void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
 
     // Set case-corrected value.
     m_compression = compression;
-    m_error.setFilename(m_filename);
+}
+
+
+void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
+{
+    try
+    {
+        m_extraDims = LasUtils::parse(m_extraDimSpec);
+    }
+    catch (const LasUtils::error& err)
+    {
+        throwError(err.what());
+    }
+
+    try
+    {
+        m_ignoreVLRs = LasUtils::parseIgnoreVLRs(m_ignoreVLROption);
+    }
+    catch (const LasUtils::error& err)
+    {
+        throwError(err.what());
+    }
 
-    m_error.setLog(log());
     m_header.setLog(log());
-    createStream();
 
+    createStream();
     std::istream *stream(m_streamIf->m_istream);
 
     stream->seekg(0);
@@ -166,6 +177,20 @@ void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
         throwError(e.what());
     }
 
+    for (auto i: m_ignoreVLRs)
+    {
+        if (i.m_recordId)
+            m_header.removeVLR(i.m_userId, i.m_recordId);
+        else
+            m_header.removeVLR(i.m_userId);
+    }
+
+    if (m_header.compressed())
+        handleCompressionOption();
+#ifdef PDAL_HAVE_LASZIP
+    m_laszip = nullptr;
+#endif
+
     if (!m_header.pointFormatSupported())
         throwError("Unsupported LAS input point format: " +
             Utils::toString((int)m_header.pointFormat()) + ".");
@@ -180,6 +205,18 @@ void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
     m_streamIf.reset();
 }
 
+void LasReader::handleLaszip(int result)
+{
+#ifdef PDAL_HAVE_LASZIP
+    if (result)
+    {
+        char *buf;
+        laszip_get_error(m_laszip, &buf);
+        throwError(buf);
+    }
+#endif
+}
+
 
 void LasReader::ready(PointTableRef table)
 {
@@ -192,35 +229,12 @@ void LasReader::ready(PointTableRef table)
 #ifdef PDAL_HAVE_LASZIP
         if (m_compression == "LASZIP")
         {
-            LasVLR *vlr = m_header.findVlr(LASZIP_USER_ID,
-                LASZIP_RECORD_ID);
-            try
-            {
-                m_zipPoint.reset(new LasZipPoint(vlr));
-            }
-            catch (const LasZipPoint::error& err)
-            {
-                throwError(err.what());
-            }
-
-            if (!m_unzipper)
-            {
-                m_unzipper.reset(new LASunzipper());
+            laszip_BOOL compressed;
 
-                stream->seekg(m_header.pointOffset(), std::ios::beg);
-
-                // Once we open the zipper, don't touch the stream until the
-                // zipper is closed or bad things happen.
-                if (!m_unzipper->open(*stream, m_zipPoint->GetZipper()))
-                {
-                    std::ostringstream oss;
-                    const char* err = m_unzipper->get_error();
-                    if (err == NULL)
-                        err = "(unknown error)";
-                    throwError("Failed to open LASzip stream: " +
-                        std::string(err) + ".");
-                }
-            }
+            handleLaszip(laszip_create(&m_laszip));
+            handleLaszip(laszip_open_reader_stream(m_laszip, *stream,
+                &compressed));
+            handleLaszip(laszip_get_point_pointer(m_laszip, &m_laszipPoint));
         }
 #endif
 
@@ -366,7 +380,8 @@ void LasReader::extractHeaderMetadata(MetadataNode& forward, MetadataNode& m)
     {
         const char *pos = vlr->data();
         size_t size = vlr->dataLen();
-        m.addWithType("pdal_metadata", std::string(pos, size), "json", "PDAL Processing Metadata");
+        m.addWithType("pdal_metadata", std::string(pos, size), "json",
+            "PDAL Processing Metadata");
     }
     //
     // PDAL pipeline VLR
@@ -375,7 +390,8 @@ void LasReader::extractHeaderMetadata(MetadataNode& forward, MetadataNode& m)
     {
         const char *pos = vlr->data();
         size_t size = vlr->dataLen();
-        m.addWithType("pdal_pipeline", std::string(pos, size), "json", "PDAL Processing Pipeline");
+        m.addWithType("pdal_pipeline", std::string(pos, size), "json",
+            "PDAL Processing Pipeline");
     }
 
 }
@@ -444,9 +460,11 @@ void LasReader::extractVlrMetadata(MetadataNode& forward, MetadataNode& m)
 
         std::ostringstream name;
         name << "vlr_" << i++;
-        MetadataNode vlrNode = m.addEncoded(name.str(),
-            (const uint8_t *)vlr.data(), vlr.dataLen(), vlr.description());
+        MetadataNode vlrNode(name.str());
+        m.add(vlrNode);
 
+        vlrNode.addEncoded("data",
+            (const uint8_t *)vlr.data(), vlr.dataLen(), vlr.description());
         vlrNode.add("user_id", vlr.userId(),
             "User ID of the record or pre-defined value from the "
             "specification.");
@@ -523,17 +541,8 @@ bool LasReader::processOne(PointRef& point)
 #ifdef PDAL_HAVE_LASZIP
         if (m_compression == "LASZIP")
         {
-            if (!m_unzipper->read(m_zipPoint->m_lz_point))
-            {
-                std::string error = "Error reading compressed point data: ";
-                const char* err = m_unzipper->get_error();
-                if (!err)
-                    err = "(unknown error)";
-                error += std::string(err) + ".";
-                throwError(error);
-            }
-            loadPoint(point, (char *)m_zipPoint->m_lz_point_data.data(),
-                pointLen);
+            handleLaszip(laszip_read_point(m_laszip));
+            loadPoint(point, *m_laszipPoint);
         }
 #endif
 
@@ -647,6 +656,17 @@ point_count_t LasReader::readFileBlock(std::vector<char>& buf,
 }
 
 
+#ifdef PDAL_HAVE_LASZIP
+void LasReader::loadPoint(PointRef& point, laszip_point& p)
+{
+    if (m_header.has14Format())
+        loadPointV14(point, p);
+    else
+        loadPointV10(point, p);
+}
+#endif // PDAL_HAVE_LASZIP
+
+
 void LasReader::loadPoint(PointRef& point, char *buf, size_t bufsize)
 {
     if (m_header.has14Format())
@@ -656,6 +676,46 @@ void LasReader::loadPoint(PointRef& point, char *buf, size_t bufsize)
 }
 
 
+#ifdef PDAL_HAVE_LASZIP
+void LasReader::loadPointV10(PointRef& point, laszip_point& p)
+{
+    const LasHeader& h = m_header;
+
+    double x = p.X * h.scaleX() + h.offsetX();
+    double y = p.Y * h.scaleY() + h.offsetY();
+    double z = p.Z * h.scaleZ() + h.offsetZ();
+
+    point.setField(Dimension::Id::X, x);
+    point.setField(Dimension::Id::Y, y);
+    point.setField(Dimension::Id::Z, z);
+    point.setField(Dimension::Id::Intensity, p.intensity);
+    point.setField(Dimension::Id::ReturnNumber, p.return_number);
+    point.setField(Dimension::Id::NumberOfReturns, p.number_of_returns);
+    point.setField(Dimension::Id::ScanDirectionFlag, p.scan_direction_flag);
+    point.setField(Dimension::Id::EdgeOfFlightLine, p.edge_of_flight_line);
+    point.setField(Dimension::Id::Classification, p.classification);
+    point.setField(Dimension::Id::ScanAngleRank, p.scan_angle_rank);
+    point.setField(Dimension::Id::UserData, p.user_data);
+    point.setField(Dimension::Id::PointSourceId, p.point_source_ID);
+
+    if (h.hasTime())
+        point.setField(Dimension::Id::GpsTime, p.gps_time);
+
+    if (h.hasColor())
+    {
+        point.setField(Dimension::Id::Red, p.rgb[0]);
+        point.setField(Dimension::Id::Green, p.rgb[1]);
+        point.setField(Dimension::Id::Blue, p.rgb[2]);
+    }
+
+    if (m_extraDims.size())
+    {
+        LeExtractor extractor((const char *)p.extra_bytes, p.num_extra_bytes);
+        loadExtraDims(extractor, point);
+    }
+}
+#endif // PDAL_HAVE_LASZIP
+
 void LasReader::loadPointV10(PointRef& point, char *buf, size_t bufsize)
 {
     LeExtractor istream(buf, bufsize);
@@ -684,12 +744,6 @@ void LasReader::loadPointV10(PointRef& point, char *buf, size_t bufsize)
     uint8_t scanDirFlag = (flags >> 6) & 0x01;
     uint8_t flight = (flags >> 7) & 0x01;
 
-    if (returnNum == 0 || returnNum > 5)
-        m_error.returnNumWarning(returnNum);
-
-    if (numReturns == 0 || numReturns > 5)
-        m_error.numReturnsWarning(numReturns);
-
     point.setField(Dimension::Id::X, x);
     point.setField(Dimension::Id::Y, y);
     point.setField(Dimension::Id::Z, z);
@@ -721,8 +775,55 @@ void LasReader::loadPointV10(PointRef& point, char *buf, size_t bufsize)
 
     if (m_extraDims.size())
         loadExtraDims(istream, point);
+}
+
+
+#ifdef PDAL_HAVE_LASZIP
+void LasReader::loadPointV14(PointRef& point, laszip_point& p)
+{
+    const LasHeader& h = m_header;
+
+    double x = p.X * h.scaleX() + h.offsetX();
+    double y = p.Y * h.scaleY() + h.offsetY();
+    double z = p.Z * h.scaleZ() + h.offsetZ();
+
+    point.setField(Dimension::Id::X, x);
+    point.setField(Dimension::Id::Y, y);
+    point.setField(Dimension::Id::Z, z);
+    point.setField(Dimension::Id::Intensity, p.intensity);
+    point.setField(Dimension::Id::ReturnNumber, p.extended_return_number);
+    point.setField(Dimension::Id::NumberOfReturns,
+        p.extended_number_of_returns);
+    point.setField(Dimension::Id::ClassFlags, p.extended_classification_flags);
+    point.setField(Dimension::Id::ScanChannel, p.extended_scanner_channel);
+    point.setField(Dimension::Id::ScanDirectionFlag, p.scan_direction_flag);
+    point.setField(Dimension::Id::EdgeOfFlightLine, p.edge_of_flight_line);
+    point.setField(Dimension::Id::Classification, p.extended_classification);
+    point.setField(Dimension::Id::ScanAngleRank, p.extended_scan_angle * .006);
+    point.setField(Dimension::Id::UserData, p.user_data);
+    point.setField(Dimension::Id::PointSourceId, p.point_source_ID);
+    point.setField(Dimension::Id::GpsTime, p.gps_time);
 
+    if (h.hasColor())
+    {
+        point.setField(Dimension::Id::Red, p.rgb[0]);
+        point.setField(Dimension::Id::Green, p.rgb[1]);
+        point.setField(Dimension::Id::Blue, p.rgb[2]);
+    }
+
+    if (h.hasInfrared())
+    {
+        point.setField(Dimension::Id::Infrared, p.rgb[3]);
+    }
+
+    if (m_extraDims.size())
+    {
+        LeExtractor extractor((const char *)p.extra_bytes, p.num_extra_bytes);
+        loadExtraDims(extractor, point);
+    }
 }
+#endif  // PDAL_HAVE_LASZIP
+
 
 void LasReader::loadPointV14(PointRef& point, char *buf, size_t bufsize)
 {
@@ -822,8 +923,11 @@ void LasReader::loadExtraDims(LeExtractor& istream, PointRef& point)
 void LasReader::done(PointTableRef)
 {
 #ifdef PDAL_HAVE_LASZIP
-    m_zipPoint.reset();
-    m_unzipper.reset();
+    if (m_laszip)
+    {
+        handleLaszip(laszip_close_reader(m_laszip));
+        handleLaszip(laszip_destroy(m_laszip));
+    }
 #endif
     m_streamIf.reset();
 }
diff --git a/io/LasReader.hpp b/io/LasReader.hpp
index 47eeb9d..9eb47cd 100644
--- a/io/LasReader.hpp
+++ b/io/LasReader.hpp
@@ -39,11 +39,17 @@
 #include <pdal/Compression.hpp>
 #include <pdal/PDALUtils.hpp>
 #include <pdal/Reader.hpp>
+#ifdef PDAL_HAVE_LASZIP
+#include <laszip/laszip_api.h>
+#else
+using laszip_POINTER = void *;
+using laszip_point_struct = void *;
+struct laszip_point;
+#endif
 
 #include "LasError.hpp"
 #include "LasHeader.hpp"
 #include "LasUtils.hpp"
-#include "LasZipPoint.hpp"
 
 extern "C" int32_t LasReader_ExitFunc();
 extern "C" PF_ExitFunc LasReader_InitPlugin();
@@ -110,16 +116,19 @@ protected:
     std::unique_ptr<LasStreamIf> m_streamIf;
 
 private:
-    LasError m_error;
+    typedef std::vector<LasUtils::IgnoreVLR> IgnoreVLRList;
+
     LasHeader m_header;
-    std::unique_ptr<LasZipPoint> m_zipPoint;
-    std::unique_ptr<LASunzipper> m_unzipper;
+    laszip_POINTER m_laszip;
+    laszip_point_struct *m_laszipPoint;
     std::unique_ptr<LazPerfVlrDecompressor> m_decompressor;
     std::vector<char> m_decompressorBuf;
     point_count_t m_index;
     StringList m_extraDimSpec;
     std::vector<ExtraDim> m_extraDims;
+    IgnoreVLRList m_ignoreVLRs;
     std::string m_compression;
+    StringList m_ignoreVLROption;
 
     virtual void addArgs(ProgramArgs& args);
     virtual void initialize(PointTableRef table)
@@ -134,16 +143,21 @@ private:
     virtual bool eof()
         { return m_index >= getNumPoints(); }
 
+    void handleCompressionOption();
     void setSrs(MetadataNode& m);
     void readExtraBytesVlr();
     void extractHeaderMetadata(MetadataNode& forward, MetadataNode& m);
     void extractVlrMetadata(MetadataNode& forward, MetadataNode& m);
+    void loadPoint(PointRef& point, laszip_point& p);
+    void loadPointV10(PointRef& point, laszip_point& p);
+    void loadPointV14(PointRef& point, laszip_point& p);
     void loadPoint(PointRef& point, char *buf, size_t bufsize);
     void loadPointV10(PointRef& point, char *buf, size_t bufsize);
     void loadPointV14(PointRef& point, char *buf, size_t bufsize);
     void loadExtraDims(LeExtractor& istream, PointRef& data);
     point_count_t readFileBlock(std::vector<char>& buf,
         point_count_t maxPoints);
+    void handleLaszip(int result);
 
     LasReader& operator=(const LasReader&); // not implemented
     LasReader(const LasReader&); // not implemented
diff --git a/io/LasUtils.cpp b/io/LasUtils.cpp
index eeebaa0..a6515ab 100644
--- a/io/LasUtils.cpp
+++ b/io/LasUtils.cpp
@@ -180,6 +180,38 @@ std::vector<ExtraDim> ExtraBytesIf::toExtraDims()
 namespace LasUtils
 {
 
+std::vector<IgnoreVLR> parseIgnoreVLRs(const StringList& ignored)
+{
+    std::vector<IgnoreVLR> ignoredVLRs;
+    for (auto& v: ignored)
+    {
+
+        StringList s = Utils::split2(v, '/');
+        if (s.size() == 2)
+        {
+            Utils::trim(s[0]);
+            Utils::trim(s[1]);
+            int i = std::stoi(s[1]);
+            uint16_t id = (uint16_t)i;
+            IgnoreVLR v;
+            v.m_userId = s[0];
+            v.m_recordId = id;
+            ignoredVLRs.push_back(v);
+        } else if (s.size() == 1)
+        {
+            Utils::trim(s[0]);
+            IgnoreVLR v;
+            v.m_userId = s[0];
+            v.m_recordId = 0;
+            ignoredVLRs.push_back(v);
+        } else
+        {
+            throw error("Invalid VLR user_id/record_id specified");
+        }
+    }
+    return ignoredVLRs;
+
+}
 std::vector<ExtraDim> parse(const StringList& dimString)
 {
     std::vector<ExtraDim> extraDims;
diff --git a/io/LasUtils.hpp b/io/LasUtils.hpp
index cdffb56..b87b546 100644
--- a/io/LasUtils.hpp
+++ b/io/LasUtils.hpp
@@ -173,6 +173,14 @@ struct error : public std::runtime_error
 
 std::vector<ExtraDim> parse(const StringList& dimString);
 
+
+struct IgnoreVLR
+{
+    std::string m_userId;
+    uint16_t m_recordId;
+};
+std::vector<IgnoreVLR> parseIgnoreVLRs(const StringList& ignored);
+
 } // namespace LasUtils
 
 } // namespace pdal
diff --git a/io/LasVLR.cpp b/io/LasVLR.cpp
index b9fda57..7bc7fa1 100644
--- a/io/LasVLR.cpp
+++ b/io/LasVLR.cpp
@@ -37,8 +37,7 @@
 namespace pdal
 {
 
-const uint16_t LasVLR::MAX_DATA_SIZE =
-    (std::numeric_limits<uint16_t>::max)();
+const uint16_t LasVLR::MAX_DATA_SIZE = 65535;
 
 ILeStream& operator>>(ILeStream& in, LasVLR& v)
 {
diff --git a/io/LasVLR.hpp b/io/LasVLR.hpp
index 98daa50..b5638ac 100644
--- a/io/LasVLR.hpp
+++ b/io/LasVLR.hpp
@@ -51,11 +51,14 @@ static const uint16_t GEOTIFF_DOUBLES_RECORD_ID = 34736;
 static const uint16_t GEOTIFF_ASCII_RECORD_ID = 34737;
 static const uint16_t LASZIP_RECORD_ID = 22204;
 static const uint16_t EXTRA_BYTES_RECORD_ID = 4;
+static const uint16_t PDAL_METADATA_RECORD_ID = 12;
+static const uint16_t PDAL_PIPELINE_RECORD_ID = 13;
 
 static const char TRANSFORM_USER_ID[] = "LASF_Projection";
 static const char SPEC_USER_ID[] = "LASF_Spec";
 static const char LIBLAS_USER_ID[] = "liblas";
 static const char LASZIP_USER_ID[] = "laszip encoded";
+static const char PDAL_USER_ID[] = "PDAL";
 
 class LasVLR;
 typedef std::vector<LasVLR> VlrList;
@@ -79,7 +82,7 @@ public:
         { return m_recordId; }
     std::string description() const
         { return m_description; }
-    
+
     bool matches(const std::string& userId) const
         { return userId == m_userId; }
     bool matches(const std::string& userId, uint16_t recordId) const
diff --git a/io/LasWriter.cpp b/io/LasWriter.cpp
index 43ea450..5ede8ed 100644
--- a/io/LasWriter.cpp
+++ b/io/LasWriter.cpp
@@ -34,7 +34,9 @@
 
 #include "LasWriter.hpp"
 
+#include <climits>
 #include <iostream>
+#include <vector>
 
 #include <pdal/Compression.hpp>
 #include <pdal/DimUtil.hpp>
@@ -49,7 +51,6 @@
 #include <pdal/util/ProgramArgs.hpp>
 
 #include "GeotiffSupport.hpp"
-#include "LasZipPoint.hpp"
 
 namespace pdal
 {
@@ -96,7 +97,8 @@ void LasWriter::addArgs(ProgramArgs& args)
         decltype(m_dataformatId)(3));
     args.add("format", "Point format", m_dataformatId,
         decltype(m_dataformatId)(3));
-    args.add("global_encoding", "Global encoding byte", m_globalEncoding);
+    args.add("global_encoding", "Global encoding byte", m_globalEncoding,
+        decltype(m_globalEncoding)(0));
     args.add("project_id", "Project ID", m_projectId);
     args.add("system_id", "System ID", m_systemId,
         decltype(m_systemId)(m_lasHeader.getSystemIdentifier()));
@@ -106,8 +108,8 @@ void LasWriter::addArgs(ProgramArgs& args)
         decltype(m_creationDoy)(doy));
     args.add("creation_year", "Creation year", m_creationYear,
         decltype(m_creationYear)(year));
-    args.add("pdal_metadata", "Write PDAL metadata as VLR?", m_writePDALMetadata,
-        decltype(m_writePDALMetadata)(false));
+    args.add("pdal_metadata", "Write PDAL metadata as VLR?",
+        m_writePDALMetadata, decltype(m_writePDALMetadata)(false));
     args.add("scale_x", "X scale factor", m_scaleX, decltype(m_scaleX)(".01"));
     args.add("scale_y", "Y scale factor", m_scaleY, decltype(m_scaleY)(".01"));
     args.add("scale_z", "Z scale factor", m_scaleZ, decltype(m_scaleZ)(".01"));
@@ -292,7 +294,6 @@ void LasWriter::readyFile(const std::string& filename,
     if (!out)
         throwError("Couldn't open file '" + filename + "' for output.");
     m_curFilename = filename;
-    m_error.setFilename(filename);
     Utils::writeProgress(m_progressFd, "READYFILE", filename);
     prepOutput(out, srs);
 }
@@ -300,9 +301,6 @@ void LasWriter::readyFile(const std::string& filename,
 
 void LasWriter::prepOutput(std::ostream *outStream, const SpatialReference& srs)
 {
-
-
-
     // Use stage SRS if provided.
     m_srs = getSpatialReference().empty() ? srs : getSpatialReference();
 
@@ -316,7 +314,6 @@ void LasWriter::prepOutput(std::ostream *outStream, const SpatialReference& srs)
     setVlrsFromSpatialRef();
     setVlrsFromMetadata(m_forwardMetadata);
 
-
     m_summaryData.reset(new LasSummaryData());
     m_ostream = outStream;
     if (m_lasHeader.compressed())
@@ -348,8 +345,6 @@ void LasWriter::prepOutput(std::ostream *outStream, const SpatialReference& srs)
     // Set the point buffer size here in case we're using the streaming
     // interface.
     m_pointBuf.resize(m_lasHeader.pointLen());
-
-    m_error.setLog(log());
 }
 
 
@@ -385,22 +380,31 @@ MetadataNode LasWriter::findVlrMetadata(MetadataNode node,
 
 void LasWriter::setPDALVLRs(MetadataNode& forward)
 {
-    auto store = [this](std::string json, int recordId, std::string description)
+    std::string json = Utils::toJSON(forward);
+    if ((json.size() > LasVLR::MAX_DATA_SIZE) &&
+        !m_lasHeader.versionAtLeast(1, 4))
     {
-        std::vector<uint8_t> data;
-        data.resize(json.size());
-        std::copy(json.begin(), json.end(), data.begin());
-        addVlr("PDAL", recordId, description, data);
-    };
+        log()->get(LogLevel::Debug) << "pdal metadata VLR too large "
+            "to write in VLR for files < LAS 1.4";
+    } else
+    {
+        std::vector<uint8_t> data(json.begin(), json.end());
+        addVlr(PDAL_USER_ID, PDAL_METADATA_RECORD_ID, "PDAL metadata", data);
+    }
 
     std::ostringstream ostr;
-    Utils::toJSON(forward, ostr);
-    std::string json = ostr.str();
-    store(ostr.str(), 12, "PDAL metadata");
-
-    ostr.str("");
     PipelineWriter::writePipeline(this, ostr);
-    store(ostr.str(), 13, "PDAL pipeline");
+    json = ostr.str();
+    if (json.size() > LasVLR::MAX_DATA_SIZE &&
+        !m_lasHeader.versionAtLeast(1, 4))
+    {
+        log()->get(LogLevel::Debug) << "pdal pipeline VLR too large "
+            "to write in VLR for files < LAS 1.4";
+    } else
+    {
+        std::vector<uint8_t> data(json.begin(), json.end());
+        addVlr(PDAL_USER_ID, PDAL_PIPELINE_RECORD_ID, "PDAL pipeline", data);
+    }
 }
 
 
@@ -429,7 +433,6 @@ void LasWriter::setVlrsFromMetadata(MetadataNode& forward)
     }
 }
 
-
 /// Set VLRs from the active spatial reference.
 /// \param  srs - Active spatial reference.
 void LasWriter::setVlrsFromSpatialRef()
@@ -645,26 +648,34 @@ void LasWriter::readyCompression()
 }
 
 
-void LasWriter::readyLasZipCompression()
+void LasWriter::handleLaszip(int result)
 {
 #ifdef PDAL_HAVE_LASZIP
-    if (m_lasHeader.pointFormat() > 5)
-        throwError("LASzip doesn't currently support compression using LAS "
-            "1.4 point formats (dataformat_id > 5).");
-    try
-    {
-        m_zipPoint.reset(new LasZipPoint(m_lasHeader.pointFormat(),
-            m_lasHeader.pointLen()));
-    }
-    catch (const LasZipPoint::error& err)
+    if (result)
     {
-        throwError(err.what());
+        char *buf;
+        laszip_get_error(m_laszip, &buf);
+        throwError(buf);
     }
-    m_zipper.reset(new LASzipper());
-    // Note: this will make the VLR count in the header incorrect, but we
-    // rewrite that bit in finishOutput() to fix it up.
-    std::vector<uint8_t> data = m_zipPoint->vlrData();
-    addVlr(LASZIP_USER_ID, LASZIP_RECORD_ID, "http://laszip.org", data);
+#endif
+}
+
+
+void LasWriter::readyLasZipCompression()
+{
+#ifdef PDAL_HAVE_LASZIP
+    handleLaszip(laszip_create(&m_laszip));
+    handleLaszip(laszip_set_point_type_and_size(m_laszip,
+        m_lasHeader.pointFormat(), m_lasHeader.pointLen()));
+
+    laszip_U8* data;
+    laszip_U32 size;
+    handleLaszip(laszip_create_laszip_vlr(m_laszip, &data, &size));
+
+    // A VLR has 54 header bytes that we skip in order to get to the payload.
+    std::vector<laszip_U8> vlrData(data + 54, data + size);
+
+    addVlr(LASZIP_USER_ID, LASZIP_RECORD_ID, "http://laszip.org", vlrData);
 #endif
 }
 
@@ -697,14 +708,7 @@ void LasWriter::readyLazPerfCompression()
 void LasWriter::openCompression()
 {
 #ifdef PDAL_HAVE_LASZIP
-    if (!m_zipper->open(*m_ostream, m_zipPoint->GetZipper()))
-    {
-        std::ostringstream oss;
-        const char* err = m_zipper->get_error();
-        if (err == NULL)
-            err = "(unknown error)";
-        throwError("Error opening LASzipper: " + std::string(err) + ".");
-    }
+    handleLaszip(laszip_open_writer_stream(m_laszip, *m_ostream, true, true));
 #endif
 }
 
@@ -712,17 +716,26 @@ void LasWriter::openCompression()
 bool LasWriter::processOne(PointRef& point)
 {
     //ABELL - Need to do something about auto offset.
-    LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
-
-    if (!fillPointBuf(point, ostream))
-        return false;
 
     if (m_compression == LasCompression::LasZip)
-        writeLasZipBuf(m_pointBuf.data(), m_lasHeader.pointLen(), 1);
+    {
+        if (!writeLasZipBuf(point))
+            return false;
+    }
     else if (m_compression == LasCompression::LazPerf)
+    {
+        LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
+        if (!fillPointBuf(point, ostream))
+            return false;
         writeLazPerfBuf(m_pointBuf.data(), m_lasHeader.pointLen(), 1);
+    }
     else
+    {
+        LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
+        if (!fillPointBuf(point, ostream))
+            return false;
         m_ostream->write(m_pointBuf.data(), m_lasHeader.pointLen());
+    }
     return true;
 }
 
@@ -735,48 +748,172 @@ void LasWriter::writeView(const PointViewPtr view)
 
     point_count_t pointLen = m_lasHeader.pointLen();
 
-    // Make a buffer of at most a meg.
-    m_pointBuf.resize(std::min((point_count_t)1000000, pointLen * view->size()));
-
-    const PointView& viewRef(*view.get());
-
-    point_count_t remaining = view->size();
-    PointId idx = 0;
-    while (remaining)
+    // Since we use the LASzip API, we can't benefit from building
+    // a buffer of multiple points, so loop.
+    if (m_compression == LasCompression::LasZip)
+    {
+        PointRef point(*view, 0);
+        for (PointId idx = 0; idx < view->size(); ++idx)
+        {
+            point.setPointId(idx);
+            processOne(point);
+        }
+    }
+    else
     {
-        point_count_t filled = fillWriteBuf(viewRef, idx, m_pointBuf);
-        idx += filled;
-        remaining -= filled;
+        // Make a buffer of at most a meg.
+        m_pointBuf.resize(std::min((point_count_t)1000000,
+                    pointLen * view->size()));
 
-        if (m_compression == LasCompression::LasZip)
-            writeLasZipBuf(m_pointBuf.data(), pointLen, filled);
-        else if (m_compression == LasCompression::LazPerf)
-            writeLazPerfBuf(m_pointBuf.data(), pointLen, filled);
-        else
-            m_ostream->write(m_pointBuf.data(), filled * pointLen);
+        const PointView& viewRef(*view.get());
+
+        point_count_t remaining = view->size();
+        PointId idx = 0;
+        while (remaining)
+        {
+            point_count_t filled = fillWriteBuf(viewRef, idx, m_pointBuf);
+            idx += filled;
+            remaining -= filled;
+
+            if (m_compression == LasCompression::LazPerf)
+                writeLazPerfBuf(m_pointBuf.data(), pointLen, filled);
+            else
+                m_ostream->write(m_pointBuf.data(), filled * pointLen);
+        }
     }
     Utils::writeProgress(m_progressFd, "DONEVIEW",
         std::to_string(view->size()));
 }
 
 
-void LasWriter::writeLasZipBuf(char *pos, size_t pointLen, point_count_t numPts)
+bool LasWriter::writeLasZipBuf(PointRef& point)
 {
 #ifdef PDAL_HAVE_LASZIP
-    for (point_count_t i = 0; i < numPts; i++)
+    const bool has14Format = m_lasHeader.has14Format();
+    const size_t maxReturnCount = m_lasHeader.maxReturnCount();
+
+    // we always write the base fields
+    using namespace Dimension;
+
+    uint8_t returnNumber(1);
+    uint8_t numberOfReturns(1);
+
+    if (point.hasDim(Id::ReturnNumber))
+        returnNumber = point.getFieldAs<uint8_t>(Id::ReturnNumber);
+    if (point.hasDim(Id::NumberOfReturns))
+        numberOfReturns = point.getFieldAs<uint8_t>(Id::NumberOfReturns);
+    if (numberOfReturns > maxReturnCount)
     {
-        memcpy(m_zipPoint->m_lz_point_data.data(), pos, pointLen);
-        if (!m_zipper->write(m_zipPoint->m_lz_point))
+        if (m_discardHighReturnNumbers)
         {
-            std::ostringstream oss;
-            const char* err = m_zipper->get_error();
-            if (err == NULL)
-                err = "(unknown error)";
-            throwError("Error writing point: " + std::string(err) + ".");
+            // If this return number is too high, pitch the point.
+            if (returnNumber > maxReturnCount)
+                return false;
+            numberOfReturns = maxReturnCount;
         }
-        pos += pointLen;
     }
+
+    auto converter = [this](double d, Dimension::Id dim) -> int32_t
+    {
+        int32_t i(0);
+
+        if (!Utils::numericCast(d, i))
+            throwError("Unable to convert scaled value (" +
+                Utils::toString(d) + ") to "
+                "int32 for dimension '" + Dimension::name(dim) +
+                "' when writing LAS/LAZ file " + m_curFilename + ".");
+        return i;
+    };
+
+    double xOrig = point.getFieldAs<double>(Id::X);
+    double yOrig = point.getFieldAs<double>(Id::Y);
+    double zOrig = point.getFieldAs<double>(Id::Z);
+    double x = m_scaling.m_xXform.toScaled(xOrig);
+    double y = m_scaling.m_yXform.toScaled(yOrig);
+    double z = m_scaling.m_zXform.toScaled(zOrig);
+
+    uint8_t scanChannel = point.getFieldAs<uint8_t>(Id::ScanChannel);
+    uint8_t scanDirectionFlag =
+        point.getFieldAs<uint8_t>(Id::ScanDirectionFlag);
+    uint8_t edgeOfFlightLine =
+        point.getFieldAs<uint8_t>(Id::EdgeOfFlightLine);
+    uint8_t classification = point.getFieldAs<uint8_t>(Id::Classification);
+    uint8_t classFlags = 0;
+    if (point.hasDim(Id::ClassFlags))
+        classFlags = point.getFieldAs<uint8_t>(Id::ClassFlags);
+    else
+        classFlags = classification >> 5;
+
+    laszip_point_struct p;
+    p.X = converter(x, Id::X);
+    p.Y = converter(y, Id::Y);
+    p.Z = converter(z, Id::Z);
+    p.intensity = point.getFieldAs<uint16_t>(Id::Intensity);
+    p.scan_direction_flag = scanDirectionFlag;
+    p.edge_of_flight_line = edgeOfFlightLine;
+
+    if (has14Format)
+    {
+        p.extended_point_type = 1;
+
+        p.extended_return_number = returnNumber;
+        p.extended_number_of_returns = numberOfReturns;
+        p.extended_scanner_channel = scanChannel;
+        p.extended_scan_angle =
+            roundf(point.getFieldAs<float>(Id::ScanAngleRank) / .006);
+        p.extended_classification_flags = classFlags;
+        p.extended_classification = classification;
+        p.classification = (classification & 0x1F) | (classFlags << 5);
+//        p.scan_angle_rank = point.getFieldAs<int8_t>(Id::ScanAngleRank);
+    }
+    else
+    {
+        p.synthetic_flag = classFlags & 0x1;
+        p.keypoint_flag = (classFlags >> 1) & 0x1;
+        p.withheld_flag = (classFlags >> 2) & 0x1;
+        p.return_number = returnNumber;
+        p.number_of_returns = numberOfReturns;
+        p.scan_angle_rank = point.getFieldAs<int8_t>(Id::ScanAngleRank);
+        p.classification = classification;
+    }
+    p.user_data = point.getFieldAs<uint8_t>(Id::UserData);
+
+    p.point_source_ID = point.getFieldAs<uint16_t>(Id::PointSourceId);
+
+    if (m_lasHeader.hasTime())
+        p.gps_time = point.getFieldAs<double>(Id::GpsTime);
+
+    if (m_lasHeader.hasColor())
+    {
+        p.rgb[0] = point.getFieldAs<uint16_t>(Id::Red);
+        p.rgb[1] = point.getFieldAs<uint16_t>(Id::Green);
+        p.rgb[2] = point.getFieldAs<uint16_t>(Id::Blue);
+    }
+
+    if (m_lasHeader.hasInfrared())
+        p.rgb[3] = point.getFieldAs<uint16_t>(Id::Infrared);
+
+    if (m_extraDims.size())
+    {
+        LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
+        Everything e;
+        for (auto& dim : m_extraDims)
+        {
+            point.getField((char *)&e, dim.m_dimType.m_id,
+                dim.m_dimType.m_type);
+            Utils::insertDim(ostream, dim.m_dimType.m_type, e);
+        }
+        assert(m_extraByteLen == ostream.position());
+    }
+    p.extra_bytes = (laszip_U8 *)m_pointBuf.data();
+    p.num_extra_bytes = m_extraByteLen;
+
+    m_summaryData->addPoint(xOrig, yOrig, zOrig, returnNumber);
+
+    handleLaszip(laszip_set_point(m_laszip, &p));
+    handleLaszip(laszip_write_point(m_laszip));
 #endif
+    return true;
 }
 
 
@@ -796,9 +933,6 @@ void LasWriter::writeLazPerfBuf(char *pos, size_t pointLen,
 bool LasWriter::fillPointBuf(PointRef& point, LeInserter& ostream)
 {
     bool has14Format = m_lasHeader.has14Format();
-    bool hasColor = m_lasHeader.hasColor();
-    bool hasTime = m_lasHeader.hasTime();
-    bool hasInfrared = m_lasHeader.hasInfrared();
     static const size_t maxReturnCount = m_lasHeader.maxReturnCount();
 
     // we always write the base fields
@@ -807,15 +941,9 @@ bool LasWriter::fillPointBuf(PointRef& point, LeInserter& ostream)
     uint8_t returnNumber(1);
     uint8_t numberOfReturns(1);
     if (point.hasDim(Id::ReturnNumber))
-    {
         returnNumber = point.getFieldAs<uint8_t>(Id::ReturnNumber);
-        if (returnNumber < 1 || returnNumber > maxReturnCount)
-            m_error.returnNumWarning(returnNumber);
-    }
     if (point.hasDim(Id::NumberOfReturns))
         numberOfReturns = point.getFieldAs<uint8_t>(Id::NumberOfReturns);
-    if (numberOfReturns == 0)
-        m_error.numReturnsWarning(0);
     if (numberOfReturns > maxReturnCount)
     {
         if (m_discardHighReturnNumbers)
@@ -825,8 +953,6 @@ bool LasWriter::fillPointBuf(PointRef& point, LeInserter& ostream)
                 return false;
             numberOfReturns = maxReturnCount;
         }
-        else
-            m_error.numReturnsWarning(numberOfReturns);
     }
 
     auto converter = [this](double d, Dimension::Id dim) -> int32_t
@@ -896,17 +1022,17 @@ bool LasWriter::fillPointBuf(PointRef& point, LeInserter& ostream)
 
     ostream << point.getFieldAs<uint16_t>(Id::PointSourceId);
 
-    if (hasTime)
+    if (m_lasHeader.hasTime())
         ostream << point.getFieldAs<double>(Id::GpsTime);
 
-    if (hasColor)
+    if (m_lasHeader.hasColor())
     {
         ostream << point.getFieldAs<uint16_t>(Id::Red);
         ostream << point.getFieldAs<uint16_t>(Id::Green);
         ostream << point.getFieldAs<uint16_t>(Id::Blue);
     }
 
-    if (hasInfrared)
+    if (m_lasHeader.hasInfrared())
         ostream << point.getFieldAs<uint16_t>(Id::Infrared);
 
     Everything e;
@@ -951,7 +1077,6 @@ void LasWriter::doneFile()
 
 void LasWriter::finishOutput()
 {
-
     if (m_compression == LasCompression::LasZip)
         finishLasZipOutput();
     else if (m_compression == LasCompression::LazPerf)
@@ -1001,7 +1126,8 @@ void LasWriter::finishOutput()
 void LasWriter::finishLasZipOutput()
 {
 #ifdef PDAL_HAVE_LASZIP
-    m_zipper->close();
+    handleLaszip(laszip_close_writer(m_laszip));
+    handleLaszip(laszip_destroy(m_laszip));
 #endif
 }
 
diff --git a/io/LasWriter.hpp b/io/LasWriter.hpp
index e6b7066..b4d9bb4 100644
--- a/io/LasWriter.hpp
+++ b/io/LasWriter.hpp
@@ -43,7 +43,12 @@
 #include "LasHeader.hpp"
 #include "LasUtils.hpp"
 #include "LasSummaryData.hpp"
-#include "LasZipPoint.hpp"
+
+#ifdef PDAL_HAVE_LASZIP
+#include <laszip/laszip_api.h>
+#else
+using laszip_POINTER = void *;
+#endif
 
 #include <json/json.h>
 
@@ -82,11 +87,9 @@ protected:
     void finishOutput();
 
 private:
-    LasError m_error;
     LasHeader m_lasHeader;
     std::unique_ptr<LasSummaryData> m_summaryData;
-    std::unique_ptr<LASzipper> m_zipper;
-    std::unique_ptr<LasZipPoint> m_zipPoint;
+    laszip_POINTER m_laszip;
     std::unique_ptr<LazPerfVlrCompressor> m_compressor;
     bool m_discardHighReturnNumbers;
     std::map<std::string, std::string> m_headerVals;
@@ -142,6 +145,7 @@ private:
     void spatialReferenceChanged(const SpatialReference& srs);
     virtual void doneFile();
 
+    void handleLaszip(int result);
     void fillForwardList();
     void collectUserVLRs();
     template <typename T>
@@ -152,7 +156,7 @@ private:
     bool fillPointBuf(PointRef& point, LeInserter& ostream);
     point_count_t fillWriteBuf(const PointView& view, PointId startId,
         std::vector<char>& buf);
-    void writeLasZipBuf(char *data, size_t pointLen, point_count_t numPts);
+    bool writeLasZipBuf(PointRef& point);
     void writeLazPerfBuf(char *data, size_t pointLen, point_count_t numPts);
     void setVlrsFromMetadata(MetadataNode& forward);
     void setPDALVLRs(MetadataNode& m);
diff --git a/io/LasZipPoint.cpp b/io/LasZipPoint.cpp
deleted file mode 100644
index d990abc..0000000
--- a/io/LasZipPoint.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <sstream>
-#include <string.h>
-
-#include <pdal/pdal_internal.hpp>
-
-#ifdef PDAL_HAVE_LASZIP
-
-#include "LasVLR.hpp"
-#include "LasZipPoint.hpp"
-
-namespace pdal
-{
-
-// Read-mode ctor.
-LasZipPoint::LasZipPoint(LasVLR *vlr) :
-    m_zip(new LASzip()), m_lz_point(NULL), m_lz_point_size(0)
-{
-    if (!vlr || !m_zip->unpack((unsigned char *)vlr->data(),
-        (int)vlr->dataLen()))
-    {
-        std::ostringstream oss;
-        const char* err = m_zip->get_error();
-        if (err == NULL)
-            err = "(unknown error)";
-        throw error("Error unpacking zip VLR data: " + std::string(err) + ".");
-    }
-    ConstructItems();
-}
-
-
-// Write-mode ctor.
-LasZipPoint::LasZipPoint(uint8_t format, uint16_t pointLen) :
-    m_zip(new LASzip()), m_lz_point(NULL), m_lz_point_size(0)
-{
-    if (!m_zip->setup(format, pointLen))
-    {
-        std::ostringstream oss;
-        const char* err = m_zip->get_error();
-        if (err == NULL)
-            err = "(unknown error)";
-        throw error("Error setting up LASzip for format " +
-            Utils::toString(format) + ": " + err);
-    }
-    ConstructItems();
-}
-
-
-LasZipPoint::~LasZipPoint()
-{
-    delete[] m_lz_point;
-}
-
-
-void LasZipPoint::ConstructItems()
-{
-    // construct the object that will hold a laszip point
-
-    // compute the point size
-    m_lz_point_size = 0;
-    for (unsigned int i = 0; i < m_zip->num_items; i++)
-        m_lz_point_size += m_zip->items[i].size;
-
-    // create the point data
-    unsigned int point_offset = 0;
-    m_lz_point = new unsigned char*[m_zip->num_items];
-
-    m_lz_point_data.resize(m_lz_point_size);
-    for (unsigned i = 0; i < m_zip->num_items; i++)
-    {
-        m_lz_point[i] = &(m_lz_point_data[point_offset]);
-        point_offset += m_zip->items[i].size;
-    }
-}
-
-
-std::vector<uint8_t> LasZipPoint::vlrData() const
-{
-    // This puts a bunch of data into an array of data pointed to by 'data',
-    // suitable for storage in a VLR.
-    uint8_t* data;
-    int num;
-    m_zip->pack(data, num);
-    return std::vector<uint8_t>(data, data + num);
-}
-
-} // namespace pdal
-
-#endif // PDAL_HAVE_LASZIP
diff --git a/io/LasZipPoint.hpp b/io/LasZipPoint.hpp
deleted file mode 100644
index 57c049b..0000000
--- a/io/LasZipPoint.hpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <vector>
-
-#ifdef PDAL_HAVE_LASZIP
-#include <laszip.hpp>
-#include <lasunzipper.hpp>
-#include <laszipper.hpp>
-#endif
-
-namespace pdal
-{
-
-#ifdef PDAL_HAVE_LASZIP
-
-class LasVLR;
-
-class PDAL_DLL LasZipPoint
-{
-public:
-    struct error : public std::runtime_error
-    {
-        error(const std::string& err) : std::runtime_error(err)
-        {}
-    };
-
-    LasZipPoint(LasVLR *lasHeader);
-    LasZipPoint(uint8_t format, uint16_t pointLen);
-    ~LasZipPoint();
-
-    std::vector<uint8_t> vlrData() const;
-    LASzip* GetZipper() const
-        { return m_zip.get(); }
-
-private:
-    std::unique_ptr<LASzip> m_zip;
-
-//ABELL - This block should be made private.
-public:
-    unsigned char** m_lz_point;
-    unsigned int m_lz_point_size;
-    std::vector<uint8_t> m_lz_point_data;
-
-private:
-    void ConstructItems();
-};
-#else // PDAL_HAVE_LASZIP
-// The types here just need to be something suitable for a smart pointer.
-// They aren't ever used beyond testing for NULL.
-typedef char LASzipper;
-typedef char LASunzipper;
-typedef char LasZipPoint;
-#endif
-
-} // namespace pdal
diff --git a/io/OGRWriter.cpp b/io/OGRWriter.cpp
new file mode 100644
index 0000000..1f3c631
--- /dev/null
+++ b/io/OGRWriter.cpp
@@ -0,0 +1,194 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc. <info at hobu.co>
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. nor the names of its contributors
+*       may be used to endorse or promote products derived from this
+*       software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "OGRWriter.hpp"
+
+#include <sstream>
+
+#include <pdal/GDALUtils.hpp>
+#include <pdal/PointView.hpp>
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/FileUtils.hpp>
+
+#include <ogr_core.h>
+#include <ogrsf_frmts.h>
+
+// Only build this if we have at least version 2.1
+#ifdef PDAL_GDAL2_1
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+        "writers.ogr",
+        "Write a point cloud as a set of OGR points/multipoints",
+        "http://pdal.io/stages/writers.ogr.html");
+
+
+CREATE_STATIC_PLUGIN(1, 0, OGRWriter, Writer, s_info);
+
+OGRWriter::OGRWriter() : m_driver(nullptr), m_ds(nullptr), m_layer(nullptr),
+    m_feature(nullptr)
+{}
+
+
+std::string OGRWriter::getName() const
+{
+    return s_info.name;
+}
+
+
+void OGRWriter::addArgs(ProgramArgs& args)
+{
+    args.add("filename", "Output filename", m_filename).setPositional();
+    args.add("multicount", "Group 'multicount' points into a structure",
+        m_multiCount, (size_t)1);
+    args.add("measure_dim", "Use dimensions as a measure value",
+        m_measureDimName);
+    args.add("ogrdriver", "OGR writer driver name", m_driverName, m_driverName);
+}
+
+
+void OGRWriter::initialize()
+{
+    gdal::registerDrivers();
+    if (m_multiCount < 1)
+        throwError("'m_multicount' must be greater than 0.");
+}
+
+
+void OGRWriter::prepared(PointTableRef table)
+{
+    if (m_measureDimName.size())
+    {
+        m_measureDim = table.layout()->findDim(m_measureDimName);
+        if (m_measureDim == Dimension::Id::Unknown)
+            throwError("Dimension '" + m_measureDimName + "' (measure_dim) not "
+                "found.");
+    }
+
+    if (m_driverName.empty())
+    {
+        if (FileUtils::extension(m_filename) == ".geojson")
+            m_driverName = "GeoJSON";
+        else
+            m_driverName = "ESRI Shapefile";
+    }
+}
+
+
+void OGRWriter::readyTable(PointTableRef table)
+{
+    m_driver = GetGDALDriverManager()->GetDriverByName(m_driverName.data());
+    if (m_measureDim == Dimension::Id::Unknown)
+        m_geomType = (m_multiCount == 1) ? wkbPoint : wkbMultiPoint;
+    else
+        m_geomType = (m_multiCount == 1) ? wkbPointZM : wkbMultiPointZM;
+}
+
+
+void OGRWriter::readyFile(const std::string& filename,
+    const SpatialReference& srs)
+{
+    m_outputFilename = filename;
+    m_ds = m_driver->Create(filename.data(), 0, 0, 0, GDT_Unknown, nullptr);
+    if (!m_ds)
+        throwError("Unable to open OGR datasource '" + filename + "'.\n");
+    m_layer = m_ds->CreateLayer("points", nullptr, m_geomType, nullptr);
+    if (!m_layer)
+        throwError("Can't create OGR layer for points.\n");
+    {
+        gdal::ErrorHandlerSuspender devnull;
+
+        m_ds->SetProjection(srs.getWKT().data());
+    }
+    m_feature = OGRFeature::CreateFeature(m_layer->GetLayerDefn());
+}
+
+void OGRWriter::writeView(const PointViewPtr view)
+{
+    m_curCount = 0;
+    PointRef point(*view, 0);
+    for (PointId idx = 0; idx < view->size(); ++idx)
+    {
+        point.setPointId(idx);
+        processOne(point);
+    }
+}
+
+
+bool OGRWriter::processOne(PointRef& point)
+{
+    double x = point.getFieldAs<double>(Dimension::Id::X);
+    double y = point.getFieldAs<double>(Dimension::Id::Y);
+    double z = point.getFieldAs<double>(Dimension::Id::Z);
+    double m = point.getFieldAs<double>(m_measureDim);
+
+    OGRPoint pt(x, y, z);
+    if (m_measureDim != Dimension::Id::Unknown)
+        pt.setM(m);
+    m_curCount++;
+
+    if (m_multiCount > 1)
+        m_multiPoint.addGeometry(&pt);
+    if (m_curCount == m_multiCount)
+    {
+        if (m_multiCount > 1)
+        {
+            m_feature->SetGeometry(&m_multiPoint);
+            m_multiPoint.empty();
+        }
+        else
+            m_feature->SetGeometry(&pt);
+        if (m_layer->CreateFeature(m_feature))
+            throwError("Couldn't create feature.");
+        m_curCount = 0;
+    }
+    return true;
+}
+
+
+void OGRWriter::doneFile()
+{
+    if (m_curCount)
+        if (m_layer->CreateFeature(m_feature))
+            throwError("Couldn't create feature.");
+    OGRFeature::DestroyFeature(m_feature);
+    GDALClose(m_ds);
+    m_layer = nullptr;
+    m_ds = nullptr;
+}
+
+} // namespace pdal
+
+#endif // PDAL_GDAL2_1
diff --git a/io/OGRWriter.hpp b/io/OGRWriter.hpp
new file mode 100644
index 0000000..60c3959
--- /dev/null
+++ b/io/OGRWriter.hpp
@@ -0,0 +1,100 @@
+/******************************************************************************
+* Copyright (c) 2016, Hobu Inc. (info at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/PointView.hpp>
+#include <pdal/FlexWriter.hpp>
+#include <pdal/plugin.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+
+#include <gdal_version.h>
+
+extern "C" int32_t OGRWriter_ExitFunc();
+extern "C" PF_ExitFunc OGRWriter_InitPlugin();
+
+#if GDAL_VERSION_MAJOR > 2 || \
+    (GDAL_VERSION_MAJOR == 2 && GDAL_VERSION_MINOR > 0)
+#define PDAL_GDAL2_1
+#endif
+
+#ifdef PDAL_GDAL2_1
+#include <gdal_priv.h>
+#include <ogr_feature.h>
+#else
+#include <ogrsf_frmts.h>
+#endif
+
+namespace pdal
+{
+
+class PDAL_DLL OGRWriter : public FlexWriter
+{
+public:
+    static void * create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+    OGRWriter();
+
+private:
+    virtual void addArgs(ProgramArgs& args);
+    virtual void initialize();
+    virtual void prepared(PointTableRef table);
+    virtual void readyTable(PointTableRef table);
+    virtual void readyFile(const std::string& filename,
+        const SpatialReference& srs);
+    virtual void writeView(const PointViewPtr view);
+    virtual bool processOne(PointRef& point);
+    virtual void doneFile();
+
+    // I don't think this needs to be deleted.
+#ifdef PDAL_GDAL2_1
+    GDALDriver *m_driver;
+    GDALDataset *m_ds;
+#else
+    OGRSFDriver *m_driver;
+    OGRDataSource *m_ds;
+#endif
+    OGRLayer *m_layer;
+    OGRFeature *m_feature;
+    OGRwkbGeometryType m_geomType;
+    OGRMultiPoint m_multiPoint;
+    std::string m_outputFilename;
+    std::string m_driverName;
+    size_t m_multiCount;
+    size_t m_curCount;
+    std::string m_measureDimName;
+    Dimension::Id m_measureDim;
+};
+
+}
diff --git a/io/OGRWriterV1.cpp b/io/OGRWriterV1.cpp
new file mode 100644
index 0000000..64ba02c
--- /dev/null
+++ b/io/OGRWriterV1.cpp
@@ -0,0 +1,181 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc. <info at hobu.co>
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. nor the names of its contributors
+*       may be used to endorse or promote products derived from this
+*       software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "OGRWriter.hpp"
+
+#include <sstream>
+
+#include <pdal/GDALUtils.hpp>
+#include <pdal/PointView.hpp>
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/FileUtils.hpp>
+
+#include <ogr_core.h>
+#include <ogrsf_frmts.h>
+
+#ifndef PDAL_GDAL2_1
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+        "writers.ogr",
+        "Write a point cloud as a set of OGR points/multipoints",
+        "http://pdal.io/stages/writers.ogr.html");
+
+
+CREATE_STATIC_PLUGIN(1, 0, OGRWriter, Writer, s_info);
+
+OGRWriter::OGRWriter() : m_driver(nullptr), m_ds(nullptr), m_layer(nullptr),
+    m_feature(nullptr)
+{}
+
+
+std::string OGRWriter::getName() const
+{
+    return s_info.name;
+}
+
+
+void OGRWriter::addArgs(ProgramArgs& args)
+{
+    args.add("filename", "Output filename", m_filename).setPositional();
+    args.add("multicount", "Group 'multicount' points into a structure",
+        m_multiCount, (size_t)1);
+    args.add("measure_dim", "Use dimensions as a measure value",
+        m_measureDimName);
+    args.add("ogrdriver", "OGR writer driver name", m_driverName, m_driverName);
+}
+
+
+void OGRWriter::initialize()
+{
+    gdal::registerDrivers();
+    if (m_multiCount < 1)
+        throwError("'m_multicount' must be greater than 0.");
+}
+
+
+void OGRWriter::prepared(PointTableRef table)
+{
+    if (m_measureDimName.size())
+        throwError("Option 'measure_dim' not supported until GDAL "
+            "version 2.1.");
+
+    if (m_driverName.empty())
+    {
+        if (FileUtils::extension(m_filename) == ".geojson")
+            m_driverName = "GeoJSON";
+        else
+            m_driverName = "ESRI Shapefile";
+    }
+}
+
+
+void OGRWriter::readyTable(PointTableRef table)
+{
+    m_driver = OGRSFDriverRegistrar::GetRegistrar()->GetDriverByName(
+        m_driverName.data());
+    m_geomType = (m_multiCount == 1 ? wkbPoint : wkbMultiPoint);
+}
+
+
+void OGRWriter::readyFile(const std::string& filename,
+    const SpatialReference& srs)
+{
+    m_outputFilename = filename;
+    m_ds = m_driver->CreateDataSource(filename.data(), nullptr);
+    if (!m_ds)
+        throwError("Unable to open OGR datasource '" + filename + "'.\n");
+    OGRSpatialReference ogrSrs(srs.getWKT().data());
+    m_layer = m_ds->CreateLayer("points", &ogrSrs, m_geomType, nullptr);
+    if (!m_layer)
+        throwError("Can't create OGR layer for points.\n");
+    m_feature = OGRFeature::CreateFeature(m_layer->GetLayerDefn());
+}
+
+void OGRWriter::writeView(const PointViewPtr view)
+{
+    m_curCount = 0;
+    PointRef point(*view, 0);
+    for (PointId idx = 0; idx < view->size(); ++idx)
+    {
+        point.setPointId(idx);
+        processOne(point);
+    }
+}
+
+
+bool OGRWriter::processOne(PointRef& point)
+{
+    double x = point.getFieldAs<double>(Dimension::Id::X);
+    double y = point.getFieldAs<double>(Dimension::Id::Y);
+    double z = point.getFieldAs<double>(Dimension::Id::Z);
+    double m = point.getFieldAs<double>(m_measureDim);
+
+    OGRPoint pt(x, y, z);
+    m_curCount++;
+
+    if (m_multiCount > 1)
+        m_multiPoint.addGeometry(&pt);
+    if (m_curCount == m_multiCount)
+    {
+        if (m_multiCount > 1)
+        {
+            m_feature->SetGeometry(&m_multiPoint);
+            m_multiPoint.empty();
+        }
+        else
+            m_feature->SetGeometry(&pt);
+        if (m_layer->CreateFeature(m_feature))
+            throwError("Couldn't create feature.");
+        m_curCount = 0;
+    }
+    return true;
+}
+
+
+void OGRWriter::doneFile()
+{
+    if (m_curCount)
+        if (m_layer->CreateFeature(m_feature))
+            throwError("Couldn't create feature.");
+    OGRFeature::DestroyFeature(m_feature);
+    GDALClose(m_ds);
+    m_layer = nullptr;
+    m_ds = nullptr;
+}
+
+} // namespace pdal
+
+#endif // PDAL_GDAL2_1
diff --git a/io/OptechReader.cpp b/io/OptechReader.cpp
index 8c8fd7a..411ced7 100644
--- a/io/OptechReader.cpp
+++ b/io/OptechReader.cpp
@@ -82,22 +82,6 @@ OptechReader::OptechReader()
 }
 
 
-Dimension::IdList OptechReader::getDefaultDimensions()
-{
-    Dimension::IdList dims;
-    dims.push_back(Dimension::Id::X);
-    dims.push_back(Dimension::Id::Y);
-    dims.push_back(Dimension::Id::Z);
-    dims.push_back(Dimension::Id::GpsTime);
-    dims.push_back(Dimension::Id::ReturnNumber);
-    dims.push_back(Dimension::Id::NumberOfReturns);
-    dims.push_back(Dimension::Id::EchoRange);
-    dims.push_back(Dimension::Id::Intensity);
-    dims.push_back(Dimension::Id::ScanAngleRank);
-    return dims;
-}
-
-
 const CsdHeader& OptechReader::getHeader() const { return m_header; }
 
 
@@ -136,10 +120,11 @@ void OptechReader::initialize()
 
 void OptechReader::addDimensions(PointLayoutPtr layout)
 {
-    for (auto it : getDefaultDimensions())
-    {
-        layout->registerDim(it);
-    }
+    using namespace Dimension;
+
+    layout->registerDims( { Id::X, Id::Y, Id::Z, Id::GpsTime, Id::ReturnNumber,
+        Id::NumberOfReturns, Id::EchoRange, Id::Intensity,
+        Id::ScanAngleRank } );
 }
 
 
diff --git a/io/OptechReader.hpp b/io/OptechReader.hpp
index 38399c4..6cdfde1 100644
--- a/io/OptechReader.hpp
+++ b/io/OptechReader.hpp
@@ -66,7 +66,6 @@ public:
 
     OptechReader();
 
-    static Dimension::IdList getDefaultDimensions();
     const CsdHeader& getHeader() const;
 
 private:
diff --git a/io/PlyReader.cpp b/io/PlyReader.cpp
index 7f5e78a..85830fe 100644
--- a/io/PlyReader.cpp
+++ b/io/PlyReader.cpp
@@ -36,84 +36,250 @@
 
 #include <sstream>
 
+#include <pdal/PDALUtils.hpp>
 #include <pdal/PointView.hpp>
 #include <pdal/pdal_macros.hpp>
+#include <pdal/util/IStream.hpp>
 
 namespace pdal
 {
-namespace
+
+static PluginInfo const s_info = PluginInfo(
+        "readers.ply",
+        "Read ply files.",
+        "http://pdal.io/stages/reader.ply.html");
+
+CREATE_STATIC_PLUGIN(1, 0, PlyReader, Reader, s_info);
+
+
+PlyReader::PlyReader() : m_vertexElt(nullptr)
+{}
+
+
+std::string PlyReader::readLine()
 {
+    m_line.clear();
+    if (m_lines.size())
+    {
+        m_line = m_lines.top();
+        m_lines.pop();
+    }
+    else
+    {
+        do
+        {
+            std::getline(*m_stream, m_line);
+        } while (m_line.empty() && m_stream->good());
+    }
+    Utils::trimTrailing(m_line);
+    m_linePos = Utils::extract(m_line, 0,
+        [](char c){ return !std::isspace(c); });
+    return std::string(m_line, 0, m_linePos);
+}
 
-struct CallbackContext
+
+void PlyReader::pushLine()
 {
-    PointViewPtr view;
-    PlyReader::DimensionMap dimensionMap;
-};
+    m_lines.push(m_line);
+}
 
 
-void plyErrorCallback(p_ply ply, const char * message)
+std::string PlyReader::nextWord()
 {
-    throw PlyReader::error(message);
+    std::string s;
+    std::string::size_type cnt = Utils::extractSpaces(m_line, m_linePos);
+    m_linePos += cnt;
+    if (m_linePos == m_line.size())
+        return s;
+
+    cnt = Utils::extract(m_line, m_linePos,
+        [](char c){ return !std::isspace(c); });
+    s = std::string(m_line, m_linePos, cnt);
+    m_linePos += cnt;
+    return s;
 }
 
 
-p_ply openPly(std::string filename)
+void PlyReader::extractMagic()
 {
-    p_ply ply = ply_open(filename.c_str(), &plyErrorCallback, 0, nullptr);
-    if (!ply)
-        throw PlyReader::error("Unable to open file " + filename +
-            " for reading.");
-
-    if (!ply_read_header(ply))
-        throw PlyReader::error("Unable to read header of " + filename + ".");
-    return ply;
+    std::string first = readLine();
+    if (first != "ply")
+        throwError("File isn't a PLY file.  'ply' not found.");
+    if (m_linePos != m_line.size())
+        throwError("Text found following 'ply' keyword.");
 }
 
 
-int readPlyCallback(p_ply_argument argument)
+void PlyReader::extractEnd()
 {
-    p_ply_element element;
-    long index;
-    void * contextAsVoid;
-    long numToRead;
-    p_ply_property property;
-    const char * propertyName;
+    std::string first = readLine();
+    if (first != "end_header")
+        throwError("'end_header' expected but found line beginning with '" +
+            first + "' instead.");
+    if (m_linePos != m_line.size())
+        throwError("Text found following 'end_header' keyword.");
+}
 
-    if (!ply_get_argument_element(argument, &element, &index))
-        throw PlyReader::error("Error getting argument element.");
 
-    if (!ply_get_argument_user_data(argument, &contextAsVoid, &numToRead))
-        throw PlyReader::error("Error getting argument user data.");
+void PlyReader::extractFormat()
+{
+    std::string word = readLine();
+    if (word != "format")
+        throwError("Expected format line not found in PLY file.");
+
+    word = nextWord();
+    if (word == "ascii")
+        m_format = Format::Ascii;
+    else if (word == "binary_big_endian")
+        m_format = Format::BinaryBe;
+    else if (word == "binary_little_endian")
+        m_format = Format::BinaryLe;
+    else
+        throwError("Unrecognized PLY format: '" + word + "'.");
+
+    word = nextWord();
+    if (word != "1.0")
+        throwError("Unsupported PLY version: '" + word + "'.");
+}
 
-    // We've read enough, abort the callback cycle
-    if (numToRead <= index)
-        return 0;
 
-    if (!ply_get_argument_property(argument, &property, nullptr, nullptr))
-        throw PlyReader::error("Error getting argument property.");
+Dimension::Type PlyReader::getType(const std::string& name)
+{
+    static std::map<std::string, Dimension::Type> types =
+    {
+        { "int8", Dimension::Type::Signed8 },
+        { "uint8", Dimension::Type::Unsigned8 },
+        { "int16", Dimension::Type::Signed16 },
+        { "uint16", Dimension::Type::Unsigned16 },
+        { "int32", Dimension::Type::Signed32 },
+        { "uint32", Dimension::Type::Unsigned32 },
+        { "float32", Dimension::Type::Float },
+        { "float64", Dimension::Type::Double },
+
+        { "char", Dimension::Type::Signed8 },
+        { "uchar", Dimension::Type::Unsigned8 },
+        { "short", Dimension::Type::Signed16 },
+        { "ushort", Dimension::Type::Unsigned16 },
+        { "int", Dimension::Type::Signed32 },
+        { "uint", Dimension::Type::Unsigned32 },
+        { "float", Dimension::Type::Float },
+        { "double", Dimension::Type::Double }
+    };
 
-    if (!ply_get_property_info(property, &propertyName, nullptr,
-        nullptr, nullptr))
-        throw PlyReader::error("Error getting property info.");
+    try
+    {
+        return types.at(name);
+    }
+    catch (std::out_of_range)
+    {}
+    return Dimension::Type::None;
+}
 
-    CallbackContext * context = static_cast<CallbackContext *>(contextAsVoid);
-    double value = ply_get_argument_value(argument);
-    Dimension::Id dimension = context->dimensionMap.at(propertyName);
-    context->view->setField(dimension, index, value);
 
-    return 1;
+void PlyReader::extractProperty(Element& element)
+{
+    std::string word = nextWord();
+    Dimension::Type type = getType(word);
+
+    if (type != Dimension::Type::None)
+    {
+        std::string name = nextWord();
+        if (name.empty())
+            throwError("No name for property of element '" +
+                element.m_name + "'.");
+        element.m_properties.push_back(
+            std::unique_ptr<Property>(new SimpleProperty(name, type)));
+    }
+    else if (word == "list")
+    {
+        if (element.m_name == "vertex")
+            throwError("List properties are not supported for the 'vertex' "
+                "element.");
+
+        word = nextWord();
+        Dimension::Type countType = getType(word);
+        if (countType == Dimension::Type::None)
+            throwError("No valid count type for list property of element '" +
+                element.m_name + "'.");
+        word = nextWord();
+        Dimension::Type listType = getType(word);
+        if (listType == Dimension::Type::None)
+            throwError("No valid list type for list property of element '" +
+                element.m_name + "'.");
+        std::string name = nextWord();
+        if (name.empty())
+            throwError("No name for property of element '" +
+                element.m_name + "'.");
+        element.m_properties.push_back(
+            std::unique_ptr<Property>(new ListProperty(name, countType,
+                listType)));
+    }
+    else
+        throwError("Invalid property type '" + word + "'.");
 }
 
-} // unnamed namespace
 
+void PlyReader::extractProperties(Element& element)
+{
+    while (true)
+    {
+        std::string word = readLine();
+        if (word == "comment" || word == "obj_info")
+            continue;
+        else if (word == "property")
+            extractProperty(element);
+        else
+        {
+            pushLine();
+            break;
+        }
+    }
+}
 
-static PluginInfo const s_info = PluginInfo(
-        "readers.ply",
-        "Read ply files.",
-        "http://pdal.io/stages/reader.ply.html");
 
+bool PlyReader::extractElement()
+{
+    std::string word = readLine();
+    if (word == "comment" || word == "obj_info")
+        return true;
+    else if (word == "end_header")
+    {
+        pushLine();
+        return false;
+    }
+    else if (word == "element")
+    {
+        std::string name = nextWord();
+        if (name.empty())
+            throwError("Missing element name.");
+        long count = std::stol(nextWord());
+        if (count < 0)
+            throwError("Invalid count for element '" + name + "'.");
+        m_elements.emplace_back(name, count);
+        extractProperties(m_elements.back());
+        return true;
+    }
+    throwError("Invalid keyword '" + word + "' when expecting an element.");
+    return false;  // quiet compiler
+}
 
-CREATE_STATIC_PLUGIN(1, 0, PlyReader, Reader, s_info);
+
+void PlyReader::extractHeader()
+{
+    m_elements.clear();
+    extractMagic();
+    extractFormat();
+    while (extractElement())
+        ;
+    extractEnd();
+    m_dataPos = m_stream->tellg();
+
+    for (Element& elt : m_elements)
+        if (elt.m_name == "vertex")
+            m_vertexElt = &elt;
+    if (!m_vertexElt)
+        throwError("Can't read PLY file without a 'vertex' element.");
+}
 
 
 std::string PlyReader::getName() const
@@ -122,148 +288,174 @@ std::string PlyReader::getName() const
 }
 
 
-PlyReader::PlyReader()
-    : m_ply(nullptr)
-    , m_vertexDimensions()
-{}
+void PlyReader::initialize()
+{
+    m_stream = Utils::openFile(m_filename, true);
+    extractHeader();
+    Utils::closeFile(m_stream);
+    m_stream = nullptr;
+}
 
 
-void PlyReader::initialize()
+void PlyReader::addDimensions(PointLayoutPtr layout)
 {
-    try
+    SimpleProperty *prop;
+
+    // Override XYZ to doubles.
+    layout->registerDim(Dimension::Id::X);
+    layout->registerDim(Dimension::Id::Y);
+    layout->registerDim(Dimension::Id::Z);
+
+    for (auto& elt : m_elements)
     {
-        p_ply ply = openPly(m_filename);
-        p_ply_element vertex_element = nullptr;
-        bool found_vertex_element = false;
-        const char* element_name;
-        long element_count;
-        while ((vertex_element = ply_get_next_element(ply, vertex_element)))
+        if (elt.m_name == "vertex")
         {
-            if (!ply_get_element_info(vertex_element, &element_name,
-                        &element_count))
-                throwError("Error reading element info in " + m_filename + ".");
-            if (strcmp(element_name, "vertex") == 0)
+            for (auto& prop : elt.m_properties)
             {
-                found_vertex_element = true;
-                break;
+                auto vprop = static_cast<SimpleProperty *>(prop.get());
+                layout->registerOrAssignDim(vprop->m_name, vprop->m_type);
+                vprop->setDim(
+                    layout->registerOrAssignDim(vprop->m_name, vprop->m_type));
             }
+            return;
         }
-        if (!found_vertex_element)
-            throwError("File " + m_filename + " does not contain a vertex "
-                    "element.");
+    }
+    throwError("No 'vertex' element in header.");
+}
 
-        static std::map<int, Dimension::Type> types =
-        {
-            { PLY_INT8, Dimension::Type::Signed8 },
-            { PLY_UINT8, Dimension::Type::Unsigned8 },
-            { PLY_INT16, Dimension::Type::Signed16 },
-            { PLY_UINT16, Dimension::Type::Unsigned16 },
-            { PLY_INT32, Dimension::Type::Signed32 },
-            { PLY_UINT32, Dimension::Type::Unsigned32 },
-            { PLY_FLOAT32, Dimension::Type::Float },
-            { PLY_FLOAT64, Dimension::Type::Double },
-
-            { PLY_CHAR, Dimension::Type::Signed8 },
-            { PLY_UCHAR, Dimension::Type::Unsigned8 },
-            { PLY_SHORT, Dimension::Type::Signed16 },
-            { PLY_USHORT, Dimension::Type::Unsigned16 },
-            { PLY_INT, Dimension::Type::Signed32 },
-            { PLY_UINT, Dimension::Type::Unsigned32 },
-            { PLY_FLOAT, Dimension::Type::Float },
-            { PLY_DOUBLE, Dimension::Type::Double }
-        };
-
-        p_ply_property property = nullptr;
-        while ((property = ply_get_next_property(vertex_element, property)))
-        {
-            const char* name;
-            e_ply_type type;
-            e_ply_type length_type;
-            e_ply_type value_type;
-            if (!ply_get_property_info(property, &name, &type,
-                        &length_type, &value_type))
-                throwError("Error reading property info in " +
-                    m_filename + ".");
-            // For now, we'll just use PDAL's built in dimension matching.
-            // We could be smarter about this, e.g. by using the length
-            // and value type attributes.
-            m_vertexTypes[name] = types[type];
-        }
-        ply_close(ply);
+
+bool PlyReader::readProperty(Property *prop, PointRef& point)
+{
+    if (!m_stream->good())
+        return false;
+    prop->read(m_stream, m_format, point);
+    return true;
+}
+
+
+void PlyReader::SimpleProperty::read(std::istream *stream,
+    PlyReader::Format format, PointRef& point)
+{
+    if (format == Format::Ascii)
+    {
+        double d;
+        *stream >> d;
+        point.setField(m_dim, d);
     }
-    catch (const error& err)
+    else if (format == Format::BinaryLe)
     {
-        throwError(err.what());
+        ILeStream in(stream);
+        Everything e = Utils::extractDim(in, m_type);
+        point.setField(m_dim, m_type, &e);
+    }
+    else if (format == Format::BinaryBe)
+    {
+        IBeStream in(stream);
+        Everything e = Utils::extractDim(in, m_type);
+        point.setField(m_dim, m_type, &e);
     }
 }
 
 
-void PlyReader::addDimensions(PointLayoutPtr layout)
+// Right now we don't support list properties for point data.  We just
+// read the data and throw it away.
+void PlyReader::ListProperty::read(std::istream *stream,
+    PlyReader::Format format, PointRef& point)
 {
-    for (auto it : m_vertexTypes)
+    if (format == Format::Ascii)
     {
-        const std::string& name = it.first;
-        const Dimension::Type& type = it.second;
+        size_t cnt;
+        *stream >> cnt;
 
-        m_vertexDimensions[name] = layout->registerOrAssignDim(name, type);
+        double d;
+        while (cnt--)
+            *stream >> d;
+    }
+    else if (format == Format::BinaryLe)
+    {
+        ILeStream istream(stream);
+        Everything e = Utils::extractDim(istream, m_countType);
+        size_t cnt = (size_t)Utils::toDouble(e, m_countType);
+        cnt *= Dimension::size(m_listType);
+        istream.seek(cnt, std::ios_base::cur);
+    }
+    else if (format == Format::BinaryBe)
+    {
+        IBeStream istream(stream);
+        Everything e = Utils::extractDim(istream, m_countType);
+        size_t cnt = (size_t)Utils::toDouble(e, m_countType);
+        cnt *= Dimension::size(m_listType);
+        istream.seek(cnt, std::ios_base::cur);
     }
 }
 
 
+void PlyReader::readElement(Element& elt, PointRef& point)
+{
+    for (auto& prop : elt.m_properties)
+        if (!readProperty(prop.get(), point))
+            throwError("Error reading data for point/element " +
+                std::to_string(point.pointId()) + ".");
+}
+
+
 void PlyReader::ready(PointTableRef table)
 {
-    try
+    m_stream = Utils::openFile(m_filename, true);
+    if (m_stream)
+        m_stream->seekg(m_dataPos);
+    for (Element& elt : m_elements)
     {
-        m_ply = openPly(m_filename);
+        if (&elt == m_vertexElt)
+            break;
+
+        // We read an element into point 0.  Since the element's properties
+        // weren't registered as dimensions, we'll try to write the data
+        // to a NULL dimension, which is a noop.
+        // This essentially just gets us to the vertex element.
+        // In binary mode, this is all silliness, since we should be able
+        // to seek right where we want to go, but in text mode, you've got
+        // to go through the data.
+        PointRef point(table, 0);
+        for (PointId idx = 0; idx < elt.m_count; ++idx)
+            readElement(elt, point);
     }
-    catch (const error& err)
+    m_index = 0;
+}
+
+
+bool PlyReader::processOne(PointRef& point)
+{
+    if (m_index < m_vertexElt->m_count)
     {
-        throwError(err.what());
+        readElement(*m_vertexElt, point);
+        m_index++;
+        return true;
     }
+    return false;
 }
 
 
+// We're just reading the vertex element here.
 point_count_t PlyReader::read(PointViewPtr view, point_count_t num)
 {
-    CallbackContext context;
-    context.view = view;
-    context.dimensionMap = m_vertexDimensions;
-
-    // It's possible that point_count_t holds a value that's larger than the
-    // long that is the maximum rply (don't know about ply) point count.
-    long cnt;
-    cnt = Utils::inRange<long>(num) ? num : (std::numeric_limits<long>::max)();
-    try
-    {
-        for (auto it : m_vertexDimensions)
-        {
-            ply_set_read_cb(m_ply, "vertex", it.first.c_str(), readPlyCallback,
-                    &context, cnt);
-        }
-        if (!ply_read(m_ply))
-        {
-            throwError("Error reading " + m_filename + ".");
-        }
-    }
-    catch(const error& err)
+    point_count_t cnt;
+
+    PointRef point(view->point(0));
+    cnt = 0;
+    for (PointId idx = 0; idx < m_vertexElt->m_count && idx < num; ++idx)
     {
-        throwError(err.what());
+        point.setPointId(idx);
+        processOne(point);
+        cnt++;
     }
-    return view->size();
+    return cnt;
 }
 
 
 void PlyReader::done(PointTableRef table)
 {
-    try
-    {
-        if (!ply_close(m_ply))
-            throwError("Error closing " + m_filename + ".");
-    }
-    catch (const error& err)
-    {
-        throwError(err.what());
-    }
+    Utils::closeFile(m_stream);
 }
 
 } // namespace pdal
diff --git a/io/PlyReader.hpp b/io/PlyReader.hpp
index 728646e..120a2c0 100644
--- a/io/PlyReader.hpp
+++ b/io/PlyReader.hpp
@@ -35,8 +35,7 @@
 #pragma once
 
 #include <string>
-
-#include <rply/rply.h>
+#include <stack>
 
 #include <pdal/Dimension.hpp>
 #include <pdal/Reader.hpp>
@@ -52,12 +51,6 @@ namespace pdal
 class PDAL_DLL PlyReader : public Reader
 {
 public:
-    struct error : public std::runtime_error
-    {
-        error(const std::string& e) : std::runtime_error(e)
-        {}
-    };
-
     static void *create();
     static int32_t destroy(void *);
     std::string getName() const;
@@ -66,19 +59,98 @@ public:
 
     PlyReader();
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
+    enum class Format
+    {
+        Ascii,
+        BinaryLe,
+        BinaryBe
+    };
+
+    struct Property
+    {
+        Property(const std::string& name) : m_name(name)
+        {}
+
+        std::string m_name;
+
+        virtual void setDim(Dimension::Id id)
+        {}
+        virtual void read(std::istream *stream, PlyReader::Format format,
+            PointRef& point) = 0;
+    };
+
+    struct SimpleProperty : public Property
+    {
+        SimpleProperty(const std::string& name, Dimension::Type type) :
+            Property(name), m_type(type), m_dim(Dimension::Id::Unknown)
+        {}
+
+        Dimension::Type m_type;
+        Dimension::Id m_dim;
+
+        virtual void read(std::istream *stream, PlyReader::Format format,
+            PointRef& point) override;
+        virtual void setDim(Dimension::Id id) override
+        { m_dim = id; }
+    };
+
+    struct ListProperty : public Property
+    {
+        ListProperty(const std::string& name, Dimension::Type countType,
+            Dimension::Type listType) : Property(name), m_countType(countType),
+            m_listType(listType)
+        {}
+
+        Dimension::Type m_countType;
+        Dimension::Type m_listType;
+
+        virtual void read(std::istream *stream, PlyReader::Format format,
+            PointRef& point) override;
+    };
+
+    struct Element
+    {
+        Element(const std::string name, size_t count) :
+            m_name(name), m_count(count)
+        {}
+
+        std::string m_name;
+        size_t m_count;
+        std::vector<std::unique_ptr<Property>> m_properties;
+    };
+
+    Format m_format;
+    std::string m_line;
+    std::string::size_type m_linePos;
+    std::stack<std::string> m_lines;
+    std::istream *m_stream;
+    std::istream::streampos m_dataPos;
+    std::vector<Element> m_elements;
+    PointId m_index;
+    Element *m_vertexElt;
+
     virtual void initialize();
     virtual void addDimensions(PointLayoutPtr layout);
     virtual void ready(PointTableRef table);
     virtual point_count_t read(PointViewPtr view, point_count_t num);
     virtual void done(PointTableRef table);
+    virtual bool processOne(PointRef& point);
 
-    p_ply m_ply;
-
-    DimensionMap m_vertexDimensions;
-    std::map<std::string, Dimension::Type> m_vertexTypes;
+    std::string readLine();
+    void pushLine();
+    std::string nextWord();
+    void extractMagic();
+    void extractEnd();
+    void extractFormat();
+    Dimension::Type getType(const std::string& name);
+    void extractProperty(Element& element);
+    void extractProperties(Element& element);
+    bool extractElement();
+    void extractHeader();
+    void readElement(Element& elt, PointRef& point);
+    bool readProperty(Property *prop, PointRef& point);
 };
-}
+
+} // namespace pdal
 
diff --git a/io/PlyWriter.cpp b/io/PlyWriter.cpp
index 407a8e1..9bd9f04 100644
--- a/io/PlyWriter.cpp
+++ b/io/PlyWriter.cpp
@@ -34,41 +34,15 @@
 
 #include "PlyWriter.hpp"
 
+#include <limits>
 #include <sstream>
 
 #include <pdal/pdal_macros.hpp>
+#include <pdal/util/OStream.hpp>
 #include <pdal/util/ProgramArgs.hpp>
 
 namespace pdal
 {
-namespace
-{
-
-void createErrorCallback(p_ply ply, const char* message)
-{
-    throw PlyWriter::error(message);
-}
-
-
-e_ply_type getPlyType(Dimension::Type type)
-{
-    static std::map<Dimension::Type, e_ply_type> types =
-    {
-        { Dimension::Type::Unsigned8, PLY_UINT8 },
-        { Dimension::Type::Signed8, PLY_INT8 },
-        { Dimension::Type::Unsigned16, PLY_UINT16 },
-        { Dimension::Type::Signed16, PLY_INT16 },
-        { Dimension::Type::Unsigned32, PLY_UINT32 },
-        { Dimension::Type::Signed32, PLY_INT32 },
-        { Dimension::Type::Float, PLY_FLOAT32 },
-        { Dimension::Type::Double, PLY_FLOAT64 }
-    };
-
-    return types[type];
-}
-
-} // unnamed namespace
-
 
 static PluginInfo const s_info = PluginInfo(
         "writers.ply",
@@ -82,113 +56,209 @@ std::string PlyWriter::getName() const { return s_info.name; }
 
 
 PlyWriter::PlyWriter()
-    : m_ply(nullptr)
-    , m_pointCollector(nullptr)
-    , m_storageMode(PLY_DEFAULT)
 {}
 
 
 void PlyWriter::addArgs(ProgramArgs& args)
 {
     args.add("filename", "Output filename", m_filename).setPositional();
-    args.add("storage_mode", "PLY Storage mode", m_storageModeSpec, "default");
+    args.add("storage_mode", "PLY Storage Mode", m_format, Format::Ascii);
+    args.add("dims", "Dimension names", m_dimNames);
+    args.add("faces", "Write faces", m_faces);
 }
 
 
-void PlyWriter::initialize()
+void PlyWriter::prepared(PointTableRef table)
 {
-    std::string storageMode(m_storageModeSpec);
-    storageMode = Utils::tolower(storageMode);
-
-    if (storageMode == "ascii")
+    if (m_dimNames.size())
     {
-        m_storageMode = PLY_ASCII;
+        for (auto& name : m_dimNames)
+        {
+            auto id = table.layout()->findDim(name);
+            if (id == Dimension::Id::Unknown)
+                throwError("Unknown dimension '" + name + "' in provided "
+                    "dimension list.");
+            m_dims.push_back(id);
+        }
     }
-    else if (storageMode == "little endian")
+    else
     {
-        m_storageMode = PLY_LITTLE_ENDIAN;
+        m_dims = table.layout()->dims();
+        for (auto dim : m_dims)
+            m_dimNames.push_back(Utils::tolower(table.layout()->dimName(dim)));
     }
-    else if (storageMode == "big endian")
+}
+
+
+std::string PlyWriter::getType(Dimension::Type type) const
+{
+   static std::map<Dimension::Type, std::string> types =
     {
-        m_storageMode = PLY_BIG_ENDIAN;
-    }
-    else if (storageMode == "default")
+        { Dimension::Type::Signed8, "int8" },
+        { Dimension::Type::Unsigned8, "uint8" },
+        { Dimension::Type::Signed16, "int16" },
+        { Dimension::Type::Unsigned16, "uint16" },
+        { Dimension::Type::Signed32, "int32" },
+        { Dimension::Type::Unsigned32, "uint32" },
+        { Dimension::Type::Float, "float32" },
+        { Dimension::Type::Double, "float64" }
+    };
+
+    try
     {
-        m_storageMode = PLY_DEFAULT;
+        return types.at(type);
     }
-    else
+    catch (std::out_of_range)
     {
-        throwError("Unknown storage mode '" + m_storageModeSpec +
-            "'. Known storage modes are: 'ascii', 'little endian', "
-            "'big endian', and 'default'");
+        throwError("Can't write dimension of type '" +
+                Dimension::interpretationName(type) + "'.");
     }
+    return "";
 }
 
 
-void PlyWriter::ready(PointTableRef table)
+void PlyWriter::writeHeader(PointLayoutPtr layout) const
 {
-    try
+    *m_stream << "ply" << std::endl;
+    *m_stream << "format " << m_format << " 1.0" << std::endl;
+    *m_stream << "comment Generated by PDAL" << std::endl;
+    *m_stream << "element vertex " << pointCount() << std::endl;
+
+    auto ni = m_dimNames.begin();
+    for (auto dim : m_dims)
     {
-        m_ply = ply_create(m_filename.c_str(), m_storageMode,
-            createErrorCallback, 0, nullptr);
-        if (!m_ply)
-            throwError("Could not open file '" + m_filename + "for writing.");
+        std::string name = *ni++;
+        std::string typeString = getType(layout->dimType(dim));
+        *m_stream << "property " << typeString << " " << name << std::endl;
     }
-    catch(const error& err)
+    if (m_faces)
     {
-        throwError(err.what());
+        *m_stream << "element face " << faceCount() << std::endl;
+        *m_stream << "property list uint8 uint32 vertex_indices" << std::endl;
     }
-    m_pointCollector.reset(new PointView(table));
+    *m_stream << "end_header" << std::endl;
+}
+
+
+void PlyWriter::ready(PointTableRef table)
+{
+    if (pointCount() > std::numeric_limits<uint32_t>::max())
+        throwError("Can't write PLY file.  Only " +
+            std::to_string(std::numeric_limits<uint32_t>::max()) +
+            " points supported.");
+
+    m_stream = Utils::createFile(m_filename, true);
+    writeHeader(table.layout());
 }
 
 
 void PlyWriter::write(const PointViewPtr data)
 {
-    m_pointCollector->append(*data);
+    m_views.push_back(data);
 }
 
 
-void PlyWriter::done(PointTableRef table)
+void PlyWriter::writeValue(PointRef& point, Dimension::Id dim,
+    Dimension::Type type)
 {
-    try
+    if (m_format == Format::Ascii)
     {
-    if (!ply_add_element(m_ply, "vertex", m_pointCollector->size()))
-        throwError("Could not add vertex element");
-
-    auto dimensions = table.layout()->dims();
-    for (auto dim : dimensions) {
-        std::string name = table.layout()->dimName(dim);
-        e_ply_type plyType = getPlyType(table.layout()->dimType(dim));
-        if (!ply_add_scalar_property(m_ply, name.c_str(), plyType))
-            throwError("Could not add scalar property '" + name  + "'");
+        double d = point.getFieldAs<double>(dim);
+        *m_stream << d;
+    }
+    else if (m_format == Format::BinaryLe)
+    {
+        OLeStream out(m_stream);
+        Everything e;
+        point.getField((char *)&e, dim, type);
+        Utils::insertDim(out, type, e);
+    }
+    else if (m_format == Format::BinaryBe)
+    {
+        OBeStream out(m_stream);
+        Everything e;
+        point.getField((char *)&e, dim, type);
+        Utils::insertDim(out, type, e);
     }
-    if (!ply_add_comment(m_ply, "Generated by PDAL"))
-        throwError("Could not add comment");
+}
 
-    if (!ply_write_header(m_ply))
-        throwError("Could not write ply header");
 
-    for (PointId index = 0; index < m_pointCollector->size(); ++index)
+void PlyWriter::writePoint(PointRef& point, PointLayoutPtr layout)
+{
+    for (auto it = m_dims.begin(); it != m_dims.end();)
     {
-        for (auto dim : dimensions)
-        {
-            double value = m_pointCollector->getFieldAs<double>(dim, index);
-            if (!ply_write(m_ply, value))
-                throwError("Error writing dimension '" +
-                    table.layout()->dimName(dim) + "' of point number " +
-                    Utils::toString(index) + ".");
-        }
+        Dimension::Id dim = *it;
+        writeValue(point, dim, layout->dimType(dim));
+        ++it;
+        if (m_format == Format::Ascii && it != m_dims.end())
+            *m_stream << " ";
     }
+    if (m_format == Format::Ascii)
+        *m_stream << std::endl;
+}
 
-    if (!ply_close(m_ply))
-        throwError("Error closing file");
+
+void PlyWriter::writeTriangle(const Triangle& t, size_t offset)
+{
+    if (m_format == Format::Ascii)
+    {
+        *m_stream << "3 " << (t.m_a + offset) << " " <<
+            (t.m_b + offset) << " " << (t.m_c + offset) << std::endl;
+    }
+    else if (m_format == Format::BinaryLe)
+    {
+        OLeStream out(m_stream);
+        unsigned char count = 3;
+        uint32_t a = (uint32_t)(t.m_a + offset);
+        uint32_t b = (uint32_t)(t.m_b + offset);
+        uint32_t c = (uint32_t)(t.m_c + offset);
+        out << count << a << b << c;
     }
-    catch (const error& err)
+    else if (m_format == Format::BinaryBe)
     {
-        throwError(err.what());
+        OBeStream out(m_stream);
+        unsigned char count = 3;
+        uint32_t a = (uint32_t)(t.m_a + offset);
+        uint32_t b = (uint32_t)(t.m_b + offset);
+        uint32_t c = (uint32_t)(t.m_c + offset);
+        out << count << a << b << c;
     }
+}
 
+
+// Deferring write until this time allows both points and faces from multiple
+// point views to be written.
+void PlyWriter::done(PointTableRef table)
+{
+    for (auto& v : m_views)
+    {
+        PointRef point(*v, 0);
+        for (PointId idx = 0; idx < v->size(); ++idx)
+        {
+            point.setPointId(idx);
+            writePoint(point, table.layout());
+        }
+    }
+    if (m_faces)
+    {
+        PointId offset = 0;
+        for (auto& v : m_views)
+        {
+            TriangularMesh *mesh = v->mesh();
+            if (mesh)
+            {
+                for (size_t id = 0; id < mesh->size(); ++id)
+                {
+                    const Triangle& t = (*mesh)[id];
+                    writeTriangle(t, offset);
+                }
+            }
+            offset += v->size();
+        }
+    }
+    Utils::closeFile(m_stream);
+    m_stream = nullptr;
     getMetadata().addList("filename", m_filename);
 }
 
-}
+} // namespace pdal
diff --git a/io/PlyWriter.hpp b/io/PlyWriter.hpp
index 39dff77..7b43e88 100644
--- a/io/PlyWriter.hpp
+++ b/io/PlyWriter.hpp
@@ -32,8 +32,6 @@
 * OF SUCH DAMAGE.
 ****************************************************************************/
 
-#include <rply/rply.h>
-
 #include <pdal/PointView.hpp>
 #include <pdal/Writer.hpp>
 #include <pdal/plugin.hpp>
@@ -44,16 +42,18 @@ extern "C" PF_ExitFunc PlyWriter_InitPlugin();
 namespace pdal
 {
 
+class Triangle;
+
 class PDAL_DLL PlyWriter : public Writer
 {
 public:
-    struct error : public std::runtime_error
+    enum class Format
     {
-        error(const std::string& e) : std::runtime_error(e)
-        {}
+        Ascii,
+        BinaryLe,
+        BinaryBe
     };
 
-public:
     static void * create();
     static int32_t destroy(void *);
     std::string getName() const;
@@ -62,16 +62,59 @@ public:
 
 private:
     virtual void addArgs(ProgramArgs& args);
-    virtual void initialize();
+    virtual void prepared(PointTableRef table);
     virtual void ready(PointTableRef table);
     virtual void write(const PointViewPtr data);
     virtual void done(PointTableRef table);
 
+    std::string getType(Dimension::Type type) const;
+    void writeHeader(PointLayoutPtr layout) const;
+    void writeValue(PointRef& point, Dimension::Id dim, Dimension::Type type);
+    void writePoint(PointRef& point, PointLayoutPtr layout);
+    void writeTriangle(const Triangle& t, size_t offset);
+
+    std::ostream *m_stream;
     std::string m_filename;
-    p_ply m_ply;
-    PointViewPtr m_pointCollector;
-    std::string m_storageModeSpec;
-    e_ply_storage_mode m_storageMode;
+    Format m_format;
+    bool m_faces;
+    StringList m_dimNames;
+    Dimension::IdList m_dims;
+    std::vector<PointViewPtr> m_views;
 };
 
+inline std::istream& operator>>(std::istream& in, PlyWriter::Format& f)
+{
+    std::string s;
+    std::getline(in, s);
+    Utils::trim(s);
+    Utils::tolower(s);
+    if (s == "ascii" || s == "default")
+        f = PlyWriter::Format::Ascii;
+    else if (s == "little endian" || s == "binary_little_endian")
+        f = PlyWriter::Format::BinaryLe;
+    else if (s == "big endian" || s == "binary_big_endian")
+        f = PlyWriter::Format::BinaryBe;
+    else
+        in.setstate(std::ios_base::failbit);
+    return in;
+}
+
+
+inline std::ostream& operator<<(std::ostream& out, const PlyWriter::Format& f)
+{
+    switch (f)
+    {
+    case PlyWriter::Format::Ascii:
+        out << "ascii";
+        break;
+    case PlyWriter::Format::BinaryLe:
+        out << "binary_little_endian";
+        break;
+    case PlyWriter::Format::BinaryBe:
+        out << "binary_big_endian";
+        break;
+    }
+    return out;
+}
+
 }
diff --git a/io/QfitReader.cpp b/io/QfitReader.cpp
index 99a863d..d93e330 100644
--- a/io/QfitReader.cpp
+++ b/io/QfitReader.cpp
@@ -401,30 +401,6 @@ point_count_t QfitReader::read(PointViewPtr data, point_count_t count)
 }
 
 
-Dimension::IdList QfitReader::getDefaultDimensions()
-{
-    Dimension::IdList ids;
-
-    ids.push_back(Dimension::Id::OffsetTime);
-    ids.push_back(Dimension::Id::Y);
-    ids.push_back(Dimension::Id::X);
-    ids.push_back(Dimension::Id::Z);
-    ids.push_back(Dimension::Id::StartPulse);
-    ids.push_back(Dimension::Id::ReflectedPulse);
-    ids.push_back(Dimension::Id::Azimuth);
-    ids.push_back(Dimension::Id::Pitch);
-    ids.push_back(Dimension::Id::Roll);
-    ids.push_back(Dimension::Id::Pdop);
-    ids.push_back(Dimension::Id::PulseWidth);
-    ids.push_back(Dimension::Id::PassiveSignal);
-    ids.push_back(Dimension::Id::PassiveY);
-    ids.push_back(Dimension::Id::PassiveX);
-    ids.push_back(Dimension::Id::PassiveZ);
-
-    return ids;
-}
-
-
 void QfitReader::done(PointTableRef)
 {
     m_istream.reset();
diff --git a/io/QfitReader.hpp b/io/QfitReader.hpp
index ea31bdd..7b158c1 100644
--- a/io/QfitReader.hpp
+++ b/io/QfitReader.hpp
@@ -66,8 +66,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
     QFIT_Format_Type m_format;
     std::ios::off_type m_point_bytes;
diff --git a/io/SbetReader.cpp b/io/SbetReader.cpp
index 44ada0d..6eed823 100644
--- a/io/SbetReader.cpp
+++ b/io/SbetReader.cpp
@@ -53,14 +53,14 @@ std::string SbetReader::getName() const { return s_info.name; }
 
 void SbetReader::addDimensions(PointLayoutPtr layout)
 {
-    layout->registerDims(getDefaultDimensions());
+    layout->registerDims(fileDimensions());
 }
 
 
 void SbetReader::ready(PointTableRef)
 {
     size_t fileSize = FileUtils::fileSize(m_filename);
-    size_t pointSize = getDefaultDimensions().size() * sizeof(double);
+    size_t pointSize = fileDimensions().size() * sizeof(double);
     if (fileSize % pointSize != 0)
         throwError("Invalid file size.");
     m_numPts = fileSize / pointSize;
@@ -114,7 +114,7 @@ bool SbetReader::eof()
 
 void SbetReader::seek(PointId idx)
 {
-    m_stream->seek(idx * sizeof(double) * getDefaultDimensions().size());
+    m_stream->seek(idx * sizeof(double) * fileDimensions().size());
 }
 
 } // namespace pdal
diff --git a/io/SbetReader.hpp b/io/SbetReader.hpp
index 85ed289..63526f4 100644
--- a/io/SbetReader.hpp
+++ b/io/SbetReader.hpp
@@ -57,9 +57,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions()
-        { return fileDimensions(); }
-
 private:
     std::unique_ptr<ILeStream> m_stream;
     // Number of points in the file.
diff --git a/io/SbetWriter.cpp b/io/SbetWriter.cpp
index 81f84a4..9ed7367 100644
--- a/io/SbetWriter.cpp
+++ b/io/SbetWriter.cpp
@@ -64,7 +64,7 @@ void SbetWriter::ready(PointTableRef)
 
 void SbetWriter::write(const PointViewPtr view)
 {
-    Dimension::IdList dims = getDefaultDimensions();
+    Dimension::IdList dims = fileDimensions();
     for (PointId idx = 0; idx < view->size(); ++idx)
     {
         for (auto di = dims.begin(); di != dims.end(); ++di)
diff --git a/io/SbetWriter.hpp b/io/SbetWriter.hpp
index 262209a..d6ca9bf 100644
--- a/io/SbetWriter.hpp
+++ b/io/SbetWriter.hpp
@@ -53,9 +53,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions()
-        { return fileDimensions(); }
-
 private:
     std::unique_ptr<OLeStream> m_stream;
     std::string m_filename;
diff --git a/io/TIndexReader.cpp b/io/TIndexReader.cpp
index 10da1d5..affde7a 100644
--- a/io/TIndexReader.cpp
+++ b/io/TIndexReader.cpp
@@ -133,12 +133,6 @@ void TIndexReader::addDimensions(PointLayoutPtr layout)
 }
 
 
-pdal::Dimension::IdList TIndexReader::getDefaultDimensions()
-{
-    return Dimension::IdList();
-}
-
-
 void TIndexReader::initialize()
 {
     if (!m_bounds.empty())
diff --git a/io/TIndexReader.hpp b/io/TIndexReader.hpp
index 09d88ec..20772b1 100644
--- a/io/TIndexReader.hpp
+++ b/io/TIndexReader.hpp
@@ -73,8 +73,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
     virtual void addDimensions(PointLayoutPtr layout);
     virtual void addArgs(ProgramArgs& args);
diff --git a/io/TerrasolidReader.cpp b/io/TerrasolidReader.cpp
index 989b1ae..35f99d4 100644
--- a/io/TerrasolidReader.cpp
+++ b/io/TerrasolidReader.cpp
@@ -129,31 +129,6 @@ void TerrasolidReader::addDimensions(PointLayoutPtr layout)
 }
 
 
-Dimension::IdList TerrasolidReader::getDefaultDimensions()
-{
-    using namespace Dimension;
-
-    IdList dims;
-
-    dims.push_back(Id::Classification);
-    dims.push_back(Id::PointSourceId);
-    dims.push_back(Id::ReturnNumber);
-    dims.push_back(Id::NumberOfReturns);
-    dims.push_back(Id::Flag);
-    dims.push_back(Id::Mark);
-    dims.push_back(Id::Intensity);
-    dims.push_back(Id::X);
-    dims.push_back(Id::Y);
-    dims.push_back(Id::Z);
-    dims.push_back(Id::Red);
-    dims.push_back(Id::Green);
-    dims.push_back(Id::Blue);
-    dims.push_back(Id::Alpha);
-    dims.push_back(Id::OffsetTime);
-    return dims;
-}
-
-
 void TerrasolidReader::ready(PointTableRef)
 {
     m_istream.reset(new IStream(m_filename));
diff --git a/io/TerrasolidReader.hpp b/io/TerrasolidReader.hpp
index 796029a..5c45095 100644
--- a/io/TerrasolidReader.hpp
+++ b/io/TerrasolidReader.hpp
@@ -96,8 +96,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
     point_count_t getNumPoints() const
         { return m_header->PntCnt; }
 
diff --git a/io/TextReader.cpp b/io/TextReader.cpp
index 40122a8..eaa9381 100644
--- a/io/TextReader.cpp
+++ b/io/TextReader.cpp
@@ -94,12 +94,13 @@ void TextReader::addArgs(ProgramArgs& args)
 
 void TextReader::addDimensions(PointLayoutPtr layout)
 {
+    m_dims.clear();
     for (auto name : m_dimNames)
     {
         Utils::trim(name);
         Dimension::Id id = layout->registerOrAssignDim(name,
             Dimension::Type::Double);
-        if (Utils::contains(m_dims, id))
+        if (Utils::contains(m_dims, id) && id != pdal::Dimension::Id::Unknown)
             throwError("Duplicate dimension '" + name +
                 "' detected in input file '" + m_filename + "'.");
         m_dims.push_back(id);
diff --git a/io/TextWriter.hpp b/io/TextWriter.hpp
index daac82e..87141fc 100644
--- a/io/TextWriter.hpp
+++ b/io/TextWriter.hpp
@@ -34,16 +34,9 @@
 
 #pragma once
 
-#include <pdal/pdal_export.hpp>
-#include <pdal/StageFactory.hpp>
-#include <pdal/util/FileUtils.hpp>
 #include <pdal/Writer.hpp>
 #include <pdal/plugin.hpp>
 
-#include <memory>
-#include <vector>
-#include <string>
-
 extern "C" int32_t TextWriter_ExitFunc();
 extern "C" PF_ExitFunc TextWriter_InitPlugin();
 
diff --git a/java/README.md b/java/README.md
index 15ae0b1..79f99fd 100644
--- a/java/README.md
+++ b/java/README.md
@@ -2,7 +2,7 @@
 
 [![Join the chat at https://gitter.im/PDAL/PDAL](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PDAL/PDAL?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
-Java bindings to use PDAL on JVM.
+Java bindings to use PDAL on JVM (supports PDAL >= 1.4).
 
 ## Using PDAL JNI with SBT
 
@@ -14,7 +14,7 @@ resolvers ++= Seq(
 )
 
 libraryDependencies ++= Seq(
-  "io.pdal" %% "pdal" % "1.4.0"
+  "io.pdal" %% "pdal" % "1.5.0"
 )
 ```
 
@@ -28,6 +28,51 @@ It's required to have native JNI binary in `java.library.path`:
 javaOptions += "-Djava.library.path=/usr/local/lib"
 ```
 
+## PDAL-Scala
+
+Scala API to build pipeline expressions instead of writing a raw JSON.
+
+```scala
+libraryDependencies ++= Seq(
+  "io.pdal" %% "pdal-scala" % "1.5.0"
+)
+```
+
+Scala API covers PDAL 1.5.0 but is compatible with PDAL >= 1.4, to use any custom DSL
+that is not covered by the current Scala API you can use `RawExpr` type to build `Pipeline 
+Expression`.
+
+### Code examples
+
+```scala
+// To construct the expected json
+val expected =
+  """
+     |{
+     |  "pipeline" : [
+     |    {
+     |      "filename" : "/path/to/las",
+     |      "type" : "readers.las"
+     |    },
+     |    {
+     |      "type" : "filters.crop"
+     |    },
+     |    {
+     |      "filename" : "/path/to/new/las",
+     |      "type" : "writers.las"
+     |    }
+     |  ]
+     |}
+  """.stripMargin
+  
+// The same, but using scala DSL
+val pc: PipelineConstructor = LasRead("/path/to/las") ~ CropFilter() ~ LasWrite("/path/to/new/las")
+
+// The same, but using RawExpr, to support not implemented PDAL Pipeline API features
+// RawExpr accepts a circe.Json type, which can be a json object of any desired complexity
+val pcWithRawExpr = LasRead("/path/to/las") ~ RawExpr(Map("type" -> "filters.crop").asJson) ~ LasWrite("/path/to/new/las") 
+```
+
 ## How to compile
 
 Development purposes (including binaries):
diff --git a/java/build.sbt b/java/build.sbt
index 6bd0c4e..15e08ea 100644
--- a/java/build.sbt
+++ b/java/build.sbt
@@ -1,9 +1,9 @@
 name := "pdal-jni"
 
 lazy val commonSettings = Seq(
-  version := "1.4.0" + Environment.versionSuffix,
-  scalaVersion := "2.11.8",
-  crossScalaVersions := Seq("2.12.1", "2.11.8"),
+  version := "1.5.0" + Environment.versionSuffix,
+  scalaVersion := "2.11.11",
+  crossScalaVersions := Seq("2.12.3", "2.11.11"),
   organization := "io.pdal",
   description := "PDAL JNI bindings",
   licenses := Seq("BSD" -> url("https://github.com/PDAL/PDAL/blob/master/LICENSE.txt")),
@@ -18,7 +18,8 @@ lazy val commonSettings = Seq(
     "-language:higherKinds",
     "-language:postfixOps",
     "-language:existentials",
-    "-feature"),
+    "-feature"
+  ),
   test in assembly := {},
   shellPrompt := { s => Project.extract(s).currentProject.id + " > " },
   commands ++= Seq(
@@ -48,15 +49,33 @@ lazy val commonSettings = Seq(
     )
 )
 
-lazy val root = (project in file(".")).aggregate(core, native)
+lazy val root = (project in file("."))
+  .settings(commonSettings: _*)
+  .aggregate(`core-scala`, core, native)
+
+lazy val `core-scala` = project
+  .settings(commonSettings: _*)
+  .settings(name := "pdal-scala")
+  .settings(target in javah := (sourceDirectory in nativeCompile in native).value / "include")
+  .settings(libraryDependencies ++= Seq(
+    Dependencies.circeCore,
+    Dependencies.circeGeneric,
+    Dependencies.circeGenericExtras,
+    Dependencies.circeParser,
+    Dependencies.jtsCore,
+    Dependencies.scalaTest % Test
+  ))
+  .settings(headerLicense := Some(HeaderLicense.ALv2("2017", "Azavea")))
+  .settings(licenses := Seq("Apache-2.0" -> url("https://www.apache.org/licenses/LICENSE-2.0.html")))
+  .dependsOn(core)
 
-lazy val core = (project in file("core")).
-  settings(commonSettings: _*).
-  settings(name := "pdal").
-  settings(target in javah := (sourceDirectory in nativeCompile in native).value / "include").
-  settings(libraryDependencies += "org.scalatest" %% "scalatest" % "3.0.0" % "test").
-  dependsOn(Environment.dependOnNative(native % Runtime):_*)
+lazy val core = project
+  .settings(commonSettings: _*)
+  .settings(name := "pdal")
+  .settings(target in javah := (sourceDirectory in nativeCompile in native).value / "include")
+  .settings(libraryDependencies += Dependencies.scalaTest % Test)
+  .dependsOn(Environment.dependOnNative(native % Runtime): _*)
 
-lazy val native = (project in file("native")).
-  settings(sourceDirectory in nativeCompile := sourceDirectory.value).
-  enablePlugins(JniNative)
+lazy val native = project
+  .settings(sourceDirectory in nativeCompile := sourceDirectory.value)
+  .enablePlugins(JniNative)
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/ExprType.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/ExprType.scala
new file mode 100644
index 0000000..74d3684
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/ExprType.scala
@@ -0,0 +1,34 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+import scala.util.Try
+
+trait ExprType {
+  val `type`: String
+  lazy val name = s"${`type`}.${this.getClass.getName.split("\\$").last}"
+
+  override def toString = name
+}
+
+object ExprType {
+  def fromName(name: String): ExprType =
+    Try(FilterTypes.fromName(name))
+      .getOrElse(Try(ReaderTypes.fromName(name))
+        .getOrElse(Try(WriterTypes.fromName(name))
+          .getOrElse(throw new Exception(s"ExprType $name is not supported."))))
+}
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/FilterTypes.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/FilterTypes.scala
new file mode 100644
index 0000000..fe4879e
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/FilterTypes.scala
@@ -0,0 +1,78 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+sealed trait FilterType extends ExprType { val `type` = "filters" }
+
+object FilterTypes {
+  case object approximatecoplanar extends FilterType
+  case object chipper extends FilterType
+  case object cluster extends FilterType
+  case object colorinterp extends FilterType
+  case object colorization extends FilterType
+  case object computerange extends FilterType
+  case object crop extends FilterType
+  case object decimation extends FilterType
+  case object divider extends FilterType
+  case object eigenvalues extends FilterType
+  case object estimaterank extends FilterType
+  case object ferry extends FilterType
+  case object greedyprojection extends FilterType
+  case object gridprojection extends FilterType
+  case object groupby extends FilterType
+  case object hag extends FilterType
+  case object hexbin extends FilterType
+  case object iqr extends FilterType
+  case object kdistance extends FilterType
+  case object locate extends FilterType
+  case object lof extends FilterType
+  case object mad extends FilterType
+  case object merge extends FilterType
+  case object mongus extends FilterType
+  case object mortonorder extends FilterType
+  case object movingleastsquares extends FilterType
+  case object normal extends FilterType
+  case object overlay extends FilterType
+  case object outlier extends FilterType
+  case object pclblock extends FilterType
+  case object pmf extends FilterType
+  case object poisson extends FilterType
+  case object predicate extends FilterType
+  case object programmable extends FilterType
+  case object radialdensity extends FilterType
+  case object range extends FilterType
+  case object randomize extends FilterType
+  case object reprojection extends FilterType
+  case object sample extends FilterType
+  case object smrf extends FilterType
+  case object sort extends FilterType
+  case object splitter extends FilterType
+  case object stats extends FilterType
+  case object transformation extends FilterType
+  case object voxelgrid extends FilterType
+
+  lazy val all = List(
+    approximatecoplanar, chipper, cluster, colorinterp, colorization, computerange,
+    crop, decimation, divider, eigenvalues, estimaterank, ferry, greedyprojection, gridprojection, groupby,
+    hag, hexbin, iqr, kdistance, locate, lof, mad, merge, mongus, mortonorder, movingleastsquares, normal, outlier,
+    overlay, pclblock, pmf, poisson, predicate, programmable, radialdensity, randomize, range, reprojection,
+    sample, smrf, sort, splitter, stats, transformation, voxelgrid
+  )
+
+  def fromName(name: String): FilterType =
+    all.find(_.name == name).getOrElse(throw new Exception(s"FilterType $name is not supported."))
+}
\ No newline at end of file
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/Implicits.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/Implicits.scala
new file mode 100644
index 0000000..f9567eb
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/Implicits.scala
@@ -0,0 +1,29 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+import io.pdal.PointCloud
+import com.vividsolutions.jts.geom.Coordinate
+
+object Implicits extends Implicits
+
+trait Implicits extends Serializable {
+  implicit class withPointCloudMethods(pointCloud: PointCloud) {
+    def getCoordinate(i: Int) =
+      new Coordinate(pointCloud.getX(i), pointCloud.getY(i), pointCloud.getZ(i))
+  }
+}
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/PipelineExpressions.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/PipelineExpressions.scala
new file mode 100644
index 0000000..59dd1e9
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/PipelineExpressions.scala
@@ -0,0 +1,795 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+import io.pdal.Pipeline
+
+import io.circe.Json
+import io.circe.generic.extras.ConfiguredJsonCodec
+
+ at ConfiguredJsonCodec
+sealed trait PipelineExpr {
+  def ~(other: PipelineExpr): PipelineConstructor = this :: other :: Nil
+
+  def ~(other: Option[PipelineExpr]): PipelineConstructor =
+    other.fold(this :: Nil)(o => this :: o :: Nil)
+
+  def toPipeline: Pipeline = (this :: Nil).toPipeline
+}
+
+ at ConfiguredJsonCodec
+case class RawExpr(json: Json) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class Read(
+  filename: String,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: Option[ReaderType] = None // usually auto derived by pdal
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class FauxRead(
+  numPoints: Int,
+  mode: String, // constant | random | ramp | uniform | normal
+  stdevX: Option[Int] = None, // [default: 1]
+  stdevY: Option[Int] = None, // [default: 1]
+  stdevZ: Option[Int] = None, // [default: 1]
+  meanX: Option[Int] = None, // [default: 0]
+  meanY: Option[Int] = None, // [default: 0]
+  meanZ: Option[Int] = None, // [default: 0]
+  bounds: Option[String] = None, // [default: unit cube]
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.faux
+) extends PipelineExpr
+
+object GdalRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.gdal))
+}
+
+ at ConfiguredJsonCodec
+case class GeoWaveRead(
+  zookeeperUrl: String,
+  instanceName: String,
+  username: String,
+  password: String,
+  tableNamespace: String,
+  featureTypeName: Option[String] = None, // [default: PDAL_Point]
+  dataAdapter: Option[String] = None, // [default: FeatureCollectionDataAdapter]
+  pointsPerEntry: Option[String] = None, // [default: 5000u]
+  bounds: Option[String] = None, // [default: unit cube]
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.geowave
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GreyhoundRead(
+  url: String,
+  bounds: Option[String] = None, // [default: the entire resource]
+  depthBegin: Option[Int] = None, // [default: 0]
+  depthEnd: Option[Int] = None, // [default: 0]
+  tilePath: Option[String] = None,
+  filter: Option[Json] = None,
+  threads: Option[Int] = None, // [default: 4]
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.greyhound
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class Ilvis2Read(
+  filename: String,
+  mapping: Option[String] = None,
+  metadata: Option[String] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.ilvis2
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MbioRead(
+  filename: String,
+  format: String,
+  `type`: ReaderType = ReaderTypes.mbio
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class LasRead(
+  filename: String,
+  extraDims: Option[String] = None,
+  compression: Option[String] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.las
+) extends PipelineExpr
+
+object MrsidRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.mrsid))
+}
+
+object NitfRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.nitf))
+}
+
+ at ConfiguredJsonCodec
+case class OciRead(
+  connection: String,
+  query: String,
+  xmlSchemaDump: Option[String] = None,
+  populatePointsourceid: Option[String] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.oci
+) extends PipelineExpr
+
+object OptechRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.optech))
+}
+
+object PcdRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.pcd))
+}
+
+ at ConfiguredJsonCodec
+case class PgpointcloudRead(
+  connection: String,
+  table: String,
+  schema: Option[String] = None, // [default: public]
+  column: Option[String] = None, // [default: pa]
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.pgpointcloud
+) extends PipelineExpr
+
+object PlyRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.ply))
+}
+
+object PtsRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.pts))
+}
+
+ at ConfiguredJsonCodec
+case class QfitRead(
+  filename: String,
+  flipCoordinates: Option[Boolean] = None,
+  scaleZ: Option[Double] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.qfit
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class RxpRead(
+  filename: String,
+  rdtp: Option[Boolean] = None,
+  syncToPps: Option[Boolean] = None,
+  minimal: Option[Boolean] = None,
+  reflectanceAsIntensity: Option[Boolean] = None,
+  minReflectance: Option[Double] = None,
+  maxReflectance: Option[Double] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.rxp
+) extends PipelineExpr
+
+object SbetRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.sbet))
+}
+
+ at ConfiguredJsonCodec
+case class SqliteRead(
+  connection: String,
+  query: String,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.sqlite
+) extends PipelineExpr
+
+object TextRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.text))
+}
+
+ at ConfiguredJsonCodec
+case class TindexRead(
+  filename: String,
+  layerName: Option[String] = None,
+  srsColumn: Option[String] = None,
+  tindexName: Option[String] = None,
+  sql: Option[String] = None,
+  wkt: Option[String] = None,
+  boundary: Option[String] = None,
+  tSrs: Option[String] = None,
+  filterSrs: Option[String] = None,
+  where: Option[String] = None,
+  dialect: Option[String] = None,
+  spatialreference: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: ReaderType = ReaderTypes.tindex
+) extends PipelineExpr
+
+object TerrasolidRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.terrasolid))
+}
+
+object IceBridgeRead {
+  def apply(filename: String, spatialreference: Option[String] = None, tag: Option[String] = None): Read =
+    Read(filename, spatialreference, tag, Some(ReaderTypes.icebridge))
+}
+
+ at ConfiguredJsonCodec
+case class ApproximateCoplanarFilter(
+  knn: Option[Int] = None, // [default: 8]
+  thresh1: Option[Int] = None, // [default: 25]
+  thresh2: Option[Int] = None, // [default: 6]
+  `type`: FilterType = FilterTypes.approximatecoplanar
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ChipperFilter(
+  capacity: Option[Int] = None, // [default: 5000]
+  `type`: FilterType = FilterTypes.chipper
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ClusterFilter(
+  minPoints: Option[Int] = None, // [default: 1]
+  maxPoints: Option[Int] = None, // [default: UINT64_MAX]
+  tolerance: Option[Double] = None, // [default: 1.0]
+  `type`: FilterType = FilterTypes.cluster
+)
+
+ at ConfiguredJsonCodec
+case class ColorinterpFilter(
+  ramp: Option[String] = None, // [default: pestel_shades]
+  dimension: Option[String] = None, // [default: Z]
+  minimum: Option[String] = None,
+  maximum: Option[String] = None,
+  invert: Option[Boolean] = None, // [default: false]
+  k: Option[Double] = None,
+  mad: Option[Boolean] = None,
+  madMultiplier: Option[Double] = None,
+  `type`: FilterType = FilterTypes.colorinterp
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ColorizationFilter(
+  raster: String,
+  dimensions: Option[String] = None,
+  `type`: FilterType = FilterTypes.colorization
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ComputerangeFilter(
+  `type`: FilterType = FilterTypes.computerange
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class CropFilter(
+  bounds: Option[String] = None,
+  polygon: Option[String] = None,
+  outside: Option[String] = None,
+  point: Option[String] = None,
+  radius: Option[String] = None,
+  `type`: FilterType = FilterTypes.crop
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class DecimationFilter(
+  step: Option[Int] = None,
+  offset: Option[Int] = None,
+  limit: Option[Int] = None,
+  `type`: FilterType = FilterTypes.decimation
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class DividerFilter(
+   mode: Option[String] = None,
+   count: Option[Int] = None,
+   capacity: Option[Int] = None,
+  `type`: FilterType = FilterTypes.divider
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class EigenValuesFilter(
+  knn: Option[Int] = None,
+  `type`: FilterType = FilterTypes.eigenvalues
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class EstimateRankFilter(
+  knn: Option[Int] = None,
+  thresh: Option[Double] = None,
+  `type`: FilterType = FilterTypes.estimaterank
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class FerryFilter(
+  dimensions: String,
+  `type`: FilterType = FilterTypes.ferry
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GreedyProjectionFilter(
+  `type`: FilterType = FilterTypes.greedyprojection
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GridProjectionFilter(
+  `type`: FilterType = FilterTypes.gridprojection
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GroupByFilter(
+  dimension: String,
+  `type`: FilterType = FilterTypes.groupby
+)
+
+ at ConfiguredJsonCodec
+case class HagFilter(
+  `type`: FilterType = FilterTypes.hag
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class HexbinFilter(
+  edgeSize: Option[Int] = None,
+  sampleSize: Option[Int] = None,
+  threshold: Option[Int] = None,
+  precision: Option[Int] = None,
+  `type`: FilterType = FilterTypes.hexbin
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class IqrFilter(
+  dimension: String,
+  k: Option[Double] = None,
+  `type`: FilterType = FilterTypes.iqr
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class KDistanceFilter(
+  k: Option[Int] = None,
+  `type`: FilterType = FilterTypes.kdistance
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class LocateFilter(
+  dimension: String,
+  minmax: String,
+  `type`: FilterType = FilterTypes.locate
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class LofFilter(
+  minpts: Option[Int] = None,
+  `type`: FilterType = FilterTypes.lof
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MadFilter(
+  dimension: String,
+  k: Option[Double] = None,
+  `type`: FilterType = FilterTypes.mad
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MergeFilter(
+  inputs: List[String],
+  tag: Option[String] = None,
+  `type`: FilterType = FilterTypes.merge
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MongusFilter(
+  cell: Option[Double] = None,
+  classify: Option[Boolean] = None,
+  extract: Option[Boolean] = None,
+  k: Option[Double] = None,
+  l: Option[Int] = None,
+  `type`: FilterType = FilterTypes.mongus
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MortnOrderFilter(
+  `type`: FilterType = FilterTypes.mortonorder
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MovingLeastSquaresFilter(
+  `type`: FilterType = FilterTypes.movingleastsquares
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class NormalFilter(
+  knn: Option[Int] = None,
+  `type`: FilterType = FilterTypes.normal
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class OutlierFilter(
+  method: Option[String] = None,
+  minK: Option[Int] = None,
+  radius: Option[Double] = None,
+  meanK: Option[Int] = None,
+  multiplier: Option[Double] = None,
+  `type`: FilterType = FilterTypes.outlier
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class OverlayFilter(
+  dimension: Option[String] = None, // [default: none]
+  datasource: Option[String] = None, // [default: none]
+  column: Option[String] = None, // [default: none]
+  query: Option[String] = None, // [default: first column]
+  layer: Option[String] = None, // [default: first layer]
+  `type`: FilterType = FilterTypes.overlay
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PclBlockFilter(
+  filename: String,
+  methods: Option[List[String]] = None,
+  `type`: FilterType = FilterTypes.pclblock
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PmfFilter(
+  maxWindowSize: Option[Int] = None,
+  slope: Option[Double] = None,
+  maxDistance: Option[Double] = None,
+  initialDistance: Option[Double] = None,
+  cellSize: Option[Int] = None,
+  approximate: Option[Boolean] = None,
+  `type`: FilterType = FilterTypes.pmf
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PoissonFilter(
+  depth: Option[Int] = None,
+  pointWeight: Option[Double] = None,
+  `type`: FilterType = FilterTypes.poisson
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PredicateFilter(
+  script: String,
+  module: String,
+  function: String,
+  `type`: FilterType = FilterTypes.predicate
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ProgrammableFilter(
+  script: String,
+  module: String,
+  function: String,
+  source: String,
+  addDimenstion: Option[String] = None,
+  `type`: FilterType = FilterTypes.programmable
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class RadialDensityFilter(
+  radius: Option[Double] = None,
+  `type`: FilterType = FilterTypes.radialdensity
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class RandomizeFilter(
+  `type`: FilterType = FilterTypes.randomize
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class RangeFilter(
+  limits: Option[String] = None,
+  `type`: FilterType = FilterTypes.range
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class ReprojectionFilter(
+  outSrs: String,
+  inSrs: Option[String] = None,
+  tag: Option[String] = None,
+  `type`: FilterType = FilterTypes.reprojection
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class SampleFilter(
+  radius: Option[Double] = None,
+  `type`: FilterType = FilterTypes.sample
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class SmrfFilter(
+  cell: Option[Double] = None,
+  classify: Option[Boolean] = None,
+  cut: Option[Double] = None,
+  extract: Option[Boolean] = None,
+  slope: Option[Double] = None,
+  threshold: Option[Double] = None,
+  window: Option[Double] = None,
+  `type`: FilterType = FilterTypes.smrf
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class SortFilter(
+  dimension: String,
+  `type`: FilterType = FilterTypes.sort
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class SplitterFilter(
+  length: Option[Int] = None,
+  originX: Option[Double] = None,
+  originY: Option[Double] = None,
+  `type`: FilterType = FilterTypes.splitter
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class StatsFilter(
+  dimenstions: Option[String] = None,
+  enumerate: Option[String] = None,
+  count: Option[Int] = None,
+  `type`: FilterType = FilterTypes.stats
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class TransformationFilter(
+  matrix: String,
+  `type`: FilterType = FilterTypes.transformation
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class VoxelGridFilter(
+  leafX: Option[Double] = None,
+  leafY: Option[Double] = None,
+  leafZ: Option[Double] = None,
+  `type`: FilterType = FilterTypes.voxelgrid
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class Write(
+  filename: String,
+  `type`: Option[WriterType] = None // usually auto derived by pdal
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class BpfWrite(
+  filename: String,
+  compression: Option[Boolean] = None,
+  format: Option[String] = None,
+  bundledfile: Option[String] = None,
+  headerData: Option[String] = None,
+  coordId: Option[Int] = None,
+  scaleX: Option[Double] = None,
+  scaleY: Option[Double] = None,
+  scaleZ: Option[Double] = None,
+  offsetX: Option[String] = None,
+  offsetY: Option[String] = None,
+  offsetZ: Option[String] = None,
+  outputDims: Option[String] = None,
+  `type`: WriterType = WriterTypes.bpf
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GdalWrite(
+  filename: String,
+  resoultion: Int,
+  radius: Double,
+  gdaldriver: Option[String] = None,
+  gdalopts: Option[String] = None,
+  outputType: Option[String] = None,
+  windowSize: Option[Int] = None,
+  dimension: Option[String] = None,
+  `type`: WriterType = WriterTypes.gdal
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class GeoWaveWrite(
+  zookeeperUrl: String,
+  instanceName: String,
+  username: String,
+  password: String,
+  tableNamespace: String,
+  featureTypeName: Option[String] = None,
+  dataAdapter: Option[String] = None,
+  pointsPerEntry: Option[String] = None, // [default: 5000u]
+  `type`: WriterType = WriterTypes.geowave
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class LasWrite(
+  filename: String,
+  forward: Option[String] = None,
+  minorVersion: Option[Int] = None,
+  softwareId: Option[String] = None,
+  creationDoy: Option[Int] = None,
+  creationYear: Option[Int] = None,
+  dataformatId: Option[Int] = None,
+  systemId: Option[String] = None,
+  aSrs: Option[String] = None,
+  globalEncoding: Option[String] = None,
+  projectId: Option[String] = None,
+  compression: Option[String] = None,
+  scaleX: Option[Double] = None,
+  scaleY: Option[Double] = None,
+  scaleZ: Option[Double] = None,
+  offsetX: Option[String] = None,
+  offsetY: Option[String] = None,
+  offsetZ: Option[String] = None,
+  filesourceId: Option[Int] = None,
+  discardHighReturnNumbers: Option[Boolean] = None,
+  `type`: WriterType = WriterTypes.las
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class MatlabWrite(
+  filename: String,
+  outputDims: Option[String] = None,
+  `type`: WriterType = WriterTypes.matlab
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class NitfWrite(
+  filename: String,
+  clevel: Option[String] = None,
+  stype: Option[String] = None,
+  ostaid: Option[String] = None,
+  ftitle: Option[String] = None,
+  fscalas: Option[String] = None,
+  oname: Option[String] = None,
+  ophone: Option[String] = None,
+  fsctlh: Option[String] = None,
+  fsclsy: Option[String] = None,
+  idatim: Option[String] = None,
+  iid2: Option[String] = None,
+  fscltx: Option[String] = None,
+  aimidb: Option[String] = None,
+  acftb: Option[String] = None,
+  `type`: WriterType = WriterTypes.nitf
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class NullWrite(
+  `type`: WriterType = WriterTypes.`null`
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class OciWrite(
+  connection: String,
+  is3d: Option[Boolean] = None,
+  solid: Option[Boolean] = None,
+  overwrite: Option[Boolean] = None,
+  verbose: Option[Boolean] = None,
+  srid: Option[Int] = None,
+  capacity: Option[Int] = None,
+  streamOutputPrecision: Option[Int] = None,
+  cloudId: Option[Int] = None,
+  blockTableName: Option[String] = None,
+  blockTablePartitionValue: Option[Int] = None,
+  baseTableName: Option[String] = None,
+  cloudColumnName: Option[String] = None,
+  baseTableAuxColumns: Option[String] = None,
+  baseTableAuxValues: Option[String] = None,
+  baseTableBoundaryColumn: Option[String] = None,
+  baseTableBoundaryWkt: Option[String] = None,
+  preBlockSql: Option[String] = None,
+  preSql: Option[String] = None,
+  postBlockSql: Option[String] = None,
+  baseTableBounds: Option[String] = None,
+  pcId: Option[Int] = None,
+  packIgnoredFields: Option[Boolean] = None,
+  streamChunks: Option[Boolean] = None,
+  blobChunkCount: Option[Int] = None,
+  scaleX: Option[Double] = None,
+  scaleY: Option[Double] = None,
+  scaleZ: Option[Double] = None,
+  offsetX: Option[Double] = None,
+  offsetY: Option[Double] = None,
+  offsetZ: Option[Double] = None,
+  outputDims: Option[String] = None,
+  `type`: WriterType = WriterTypes.oci
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PcdWrite(
+  filename: String,
+  compression: Option[Boolean] = None,
+  `type`: WriterType = WriterTypes.pcd
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PgpointcloudWrite(
+  connection: String,
+  table: String,
+  schema: Option[String] = None,
+  column: Option[String] = None,
+  compression: Option[String] = None,
+  overwrite: Option[Boolean] = None,
+  srid: Option[Int] = None,
+  pcid: Option[Int] = None,
+  preSql: Option[String] = None,
+  postSql: Option[String] = None,
+  scaleX: Option[Double] = None,
+  scaleY: Option[Double] = None,
+  scaleZ: Option[Double] = None,
+  offsetX: Option[Double] = None,
+  offsetY: Option[Double] = None,
+  offsetZ: Option[Double] = None,
+  outputDims: Option[String] = None,
+  `type`: WriterType = WriterTypes.pgpointcloud
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class PlyWrite(
+  filename: String,
+  storageMode: Option[String] = None,
+  `type`: WriterType = WriterTypes.ply
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class RialtoWrite(
+  filename: String,
+  maxLevels: Option[Int] = None,
+  overwrite: Option[Boolean] = None,
+  `type`: WriterType = WriterTypes.rialto
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class SqliteWrite(
+  filename: String,
+  cloudTableName: String,
+  blockTableName: String,
+  cloudColumnName: Option[String] = None,
+  compression: Option[String] = None,
+  overwrite: Option[Boolean] = None,
+  preSql: Option[String] = None,
+  postSql: Option[String] = None,
+  scaleX: Option[Double] = None,
+  scaleY: Option[Double] = None,
+  scaleZ: Option[Double] = None,
+  offsetX: Option[Double] = None,
+  offsetY: Option[Double] = None,
+  offsetZ: Option[Double] = None,
+  outputDims: Option[String] = None,
+  `type`: WriterType = WriterTypes.sqlite
+) extends PipelineExpr
+
+ at ConfiguredJsonCodec
+case class TextWrite(
+  filename: String,
+  format: Option[String] = None,
+  order: Option[String] = None,
+  keepUnspecified: Option[Boolean] = None,
+  jscallback: Option[String] = None,
+  quoteHeader: Option[String] = None,
+  newline: Option[String] = None,
+  delimiter: Option[String] = None,
+  `type`: WriterType = WriterTypes.text
+) extends PipelineExpr
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/ReaderTypes.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/ReaderTypes.scala
new file mode 100644
index 0000000..4168157
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/ReaderTypes.scala
@@ -0,0 +1,56 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+sealed trait ReaderType extends ExprType { val `type` = "readers" }
+
+object ReaderTypes {
+  case object bpf extends ReaderType
+  case object buffer extends ReaderType
+  case object faux extends ReaderType
+  case object gdal extends ReaderType
+  case object geowave extends ReaderType
+  case object greyhound extends ReaderType
+  case object ilvis2 extends ReaderType
+  case object mbio extends ReaderType
+  case object las extends ReaderType
+  case object mrsid extends ReaderType
+  case object nitf extends ReaderType
+  case object oci extends ReaderType
+  case object optech extends ReaderType
+  case object pcd extends ReaderType
+  case object pgpointcloud extends ReaderType
+  case object ply extends ReaderType
+  case object pts extends ReaderType
+  case object qfit extends ReaderType
+  case object rxp extends ReaderType
+  case object sbet extends ReaderType
+  case object sqlite extends ReaderType
+  case object text extends ReaderType
+  case object tindex extends ReaderType
+  case object terrasolid extends ReaderType
+  case object icebridge extends ReaderType
+
+  lazy val all = List(
+    bpf, buffer, faux, gdal, geowave, greyhound, ilvis2, mbio, las, mrsid, nitf,
+    oci, optech, pcd, pgpointcloud, ply, pts, qfit, rxp, sbet, sqlite, text,
+    tindex, terrasolid, icebridge
+  )
+
+  def fromName(name: String): ReaderType =
+    all.find(_.name == name).getOrElse(throw new Exception(s"ReaderType $name is not supported."))
+}
\ No newline at end of file
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/WriterTypes.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/WriterTypes.scala
new file mode 100644
index 0000000..25805b4
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/WriterTypes.scala
@@ -0,0 +1,47 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+sealed trait WriterType extends ExprType { val `type` = "writers" }
+
+object WriterTypes {
+  case object bpf extends WriterType
+  case object gdal extends WriterType
+  case object geowave extends WriterType
+  case object las extends WriterType
+  case object matlab extends WriterType
+  case object nitf extends WriterType
+  case object `null` extends WriterType
+  case object oci extends WriterType
+  case object optech extends WriterType
+  case object pcd extends WriterType
+  case object pgpointcloud extends WriterType
+  case object pclvisualizer extends WriterType
+  case object ply extends WriterType
+  case object rialto extends WriterType
+  case object sbet extends WriterType
+  case object sqlite extends WriterType
+  case object text extends WriterType
+
+  lazy val all = List(
+    bpf, gdal, geowave, las, matlab, nitf, oci, optech,
+    pcd, pgpointcloud, pclvisualizer, ply, rialto, sbet, sqlite, text
+  )
+
+  def fromName(name: String): WriterType =
+    all.find(_.name == name).getOrElse(throw new Exception(s"WriterType $name is not supported."))
+}
\ No newline at end of file
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/json/Implicits.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/json/Implicits.scala
new file mode 100644
index 0000000..32d4bde
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/json/Implicits.scala
@@ -0,0 +1,61 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline.json
+
+import io.pdal.pipeline._
+
+import io.circe.{Decoder, Encoder, Json, Printer}
+import io.circe.generic.extras.Configuration
+import io.circe.syntax._
+import cats.syntax.either._
+
+object Implicits extends Implicits
+
+trait Implicits extends Serializable {
+  implicit val customConfig: Configuration =
+    Configuration.default.withSnakeCaseKeys.withDiscriminator("class_type")
+
+  val pipelinePrettyPrinter: Printer = Printer.spaces2.copy(dropNullKeys = true)
+
+  implicit def exprTypeEncoder[T <: ExprType]: Encoder[T] = Encoder.instance { _.toString.asJson }
+  implicit def exprTypeDecoder[T <: ExprType]: Decoder[T] = Decoder.decodeString.emap { str =>
+    Either.catchNonFatal(ExprType.fromName(str).asInstanceOf[T]).leftMap(_ => "ExprType")
+  }
+
+  implicit val pipelineConstructorEncoder: Encoder[PipelineConstructor] = Encoder.instance { constructor =>
+    Json.obj(
+      "pipeline" -> constructor
+        .flatMap {
+          _.flatMap {
+            case RawExpr(json) => json.asObject
+            case expr => expr.asJson.asObject
+          }.map {
+            _.remove("class_type") // remove type
+             .filter { case (_, value) => !value.isNull } // cleanup options
+          }
+        }.asJson
+    )
+  }
+  implicit val pipelineConstructorDecoder: Decoder[PipelineConstructor] = Decoder.instance {
+    _.downField("pipeline").as[PipelineConstructor]
+  }
+
+  implicit val rawExprEncoder: Encoder[RawExpr] = Encoder.instance { _.json }
+  implicit val rawExprDecoder: Decoder[RawExpr] = Decoder.decodeJson.emap { json =>
+    Either.catchNonFatal(RawExpr(json)).leftMap(_ => "RawExpr")
+  }
+}
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/json/package.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/json/package.scala
new file mode 100644
index 0000000..d0404ac
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/json/package.scala
@@ -0,0 +1,19 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+package object json extends json.Implicits
diff --git a/java/core-scala/src/main/scala/io/pdal/pipeline/package.scala b/java/core-scala/src/main/scala/io/pdal/pipeline/package.scala
new file mode 100644
index 0000000..0242c3e
--- /dev/null
+++ b/java/core-scala/src/main/scala/io/pdal/pipeline/package.scala
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal
+
+import io.circe.Json
+import io.circe.syntax._
+
+/**
+  * There is no implicit PipelineExprToString function to avoid
+  * implicit casts in places where PipelineConstructor should be used.
+  */
+
+package object pipeline extends json.Implicits with Implicits with Serializable {
+  type PipelineConstructor = List[PipelineExpr]
+
+  implicit class withPipelineConstructor(list: PipelineConstructor) {
+    def ~(e: PipelineExpr): PipelineConstructor = list :+ e
+    def ~(e: Option[PipelineExpr]): PipelineConstructor = e.fold(list)(el => list :+ el)
+    def map[B](f: PipelineExpr => B): List[B] = list.map(f)
+    def toPipeline = Pipeline(list.asJson.noSpaces)
+  }
+
+  implicit def pipelineExprToConstructor[T <: PipelineExpr](expr: T): PipelineConstructor = expr :: Nil
+  implicit def pipelineExprToJson(expr: PipelineExpr): Json = expr.asJson
+  implicit def pipelineConstructorToJson(expr: PipelineConstructor): Json = expr.asJson
+  implicit def pipelineConstructorToString(expr: PipelineConstructor): String = expr.asJson.noSpaces
+}
diff --git a/java/core-scala/src/test/scala/io/pdal/pipeline/PipelineExpressionsSpec.scala b/java/core-scala/src/test/scala/io/pdal/pipeline/PipelineExpressionsSpec.scala
new file mode 100644
index 0000000..a1b364b
--- /dev/null
+++ b/java/core-scala/src/test/scala/io/pdal/pipeline/PipelineExpressionsSpec.scala
@@ -0,0 +1,85 @@
+/*
+ * Copyright 2017 Azavea
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package io.pdal.pipeline
+
+import io.circe._
+import io.circe.syntax._
+import io.circe.parser._
+
+import org.scalatest._
+
+class PipelineExpressionsSpec extends FunSpec with Matchers with BeforeAndAfterAll {
+  describe("Pipeline Expressions spec") {
+    it("should print a correct json, using DSL") {
+      val expected =
+        """
+          |{
+          |  "pipeline" : [
+          |    {
+          |      "filename" : "/path/to/las",
+          |      "type" : "readers.las"
+          |    },
+          |    {
+          |      "type" : "filters.crop"
+          |    },
+          |    {
+          |      "filename" : "/path/to/new/las",
+          |      "type" : "writers.las"
+          |    }
+          |  ]
+          |}
+        """.stripMargin
+
+
+      val pc: PipelineConstructor = LasRead("/path/to/las") ~ CropFilter() ~ LasWrite("/path/to/new/las")
+      val pipelineJson: Json = LasRead("/path/to/las") ~ CropFilter() ~ LasWrite("/path/to/new/las")
+
+      parse(expected) match {
+        case Right(r) => pipelineJson shouldBe r
+        case Left(e) => throw e
+      }
+    }
+
+    it("should print a correct json, using RAW JSON") {
+      val expected =
+        """
+          |{
+          |  "pipeline" : [
+          |    {
+          |      "filename" : "/path/to/las",
+          |      "type" : "readers.las"
+          |    },
+          |    {
+          |      "type" : "filters.crop"
+          |    },
+          |    {
+          |      "filename" : "/path/to/new/las",
+          |      "type" : "writers.las"
+          |    }
+          |  ]
+          |}
+        """.stripMargin
+
+      val pipelineJson: Json = LasRead("/path/to/las") ~ RawExpr(Map("type" -> "filters.crop").asJson) ~ LasWrite("/path/to/new/las")
+
+      parse(expected) match {
+        case Right(r) => pipelineJson shouldBe r
+        case Left(e) => throw e
+      }
+    }
+  }
+}
diff --git a/java/project/Commands.scala b/java/project/Commands.scala
index f4ea01a..732712e 100644
--- a/java/project/Commands.scala
+++ b/java/project/Commands.scala
@@ -36,11 +36,10 @@ import sbt.Keys._
 
 object Commands {
   def processJavastyleCommand(commandProcess: String) = {
-    Command.command(s"${commandProcess}-javastyle")((state: State) => {
+    Command.command(s"${commandProcess}Javastyle")((state: State) => {
       val extracted = Project extract state
       import extracted._
-      val publishState = Command.process(commandProcess, append(Seq(crossPaths := false), state))
-      append(Seq(crossPaths := true), publishState)
+      commandProcess :: append(Seq(crossPaths := false), state)
     })
   }
-}
\ No newline at end of file
+}
diff --git a/java/project/Dependencies.scala b/java/project/Dependencies.scala
new file mode 100644
index 0000000..5065feb
--- /dev/null
+++ b/java/project/Dependencies.scala
@@ -0,0 +1,10 @@
+import sbt._
+
+object Dependencies {
+  val circeCore = "io.circe" %% "circe-core" % Version.circe
+  val circeGeneric = "io.circe" %% "circe-generic" % Version.circe
+  val circeGenericExtras = "io.circe" %% "circe-generic-extras" % Version.circe
+  val circeParser = "io.circe" %% "circe-parser" % Version.circe
+  val jtsCore = "com.vividsolutions" % "jts-core" % Version.jtsCore
+  val scalaTest = "org.scalatest" %% "scalatest" % Version.scalaTest
+}
diff --git a/java/project/Version.scala b/java/project/Version.scala
new file mode 100644
index 0000000..37a4c54
--- /dev/null
+++ b/java/project/Version.scala
@@ -0,0 +1,5 @@
+object Version {
+  val circe     = "0.8.0"
+  val scalaTest = "3.0.4"
+  val jtsCore   = "1.14.0"
+}
\ No newline at end of file
diff --git a/java/project/build.properties b/java/project/build.properties
index 24be09b..7b6213b 100644
--- a/java/project/build.properties
+++ b/java/project/build.properties
@@ -1,2 +1 @@
-sbt.version=0.13.13
-
+sbt.version=1.0.1
diff --git a/java/project/plugins.sbt b/java/project/plugins.sbt
index 37e72c0..0498b1f 100644
--- a/java/project/plugins.sbt
+++ b/java/project/plugins.sbt
@@ -1,5 +1,5 @@
-addSbtPlugin("com.eed3si9n" % "sbt-assembly" % "0.14.3")
-
-addSbtPlugin("ch.jodersky" % "sbt-jni" % "1.2.4")
-
-addSbtPlugin("com.jsuereth" % "sbt-pgp" % "1.0.0")
+addSbtPlugin("com.eed3si9n" % "sbt-assembly" % "0.14.5")
+addSbtPlugin("ch.jodersky" % "sbt-jni" % "1.3.0")
+addSbtPlugin("com.jsuereth" % "sbt-pgp" % "1.1.0")
+addSbtPlugin("com.timushev.sbt" % "sbt-updates" % "0.3.1")
+addSbtPlugin("de.heikoseeberger" % "sbt-header" % "3.0.1")
diff --git a/java/sbt b/java/sbt
index bd47e3b..cc84537 100755
--- a/java/sbt
+++ b/java/sbt
@@ -5,11 +5,12 @@
 
 set -o pipefail
 
-declare -r sbt_release_version="0.13.13"
-declare -r sbt_unreleased_version="0.13.13"
+declare -r sbt_release_version="0.13.16"
+declare -r sbt_unreleased_version="0.13.16"
 
-declare -r latest_212="2.12.0"
-declare -r latest_211="2.11.8"
+declare -r latest_213="2.13.0-M2"
+declare -r latest_212="2.12.3"
+declare -r latest_211="2.11.11"
 declare -r latest_210="2.10.6"
 declare -r latest_29="2.9.3"
 declare -r latest_28="2.8.2"
@@ -27,7 +28,7 @@ declare -r noshare_opts="-Dsbt.global.base=project/.sbtboot -Dsbt.boot.directory
 declare sbt_jar sbt_dir sbt_create sbt_version sbt_script sbt_new
 declare sbt_explicit_version
 declare verbose noshare batch trace_level
-declare sbt_saved_stty debugUs
+declare debugUs
 
 declare java_cmd="java"
 declare sbt_launch_dir="$HOME/.sbt/launchers"
@@ -43,19 +44,21 @@ echoerr () { echo >&2 "$@"; }
 vlog ()    { [[ -n "$verbose" ]] && echoerr "$@"; }
 die ()     { echo "Aborting: $@" ; exit 1; }
 
-# restore stty settings (echo in particular)
-onSbtRunnerExit() {
-  [[ -n "$sbt_saved_stty" ]] || return
-  vlog ""
-  vlog "restoring stty: $sbt_saved_stty"
-  stty "$sbt_saved_stty"
-  unset sbt_saved_stty
-}
+setTrapExit () {
+  # save stty and trap exit, to ensure echo is re-enabled if we are interrupted.
+  export SBT_STTY="$(stty -g 2>/dev/null)"
+
+  # restore stty settings (echo in particular)
+  onSbtRunnerExit() {
+    [ -t 0 ] || return
+    vlog ""
+    vlog "restoring stty: $SBT_STTY"
+    stty "$SBT_STTY"
+  }
 
-# save stty and trap exit, to ensure echo is re-enabled if we are interrupted.
-trap onSbtRunnerExit EXIT
-sbt_saved_stty="$(stty -g 2>/dev/null)"
-vlog "Saved stty: $sbt_saved_stty"
+  vlog "saving stty: $SBT_STTY"
+  trap onSbtRunnerExit EXIT
+}
 
 # this seems to cover the bases on OSX, and someone will
 # have to tell me about the others.
@@ -228,8 +231,13 @@ execRunner () {
     vlog ""
   }
 
-  [[ -n "$batch" ]] && exec </dev/null
-  exec "$@"
+  setTrapExit
+
+  if [[ -n "$batch" ]]; then
+    "$@" < /dev/null
+  else
+    "$@"
+  fi
 }
 
 jar_url ()  { make_url "$1"; }
@@ -320,6 +328,7 @@ runner with the -x option.
   -210                      use $latest_210
   -211                      use $latest_211
   -212                      use $latest_212
+  -213                      use $latest_213
   -scala-home <path>        use the scala build at the specified directory
   -scala-version <version>  use the specified version of scala
   -binary-version <version> use the specified scala version when searching for dependencies
@@ -358,7 +367,7 @@ process_args () {
   }
   while [[ $# -gt 0 ]]; do
     case "$1" in
-          -h|-help) usage; exit 1 ;;
+          -h|-help) usage; exit 0 ;;
                 -v) verbose=true && shift ;;
                 -d) addSbt "--debug" && shift ;;
                 -w) addSbt "--warn"  && shift ;;
@@ -371,7 +380,7 @@ process_args () {
          -sbt-boot) require_arg path "$1" "$2" && addJava "-Dsbt.boot.directory=$2" && shift 2 ;;
           -sbt-dir) require_arg path "$1" "$2" && sbt_dir="$2" && shift 2 ;;
         -debug-inc) addJava "-Dxsbt.inc.debug=true" && shift ;;
-          -offline) addSbt "set offline := true" && shift ;;
+          -offline) addSbt "set offline in Global := true" && shift ;;
         -jvm-debug) require_arg port "$1" "$2" && addDebugger "$2" && shift 2 ;;
             -batch) batch=true && shift ;;
            -prompt) require_arg "expr" "$1" "$2" && setThisBuild shellPrompt "(s => { val e = Project.extract(s) ; $2 })" && shift 2 ;;
@@ -399,7 +408,8 @@ process_args () {
               -210) setScalaVersion "$latest_210" && shift ;;
               -211) setScalaVersion "$latest_211" && shift ;;
               -212) setScalaVersion "$latest_212" && shift ;;
-               new) sbt_new=true && sbt_explicit_version="$sbt_release_version"  && addResidual "$1" && shift ;;
+              -213) setScalaVersion "$latest_213" && shift ;;
+               new) sbt_new=true && : ${sbt_explicit_version:=$sbt_release_version} && addResidual "$1" && shift ;;
                  *) addResidual "$1" && shift ;;
     esac
   done
diff --git a/java/scripts/publish-212.sh b/java/scripts/publish-212.sh
index 9eab675..ff2eb40 100755
--- a/java/scripts/publish-212.sh
+++ b/java/scripts/publish-212.sh
@@ -19,7 +19,7 @@ do
     esac
 done
 
-export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX:-"-SNAPSHOT"}
+export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX-"-SNAPSHOT"}
 SIGNED=${SIGNED:-false}
 
 COMMAND=publish
@@ -29,3 +29,4 @@ if ${SIGNED}; then
 fi
 
 PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core" ${COMMAND}
+PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core-scala" ${COMMAND}
diff --git a/java/scripts/publish-javastyle.sh b/java/scripts/publish-javastyle.sh
index 149afc1..c8f385c 100755
--- a/java/scripts/publish-javastyle.sh
+++ b/java/scripts/publish-javastyle.sh
@@ -19,7 +19,7 @@ do
     esac
 done
 
-export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX:-"-SNAPSHOT"}
+export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX-"-SNAPSHOT"}
 SIGNED=${SIGNED:-false}
 
 COMMAND=publish
@@ -28,4 +28,4 @@ if ${SIGNED}; then
     COMMAND=publishSigned
 fi
 
-PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core" ${COMMAND}-javastyle
+PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core" ${COMMAND}Javastyle
diff --git a/java/scripts/publish-local-212.sh b/java/scripts/publish-local-212.sh
index b9352e2..29095c0 100755
--- a/java/scripts/publish-local-212.sh
+++ b/java/scripts/publish-local-212.sh
@@ -14,6 +14,7 @@ do
     esac
 done
 
-export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX:-"-SNAPSHOT"}
+export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX-"-SNAPSHOT"}
 
-PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core" publish-local
+PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core" publishLocal
+PDAL_DEPEND_ON_NATIVE=false ./sbt "-212" "project core-scala" publishLocal
diff --git a/java/scripts/publish-local.sh b/java/scripts/publish-local.sh
index ea1a7cc..7288f65 100755
--- a/java/scripts/publish-local.sh
+++ b/java/scripts/publish-local.sh
@@ -14,6 +14,7 @@ do
     esac
 done
 
-export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX:-"-SNAPSHOT"}
+export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX-"-SNAPSHOT"}
 
-PDAL_DEPEND_ON_NATIVE=false ./sbt "project core" publish-local
+PDAL_DEPEND_ON_NATIVE=false ./sbt "project core" publishLocal
+PDAL_DEPEND_ON_NATIVE=false ./sbt "project core-scala" publishLocal
diff --git a/java/scripts/publish.sh b/java/scripts/publish.sh
index c10d7c5..f4b22be 100755
--- a/java/scripts/publish.sh
+++ b/java/scripts/publish.sh
@@ -19,7 +19,7 @@ do
     esac
 done
 
-export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX:-"-SNAPSHOT"}
+export PDAL_VERSION_SUFFIX=${PDAL_VERSION_SUFFIX-"-SNAPSHOT"}
 SIGNED=${SIGNED:-false}
 
 COMMAND=publish
@@ -29,3 +29,4 @@ if ${SIGNED}; then
 fi
 
 PDAL_DEPEND_ON_NATIVE=false ./sbt "project core" ${COMMAND}
+PDAL_DEPEND_ON_NATIVE=false ./sbt "project core-scala" ${COMMAND}
diff --git a/kernels/DeltaKernel.cpp b/kernels/DeltaKernel.cpp
index b369ee8..ca45bca 100644
--- a/kernels/DeltaKernel.cpp
+++ b/kernels/DeltaKernel.cpp
@@ -47,7 +47,7 @@ CREATE_STATIC_PLUGIN(1, 0, DeltaKernel, Kernel, s_info)
 
 std::string DeltaKernel::getName() const { return s_info.name; }
 
-DeltaKernel::DeltaKernel() : m_3d(true), m_detail(false), m_allDims(false)
+DeltaKernel::DeltaKernel() : m_detail(false), m_allDims(false)
 {}
 
 
@@ -58,9 +58,6 @@ void DeltaKernel::addSwitches(ProgramArgs& args)
     Arg& candidate = args.add("candidate", "candidate file name",
         m_candidateFile);
     candidate.setPositional();
-    Arg& output = args.add("output", "output file name", m_outputFile);
-    output.setPositional();
-    args.add("2d", "only 2D comparisons/indexing", m_3d, true);
     args.add("detail", "Output deltas per-point", m_detail);
     args.add("alldims", "Compute diffs for all dimensions (not just X,Y,Z)",
         m_allDims);
diff --git a/kernels/DeltaKernel.hpp b/kernels/DeltaKernel.hpp
index 4fbf599..97c77bc 100644
--- a/kernels/DeltaKernel.hpp
+++ b/kernels/DeltaKernel.hpp
@@ -86,13 +86,11 @@ private:
 
     std::string m_sourceFile;
     std::string m_candidateFile;
-    std::string m_outputFile;
 
     /**
     std::ostream* m_outputStream;
     **/
 
-    bool m_3d;
     bool m_detail;
     bool m_allDims;
 };
diff --git a/kernels/GroundKernel.cpp b/kernels/GroundKernel.cpp
index 1631e10..c65235a 100644
--- a/kernels/GroundKernel.cpp
+++ b/kernels/GroundKernel.cpp
@@ -1,47 +1,46 @@
 /******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-* Copyright (c) 2014-2015, Bradley J Chambers (brad.chambers at gmail.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
+ * Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+ * Copyright (c) 2014-2017, Bradley J Chambers (brad.chambers at gmail.com)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
 
 #include "GroundKernel.hpp"
 
-#include <pdal/KernelFactory.hpp>
 #include <pdal/Options.hpp>
-#include <pdal/pdal_macros.hpp>
 #include <pdal/PointTable.hpp>
 #include <pdal/PointView.hpp>
 #include <pdal/Stage.hpp>
 #include <pdal/StageFactory.hpp>
+#include <pdal/pdal_macros.hpp>
 
 #include <memory>
 #include <string>
@@ -51,25 +50,21 @@ namespace pdal
 {
 
 static PluginInfo const s_info = PluginInfo("kernels.ground", "Ground Kernel",
-    "http://pdal.io/apps/ground.html" );
+                                            "http://pdal.io/apps/ground.html");
 
 CREATE_STATIC_PLUGIN(1, 0, GroundKernel, Kernel, s_info)
 
-std::string GroundKernel::getName() const { return s_info.name; }
+std::string GroundKernel::getName() const
+{
+    return s_info.name;
+}
 
 GroundKernel::GroundKernel()
-    : Kernel()
-    , m_inputFile("")
-    , m_outputFile("")
-    , m_maxWindowSize(33)
-    , m_slope(1)
-    , m_maxDistance(2.5)
-    , m_initialDistance(0.15)
-    , m_cellSize(1)
-    , m_classify(true)
-    , m_extract(false)
-    , m_approximate(false)
-{}
+    : Kernel(), m_inputFile(""), m_outputFile(""), m_maxWindowSize(33),
+      m_slope(1), m_maxDistance(2.5), m_initialDistance(0.15), m_cellSize(1),
+      m_extract(false)
+{
+}
 
 void GroundKernel::addSwitches(ProgramArgs& args)
 {
@@ -80,34 +75,31 @@ void GroundKernel::addSwitches(ProgramArgs& args)
     args.add("max_distance", "Max distance", m_maxDistance, 2.5);
     args.add("initial_distance", "Initial distance", m_initialDistance, .15);
     args.add("cell_size", "Cell size", m_cellSize, 1.0);
-    args.add("classify", "Apply classification labels?", m_classify);
     args.add("extract", "extract ground returns?", m_extract);
-    args.add("approximate,a", "use approximate algorithm? (much faster)",
-        m_approximate);
 }
 
 int GroundKernel::execute()
 {
     PointTable table;
 
-    Stage& readerStage(makeReader(m_inputFile, ""));
-
     Options groundOptions;
     groundOptions.add("max_window_size", m_maxWindowSize);
     groundOptions.add("slope", m_slope);
     groundOptions.add("max_distance", m_maxDistance);
     groundOptions.add("initial_distance", m_initialDistance);
     groundOptions.add("cell_size", m_cellSize);
-    groundOptions.add("classify", m_classify);
-    groundOptions.add("extract", m_extract);
-    groundOptions.add("approximate", m_approximate);
 
-    Stage& groundStage = makeFilter("filters.pmf", readerStage,
-        groundOptions);
+    Options rangeOptions;
+    rangeOptions.add("limits", "Classification[2:2]");
+
+    Stage& readerStage(makeReader(m_inputFile, ""));
+    Stage& groundStage = makeFilter("filters.pmf", readerStage, groundOptions);
 
-    // setup the Writer and write the results
-    Stage& writer(makeWriter(m_outputFile, groundStage, ""));
+    Stage* rangeStage = &groundStage;
+    if (m_extract)
+        rangeStage = &makeFilter("filters.range", groundStage, rangeOptions);
 
+    Stage& writer(makeWriter(m_outputFile, *rangeStage, ""));
     writer.prepare(table);
     writer.execute(table);
 
diff --git a/kernels/GroundKernel.hpp b/kernels/GroundKernel.hpp
index 2c10e9f..bfc9318 100644
--- a/kernels/GroundKernel.hpp
+++ b/kernels/GroundKernel.hpp
@@ -1,6 +1,6 @@
 /******************************************************************************
 * Copyright (c) 2013, Howard Butler (hobu.inc at gmail.com)
-* Copyright (c) 2014-2015, Brad Chambers (brad.chambers at gmail.com)
+* Copyright (c) 2014-2017, Brad Chambers (brad.chambers at gmail.com)
 *
 * All rights reserved.
 *
@@ -71,9 +71,7 @@ private:
     double m_maxDistance;
     double m_initialDistance;
     double m_cellSize;
-    bool m_classify;
     bool m_extract;
-    bool m_approximate;
 };
 
 } // namespace pdal
diff --git a/kernels/SortKernel.cpp b/kernels/SortKernel.cpp
index cb334b8..7e3fd5b 100644
--- a/kernels/SortKernel.cpp
+++ b/kernels/SortKernel.cpp
@@ -34,7 +34,6 @@
 
 #include "SortKernel.hpp"
 
-#include <io/BufferReader.hpp>
 #include <pdal/StageFactory.hpp>
 #include <pdal/pdal_macros.hpp>
 
@@ -71,19 +70,7 @@ void SortKernel::addSwitches(ProgramArgs& args)
 int SortKernel::execute()
 {
     Stage& readerStage = makeReader(m_inputFile, m_driverOverride);
-
-    PointTable table;
-    readerStage.prepare(table);
-    PointViewSet viewSetIn = readerStage.execute(table);
-
-    // the input PointViewSet will be used to populate a BufferReader that is
-    // consumed by the processing pipeline
-    PointViewPtr inView = *viewSetIn.begin();
-
-    BufferReader bufferReader;
-    bufferReader.addView(inView);
-
-    Stage& sortStage = makeFilter("filters.mortonorder", bufferReader);
+    Stage& sortStage = makeFilter("filters.mortonorder", readerStage);
 
     Options writerOptions;
     if (m_bCompress)
@@ -92,6 +79,7 @@ int SortKernel::execute()
         writerOptions.add("forward_metadata", true);
     Stage& writer = makeWriter(m_outputFile, sortStage, "", writerOptions);
 
+    PointTable table;
     writer.prepare(table);
     writer.execute(table);
 
diff --git a/kernels/TIndexKernel.cpp b/kernels/TIndexKernel.cpp
index 7feebb0..a3e4a7e 100644
--- a/kernels/TIndexKernel.cpp
+++ b/kernels/TIndexKernel.cpp
@@ -37,7 +37,6 @@
 #include <memory>
 #include <vector>
 
-#include <pdal/KernelFactory.hpp>
 #include <pdal/util/FileUtils.hpp>
 #include <pdal/PDALUtils.hpp>
 #include <pdal/StageFactory.hpp>
@@ -77,7 +76,7 @@ TIndexKernel::TIndexKernel()
     , m_dataset(NULL)
     , m_layer(NULL)
     , m_fastBoundary(false)
-
+    , m_overrideASrs(false)
 {}
 
 
@@ -145,6 +144,8 @@ void TIndexKernel::validateSwitches(ProgramArgs& args)
         if (args.set("bounds"))
             throw pdal_error("'bounds' option not supported when building "
                 "index.");
+        if (args.set("a_srs"))
+            m_overrideASrs = true;
     }
 }
 
@@ -256,7 +257,7 @@ void TIndexKernel::createFile()
 
     FieldIndexes indexes = getFields();
 
-    KernelFactory factory(false);
+    StageFactory factory(false);
     for (auto f : m_files)
     {
         //ABELL - Not sure why we need to get absolute path here.
@@ -395,7 +396,7 @@ bool TIndexKernel::createFeature(const FieldIndexes& indexes,
 
     // Set the SRS into the feature.
     // We override if m_assignSrsString is set
-    if (fileInfo.m_srs.empty() || m_assignSrsString.size())
+    if (fileInfo.m_srs.empty() || m_overrideASrs)
         fileInfo.m_srs = m_assignSrsString;
 
     SpatialRef srcSrs(fileInfo.m_srs);
@@ -451,13 +452,11 @@ bool TIndexKernel::createFeature(const FieldIndexes& indexes,
     OGR_G_ExportToWkt(g.get(), &pgeom);
     OGR_F_SetGeometry(hFeature, g.get());
 
-    bool ok = (OGR_L_CreateFeature(m_layer, hFeature) == OGRERR_NONE);
-    OGR_F_Destroy(hFeature);
-    return ok;
+    return (OGR_L_CreateFeature(m_layer, hFeature) == OGRERR_NONE);
 }
 
 
-TIndexKernel::FileInfo TIndexKernel::getFileInfo(KernelFactory& factory,
+TIndexKernel::FileInfo TIndexKernel::getFileInfo(StageFactory& factory,
     const std::string& filename)
 {
     FileInfo fileInfo;
diff --git a/kernels/TIndexKernel.hpp b/kernels/TIndexKernel.hpp
index f87e9bb..2511a29 100644
--- a/kernels/TIndexKernel.hpp
+++ b/kernels/TIndexKernel.hpp
@@ -47,7 +47,7 @@ extern "C" PF_ExitFunc TIndexKernel_InitPlugin();
 namespace pdal
 {
 
-class KernelFactory;
+class StageFactory;
 
 class PDAL_DLL TIndexKernel : public Kernel
 {
@@ -86,7 +86,7 @@ private:
     bool openLayer(const std::string& layerName);
     bool createLayer(const std::string& layerName);
     FieldIndexes getFields();
-    FileInfo getFileInfo(KernelFactory& factory, const std::string& filename);
+    FileInfo getFileInfo(StageFactory& factory, const std::string& filename);
     bool createFeature(const FieldIndexes& indexes, FileInfo& info);
     gdal::Geometry prepareGeometry(const FileInfo& fileInfo);
     gdal::Geometry prepareGeometry(const std::string& wkt,
@@ -113,7 +113,7 @@ private:
     std::string m_assignSrsString;
     bool m_fastBoundary;
     bool m_usestdin;
+    bool m_overrideASrs;
 };
 
 } // namespace pdal
-
diff --git a/kernels/TranslateKernel.cpp b/kernels/TranslateKernel.cpp
index cd40a01..3716ba1 100644
--- a/kernels/TranslateKernel.cpp
+++ b/kernels/TranslateKernel.cpp
@@ -35,7 +35,6 @@
 
 #include "TranslateKernel.hpp"
 
-#include <pdal/KernelFactory.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <pdal/PipelineWriter.hpp>
 #include <pdal/PointTable.hpp>
diff --git a/pdal/DimUtil.hpp b/pdal/DimUtil.hpp
index b22b7e4..dec2be3 100644
--- a/pdal/DimUtil.hpp
+++ b/pdal/DimUtil.hpp
@@ -104,7 +104,7 @@ inline BaseType base(Type t)
 }
 
 static const int COUNT = std::numeric_limits<uint16_t>::max();
-static const int PROPRIETARY = 0xFF00;
+static const int PROPRIETARY = 0xF000;
 
 /// Get a string reresentation of a datatype.
 /// \param[in] dimtype  Dimension type.
@@ -170,7 +170,6 @@ inline Type type(std::string s)
     return Type::None;
 }
 
-
 /// Extract a dimension name of a string.  Dimension names start with an alpha
 /// and continue with numbers or underscores.
 /// \param s  String from which to extract dimension name.
@@ -187,6 +186,24 @@ inline std::size_t extractName(const std::string& s, std::string::size_type p)
     return Utils::extract(s, p, isvalid) + 1;
 }
 
+inline std::istream& operator>>(std::istream& in, Dimension::Type& type)
+{
+    std::string sval;
+
+    in >> sval;
+    type = Dimension::type(sval);
+    if (type == Dimension::Type::None)
+        in.setstate(std::ios_base::failbit);
+    return in;
+}
+
+inline std::ostream& operator<<(std::ostream& out, const Dimension::Type& type)
+{
+    out << Dimension::interpretationName(type);
+    return out;
+}
+
 } // namespace Dimension
+
 } // namespace pdal
 
diff --git a/pdal/Dimension.json b/pdal/Dimension.json
index ee9c4bd..0d6a31a 100644
--- a/pdal/Dimension.json
+++ b/pdal/Dimension.json
@@ -58,7 +58,7 @@
     "name": "ScanAngleRank",
     "alt_names": "ScanAngle",
     "type": "float",
-    "description": "Angle degree at which the laster point was output from the system, including the roll of the aircraft.  The scan angle is based on being nadir, and -90 the left side of the aircraft in the direction of flight"
+    "description": "Angle degree at which the laser point was output from the system, including the roll of the aircraft.  The scan angle is based on being nadir, and -90 the left side of the aircraft in the direction of flight"
     },
     {
     "name": "UserData",
@@ -337,5 +337,34 @@
     "name": "OriginId",
     "type": "uint32",
     "description": "A file source ID from which the point originated.  This ID is global to a derivative dataset which may be aggregated from multiple files."
+    },
+    {
+    "name": "NormalX",
+    "alt_names": "nx",
+    "type": "double",
+    "description": "X component of a vector normal to surface at this point"
+    },
+    {
+    "name": "NormalY",
+    "alt_names": "ny",
+    "type": "double",
+    "description": "Y component of a vector normal to surface at this point"
+    },
+    {
+    "name": "NormalZ",
+    "alt_names": "nz",
+    "type": "double",
+    "description": "Z component of a vector normal to surface at this point"
+    },
+    {
+    "name": "Curvature",
+    "type": "double",
+    "description": "Curvature of surface at this point"
+    },
+    {
+    "name": "Density",
+    "type": "double",
+    "description": "Estimate of point density"
     }
+
 ] }
diff --git a/pdal/EigenUtils.cpp b/pdal/EigenUtils.cpp
index 5526107..b2d262c 100644
--- a/pdal/EigenUtils.cpp
+++ b/pdal/EigenUtils.cpp
@@ -92,7 +92,7 @@ Eigen::Matrix3f computeCovariance(PointView& view, std::vector<PointId> ids)
         k++;
     }
 
-    return A * A.transpose();
+    return A * A.transpose() / (ids.size()-1);
 }
 
 uint8_t computeRank(PointView& view, std::vector<PointId> ids, double threshold)
@@ -279,7 +279,7 @@ Eigen::MatrixXd createMaxMatrix2(PointView& view, int rows, int cols,
             double y = bounds.miny + (r + 0.5) * cell_size;
 
             auto neighbors = kdi.radius(x, y, cell_size * std::sqrt(2.0));
-            
+
             double val(std::numeric_limits<double>::lowest());
             for (auto const& n : neighbors)
             {
@@ -472,7 +472,7 @@ std::vector<double> dilateDiamond(std::vector<double> data, size_t rows, size_t
 {
     std::vector<double> out(data.size(), std::numeric_limits<double>::lowest());
     std::vector<size_t> idx(5);
-    
+
     for (int iter = 0; iter < iterations; ++iter)
     {
         for (size_t col = 0; col < cols; ++col)
@@ -506,7 +506,7 @@ std::vector<double> erodeDiamond(std::vector<double> data, size_t rows, size_t c
 {
     std::vector<double> out(data.size(), std::numeric_limits<double>::max());
     std::vector<size_t> idx(5);
-    
+
     for (int iter = 0; iter < iterations; ++iter)
     {
         for (size_t col = 0; col < cols; ++col)
@@ -578,7 +578,7 @@ void writeMatrix(Eigen::MatrixXd data, const std::string& filename,
     Eigen::Matrix<float, Dynamic, Dynamic, RowMajor> dataRowMajor;
     dataRowMajor = data.cast<float>();
 
-    raster.writeBand((uint8_t *)dataRowMajor.data(), 1);
+    raster.writeBand((float*)dataRowMajor.data(), -9999.0f, 1);
 }
 
 Eigen::MatrixXd cleanDSM(Eigen::MatrixXd data)
diff --git a/pdal/EigenUtils.hpp b/pdal/EigenUtils.hpp
index 6bda076..122c82b 100644
--- a/pdal/EigenUtils.hpp
+++ b/pdal/EigenUtils.hpp
@@ -36,6 +36,7 @@
 
 #include <pdal/pdal_internal.hpp>
 #include <pdal/util/Bounds.hpp>
+#include <pdal/Metadata.hpp>
 
 #include <Eigen/Dense>
 
@@ -949,4 +950,49 @@ PDAL_DLL Eigen::MatrixXd computeSpline(Eigen::MatrixXd x, Eigen::MatrixXd y,
 
 } // namespace eigen
 
+namespace Utils
+{
+
+template <>
+inline bool fromString<Eigen::MatrixXd>(const std::string& s, Eigen::MatrixXd& matrix) {
+    std::stringstream ss(s);
+    std::string line;
+    std::vector<std::vector<double>> rows;
+    while (std::getline(ss, line)) {
+        std::vector<double> row;
+        std::stringstream ss(line);
+        double n;
+        while (ss >> n) {
+            row.push_back(n);
+            if (ss.peek() == ',' || ss.peek() == ' ') {
+                ss.ignore();
+            }
+        }
+        if (!rows.empty() && rows.back().size() != row.size()) {
+            return false;
+        }
+        rows.push_back(row);
+    }
+    if (rows.empty()) {
+        return true;
+    }
+    size_t nrows = rows.size();
+    size_t ncols = rows[0].size();
+    matrix.resize(nrows, ncols);
+    for (size_t i = 0; i < nrows; ++i) {
+        for (size_t j = 0; j < ncols; ++j) {
+            matrix(i, j) = rows[i][j];
+        }
+    }
+    return true;
+}
+}
+
+template <>
+inline void MetadataNodeImpl::setValue(const Eigen::MatrixXd& matrix)
+{
+    m_type = "matrix";
+    m_value = Utils::toString(matrix);
+}
+
 } // namespace pdal
diff --git a/pdal/Filter.hpp b/pdal/Filter.hpp
index 7ac159d..35be2b6 100644
--- a/pdal/Filter.hpp
+++ b/pdal/Filter.hpp
@@ -65,12 +65,5 @@ private:
     Filter(const Filter&); // not implemented
 };
 
-class PDAL_DLL MultiFilter : public Filter
-{
-public:
-    MultiFilter() : Filter()
-        {}
-};
-
 }  // namespace pdal
 
diff --git a/pdal/GDALUtils.cpp b/pdal/GDALUtils.cpp
index d7ca411..7daee54 100644
--- a/pdal/GDALUtils.cpp
+++ b/pdal/GDALUtils.cpp
@@ -34,11 +34,11 @@
 
 #include <pdal/GDALUtils.hpp>
 #include <pdal/SpatialReference.hpp>
+#include <pdal/util/Algorithm.hpp>
 #include <pdal/util/Utils.hpp>
 
 #include <functional>
 #include <map>
-#include <mutex>
 
 #include <ogr_spatialref.h>
 
@@ -54,6 +54,32 @@ namespace gdal
 namespace
 {
 
+/**
+  Convert a GDAL type string to a PDAL dimension type.
+
+  \param gdalType  String representing the GDAL type.
+  \return  PDAL type associated with \gdalType.
+*/
+Dimension::Type toPdalType(const std::string& gdalType)
+{
+    if (gdalType == "Byte")
+        return Dimension::Type::Unsigned8;
+    else if (gdalType == "UInt16")
+        return Dimension::Type::Unsigned16;
+    else if (gdalType == "Int16")
+        return Dimension::Type::Signed16;
+    else if (gdalType == "UInt32")
+        return Dimension::Type::Unsigned32;
+    else if (gdalType == "Int32")
+        return Dimension::Type::Signed32;
+    else if (gdalType == "Float32")
+        return Dimension::Type::Float;
+    else if (gdalType == "Float64")
+        return Dimension::Type::Double;
+    return Dimension::Type::None;
+}
+
+
 Dimension::Type toPdalType(GDALDataType t)
 {
     switch (t)
@@ -147,6 +173,24 @@ bool reprojectBounds(BOX3D& box, const std::string& srcSrs,
 
 
 /**
+  Reproject a bounds box from a source projection to a destination.
+  \param box  2D Bounds box to be reprojected in-place.
+  \param srcSrs  String in WKT or other suitable format of box coordinates.
+  \param dstSrs  String in WKT or other suitable format to which
+    coordinates should be projected.
+  \return  Whether the reprojection was successful or not.
+*/
+bool reprojectBounds(BOX2D& box, const std::string& srcSrs,
+    const std::string& dstSrs)
+{
+    BOX3D b(box);
+    bool res = reprojectBounds(b, srcSrs, dstSrs);
+    box = b.to2d();
+    return res;
+}
+
+
+/**
   Reproject a point from a source projection to a destination.
   \param x  X coordinate of point to be reprojected.
   \param y  Y coordinate of point to be reprojected.
@@ -240,12 +284,14 @@ void ErrorHandler::set(LogPtr log, bool debug)
 
 void ErrorHandler::setLog(LogPtr log)
 {
+    std::lock_guard<std::mutex> lock(m_mutex);
     m_log = log;
 }
 
 
 void ErrorHandler::setDebug(bool debug)
 {
+    std::lock_guard<std::mutex> lock(m_mutex);
     m_debug = debug;
 
     if (debug)
@@ -254,15 +300,15 @@ void ErrorHandler::setDebug(bool debug)
         CPLSetThreadLocalConfigOption("CPL_DEBUG", NULL);
 }
 
-
 int ErrorHandler::errorNum()
 {
-    int errorNum = m_errorNum;
-    return errorNum;
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_errorNum;
 }
 
 void ErrorHandler::handle(::CPLErr level, int num, char const* msg)
 {
+    std::lock_guard<std::mutex> lock(m_mutex);
     std::ostringstream oss;
 
     m_errorNum = num;
@@ -281,218 +327,6 @@ void ErrorHandler::handle(::CPLErr level, int num, char const* msg)
 }
 
 
-struct InvalidBand {};
-struct CantReadBlock {};
-struct CantWriteBlock {};
-
-/*
-  Slight abstraction of a GDAL raster band.
-*/
-class Band
-{
-public:
-    /**
-      Create an object for reading a band of a GDAL dataset.
-
-      \param ds  GDAL dataset handle.
-      \param bandNum  Band number (1-indexed).
-    */
-    Band(GDALDataset *ds, int bandNum, const std::string& name = "");
-
-    /**
-      Create an object for writing a band of data to a GDAL dataset.
-
-      \param ds  GDAL dataset handle.
-      \param width  Raster band width.
-      \param height  Raster band height.
-      \param bandNum  Band number in raster (1-indexed).
-      \param name  Band name
-    */
-    /**
-    Band(GDALDataset *ds, int width, int height, int bandNum,
-        const std::string& name = "");
-**/
-
-    /*
-      Read the band into the vector.  Reads a block at a time.  Each
-      block is either fully populated with data or a partial block.
-      Partial blocks appear at the X and Y margins when the total size in
-      the doesn't divide evenly by the block size for both the X and Y
-      dimensions.
-
-      \param  Data Vector into which the data should be read.  The vector is
-        resized as necessary.
-    */
-    void read(std::vector<uint8_t>& ptData);
-
-    /*
-      Write linearized data pointed to by \c data into the band.
-
-      \param data  Pointer to beginning of band
-    */
-    void write(const uint8_t *data);
-private:
-    GDALDataset *m_ds;  /// Dataset handle
-    int m_bandNum;  /// Band number.  Band numbers start at 1.
-    GDALRasterBand *m_band;  /// Band handle
-    int m_xTotalSize, m_yTotalSize;  /// Total size (x and y) of the raster
-    int m_xBlockSize, m_yBlockSize;  /// Size (x and y) of blocks
-    int m_xBlockCnt, m_yBlockCnt;    /// Number of blocks in each direction
-    size_t m_eltSize;                /// Size in bytes of each band element.
-    std::vector<uint8_t> m_buf;      /// Block read buffer.
-    std::string m_name;              /// Band name.
-
-    /*
-      Read a block's worth of data.
-
-      \param x  X coordinate of block to read.
-      \param y  Y coordinate of block to read.
-      \param data  Pointer to vector in which to store data.  Vector must
-        be sufficiently sized to hold all data.
-    */
-    void readBlock(int x, int y, uint8_t *data);
-
-    /**
-      Write a block of a band to a raster.
-
-      \param x  X coordinate of block.
-      \param y  Y coordinate of block.
-      \param data  Pointer to beginning of raster data (not block data).
-    */
-    void writeBlock(int x, int y, const uint8_t *data);
-};
-
-
-Band::Band(GDALDataset *ds, int bandNum, const std::string& name) : m_ds(ds),
-    m_bandNum(bandNum), m_xBlockSize(0), m_yBlockSize(0)
-{
-    m_band = m_ds->GetRasterBand(m_bandNum);
-    if (!m_band)
-        throw InvalidBand();
-
-    if (name.size())
-    {
-        m_band->SetDescription(name.data());
-        // We don't care about offset, but this sets the flag to indicate
-        // that the metadata has changed.
-        m_band->SetOffset(m_band->GetOffset(NULL) + .00001);
-        m_band->SetOffset(m_band->GetOffset(NULL) - .00001);
-    }
-
-    m_xTotalSize = m_band->GetXSize();
-    m_yTotalSize = m_band->GetYSize();
-
-    m_band->GetBlockSize(&m_xBlockSize, &m_yBlockSize);
-    GDALDataType t = m_band->GetRasterDataType();
-    m_eltSize = GDALGetDataTypeSize(t) / CHAR_BIT;
-    m_buf.resize(m_xBlockSize * m_yBlockSize * m_eltSize);
-
-    m_xBlockCnt = ((m_xTotalSize - 1) / m_xBlockSize) + 1;
-    m_yBlockCnt = ((m_yTotalSize - 1) / m_yBlockSize) + 1;
-}
-
-
-void Band::read(std::vector<uint8_t>& ptData)
-{
-    ptData.resize(m_xTotalSize * m_yTotalSize * m_eltSize);
-
-    uint8_t *data = ptData.data();
-    for (int y = 0; y < m_yBlockCnt; ++y)
-        for (int x = 0; x < m_xBlockCnt; ++x)
-            readBlock(x, y, data);
-}
-
-
-/*
-  Read a block's worth of data.
-
-  Read data into a block-sized buffer.  Then copy data from the block buffer
-  into the destination array at the proper location to build a complete
-  raster.
-
-  \param x  X coordinate of the block to read.
-  \param y  Y coordinate of the block to read.
-  \param data  Pointer to the data vector that contains the raster information.
-*/
-void Band::readBlock(int x, int y, uint8_t *data)
-{
-    if (m_band->ReadBlock(x, y, m_buf.data()) != CPLE_None)
-        throw CantReadBlock();
-
-    int xWidth = 0;
-    if (x == m_xBlockCnt - 1)
-        xWidth = m_xTotalSize % m_xBlockSize;
-    if (xWidth == 0)
-        xWidth = m_xBlockSize;
-
-    int yHeight = 0;
-    if (y == m_yBlockCnt - 1)
-        yHeight = m_yTotalSize % m_yBlockSize;
-    if (yHeight == 0)
-        yHeight = m_yBlockSize;
-
-    uint8_t *bp = m_buf.data();
-    // Go through rows copying data.  Increment the buffer pointer by the
-    // width of the row.
-    for (int row = 0; row < yHeight; ++row)
-    {
-        int wholeRows = m_xTotalSize * ((y * m_yBlockSize) + row);
-        int partialRows = m_xBlockSize * x;
-        uint8_t *dp = data + ((wholeRows + partialRows) * m_eltSize);
-        std::copy(bp, bp + (xWidth * m_eltSize), dp);
-
-        // Blocks are always full-sized, even if only some of the data is valid,
-        // so we use m_xBlockSize instead of xWidth.
-        bp += (m_xBlockSize * m_eltSize);
-    }
-}
-
-
-void Band::write(const uint8_t *data)
-{
-    for (int y = 0; y < m_yBlockCnt; ++y)
-        for (int x = 0; x < m_xBlockCnt; ++x)
-            writeBlock(x, y, data);
-}
-
-
-void Band::writeBlock(int x, int y, const uint8_t *data)
-{
-    int xWidth = 0;
-    if (x == m_xBlockCnt - 1)
-        xWidth = m_xTotalSize % m_xBlockSize;
-    if (xWidth == 0)
-        xWidth = m_xBlockSize;
-
-    int yHeight = 0;
-    if (y == m_yBlockCnt - 1)
-        yHeight = m_yTotalSize % m_yBlockSize;
-    if (yHeight == 0)
-        yHeight = m_yBlockSize;
-
-    // Go through rows copying data.
-    uint8_t *dstStart = m_buf.data();
-    // Go through rows copying data.  Increment the buffer pointer by the
-    // width of the row.
-    for (int row = 0; row < yHeight; ++row)
-    {
-        // Find the offset location in the source container.
-        int wholeRowElts = m_xTotalSize * ((y * m_yBlockSize) + row);
-        int partialRowElts = m_xBlockSize * x;
-
-        const uint8_t *srcStart = data +
-            ((wholeRowElts + partialRowElts) * m_eltSize);
-        const uint8_t *srcEnd = srcStart + (m_xBlockSize * m_eltSize);
-        std::copy(srcStart, srcEnd, dstStart);
-
-        // Blocks are always full-sized, even if only some of the data is valid,
-        // so we use m_xBlockSize instead of xWidth.
-        dstStart += (m_xBlockSize * m_eltSize);
-    }
-    if (m_band->WriteBlock(x, y, m_buf.data()) != CPLE_None)
-        throw CantWriteBlock();
-}
-
 Raster::Raster(const std::string& filename, const std::string& drivername)
     : m_filename(filename)
     , m_width(0)
@@ -532,6 +366,8 @@ GDALError Raster::open(int width, int height, int numBands,
     m_width = width;
     m_height = height;
     m_numBands = numBands;
+    m_bandType = type;
+    m_dstNoData = noData;
 
     if (!GDALInvGeoTransform(m_forwardTransform.data(),
         m_inverseTransform.data()))
@@ -560,8 +396,11 @@ GDALError Raster::open(int width, int height, int numBands,
         return GDALError::InvalidDriver;
     }
 
-    std::vector<const char *> opts;
+    GDALError error = validateType(type, driver);
+    if (error != GDALError::None)
+        return error;
 
+    std::vector<const char *> opts;
     for (size_t i = 0; i < options.size(); ++i)
     {
         if (options[i].find("INTERLEAVE") == 0)
@@ -586,10 +425,31 @@ GDALError Raster::open(int width, int height, int numBands,
         m_ds->SetProjection(m_srs.getWKT().data());
 
     m_ds->SetGeoTransform(m_forwardTransform.data());
+    // If the nodata value is NaN, set a default based on type.
+    if (std::isnan(m_dstNoData))
+    {
+        switch (type)
+        {
+        case Dimension::Type::Unsigned8:
+            m_dstNoData = 255;
+            break;
+        case Dimension::Type::Signed8:
+            m_dstNoData = -127;
+            break;
+        case Dimension::Type::Unsigned16:
+        case Dimension::Type::Unsigned32:
+            m_dstNoData = 9999;
+            break;
+        default:
+            m_dstNoData = -9999;
+            break;
+        }
+    }
+
     for (int i = 0; i < m_numBands; ++i)
     {
         GDALRasterBand *band = m_ds->GetRasterBand(i + 1);
-        band->SetNoDataValue(noData);
+        band->SetNoDataValue(m_dstNoData);
     }
 
     return GDALError::None;
@@ -648,44 +508,43 @@ GDALError Raster::open()
 }
 
 
-GDALError Raster::readBand(std::vector<uint8_t>& points, int nBand)
+/**
+  \param type    Reqested type of the raster.
+  \param driver  Pointer to the GDAL driver being used to write the raster.
+  \return  Requested type, or if not supported, the preferred type to use
+      for the raster.
+*/
+GDALError Raster::validateType(Dimension::Type& type,
+    GDALDriver *driver)
 {
-    try
-    {
-        Band(m_ds, nBand).read(points);
-    }
-    catch (InvalidBand)
-    {
-        std::stringstream oss;
-        oss << "Unable to get band " << nBand << " from raster '" <<
-            m_filename << "'.";
-        m_errorMsg = oss.str();
-        return GDALError::InvalidBand;
-    }
-    catch (CantReadBlock)
+    // Convert the string of supported GDAL types to a vector of PDAL types,
+    // ignoring types that aren't supported by PDAL (mostly complex values).
+    std::vector<Dimension::Type> types;
+    const char *itemp = driver->GetMetadataItem(GDAL_DMD_CREATIONDATATYPES);
+    if (itemp)
     {
-        std::ostringstream oss;
-        oss << "Unable to read block for for raster '" << m_filename << "'.";
-        m_errorMsg = oss.str();
-        return GDALError::CantReadBlock;
+        StringList items = Utils::split2(std::string(itemp), ' ');
+        for (auto& i : items)
+        {
+            Dimension::Type t = toPdalType(i);
+            if (t != Dimension::Type::None)
+                types.push_back(t);
+        }
     }
-    return GDALError::None;
-}
-
 
-GDALError Raster::writeBand(const uint8_t *data, int nBand,
-    const std::string& name)
-{
-    try
+    // If requested type is not supported, return an error.
+    if (type != Dimension::Type::None && !Utils::contains(types, type))
     {
-        Band(m_ds, nBand, name).write(data);
+        m_errorMsg = "Requested type '" + Dimension::interpretationName(type) +
+            "' not supported by GDAL driver '" + m_drivername + "'.";
+        return GDALError::InvalidType;
     }
-    catch (CantWriteBlock)
+
+    // If no type is requested, take the "largest" one.
+    if (type == Dimension::Type::None)
     {
-        std::ostringstream oss;
-        oss << "Unable to write block for for raster '" << m_filename << "'.";
-        m_errorMsg = oss.str();
-        return GDALError::CantWriteBlock;
+        std::sort(types.begin(), types.end());
+        type = types.back();
     }
     return GDALError::None;
 }
diff --git a/pdal/GDALUtils.hpp b/pdal/GDALUtils.hpp
index b0209ad..94ecc18 100644
--- a/pdal/GDALUtils.hpp
+++ b/pdal/GDALUtils.hpp
@@ -43,13 +43,12 @@
 
 #include <array>
 #include <functional>
+#include <mutex>
 #include <sstream>
 #include <vector>
 
-#include <cpl_port.h>
-#include <gdal_priv.h>
-#include <cpl_vsi.h>
 #include <cpl_conv.h>
+#include <gdal_priv.h>
 #include <ogr_api.h>
 #include <ogr_srs_api.h>
 
@@ -61,10 +60,15 @@ class SpatialReference;
 namespace gdal
 {
 
+template<typename ITER>
+using ITER_VAL = typename std::iterator_traits<ITER>::value_type;
+
 PDAL_DLL void registerDrivers();
 PDAL_DLL void unregisterDrivers();
 PDAL_DLL bool reprojectBounds(BOX3D& box, const std::string& srcSrs,
     const std::string& dstSrs);
+PDAL_DLL bool reprojectBounds(BOX2D& box, const std::string& srcSrs,
+    const std::string& dstSrs);
 PDAL_DLL bool reprojectPoint(double& x, double& y, double& z,
     const std::string& srcSrs, const std::string& dstSrs);
 PDAL_DLL std::string lastError();
@@ -83,18 +87,17 @@ public:
     }
 
     void setFromLayer(OGRLayerH layer)
+    {
+        if (layer)
         {
-            if (layer)
+            OGRSpatialReferenceH s = OGR_L_GetSpatialRef(layer);
+            if (s)
             {
-                OGRSpatialReferenceH s = OGR_L_GetSpatialRef(layer);
-                if (s)
-                {
-                    OGRSpatialReferenceH clone = OSRClone(s);
-                    newRef(clone);
-                }
-
+                OGRSpatialReferenceH clone = OSRClone(s);
+                newRef(clone);
             }
         }
+    }
     operator bool () const
         { return m_ref.get() != NULL; }
     OGRSpatialReferenceH get() const
@@ -200,10 +203,15 @@ private:
 };
 
 
+// This is a little confusing because we have a singleton error handler with
+// a single log pointer, but we set the log pointer/debug state as if we
+// were taking advantage of GDAL's thread-specific error handing.
+//
+// We lock the log/debug so that it doesn't
+// get changed while another thread is using or setting.
 class PDAL_DLL ErrorHandler
 {
 public:
-
     /**
       Get the singleton error handler.
 
@@ -251,17 +259,24 @@ public:
     ErrorHandler();
 
 private:
-
     void handle(::CPLErr level, int num, const char *msg);
 
 private:
+    std::mutex m_mutex;
     bool m_debug;
     pdal::LogPtr m_log;
     int m_errorNum;
     bool m_cplSet;
-
 };
 
+class ErrorHandlerSuspender
+{
+public:
+    ErrorHandlerSuspender()
+        { CPLPushErrorHandler(CPLQuietErrorHandler); }
+    ~ErrorHandlerSuspender()
+        { (void)CPLPopErrorHandler(); }
+};
 
 enum class GDALError
 {
@@ -277,12 +292,229 @@ enum class GDALError
     DriverNotFound,
     CantCreate,
     InvalidOption,
-    CantWriteBlock
+    CantWriteBlock,
+    InvalidType
 };
 
-class PDAL_DLL Raster
+struct InvalidBand {};
+struct CantReadBlock {};
+struct CantWriteBlock
+{
+    CantWriteBlock()
+    {}
+
+    CantWriteBlock(const std::string& w) : what(w)
+    {}
+
+    std::string what;
+};
+
+class Raster;
+
+/*
+  Slight abstraction of a GDAL raster band.
+*/
+template<typename T>
+class Band
 {
+friend class Raster;
+
+private:
+    GDALDataset *m_ds;               /// Dataset handle
+    int m_bandNum;                   /// Band number.  Band numbers start at 1.
+    double m_dstNoData;              /// Output no data value.
+    GDALRasterBand *m_band;          /// Band handle
+    int m_xTotalSize, m_yTotalSize;  /// Total size (x and y) of the raster
+    int m_xBlockSize, m_yBlockSize;  /// Size (x and y) of blocks
+    int m_xBlockCnt, m_yBlockCnt;    /// Number of blocks in each direction
+    std::vector<T> m_buf;            /// Block read buffer.
+    std::string m_name;              /// Band name.
+
+    /**
+      Create an object for reading a band of a GDAL dataset.
+
+      \param ds  GDAL dataset handle.
+      \param dstNoData  The no data value to be used when writing the band.
+      \param bandNum  Band number (1-indexed).
+      \param name  Name of the raster band.
+    */
+    Band(GDALDataset *ds, int bandNum, double dstNoData = -9999.0,
+            const std::string& name = "") :
+        m_ds(ds), m_bandNum(bandNum), m_dstNoData(dstNoData),
+        m_xBlockSize(0), m_yBlockSize(0)
+    {
+        m_band = m_ds->GetRasterBand(m_bandNum);
+        if (!m_band)
+            throw InvalidBand();
+
+        if (name.size())
+        {
+            m_band->SetDescription(name.data());
+            // We don't care about offset, but this sets the flag to indicate
+            // that the metadata has changed.
+            m_band->SetOffset(m_band->GetOffset(NULL) + .00001);
+            m_band->SetOffset(m_band->GetOffset(NULL) - .00001);
+        }
+
+        m_xTotalSize = m_band->GetXSize();
+        m_yTotalSize = m_band->GetYSize();
+
+        m_band->GetBlockSize(&m_xBlockSize, &m_yBlockSize);
+        m_buf.resize(m_xBlockSize * m_yBlockSize);
+
+        m_xBlockCnt = ((m_xTotalSize - 1) / m_xBlockSize) + 1;
+        m_yBlockCnt = ((m_yTotalSize - 1) / m_yBlockSize) + 1;
+    }
+
+    /*
+      Read the band into the vector.  Reads a block at a time.  Each
+      block is either fully populated with data or a partial block.
+      Partial blocks appear at the X and Y margins when the total size in
+      the doesn't divide evenly by the block size for both the X and Y
+      dimensions.
+
+      \param  Data Vector into which the data should be read.  The vector is
+        resized as necessary.
+    */
+    void read(std::vector<T>& data)
+    {
+        data.resize(m_xTotalSize * m_yTotalSize);
+
+        for (int y = 0; y < m_yBlockCnt; ++y)
+            for (int x = 0; x < m_xBlockCnt; ++x)
+                readBlock(x, y, data);
+    }
 
+    /*
+       Read a block's worth of data.
+
+       Read data into a block-sized buffer.  Then copy data from the
+       block buffer into the destination array at the proper location to
+       build a complete raster.
+
+       \param x  X coordinate of the block to read.
+       \param y  Y coordinate of the block to read.
+       \param data  Pointer to the data vector that contains the
+          raster information.
+     */
+    void readBlock(int x, int y, std::vector<T>& data)
+    {
+        uint8_t *buf = reinterpret_cast<uint8_t *>(m_buf.data());
+        if (m_band->ReadBlock(x, y, buf) != CPLE_None)
+            throw CantReadBlock();
+
+        int xWidth = 0;
+        if (x == m_xBlockCnt - 1)
+            xWidth = m_xTotalSize % m_xBlockSize;
+        if (xWidth == 0)
+            xWidth = m_xBlockSize;
+
+        int yHeight = 0;
+        if (y == m_yBlockCnt - 1)
+            yHeight = m_yTotalSize % m_yBlockSize;
+        if (yHeight == 0)
+            yHeight = m_yBlockSize;
+
+        auto bi = m_buf.begin();
+        // Go through rows copying data.  Increment the buffer pointer by the
+        // width of the row.
+        for (int row = 0; row < yHeight; ++row)
+        {
+            int wholeRows = m_xTotalSize * ((y * m_yBlockSize) + row);
+            int partialRows = m_xBlockSize * x;
+            auto di = data.begin() + (wholeRows + partialRows);
+            std::copy(bi, bi + xWidth, di);
+
+            // Blocks are always full-sized, even if only some of the data
+            // is valid, so we use m_xBlockSize instead of xWidth.
+            bi += m_xBlockSize;
+        }
+    }
+
+    /*
+      Write linearized data pointed to by \c data into the band.
+
+      \param data  Pointer to beginning of band
+    */
+    template <typename SOURCE_ITER>
+    void write(SOURCE_ITER si, ITER_VAL<SOURCE_ITER> srcNoData)
+    {
+        for (int y = 0; y < m_yBlockCnt; ++y)
+            for (int x = 0; x < m_xBlockCnt; ++x)
+                writeBlock(x, y, si, srcNoData);
+    }
+
+    T getNoData() const
+    {
+        // The destination nodata value was set when the raster was opened.
+        // Make sure it's valid for the band type and convert.
+        T t;
+        if (!Utils::numericCast(m_dstNoData, t))
+        {
+            throw CantWriteBlock("Invalid nodata value " +
+                Utils::toString(m_dstNoData) + " for output data_type '" +
+                Utils::typeidName<T>() + "'.");
+        }
+        return t;
+    }
+
+    template <typename SOURCE_ITER>
+    void writeBlock(int x, int y, SOURCE_ITER sourceBegin,
+        ITER_VAL<SOURCE_ITER> srcNoData)
+    {
+        int xWidth = 0;
+        if (x == m_xBlockCnt - 1)
+            xWidth = m_xTotalSize % m_xBlockSize;
+        if (xWidth == 0)
+            xWidth = m_xBlockSize;
+
+        int yHeight = 0;
+        if (y == m_yBlockCnt - 1)
+            yHeight = m_yTotalSize % m_yBlockSize;
+       if (yHeight == 0)
+            yHeight = m_yBlockSize;
+
+        T dstNoData = getNoData();
+        auto di = m_buf.begin();
+        // Go through rows copying data.  Increment the destination iterator
+        // by the width of the row.
+        for (int row = 0; row < yHeight; ++row)
+        {
+            // Find the offset location in the source container.
+            int wholeRowElts = m_xTotalSize * ((y * m_yBlockSize) + row);
+            int partialRowElts = m_xBlockSize * x;
+
+            auto si = sourceBegin + (wholeRowElts + partialRowElts);
+            std::transform(si, si + m_xBlockSize, di,
+                [srcNoData, dstNoData](ITER_VAL<SOURCE_ITER> s){
+                    T t;
+
+                    if (srcNoData == s ||
+                        (std::isnan(srcNoData) && std::isnan(s)))
+                        t = dstNoData;
+                    else
+                    {
+                        if (!Utils::numericCast(s, t))
+                        {
+                        throw CantWriteBlock("Unable to convert data for "
+                            "raster type as requested: " + Utils::toString(s) +
+                            " -> " + Utils::typeidName<T>());
+                        }
+                    }
+                    return t;
+                });
+
+            // Blocks are always full-sized, even if only some of the data
+            // is valid, so we use m_xBlockSize instead of xWidth.
+            di += m_xBlockSize;
+        }
+        if (m_band->WriteBlock(x, y, m_buf.data()) != CPLE_None)
+            throw CantWriteBlock();
+    }
+};
+
+class PDAL_DLL Raster
+{
 public:
     /**
       Constructor.
@@ -322,7 +554,7 @@ public:
       \param height  Height of the raster in cells (Y direction)
       \param numBands  Number of bands in the raster.
       \param type  Datatype (int, float, etc.) of the raster data.
-      \param noData  Value that indiciates no data in a raster cell.
+      \param noData  Value that indiciates no data in the output raster cell.
       \param options  GDAL driver options.
     */
     GDALError open(int width, int height, int numBands, Dimension::Type type,
@@ -341,17 +573,104 @@ public:
       \param nBand  Band number to read.  Band numbers start at 1.
       \return Error code or GDALError::None.
     */
-    GDALError readBand(std::vector<uint8_t>& band, int nBand);
+    template<typename T>
+    GDALError readBand(std::vector<T>& points, int nBand)
+    {
+        try
+        {
+            Band<T>(m_ds, nBand).read(points);
+        }
+        catch (InvalidBand)
+        {
+            std::stringstream oss;
+            oss << "Unable to get band " << nBand << " from raster '" <<
+                m_filename << "'.";
+            m_errorMsg = oss.str();
+            return GDALError::InvalidBand;
+        }
+        catch (CantReadBlock)
+        {
+            std::ostringstream oss;
+            oss << "Unable to read block for for raster '" << m_filename <<
+                "'.";
+            m_errorMsg = oss.str();
+            return GDALError::CantReadBlock;
+        }
+        return GDALError::None;
+    }
 
     /**
       Write an entire raster band (layer) into raster to be written with GDAL.
 
       \param data  Linearized raster data to be written.
+      \param noData  No-data value in the source data.
       \param nBand  Band number to write.
       \param name  Name of the raster band.
     */
-    GDALError writeBand(const uint8_t *data, int nBand,
-        const std::string& name = "");
+    template<typename SOURCE_ITER>
+    GDALError writeBand(SOURCE_ITER si, ITER_VAL<SOURCE_ITER> srcNoData,
+        int nBand, const std::string& name = "")
+    {
+        try
+        {
+            switch(m_bandType)
+            {
+                case Dimension::Type::Unsigned8:
+                    Band<uint8_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Signed8:
+                    Band<int8_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Unsigned16:
+                    Band<uint16_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Signed16:
+                    Band<int16_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Unsigned32:
+                    Band<uint32_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Signed32:
+                    Band<int32_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Unsigned64:
+                    Band<uint64_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Signed64:
+                    Band<int64_t>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Float:
+                    Band<float>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::Double:
+                    Band<double>(m_ds, nBand, m_dstNoData, name).
+                        write(si, srcNoData);
+                    break;
+                case Dimension::Type::None:
+                    throw CantWriteBlock();
+            }
+        }
+        catch (CantWriteBlock err)
+        {
+            std::ostringstream oss;
+            oss << "Unable to write block for for raster '" << m_filename <<
+                "'.";
+            if (err.what.size())
+                oss << "\n" << err.what;
+            m_errorMsg = oss.str();
+            return GDALError::CantWriteBlock;
+        }
+        return GDALError::None;
+    }
 
     /**
       Read the data for each band at x/y into a vector of doubles.  x and y
@@ -425,11 +744,14 @@ private:
     std::array<double, 6> m_inverseTransform;
     SpatialReference m_srs;
     GDALDataset *m_ds;
+    Dimension::Type m_bandType;
+    double m_dstNoData;
 
     std::string m_errorMsg;
     mutable std::vector<pdal::Dimension::Type> m_types;
     std::vector<std::array<double, 2>> m_block_sizes;
 
+    GDALError validateType(Dimension::Type& type, GDALDriver *driver);
     bool getPixelAndLinePosition(double x, double y,
         int32_t& pixel, int32_t& line);
     GDALError computePDALDimensionTypes();
diff --git a/pdal/Kernel.cpp b/pdal/Kernel.cpp
index 1b2ca01..2926375 100644
--- a/pdal/Kernel.cpp
+++ b/pdal/Kernel.cpp
@@ -44,8 +44,6 @@
 
 #include <pdal/pdal_config.hpp>
 
-#include <io/BufferReader.hpp>
-
 #include <memory>
 #include <vector>
 
@@ -55,6 +53,8 @@ namespace pdal
 Kernel::Kernel() : m_showTime(false), m_hardCoreDebug(false)
 {}
 
+
+// Overridden in PipelineKernel to accept "stage" as well.
 bool Kernel::isStagePrefix(const std::string& stageType)
 {
    return (stageType == "readers" || stageType == "writers" ||
@@ -82,8 +82,6 @@ bool Kernel::parseStageOption(std::string o, std::string& stage,
     // a bit better than the cast solution.
     auto islc = [](char c)
         { return std::islower(c); };
-    auto islcOrDigit = [](char c)
-        { return std::islower(c) || std::isdigit(c); };
 
     std::string::size_type pos = 0;
     std::string::size_type count = 0;
@@ -98,10 +96,13 @@ bool Kernel::parseStageOption(std::string o, std::string& stage,
         return false;
 
     // Get stage_name.
-    count = Utils::extract(o, pos, islcOrDigit);
-    if (std::isdigit(o[pos]))
+    bool ok;
+    if (stageType == "stage")
+        ok = Stage::parseTagName(o, pos);
+    else
+        ok = Stage::parseName(o, pos);
+    if (!ok)
         return false;
-    pos += count;
     stage = o.substr(0, pos);
     if (pos >= o.length() || o[pos++] != '.')
         return false;
diff --git a/pdal/KernelFactory.cpp b/pdal/KernelFactory.cpp
deleted file mode 100644
index f3b768a..0000000
--- a/pdal/KernelFactory.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2014, Bradley J Chambers (brad.chambers at gmail.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/KernelFactory.hpp>
-#include <pdal/PluginManager.hpp>
-
-#include <kernels/DeltaKernel.hpp>
-#include <kernels/DiffKernel.hpp>
-#include <kernels/GroundKernel.hpp>
-#include <kernels/HausdorffKernel.hpp>
-#include <kernels/InfoKernel.hpp>
-#include <kernels/MergeKernel.hpp>
-#include <kernels/PipelineKernel.hpp>
-#include <kernels/RandomKernel.hpp>
-#include <kernels/SortKernel.hpp>
-#include <kernels/SplitKernel.hpp>
-#include <kernels/TIndexKernel.hpp>
-#include <kernels/TranslateKernel.hpp>
-
-namespace pdal
-{
-
-KernelFactory::KernelFactory(bool no_plugins)
-{
-    if (!no_plugins)
-        PluginManager::loadAll(PF_PluginType_Kernel);
-
-    PluginManager::initializePlugin(DeltaKernel_InitPlugin);
-    PluginManager::initializePlugin(DiffKernel_InitPlugin);
-    PluginManager::initializePlugin(GroundKernel_InitPlugin);
-    PluginManager::initializePlugin(HausdorffKernel_InitPlugin);
-    PluginManager::initializePlugin(InfoKernel_InitPlugin);
-    PluginManager::initializePlugin(MergeKernel_InitPlugin);
-    PluginManager::initializePlugin(PipelineKernel_InitPlugin);
-    PluginManager::initializePlugin(RandomKernel_InitPlugin);
-    PluginManager::initializePlugin(SortKernel_InitPlugin);
-    PluginManager::initializePlugin(SplitKernel_InitPlugin);
-    PluginManager::initializePlugin(TIndexKernel_InitPlugin);
-    PluginManager::initializePlugin(TranslateKernel_InitPlugin);
-}
-
-} // namespace pdal
diff --git a/pdal/KernelFactory.hpp b/pdal/KernelFactory.hpp
deleted file mode 100644
index 8ff7b66..0000000
--- a/pdal/KernelFactory.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2014, Bradley J Chambers (brad.chambers at gmail.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <pdal/Kernel.hpp>
-#include <pdal/pdal_export.hpp>
-
-
-namespace pdal
-{
-
-// This class provides a mechanism for creating Kernel objects using only a
-// string (the kernel type name) and an Options block.
-//
-// We keep a list of (kernel type name, creation function) pairs, which
-// acts as a registry of creator functions.  The list is initialized with
-// the core kernels we know about (I wish C++ had anonymous functions.).
-// We allow the user to add his own "external" drivers to the registry list
-// as well.
-//
-// We use 4 different functions for each kind of operation, since we have
-// 4 types of derived classes from Kernel and they all have slightly different
-// parameters.  That makes it kinda messy.
-
-class PDAL_DLL KernelFactory
-{
-public:
-    KernelFactory(bool no_plugins=true);
-    virtual ~KernelFactory() {};
-
-private:
-    KernelFactory& operator=(const KernelFactory&); // not implemented
-    KernelFactory(const KernelFactory&); // not implemented
-};
-
-} // namespace pdal
diff --git a/pdal/Mesh.hpp b/pdal/Mesh.hpp
new file mode 100644
index 0000000..3895997
--- /dev/null
+++ b/pdal/Mesh.hpp
@@ -0,0 +1,87 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc.
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <deque>
+#include <pdal/pdal_defines.h>
+
+namespace pdal
+{
+
+class Triangle
+{
+public:
+    Triangle(PointId a, PointId b, PointId c) : m_a(a), m_b(b), m_c(c)
+    {}
+
+    PointId m_a;
+    PointId m_b;
+    PointId m_c;
+};
+
+/**
+  A mesh is a way to represent a set of points connected by edges.  Point
+  indices are into a point view.
+*/
+class PDAL_DLL Mesh
+{};
+
+
+
+
+/**
+  A mesh where the faces are triangles.
+*/
+class PDAL_DLL TriangularMesh : public Mesh
+{
+public:
+    TriangularMesh()
+    {}
+
+    size_t size() const
+        { return m_index.size(); }
+    void add(PointId a, PointId b, PointId c)
+        { m_index.emplace_back(a, b, c); }
+    const Triangle& operator[](PointId id) const
+        { return m_index[id]; }
+protected:
+#ifdef PDAL_COMPILER_MSVC
+#pragma warning(disable:4251)// [templated class] needs to have dll-interface...
+#endif
+    std::deque<Triangle> m_index;
+
+};
+
+} // namespace pdal
diff --git a/pdal/Metadata.hpp b/pdal/Metadata.hpp
index e034d34..c7e50cd 100644
--- a/pdal/Metadata.hpp
+++ b/pdal/Metadata.hpp
@@ -150,7 +150,11 @@ private:
     }
 
     template <typename T>
-    inline void setValue(const T& t);
+    inline void setValue(const T& t)
+    {
+        m_type = "unknown";
+        m_value = Utils::toString(t);
+    }
 
     template <std::size_t N>
     inline void setValue(const char(& c)[N]);
@@ -454,7 +458,7 @@ public:
     template<typename T>
     T value() const
     {
-        T t;
+        T t{};
 
         if (m_impl->m_type == "base64Binary")
         {
@@ -465,7 +469,7 @@ public:
         }
         else
         {
-            if (!Utils::fromString<T>(m_impl->m_value, t))
+            if (!Utils::fromString(m_impl->m_value, t))
             {
                 // Static to get default initialization.
                 static T t2;
@@ -488,7 +492,7 @@ public:
 
         std::string v(Utils::escapeJSON(value()));
         if (m_impl->m_type == "string" || m_impl->m_type == "base64Binary" ||
-            m_impl->m_type == "uuid")
+            m_impl->m_type == "uuid" || m_impl->m_type == "matrix")
         {
             std::string val("\"");
             val += escapeQuotes(v) + "\"";
diff --git a/pdal/PDALUtils.cpp b/pdal/PDALUtils.cpp
index 0ba8e33..4ee79c9 100644
--- a/pdal/PDALUtils.cpp
+++ b/pdal/PDALUtils.cpp
@@ -177,17 +177,15 @@ void toJSON(const MetadataNode& m, std::ostream& o)
 namespace
 {
 
+#ifdef PDAL_ARBITER_ENABLED
 std::string tempFilename(const std::string& path)
 {
-#ifdef PDAL_ARBITER_ENABLED
     const std::string tempdir(arbiter::fs::getTempPath());
     const std::string basename(arbiter::util::getBasename(path));
 
     return arbiter::util::join(tempdir, basename);
-#else
-    throw pdal_error("Arbiter is not enabled for this configuration (tempFilename)!");
-#endif
 };
+#endif
 
 // RAII handling of a temp file to make sure file gets deleted.
 class TempFile
@@ -362,16 +360,16 @@ bool fileExists(const std::string& path)
 double computeHausdorff(PointViewPtr srcView, PointViewPtr candView)
 {
     using namespace Dimension;
-        
+
     KD3Index srcIndex(*srcView);
     srcIndex.build();
-    
+
     KD3Index candIndex(*candView);
     candIndex.build();
-    
+
     double maxDistSrcToCand = std::numeric_limits<double>::lowest();
     double maxDistCandToSrc = std::numeric_limits<double>::lowest();
-    
+
     for (PointId i = 0; i < srcView->size(); ++i)
     {
         std::vector<PointId> indices(1);
@@ -396,7 +394,7 @@ double computeHausdorff(PointViewPtr srcView, PointViewPtr candView)
 
     maxDistSrcToCand = std::sqrt(maxDistSrcToCand);
     maxDistCandToSrc = std::sqrt(maxDistCandToSrc);
-    
+
     return std::max(maxDistSrcToCand, maxDistCandToSrc);
 }
 
diff --git a/pdal/PDALUtils.hpp b/pdal/PDALUtils.hpp
index 0d86633..443a934 100644
--- a/pdal/PDALUtils.hpp
+++ b/pdal/PDALUtils.hpp
@@ -42,7 +42,7 @@
 #include <pdal/util/Extractor.hpp>
 
 #ifndef WIN32
-#include <sys/fcntl.h>
+#include <fcntl.h>
 #include <unistd.h>
 #endif
 
@@ -110,7 +110,8 @@ inline double toDouble(const Everything& e, Dimension::Type type)
     return d;
 }
 
-inline Everything extractDim(Extractor& ext, Dimension::Type type)
+template<typename INPUT>
+inline Everything extractDim(INPUT& ext, Dimension::Type type)
 {
     using Type = Dimension::Type;
 
@@ -153,8 +154,9 @@ inline Everything extractDim(Extractor& ext, Dimension::Type type)
     return e;
 }
 
-inline void insertDim(Inserter& ins, Dimension::Type type,
-    const Everything& e)
+
+template<typename OUTPUT>
+inline void insertDim(OUTPUT& ins, Dimension::Type type, const Everything& e)
 {
     using Type = Dimension::Type;
 
@@ -196,7 +198,6 @@ inline void insertDim(Inserter& ins, Dimension::Type type,
 }
 
 
-
 inline MetadataNode toMetadata(const BOX2D& bounds)
 {
     MetadataNode output("bbox");
diff --git a/pdal/PipelineManager.cpp b/pdal/PipelineManager.cpp
index c538f01..e75c582 100644
--- a/pdal/PipelineManager.cpp
+++ b/pdal/PipelineManager.cpp
@@ -38,8 +38,6 @@
 #include <pdal/util/Algorithm.hpp>
 #include <pdal/util/FileUtils.hpp>
 
-#include "private/PipelineReaderXML.hpp"
-
 #if defined(PDAL_COMPILER_CLANG) || defined(PDAL_COMPILER_GCC)
 #  pragma GCC diagnostic ignored "-Wmissing-field-initializers"
 #endif
@@ -61,35 +59,13 @@ void PipelineManager::readPipeline(std::istream& input)
     std::string s(std::istreambuf_iterator<char>(input), eos);
 
     std::istringstream ss(s);
-    if (s.find("?xml") != std::string::npos)
-        PipelineReaderXML(*this).readPipeline(ss);
-    else if (s.find("\"pipeline\"") != std::string::npos)
-        PipelineReaderJSON(*this).readPipeline(ss);
-    else
-    {
-        try
-        {
-            PipelineReaderXML(*this).readPipeline(ss);
-        }
-        catch (pdal_error)
-        {
-            // Rewind to make sure the stream is properly positioned after
-            // attempting an XML pipeline.
-            ss.seekg(0);
-            PipelineReaderJSON(*this).readPipeline(ss);
-        }
-    }
+    PipelineReaderJSON(*this).readPipeline(ss);
 }
 
 
 void PipelineManager::readPipeline(const std::string& filename)
 {
-    if (FileUtils::extension(filename) == ".xml")
-    {
-        PipelineReaderXML pipeReader(*this);
-        return pipeReader.readPipeline(filename);
-    }
-    else if (FileUtils::extension(filename) == ".json")
+    if (FileUtils::extension(filename) == ".json")
     {
         PipelineReaderJSON pipeReader(*this);
         return pipeReader.readPipeline(filename);
diff --git a/pdal/PipelineReaderJSON.cpp b/pdal/PipelineReaderJSON.cpp
index 5a5dbb9..d41c74f 100644
--- a/pdal/PipelineReaderJSON.cpp
+++ b/pdal/PipelineReaderJSON.cpp
@@ -252,10 +252,12 @@ std::string PipelineReaderJSON::extractTag(Json::Value& node, TagMap& tags)
         if (node.isMember("tag"))
             throw pdal_error("JSON pipeline: found duplicate 'tag' "
                "entry in stage definition.");
+        std::string::size_type pos = 0;
+        if (!Stage::parseTagName(tag, pos) || pos != tag.size())
+            throw pdal_error("JSON pipeline: Invalid tag name '" + tag + "'.  "
+                "Must start with letter.  Remainder can be letters, "
+                "digits or underscores.");
     }
-    if (Utils::contains(tag, '.'))
-        throw pdal_error("JSON pipeline: Stage tag name can't contain "
-            "'.' character.");
     return tag;
 }
 
diff --git a/pdal/PipelineReaderXML.cpp b/pdal/PipelineReaderXML.cpp
deleted file mode 100644
index 6e08808..0000000
--- a/pdal/PipelineReaderXML.cpp
+++ /dev/null
@@ -1,513 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include "private/PipelineReaderXML.hpp"
-
-#include <pdal/Filter.hpp>
-#include <pdal/PDALUtils.hpp>
-#include <pdal/PipelineManager.hpp>
-#include <pdal/PluginManager.hpp>
-#include <pdal/Options.hpp>
-#include <pdal/util/FileUtils.hpp>
-
-#include <boost/property_tree/xml_parser.hpp>
-
-#ifndef _WIN32
-#include <wordexp.h>
-#endif
-
-namespace pdal
-{
-
-using namespace pdalboost::property_tree;
-
-// ------------------------------------------------------------------------
-
-// this class helps keep tracks of what child nodes we've seen, so we
-// can keep all the error checking in one place
-class PipelineReaderXML::StageParserContext
-{
-public:
-    enum Cardinality { None, One, Many };
-
-    StageParserContext()
-        : m_numTypes(0)
-        , m_cardinality(One)
-        , m_numStages(0)
-    {}
-
-    void setCardinality(Cardinality cardinality)
-    {
-        m_cardinality = cardinality;
-    }
-
-    void addType()
-    {
-        ++m_numTypes;
-    }
-
-    int getNumTypes()
-    {
-        return m_numTypes;
-    }
-
-    void addStage()
-    {
-        ++m_numStages;
-    }
-
-    void addUnknown(const std::string& name)
-    {
-        throw pdal_error("unknown child of element: " + name);
-    }
-
-    void validate()
-    {
-        if (m_numTypes == 0)
-            throw pdal_error("PipelineReaderXML: expected Type element "
-                "missing");
-        if (m_numTypes > 1)
-            throw pdal_error("PipelineReaderXML: extra Type element found");
-
-        if (m_cardinality == None)
-        {
-            if (m_numStages != 0)
-                throw pdal_error("PipelineReaderXML: found child stages where "
-                    "none were expected");
-        }
-        if (m_cardinality == One)
-        {
-            if (m_numStages == 0)
-                throw pdal_error("PipelineReaderXML: "
-                    "expected child stage missing");
-            if (m_numStages > 1)
-                throw pdal_error("PipelineReaderXML: extra child stages found");
-        }
-        if (m_cardinality == Many)
-        {
-            if (m_numStages == 0)
-                throw pdal_error("PipelineReaderXML: expected child stage "
-                    "missing");
-        }
-    }
-
-private:
-    int m_numTypes;
-    Cardinality m_cardinality; // num child stages allowed
-    int m_numStages;
-};
-
-
-PipelineReaderXML::PipelineReaderXML(PipelineManager& manager) :
-    m_manager(manager)
-{}
-
-
-Option PipelineReaderXML::parseElement_Option(const ptree& tree)
-{
-    // cur is an option element, such as this:
-    //     <option>
-    //       <name>myname</name>
-    //       <description>my descr</description>
-    //       <value>17</value>
-    //     </option>
-    // this function will process the element and return an Option from it
-
-    map_t attrs;
-    collect_attributes(attrs, tree);
-
-    std::string name = attrs["name"];
-    std::string value = tree.get_value<std::string>();
-    Utils::trim(value);
-
-    // filenames in the XML are fixed up as follows:
-    //   - if absolute path, leave it alone
-    //   - if relative path, make it absolute using the XML file's directory
-    // The toAbsolutePath function does exactly that magic for us.
-    if (name == "filename")
-    {
-        std::string path = value;
-#ifndef _WIN32
-        wordexp_t result;
-        if (wordexp(path.c_str(), &result, 0) == 0)
-        {
-            if (result.we_wordc == 1)
-                path = result.we_wordv[0];
-        }
-        wordfree(&result);
-#endif
-        if (!FileUtils::isAbsolutePath(path))
-        {
-            std::string abspath = FileUtils::toAbsolutePath(m_inputXmlFile);
-            std::string absdir = FileUtils::getDirectory(abspath);
-            path = FileUtils::toAbsolutePath(path, absdir);
-
-            assert(FileUtils::isAbsolutePath(path));
-        }
-        return Option(name, path);
-    }
-    else if (name == "plugin")
-    {
-       PluginManager::loadPlugin(value);
-    }
-    return Option(name, value);
-}
-
-
-Stage *PipelineReaderXML::parseElement_anystage(const std::string& name,
-    const ptree& subtree)
-{
-    if (name == "Filter")
-    {
-        return parseElement_Filter(subtree);
-    }
-    else if (name == "Reader")
-    {
-        return parseElement_Reader(subtree);
-    }
-    else if (name == "<xmlattr>")
-    {
-        // ignore: will parse later
-    }
-    else
-    {
-        throw pdal_error("PipelineReaderXML: encountered unknown stage type");
-    }
-
-    return NULL;
-}
-
-
-Stage *PipelineReaderXML::parseElement_Reader(const ptree& tree)
-{
-    Options options;
-    StageParserContext context;
-    std::string filename;
-    context.setCardinality(StageParserContext::None);
-
-    map_t attrs;
-    collect_attributes(attrs, tree);
-
-    auto iter = tree.begin();
-    while (iter != tree.end())
-    {
-        const std::string& name = iter->first;
-        const ptree& subtree = iter->second;
-
-        if (name == "<xmlattr>")
-        {
-            // already parsed
-        }
-        else if (name == "Option")
-        {
-            Option option = parseElement_Option(subtree);
-            if (option.getName() == "filename")
-                filename = option.getValue();
-            options.add(option);
-        }
-        else if (name == "Metadata")
-        {
-            // ignored for now
-        }
-        else
-        {
-            context.addUnknown(name);
-        }
-        ++iter;
-    }
-
-    std::string type;
-    if (attrs.count("type"))
-    {
-        type = attrs["type"];
-    }
-
-    Stage& reader = m_manager.makeReader(filename, type, options);
-
-    context.addType();
-    context.validate();
-    return &reader;
-}
-
-
-Stage *PipelineReaderXML::parseElement_Filter(const ptree& tree)
-{
-    Options options;
-
-    StageParserContext context;
-
-    map_t attrs;
-    collect_attributes(attrs, tree);
-
-    std::vector<Stage*> prevStages;
-    for (auto iter = tree.begin(); iter != tree.end(); ++iter)
-    {
-        const std::string& name = iter->first;
-        const ptree& subtree = iter->second;
-
-        if (name == "<xmlattr>")
-        {
-            // already parsed
-        }
-        else if (name == "Option")
-        {
-            Option option = parseElement_Option(subtree);
-            options.add(option);
-        }
-        else if (name == "Metadata")
-        {
-            // ignored
-        }
-        else if (name == "Filter" || name == "Reader")
-        {
-            context.addStage();
-            prevStages.push_back(parseElement_anystage(name, subtree));
-        }
-        else
-        {
-            context.addUnknown(name);
-        }
-    }
-
-    std::string type;
-    if (attrs.count("type"))
-        type = attrs["type"];
-
-    Stage& filter = m_manager.makeFilter(type, options);
-    for (auto sp : prevStages)
-        filter.setInput(*sp);
-    context.setCardinality(StageParserContext::Many);
-    context.addType();
-    context.validate();
-    return &filter;
-}
-
-
-void PipelineReaderXML::parse_attributes(map_t& attrs, const ptree& tree)
-{
-    for (auto iter = tree.begin(); iter != tree.end(); ++iter)
-    {
-        std::string name = iter->first;
-        std::string value = tree.get<std::string>(name);
-        Utils::trim(value);
-
-        attrs[name] = value;
-    }
-}
-
-
-void PipelineReaderXML::collect_attributes(map_t& attrs, const ptree& tree)
-{
-    if (tree.count("<xmlattr>"))
-    {
-        const ptree& subtree = tree.get_child("<xmlattr>");
-        parse_attributes(attrs, subtree);
-    }
-}
-
-
-Stage *PipelineReaderXML::parseElement_Writer(const ptree& tree)
-{
-    Options options;
-    StageParserContext context;
-    std::string filename;
-
-    map_t attrs;
-    collect_attributes(attrs, tree);
-
-    std::vector<Stage *> prevStages;
-    for (auto iter = tree.begin(); iter != tree.end(); ++iter)
-    {
-        const std::string& name = iter->first;
-        const ptree& subtree = iter->second;
-
-        if (name == "<xmlattr>")
-        {
-            // already parsed -- ignore it
-        }
-        else if (name == "Option")
-        {
-            Option option = parseElement_Option(subtree);
-            if (option.getName() == "filename")
-                filename = option.getValue();
-            options.add(option);
-        }
-        else if (name == "Metadata")
-        {
-            // ignored
-        }
-        else if (name == "Filter" || name == "Reader")
-        {
-            context.addStage();
-            prevStages.push_back(parseElement_anystage(name, subtree));
-        }
-        else
-        {
-            context.addUnknown(name);
-        }
-    }
-
-    std::string type;
-    if (attrs.count("type"))
-    {
-        type = attrs["type"];
-        context.addType();
-    }
-
-    context.validate();
-    Stage& writer = m_manager.makeWriter(filename, type, options);
-    for (auto sp : prevStages)
-        writer.setInput(*sp);
-    return &writer;
-}
-
-
-void PipelineReaderXML::parseElement_Pipeline(const ptree& tree)
-{
-    Stage *stage = NULL;
-    Stage *writer = NULL;
-
-    map_t attrs;
-    collect_attributes(attrs, tree);
-
-    std::string version = "";
-    if (attrs.count("version"))
-        version = attrs["version"];
-    if (version != "1.0")
-        throw pdal_error("PipelineReaderXML: unsupported pipeline xml version");
-
-    for (auto iter = tree.begin(); iter != tree.end(); ++iter)
-    {
-        const std::string& name = iter->first;
-        const ptree subtree = iter->second;
-
-        if (name == "Reader" || name == "Filter" )
-        {
-            stage = parseElement_anystage(name, subtree);
-        }
-        else if (name == "Writer")
-        {
-            writer = parseElement_Writer(subtree);
-        }
-        else if (name == "<xmlattr>")
-        {
-            // ignore it, already parsed
-        }
-        else
-        {
-            throw pdal_error("PipelineReaderXML: xml reader invalid child of "
-                "ReaderPipeline element");
-        }
-    }
-
-    if (writer && stage)
-    {
-        throw pdal_error("PipelineReaderXML: extra nodes at front of "
-            "writer pipeline");
-    }
-}
-
-namespace
-{
-
-class pipeline_error
-{};
-
-}
-
-void PipelineReaderXML::baseReadPipeline(std::istream& input)
-{
-    ptree tree;
-
-    try
-    {
-        xml_parser::read_xml(input, tree, xml_parser::no_comments);
-
-        pdalboost::optional<ptree> opt(tree.get_child_optional("Pipeline"));
-        if (!opt.is_initialized())
-            throw pdal_error("PipelineReaderXML: root element is not Pipeline");
-        parseElement_Pipeline(opt.get());
-    }
-    catch (const pdal_error&)
-    {
-        throw;
-    }
-    catch (...)
-    {
-        throw pipeline_error();
-    }
-}
-
-
-void PipelineReaderXML::readPipeline(std::istream& input)
-{
-    try
-    {
-        baseReadPipeline(input);
-    }
-    catch (pipeline_error)
-    {
-        throw pdal_error("Unable to process pipeline from stream. "
-            "XML is invalid.");
-    }
-}
-
-
-void PipelineReaderXML::readPipeline(const std::string& filename)
-{
-    m_inputXmlFile = filename;
-
-std::cerr << "Read XML pipeline!\n";
-    std::istream* input = Utils::openFile(filename);
-
-    try
-    {
-        baseReadPipeline(*input);
-    }
-    catch (pipeline_error)
-    {
-        Utils::closeFile(input);
-        std::ostringstream oss;
-        oss << "Unable to process pipeline file \"" << filename << "\"." <<
-            "  XML is invalid.";
-        throw pdal_error(oss.str());
-    }
-
-    Utils::closeFile(input);
-
-    m_inputXmlFile = "";
-}
-
-
-} // namespace pdal
diff --git a/pdal/PointLayout.cpp b/pdal/PointLayout.cpp
index 8aa436f..aa9962f 100644
--- a/pdal/PointLayout.cpp
+++ b/pdal/PointLayout.cpp
@@ -92,6 +92,8 @@ void PointLayout::registerDim(Dimension::Id id, Dimension::Type type)
 Dimension::Id PointLayout::assignDim(const std::string& name,
     Dimension::Type type)
 {
+    if (m_nextFree == Dimension::COUNT)
+        throw pdal_error("No dimension IDs remaining for assignment.");
     Dimension::Id id = (Dimension::Id)m_nextFree;
 
     auto di = m_propIds.find(name);
diff --git a/pdal/PointRef.hpp b/pdal/PointRef.hpp
index 0a201fc..e688c15 100644
--- a/pdal/PointRef.hpp
+++ b/pdal/PointRef.hpp
@@ -158,6 +158,8 @@ public:
 
     void setPointId(PointId idx)
         { m_idx = idx; }
+    PointId pointId() const
+        { return m_idx; }
     inline void getField(char *val, Dimension::Id d,
         Dimension::Type type) const;
     inline void setField(Dimension::Id dim,
diff --git a/pdal/PointTable.hpp b/pdal/PointTable.hpp
index bcc0a86..150b73b 100644
--- a/pdal/PointTable.hpp
+++ b/pdal/PointTable.hpp
@@ -34,6 +34,7 @@
 
 #pragma once
 
+#include <algorithm>
 #include <list>
 #include <vector>
 
@@ -207,6 +208,9 @@ public:
         }
     }
 
+    virtual void reset()
+        { std::fill(m_buf.begin(), m_buf.end(), 0); }
+
     point_count_t capacity() const
         { return m_capacity; }
 protected:
diff --git a/pdal/PointView.cpp b/pdal/PointView.cpp
index 36b542e..17c7d64 100644
--- a/pdal/PointView.cpp
+++ b/pdal/PointView.cpp
@@ -34,8 +34,10 @@
 
 #include <iomanip>
 
+#include <pdal/KDIndex.hpp>
 #include <pdal/PointView.hpp>
 #include <pdal/PointViewIter.hpp>
+#include <pdal/util/Algorithm.hpp>
 
 namespace pdal
 {
@@ -54,6 +56,11 @@ PointView::PointView(PointTableRef pointTable, const SpatialReference& srs) :
 	m_id = ++m_lastId;
 }
 
+
+PointView::~PointView()
+{}
+
+
 PointViewIter PointView::begin()
 {
     return PointViewIter(this, 0);
@@ -155,6 +162,58 @@ MetadataNode PointView::toMetadata() const
 }
 
 
+TriangularMesh *PointView::createMesh(const std::string& name)
+{
+    if (Utils::contains(m_meshes, name))
+        return nullptr;
+    auto res = m_meshes.insert(std::make_pair(name,
+        std::unique_ptr<TriangularMesh>(new TriangularMesh)));
+    if (res.second)
+        return res.first->second.get();
+    return nullptr;
+}
+
+
+TriangularMesh *PointView::mesh(const std::string& name)
+{
+    auto it = m_meshes.find(name);
+    if (it != m_meshes.end())
+        return it->second.get();
+    if (name.empty() && m_meshes.size())
+        return m_meshes.begin()->second.get();
+    return nullptr;
+}
+
+
+KD3Index& PointView::build3dIndex()
+{
+    //ABELL
+    // Should we allow a force of point view build - perhaps the index has
+    // changed or the point values have changed.
+    if (!m_index3)
+    {
+        m_index3.reset(new KD3Index(*this));
+        std::cerr << "About to build index!\n";
+        m_index3->build();
+    }
+    return *m_index3.get();
+}
+
+
+KD2Index& PointView::build2dIndex()
+{
+    //ABELL
+    // Should we allow a force of point view build - perhaps the index has
+    // changed or the point values have changed.
+    if (!m_index2)
+    {
+        m_index2.reset(new KD2Index(*this));
+        m_index2->build();
+    }
+    return *m_index2.get();
+}
+
+
 void PointView::dump(std::ostream& ostr) const
 {
     using std::endl;
diff --git a/pdal/PointView.hpp b/pdal/PointView.hpp
index 3031b0b..0fce68e 100644
--- a/pdal/PointView.hpp
+++ b/pdal/PointView.hpp
@@ -36,6 +36,7 @@
 
 #include <pdal/DimDetail.hpp>
 #include <pdal/DimType.hpp>
+#include <pdal/Mesh.hpp>
 #include <pdal/PointContainer.hpp>
 #include <pdal/PointLayout.hpp>
 #include <pdal/PointRef.hpp>
@@ -62,6 +63,8 @@ namespace plang
 struct PointViewLess;
 class PointView;
 class PointViewIter;
+class KD2Index;
+class KD3Index;
 
 typedef std::shared_ptr<PointView> PointViewPtr;
 typedef std::set<PointViewPtr, PointViewLess> PointViewSet;
@@ -72,11 +75,11 @@ class PDAL_DLL PointView : public PointContainer
     friend class PointIdxRef;
     friend struct PointViewLess;
 public:
+    PointView(const PointView&) = delete;
+    PointView& operator=(const PointView&) = delete;
     PointView(PointTableRef pointTable);
     PointView(PointTableRef pointTable, const SpatialReference& srs);
-
-    virtual ~PointView()
-    {}
+    virtual ~PointView();
 
     PointViewIter begin();
     PointViewIter end();
@@ -95,6 +98,7 @@ public:
     {
         // We use size() instead of the index end because temp points
         // might have been placed at the end of the buffer.
+        // We're essentially ditching temp points.
         auto thisEnd = m_index.begin() + size();
         auto bufEnd = buf.m_index.begin() + buf.size();
         m_index.insert(thisEnd, buf.m_index.begin(), bufEnd);
@@ -242,7 +246,6 @@ public:
         }
     }
 
-
     /// Provides access to the memory storing the point data.  Though this
     /// function is public, other access methods are safer and preferred.
     char *getPoint(PointId id)
@@ -272,6 +275,26 @@ public:
     }
     MetadataNode toMetadata() const;
 
+    /**
+      Creates a mesh with the specified name.
+
+      \param name  Name of the mesh.
+      \return  Pointer to the new mesh.  Null is returned if the mesh
+          already exists.
+    */
+    TriangularMesh *createMesh(const std::string& name);
+
+    /**
+      Get a pointer to a mesh.
+
+      \param name  Name of the mesh.
+      \return  New mesh.  Null is returned if the mesh already exists.
+    */
+    TriangularMesh *mesh(const std::string& name = "");
+
+    KD3Index& build3dIndex();
+    KD2Index& build2dIndex();
+
 protected:
     PointTableRef m_pointTable;
     std::deque<PointId> m_index;
@@ -281,6 +304,9 @@ protected:
     int m_id;
     std::queue<PointId> m_temps;
     SpatialReference m_spatialReference;
+    std::map<std::string, std::unique_ptr<TriangularMesh>> m_meshes;
+    std::unique_ptr<KD3Index> m_index3;
+    std::unique_ptr<KD2Index> m_index2;
 
 private:
     static int m_lastId;
@@ -528,32 +554,6 @@ void PointView::setField(Dimension::Id dim, PointId idx, T val)
     }
 }
 
-/**
-void PointView::setFieldInternal(Dimension::Id dim, PointId idx,
-    const void *value)
-{
-    PointId rawId = 0;
-    if (idx == size())
-    {
-        rawId = m_pointTable.addPoint();
-        m_index.push_back(rawId);
-        m_size++;
-        assert(m_temps.empty());
-    }
-    else if (idx > size())
-    {
-        std::cerr << "Point index must increment.\n";
-        //error - throw?
-        return;
-    }
-    else
-    {
-        rawId = m_index[idx];
-    }
-    m_pointTable.setFieldInternal(dim, rawId, value);
-}
-**/
-
 inline void PointView::appendPoint(const PointView& buffer, PointId id)
 {
     // Invalid 'id' is a programmer error.
diff --git a/pdal/PyArray.hpp b/pdal/PyArray.hpp
new file mode 100644
index 0000000..ad366a1
--- /dev/null
+++ b/pdal/PyArray.hpp
@@ -0,0 +1,238 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/PointView.hpp>
+
+#include <algorithm>
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127) // conditional expression is constant
+#endif
+
+
+#ifdef PDAL_HAVE_PYTHON
+
+#include <Python.h>
+#undef toupper
+#undef tolower
+#undef isspace
+
+#ifndef PY_ARRAY_UNIQUE_SYMBOL
+#define PY_ARRAY_UNIQUE_SYMBOL PDALARRAY_ARRAY_API
+#endif
+
+#include <numpy/arrayobject.h>
+
+#endif
+
+// forward declare PyObject so we don't need the python headers everywhere
+// see: http://mail.python.org/pipermail/python-dev/2003-August/037601.html
+#ifndef PyObject_HEAD
+struct _object;
+typedef _object PyObject;
+#endif
+
+namespace pdal
+{
+namespace python
+{
+
+
+class PDAL_DLL Array
+{
+public:
+
+    Array()
+        : m_py_array(0)
+    {
+#ifdef PDAL_HAVE_PYTHON
+        auto initNumpy = []()
+        {
+#undef NUMPY_IMPORT_ARRAY_RETVAL
+#define NUMPY_IMPORT_ARRAY_RETVAL
+            import_array();
+        };
+        initNumpy();
+#endif
+    }
+
+    ~Array()
+    {
+        cleanup();
+    }
+
+
+    inline void update(PointViewPtr view)
+    {
+#ifdef PDAL_HAVE_PYTHON
+        typedef std::unique_ptr<std::vector<uint8_t>> DataPtr;
+        cleanup();
+        int nd = 1;
+        Dimension::IdList dims = view->dims();
+        npy_intp mydims = view->size();
+        npy_intp* ndims = &mydims;
+        std::vector<npy_intp> strides(dims.size());
+
+
+        DataPtr pdata( new std::vector<uint8_t>(view->pointSize()* view->size(), 0));
+
+        PyArray_Descr *dtype(0);
+        PyObject * dtype_dict = (PyObject*)buildNumpyDescription(view);
+        if (!dtype_dict)
+            throw pdal_error("Unable to build numpy dtype description dictionary");
+        int did_convert = PyArray_DescrConverter(dtype_dict, &dtype);
+        if (did_convert == NPY_FAIL)
+            throw pdal_error("Unable to build numpy dtype");
+        Py_XDECREF(dtype_dict);
+
+#ifdef NPY_ARRAY_CARRAY
+        int flags = NPY_ARRAY_CARRAY;
+#else
+        int flags = NPY_CARRAY;
+#endif
+        uint8_t* sp = pdata.get()->data();
+        PyObject * pyArray = PyArray_NewFromDescr(&PyArray_Type,
+                                                  dtype,
+                                                  nd,
+                                                  ndims,
+                                                  0,
+                                                  sp,
+                                                  flags,
+                                                  NULL);
+
+        // copy the data
+        uint8_t* p(sp);
+        DimTypeList types = view->dimTypes();
+        for (PointId idx = 0; idx < view->size(); idx++)
+        {
+            p = sp + (view->pointSize() * idx);
+            view->getPackedPoint(types, idx, (char*)p);
+        }
+
+        m_py_array = pyArray;
+        m_data_array = std::move(pdata);
+#endif
+    }
+
+
+    inline PyObject* getPythonArray() const { return m_py_array; }
+
+
+private:
+
+    inline void cleanup()
+    {
+#ifdef PDAL_HAVE_PYTHON
+        PyObject* p = (PyObject*)(m_py_array);
+        Py_XDECREF(p);
+        m_data_array.reset();
+#endif
+    }
+
+    inline PyObject* buildNumpyDescription(PointViewPtr view) const
+    {
+
+        // Build up a numpy dtype dictionary
+        //
+        // {'formats': ['f8', 'f8', 'f8', 'u2', 'u1', 'u1', 'u1', 'u1', 'u1', 'f4', 'u1', 'u2', 'f8', 'u2', 'u2', 'u2'],
+        // 'names': ['X', 'Y', 'Z', 'Intensity', 'ReturnNumber', 'NumberOfReturns',
+        // 'ScanDirectionFlag', 'EdgeOfFlightLine', 'Classification',
+        // 'ScanAngleRank', 'UserData', 'PointSourceId', 'GpsTime', 'Red', 'Green',
+        // 'Blue']}
+        //
+
+#ifdef PDAL_HAVE_PYTHON
+        std::stringstream oss;
+        Dimension::IdList dims = view->dims();
+
+        PyObject* dict = PyDict_New();
+        PyObject* sizes = PyList_New(dims.size());
+        PyObject* formats = PyList_New(dims.size());
+        PyObject* titles = PyList_New(dims.size());
+
+        for (Dimension::IdList::size_type i=0; i < dims.size(); ++i)
+        {
+            Dimension::Id id = (dims[i]);
+            Dimension::Type t = view->dimType(id);
+            npy_intp stride = view->dimSize(id);
+
+            std::string name = view->dimName(id);
+
+            std::string kind("i");
+            Dimension::BaseType b = Dimension::base(t);
+            if (b == Dimension::BaseType::Unsigned)
+                kind = "u";
+            else if (b == Dimension::BaseType::Floating)
+                kind = "f";
+            else
+            {
+                std::stringstream o;
+                oss << "unable to map kind '" << kind <<"' to PDAL dimension type";
+                throw pdal::pdal_error(o.str());
+            }
+
+            oss << kind << stride;
+            PyObject* pySize = PyLong_FromLong(stride);
+            PyObject* pyTitle = PyUnicode_FromString(name.c_str());
+            PyObject* pyFormat = PyUnicode_FromString(oss.str().c_str());
+
+            PyList_SetItem(sizes, i, pySize);
+            PyList_SetItem(titles, i, pyTitle);
+            PyList_SetItem(formats, i, pyFormat);
+
+            oss.str("");
+        }
+
+        PyDict_SetItemString(dict, "names", titles);
+        PyDict_SetItemString(dict, "formats", formats);
+
+    //     PyObject* obj = PyUnicode_AsASCIIString(PyObject_Str(dict));
+    //     const char* s = PyBytes_AsString(obj);
+    //     std::string output(s);
+    //     std::cout << "array: " << output << std::endl;
+        return dict;
+#endif
+    }
+
+    PyObject* m_py_array;
+    std::unique_ptr<std::vector<uint8_t> > m_data_array;
+
+    Array& operator=(Array const& rhs);
+};
+
+} // namespace python
+} // namespace pdal
+
diff --git a/pdal/SpatialReference.cpp b/pdal/SpatialReference.cpp
index c11b0ac..4562a19 100644
--- a/pdal/SpatialReference.cpp
+++ b/pdal/SpatialReference.cpp
@@ -32,6 +32,8 @@
  * OF SUCH DAMAGE.
  ****************************************************************************/
 
+#include <memory>
+
 #include <pdal/SpatialReference.hpp>
 #include <pdal/PDALUtils.hpp>
 #include <pdal/Metadata.hpp>
@@ -57,6 +59,29 @@
 
 #include <pdal/util/Utils.hpp>
 
+namespace
+{
+
+struct OGRDeleter
+{
+    void operator()(OGRSpatialReference* o)
+    {
+        OSRDestroySpatialReference(o);
+    };
+};
+
+using OGRScopedSpatialReference =
+    std::unique_ptr<OGRSpatialReference, OGRDeleter>;
+
+OGRScopedSpatialReference ogrCreateSrs(std::string s = "")
+{
+    return OGRScopedSpatialReference(
+            static_cast<OGRSpatialReference*>(
+                OSRNewSpatialReference(s.c_str())));
+}
+
+}
+
 namespace pdal
 {
 
@@ -74,12 +99,11 @@ bool SpatialReference::empty() const
 
 bool SpatialReference::valid() const
 {
-    OGRSpatialReferenceH current = OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference current(ogrCreateSrs(m_wkt));
     if (!current)
         return false;
 
-    OGRErr err = OSRValidate(current);
-    OSRDestroySpatialReference(current);
+    OGRErr err = OSRValidate(current.get());
     return err == OGRERR_NONE;
 }
 
@@ -156,8 +180,7 @@ std::string SpatialReference::getVertical() const
 {
     std::string tmp;
 
-    OGRSpatialReference* poSRS =
-        (OGRSpatialReference*)OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference poSRS = ogrCreateSrs(m_wkt);
 
     // Above can fail if m_wkt is bad.
     if (!poSRS)
@@ -171,7 +194,6 @@ std::string SpatialReference::getVertical() const
         node->exportToWkt(&pszWKT);
         tmp = pszWKT;
         CPLFree(pszWKT);
-        OSRDestroySpatialReference(poSRS);
     }
 
     return tmp;
@@ -184,8 +206,7 @@ std::string SpatialReference::getVerticalUnits() const
 
     std::string wkt = getVertical();
     const char* poWKT = wkt.c_str();
-    OGRSpatialReference* poSRS =
-        (OGRSpatialReference*)OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference poSRS = ogrCreateSrs(m_wkt);
     if (poSRS)
     {
         OGR_SRSNode* node = poSRS->GetAttrNode("VERT_CS");
@@ -210,8 +231,7 @@ std::string SpatialReference::getHorizontal() const
 {
     if (m_horizontalWkt.empty())
     {
-        OGRSpatialReference* poSRS =
-            (OGRSpatialReference*)OSRNewSpatialReference(m_wkt.c_str());
+        OGRScopedSpatialReference poSRS = ogrCreateSrs(m_wkt);
 
         if (poSRS)
         {
@@ -220,7 +240,6 @@ std::string SpatialReference::getHorizontal() const
             poSRS->exportToWkt(&pszWKT);
             m_horizontalWkt = pszWKT;
             CPLFree(pszWKT);
-            OSRDestroySpatialReference(poSRS);
         }
     }
     return m_horizontalWkt;
@@ -231,8 +250,7 @@ std::string SpatialReference::getHorizontalUnits() const
 {
     std::string wkt = getHorizontal();
     const char* poWKT = wkt.c_str();
-    OGRSpatialReference* poSRS =
-        (OGRSpatialReference*)OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference poSRS = ogrCreateSrs(m_wkt);
 
     if (!poSRS)
         return std::string();
@@ -254,14 +272,13 @@ bool SpatialReference::equals(const SpatialReference& input) const
     if (getWKT() == input.getWKT())
         return true;
 
-    OGRSpatialReferenceH current = OSRNewSpatialReference(getWKT().c_str());
-    OGRSpatialReferenceH other = OSRNewSpatialReference(input.getWKT().c_str());
+    OGRScopedSpatialReference current = ogrCreateSrs(getWKT());
+    OGRScopedSpatialReference other = ogrCreateSrs(input.getWKT());
+
     if (!current || !other)
         return false;
 
-    int output = OSRIsSame(current, other);
-    OSRDestroySpatialReference(current);
-    OSRDestroySpatialReference(other);
+    int output = OSRIsSame(current.get(), other.get());
 
     return (output == 1);
 }
@@ -288,24 +305,22 @@ const std::string& SpatialReference::getName() const
 
 bool SpatialReference::isGeographic() const
 {
-    OGRSpatialReferenceH current = OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference current = ogrCreateSrs(m_wkt);
     if (!current)
         return false;
 
-    bool output = OSRIsGeographic(current);
-    OSRDestroySpatialReference(current);
+    bool output = OSRIsGeographic(current.get());
     return output;
 }
 
 
 bool SpatialReference::isGeocentric() const
 {
-    OGRSpatialReferenceH current = OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference current = ogrCreateSrs(m_wkt);
     if (!current)
         return false;
 
-    bool output = OSRIsGeocentric(current);
-    OSRDestroySpatialReference(current);
+    bool output = OSRIsGeocentric(current.get());
     return output;
 }
 
@@ -369,14 +384,12 @@ std::string SpatialReference::prettyWkt(const std::string& wkt)
 {
     std::string outWkt;
 
-    OGRSpatialReference *srs =
-        (OGRSpatialReference *)OSRNewSpatialReference(wkt.data());
+    OGRScopedSpatialReference srs = ogrCreateSrs(wkt);
     if (!srs)
         return outWkt;
 
     char *buf = nullptr;
     srs->exportToPrettyWkt(&buf, FALSE);
-    OSRDestroySpatialReference(srs);
 
     outWkt = buf;
     CPLFree(buf);
@@ -390,27 +403,24 @@ int SpatialReference::computeUTMZone(const BOX3D& box) const
     if (empty())
         return 0;
 
-    OGRSpatialReferenceH current = OSRNewSpatialReference(m_wkt.c_str());
+    OGRScopedSpatialReference current = ogrCreateSrs(m_wkt);
     if (!current)
         throw pdal_error("Could not fetch current SRS");
 
-    OGRSpatialReferenceH wgs84 = OSRNewSpatialReference(0);
+    OGRScopedSpatialReference wgs84 = ogrCreateSrs();
 
-    if (OSRSetFromUserInput(wgs84, "EPSG:4326") != OGRERR_NONE)
+    if (OSRSetFromUserInput(wgs84.get(), "EPSG:4326") != OGRERR_NONE)
     {
-        OSRDestroySpatialReference(current);
-        OSRDestroySpatialReference(wgs84);
         std::ostringstream msg;
         msg << "Could not import GDAL input spatial reference for WGS84";
         throw pdal_error(msg.str());
     }
 
-    void* transform = OCTNewCoordinateTransformation(current, wgs84);
+    void* transform = OCTNewCoordinateTransformation(current.get(),
+            wgs84.get());
 
-    if (! transform)
+    if (!transform)
     {
-        OSRDestroySpatialReference(current);
-        OSRDestroySpatialReference(wgs84);
         throw pdal_error("Could not compute transform from "
             "coordinate system to WGS84");
     }
@@ -426,8 +436,6 @@ int SpatialReference::computeUTMZone(const BOX3D& box) const
     if (ret == 0)
     {
         OCTDestroyCoordinateTransformation(transform);
-        OSRDestroySpatialReference(current);
-        OSRDestroySpatialReference(wgs84);
         std::ostringstream msg;
         msg << "Could not project minimum point for computeUTMZone::" <<
             CPLGetLastErrorMsg() << ret;
@@ -438,8 +446,6 @@ int SpatialReference::computeUTMZone(const BOX3D& box) const
     if (ret == 0)
     {
         OCTDestroyCoordinateTransformation(transform);
-        OSRDestroySpatialReference(current);
-        OSRDestroySpatialReference(wgs84);
         std::ostringstream msg;
         msg << "Could not project maximum point for computeUTMZone::" <<
             CPLGetLastErrorMsg() << ret;
@@ -454,8 +460,6 @@ int SpatialReference::computeUTMZone(const BOX3D& box) const
     if (min_zone != max_zone)
     {
         OCTDestroyCoordinateTransformation(transform);
-        OSRDestroySpatialReference(current);
-        OSRDestroySpatialReference(wgs84);
         std::ostringstream msg;
         msg << "Minimum zone is " << min_zone <<"' and maximum zone is '" <<
             max_zone << "'. They do not match because they cross a "
@@ -464,8 +468,6 @@ int SpatialReference::computeUTMZone(const BOX3D& box) const
     }
 
     OCTDestroyCoordinateTransformation(transform);
-    OSRDestroySpatialReference(current);
-    OSRDestroySpatialReference(wgs84);
 
     return min_zone;
 }
diff --git a/pdal/Stage.cpp b/pdal/Stage.cpp
index ac6b1c5..c797a25 100644
--- a/pdal/Stage.cpp
+++ b/pdal/Stage.cpp
@@ -49,7 +49,8 @@
 namespace pdal
 {
 
-Stage::Stage() : m_progressFd(-1), m_debug(false), m_verbose(0)
+Stage::Stage() : m_progressFd(-1), m_verbose(0), m_pointCount(0),
+    m_faceCount(0)
 {}
 
 
@@ -114,9 +115,9 @@ QuickInfo Stage::preview()
 {
     m_args.reset(new ProgramArgs);
     handleOptions();
-    pushLogLeader();
+    startLogging();
     QuickInfo qi = inspect();
-    popLogLeader();
+    stopLogging();
     return qi;
 }
 
@@ -130,18 +131,18 @@ void Stage::prepare(PointTableRef table)
         prev->prepare(table);
     }
     handleOptions();
-    pushLogLeader();
+    startLogging();
     l_initialize(table);
     initialize(table);
     addDimensions(table.layout());
     prepared(table);
-    popLogLeader();
+    stopLogging();
 }
 
 
 PointViewSet Stage::execute(PointTableRef table)
 {
-    pushLogLeader();
+    startLogging();
     table.finalize();
 
     PointViewSet views;
@@ -176,8 +177,18 @@ PointViewSet Stage::execute(PointTableRef table)
     // first on the list for table.
     for (auto it = views.rbegin(); it != views.rend(); it++)
         table.addSpatialReference((*it)->spatialReference());
-    gdal::ErrorHandler::getGlobalErrorHandler().set(m_log, m_debug);
 
+    // Count the number of views and the number of points and faces so they're
+    // available to stages.
+    m_pointCount = 0;
+    m_faceCount = 0;
+    for (auto const& it : views)
+    {
+        m_pointCount += it->size();
+        auto m = it->mesh();
+        if (m)
+            m_faceCount += m->size();
+    }
     // Do the ready operation and then start running all the views
     // through the stage.
     ready(table);
@@ -204,7 +215,9 @@ PointViewSet Stage::execute(PointTableRef table)
         outViews.insert(temp.begin(), temp.end());
     }
     l_done(table);
-    popLogLeader();
+    stopLogging();
+    m_pointCount = 0;
+    m_faceCount = 0;
     return outViews;
 }
 
@@ -234,9 +247,9 @@ void Stage::execute(StreamPointTable& table)
         {
             for (auto s : *this)
             {
-                s->pushLogLeader();
+                s->startLogging();
                 s->ready(table);
-                s->pushLogLeader();
+                s->stopLogging();
                 SpatialReference srs = s->getSpatialReference();
                 if (!srs.empty())
                     table.setSpatialReference(srs);
@@ -247,9 +260,9 @@ void Stage::execute(StreamPointTable& table)
         {
             for (auto s : *this)
             {
-                s->pushLogLeader();
+                s->startLogging();
                 s->l_done(table);
-                s->popLogLeader();
+                s->stopLogging();
             }
         }
     };
@@ -337,7 +350,7 @@ void Stage::execute(StreamPointTable& table, std::list<Stage *>& stages)
         PointRef point(table, idx);
         point_count_t pointLimit = table.capacity();
 
-        reader->pushLogLeader();
+        reader->startLogging();
         // When we get false back from a reader, we're done, so set
         // the point limit to the number of points processed in this loop
         // of the table.
@@ -351,7 +364,7 @@ void Stage::execute(StreamPointTable& table, std::list<Stage *>& stages)
             if (finished)
                 pointLimit = idx;
         }
-        reader->popLogLeader();
+        reader->stopLogging();
         srs = reader->getSpatialReference();
         if (!srs.empty())
             table.setSpatialReference(srs);
@@ -366,7 +379,7 @@ void Stage::execute(StreamPointTable& table, std::list<Stage *>& stages)
                 s->spatialReferenceChanged(srs);
                 srsMap[s] = srs;
             }
-            s->pushLogLeader();
+            s->startLogging();
             for (PointId idx = 0; idx < pointLimit; idx++)
             {
                 if (skips[idx])
@@ -378,7 +391,7 @@ void Stage::execute(StreamPointTable& table, std::list<Stage *>& stages)
             srs = s->getSpatialReference();
             if (!srs.empty())
                 table.setSpatialReference(srs);
-            s->popLogLeader();
+            s->stopLogging();
         }
 
         // Yes, vector<bool> is terrible.  Can do something better later.
@@ -422,8 +435,7 @@ void Stage::setupLog()
         m_logLeader += " ";
     m_logLeader += getName();
 
-    bool debug(l > LogLevel::Debug);
-    gdal::ErrorHandler::getGlobalErrorHandler().set(m_log, debug);
+    gdal::ErrorHandler::getGlobalErrorHandler().set(m_log, isDebug());
 }
 
 
@@ -434,6 +446,7 @@ void Stage::l_initialize(PointTableRef table)
 }
 
 
+// This function allows m_spatialReference to remain private.
 void Stage::addSpatialReferenceArg(ProgramArgs& args)
 {
     args.add("spatialreference", "Spatial reference to apply to data",
@@ -470,10 +483,51 @@ void Stage::setSpatialReference(MetadataNode& m,
 }
 
 
+bool Stage::parseName(std::string o, std::string::size_type& pos)
+{
+    auto isStageChar = [](char c)
+        { return std::islower(c) || std::isdigit(c); };
+
+    std::string::size_type start = pos;
+    if (!std::islower(o[pos]))
+        return false;
+    pos++;
+    pos += Utils::extract(o, pos, isStageChar);
+    return true;
+}
+
+
+bool Stage::parseTagName(std::string o, std::string::size_type& pos)
+{
+    auto isTagChar = [](char c)
+        { return std::isalnum(c) || c == '_'; };
+
+    std::string::size_type start = pos;
+    if (!std::isalpha(o[pos]))
+        return false;
+    pos++;
+    pos += Utils::extract(o, pos, isTagChar);
+    return true;
+}
+
+
 void Stage::throwError(const std::string& s) const
 {
     throw pdal_error(getName() + ": " + s);
 }
 
+
+void Stage::startLogging() const
+{
+    m_log->pushLeader(m_logLeader);
+    gdal::ErrorHandler::getGlobalErrorHandler().set(m_log, isDebug());
+}
+
+
+void Stage::stopLogging() const
+{
+    m_log->popLeader();
+}
+
 } // namespace pdal
 
diff --git a/pdal/Stage.hpp b/pdal/Stage.hpp
index 8f0e447..eb9434d 100644
--- a/pdal/Stage.hpp
+++ b/pdal/Stage.hpp
@@ -228,14 +228,12 @@ public:
     /**
       Push the stage's leader into the log.
     */
-    void pushLogLeader() const
-        { m_log->pushLeader(m_logLeader); }
+    void startLogging() const;
 
     /**
         Pop the stage's leader from the log.
     */
-    void popLogLeader() const
-        { m_log->popLeader(); }
+    void stopLogging() const;
 
     /**
       Determine whether the stage is in debug mode or not.
@@ -243,7 +241,7 @@ public:
       \return  The stage's debug state.
     */
     bool isDebug() const
-        { return m_debug; }
+        { return m_log && m_log->getLevel() > LogLevel::Debug; }
 
     /**
       Return the name of a stage.
@@ -292,6 +290,27 @@ public:
     */
     void serialize(MetadataNode root, PipelineWriter::TagMap& tags) const;
 
+    /**
+      Parse a stage name from a string.  Return the name and update the
+      position in the input string to the end of the stage name.
+
+      \param o     Input string to parse.
+      \param pos   Parsing start/end position.
+      \return  Whether the parsed name is a valid stage name.
+    */
+    static bool parseName(std::string o, std::string::size_type& pos);
+
+    /**
+      Parse a tag name from a string.  Return the name and update the
+      position in the input string to the end of the tag name.
+
+      \param o    Input string to parse.
+      \param pos  Parsing start/end position.
+      \param tag  Parsed tag name.
+      \return  Whether the parsed name is a valid tag name.
+    */
+    static bool parseTagName(std::string o, std::string::size_type& pos);
+
 protected:
     Options m_options;          ///< Stage's options.
     MetadataNode m_metadata;    ///< Stage's metadata.
@@ -300,9 +319,31 @@ protected:
     void setSpatialReference(MetadataNode& m, SpatialReference const&);
     void addSpatialReferenceArg(ProgramArgs& args);
     void throwError(const std::string& s) const;
+    /**
+      Return the point count of all point views at the start of execution.
+      Only valid during execute().
+
+      \return  Total number of points in all point views being executed.
+    */
+    point_count_t pointCount() const
+        { return m_pointCount; }
+    /**
+      Return the count of faces in all primary meshes for all point views.
+      Only valid during execute().
+
+      \return  Total number of faces in all point views being executed.
+    */
+    point_count_t faceCount() const
+        { return m_faceCount; }
+
+    void throwStreamingError() const
+    {
+        std::ostringstream oss;
+        oss << "Point streaming not supported for stage " << getName() << ".";
+        throw pdal_error(oss.str());
+    }
 
 private:
-    bool m_debug;
     uint32_t m_verbose;
     std::string m_logname;
     std::vector<Stage *> m_inputs;
@@ -315,6 +356,8 @@ private:
     // bind the user_data argument that is essentially a comment in pipeline
     // files.
     std::string m_userDataJSON;
+    point_count_t m_pointCount;
+    point_count_t m_faceCount;
 
     Stage& operator=(const Stage&); // not implemented
     Stage(const Stage&); // not implemented
@@ -410,9 +453,8 @@ private:
     */
     virtual bool processOne(PointRef& /*point*/)
     {
-        std::ostringstream oss;
-        oss << "Point streaming not supported for stage " << getName() << ".";
-        throw pdal_error(oss.str());
+        throwStreamingError();
+        return false;
     }
 
     /**
diff --git a/pdal/StageFactory.cpp b/pdal/StageFactory.cpp
index 676df53..e072370 100644
--- a/pdal/StageFactory.cpp
+++ b/pdal/StageFactory.cpp
@@ -50,8 +50,10 @@
 #include <filters/ELMFilter.hpp>
 #include <filters/EstimateRankFilter.hpp>
 #include <filters/FerryFilter.hpp>
+#include <filters/GreedyProjection.hpp>
 #include <filters/GroupByFilter.hpp>
 #include <filters/HAGFilter.hpp>
+#include <filters/HeadFilter.hpp>
 #include <filters/IQRFilter.hpp>
 #include <filters/KDistanceFilter.hpp>
 #include <filters/LocateFilter.hpp>
@@ -64,7 +66,9 @@
 #include <filters/OutlierFilter.hpp>
 #include <filters/OverlayFilter.hpp>
 #include <filters/PMFFilter.hpp>
+#include <filters/PoissonFilter.hpp>
 #include <filters/RadialDensityFilter.hpp>
+#include <filters/RandomizeFilter.hpp>
 #include <filters/RangeFilter.hpp>
 #include <filters/ReprojectionFilter.hpp>
 #include <filters/SampleFilter.hpp>
@@ -72,7 +76,23 @@
 #include <filters/SortFilter.hpp>
 #include <filters/SplitterFilter.hpp>
 #include <filters/StatsFilter.hpp>
+#include <filters/TailFilter.hpp>
 #include <filters/TransformationFilter.hpp>
+#include <filters/VoxelCenterNearestNeighborFilter.hpp>
+#include <filters/VoxelCentroidNearestNeighborFilter.hpp>
+
+#include <kernels/DeltaKernel.hpp>
+#include <kernels/DiffKernel.hpp>
+#include <kernels/GroundKernel.hpp>
+#include <kernels/HausdorffKernel.hpp>
+#include <kernels/InfoKernel.hpp>
+#include <kernels/MergeKernel.hpp>
+#include <kernels/PipelineKernel.hpp>
+#include <kernels/RandomKernel.hpp>
+#include <kernels/SortKernel.hpp>
+#include <kernels/SplitKernel.hpp>
+#include <kernels/TIndexKernel.hpp>
+#include <kernels/TranslateKernel.hpp>
 
 // readers
 #include <io/BpfReader.hpp>
@@ -81,7 +101,6 @@
 #include <io/Ilvis2Reader.hpp>
 #include <io/LasReader.hpp>
 #include <io/OptechReader.hpp>
-#include <io/BufferReader.hpp>
 #include <io/PlyReader.hpp>
 #include <io/PtsReader.hpp>
 #include <io/QfitReader.hpp>
@@ -94,6 +113,7 @@
 #include <io/BpfWriter.hpp>
 #include <io/GDALWriter.hpp>
 #include <io/LasWriter.hpp>
+#include <io/OGRWriter.hpp>
 #include <io/PlyWriter.hpp>
 #include <io/SbetWriter.hpp>
 #include <io/TextWriter.hpp>
@@ -123,10 +143,11 @@ StringList StageFactory::extensions(const std::string& driver)
         { "readers.qfit", { "qi" } },
         { "readers.rxp", { "rxp" } },
         { "readers.sbet", { "sbet" } },
-        { "readers.sqlite", { "sqlite" } },
+        { "readers.sqlite", { "sqlite", "gpkg" } },
+        { "readers.matlab", { "mat" } },
         { "readers.mrsid", { "sid" } },
         { "readers.tindex", { "tindex" } },
-        { "readers.text", { "txt" } },
+        { "readers.text", { "csv", "txt" } },
         { "readers.icebridge", { "h5" } },
 
         { "writers.bpf", { "bpf" } },
@@ -138,8 +159,9 @@ StringList StageFactory::extensions(const std::string& driver)
         { "writers.ply", { "ply" } },
         { "writers.sbet", { "sbet" } },
         { "writers.derivative", { "derivative" } },
-        { "writers.sqlite", { "sqlite" } },
+        { "writers.sqlite", { "sqlite", "gpkg" } },
         { "writers.gdal", { "tif", "tiff", "vrt" } },
+        { "writers.ogr", { "shp", "geojson" } },
     };
 
     return exts[driver];
@@ -152,10 +174,13 @@ std::string StageFactory::inferReaderDriver(const std::string& filename)
         { "bin", "readers.terrasolid" },
         { "bpf", "readers.bpf" },
         { "csd", "readers.optech" },
+        { "csv", "readers.text" },
         { "greyhound", "readers.greyhound" },
+        { "gpkg", "readers.sqlite" },
         { "icebridge", "readers.icebridge" },
         { "las", "readers.las" },
         { "laz", "readers.las" },
+        { "mat", "readers.matlab" },
         { "nitf", "readers.nitf" },
         { "nsf", "readers.nitf" },
         { "ntf", "readers.nitf" },
@@ -205,6 +230,7 @@ std::string StageFactory::inferWriterDriver(const std::string& filename)
         { "json", "writers.text" },
         { "las", "writers.las" },
         { "laz", "writers.las" },
+        { "gpkg", "writers.sqlite" },
         { "mat", "writers.matlab" },
         { "ntf", "writers.nitf" },
         { "pcd", "writers.pcd" },
@@ -217,7 +243,9 @@ std::string StageFactory::inferWriterDriver(const std::string& filename)
         { "", "writers.text" },
         { "tif", "writers.gdal" },
         { "tiff", "writers.gdal" },
-        { "vrt", "writers.gdal" }
+        { "vrt", "writers.gdal" },
+        { "shp", "writers.ogr" },
+        { "geojson", "writers.ogr" }
     };
 
     // Strip off '.' and make lowercase.
@@ -232,8 +260,8 @@ StageFactory::StageFactory(bool no_plugins)
 {
     if (!no_plugins)
     {
-        PluginManager::loadAll(PF_PluginType_Filter | PF_PluginType_Reader |
-            PF_PluginType_Writer);
+        PluginManager::loadAll(PF_PluginType_Filter | PF_PluginType_Kernel |
+            PF_PluginType_Reader | PF_PluginType_Writer);
     }
 
     // filters
@@ -251,8 +279,10 @@ StageFactory::StageFactory(bool no_plugins)
     PluginManager::initializePlugin(ELMFilter_InitPlugin);
     PluginManager::initializePlugin(EstimateRankFilter_InitPlugin);
     PluginManager::initializePlugin(FerryFilter_InitPlugin);
+    PluginManager::initializePlugin(GreedyProjection_InitPlugin);
     PluginManager::initializePlugin(GroupByFilter_InitPlugin);
     PluginManager::initializePlugin(HAGFilter_InitPlugin);
+    PluginManager::initializePlugin(HeadFilter_InitPlugin);
     PluginManager::initializePlugin(IQRFilter_InitPlugin);
     PluginManager::initializePlugin(KDistanceFilter_InitPlugin);
     PluginManager::initializePlugin(LocateFilter_InitPlugin);
@@ -265,7 +295,9 @@ StageFactory::StageFactory(bool no_plugins)
     PluginManager::initializePlugin(OutlierFilter_InitPlugin);
     PluginManager::initializePlugin(OverlayFilter_InitPlugin);
     PluginManager::initializePlugin(PMFFilter_InitPlugin);
+    PluginManager::initializePlugin(PoissonFilter_InitPlugin);
     PluginManager::initializePlugin(RadialDensityFilter_InitPlugin);
+    PluginManager::initializePlugin(RandomizeFilter_InitPlugin);
     PluginManager::initializePlugin(RangeFilter_InitPlugin);
     PluginManager::initializePlugin(ReprojectionFilter_InitPlugin);
     PluginManager::initializePlugin(SampleFilter_InitPlugin);
@@ -273,7 +305,24 @@ StageFactory::StageFactory(bool no_plugins)
     PluginManager::initializePlugin(SortFilter_InitPlugin);
     PluginManager::initializePlugin(SplitterFilter_InitPlugin);
     PluginManager::initializePlugin(StatsFilter_InitPlugin);
+    PluginManager::initializePlugin(TailFilter_InitPlugin);
     PluginManager::initializePlugin(TransformationFilter_InitPlugin);
+    PluginManager::initializePlugin(VoxelCenterNearestNeighborFilter_InitPlugin);
+    PluginManager::initializePlugin(VoxelCentroidNearestNeighborFilter_InitPlugin);
+
+    // kernels
+    PluginManager::initializePlugin(DeltaKernel_InitPlugin);
+    PluginManager::initializePlugin(DiffKernel_InitPlugin);
+    PluginManager::initializePlugin(GroundKernel_InitPlugin);
+    PluginManager::initializePlugin(HausdorffKernel_InitPlugin);
+    PluginManager::initializePlugin(InfoKernel_InitPlugin);
+    PluginManager::initializePlugin(MergeKernel_InitPlugin);
+    PluginManager::initializePlugin(PipelineKernel_InitPlugin);
+    PluginManager::initializePlugin(RandomKernel_InitPlugin);
+    PluginManager::initializePlugin(SortKernel_InitPlugin);
+    PluginManager::initializePlugin(SplitKernel_InitPlugin);
+    PluginManager::initializePlugin(TIndexKernel_InitPlugin);
+    PluginManager::initializePlugin(TranslateKernel_InitPlugin);
 
     // readers
     PluginManager::initializePlugin(BpfReader_InitPlugin);
@@ -294,6 +343,7 @@ StageFactory::StageFactory(bool no_plugins)
     PluginManager::initializePlugin(BpfWriter_InitPlugin);
     PluginManager::initializePlugin(GDALWriter_InitPlugin);
     PluginManager::initializePlugin(LasWriter_InitPlugin);
+    PluginManager::initializePlugin(OGRWriter_InitPlugin);
     PluginManager::initializePlugin(PlyWriter_InitPlugin);
     PluginManager::initializePlugin(SbetWriter_InitPlugin);
     PluginManager::initializePlugin(TextWriter_InitPlugin);
diff --git a/pdal/gitsha.cpp b/pdal/gitsha.cpp
index 40889ed..4e7762a 100644
--- a/pdal/gitsha.cpp
+++ b/pdal/gitsha.cpp
@@ -1,3 +1,3 @@
 #include <pdal/gitsha.h>
-#define GIT_SHA1 "6a64e0b1033cbd8d5c1adda34133c8ee9a98839e"
+#define GIT_SHA1 "ac17d3dd8601cffd966c2faa8a04330520505191"
 const char g_GIT_SHA1[] = GIT_SHA1;
diff --git a/pdal/pdal_config.cpp b/pdal/pdal_config.cpp
index 2703ebc..7aa6dc5 100644
--- a/pdal/pdal_config.cpp
+++ b/pdal/pdal_config.cpp
@@ -60,10 +60,6 @@
 #  pragma clang diagnostic pop
 #endif
 
-#ifdef PDAL_HAVE_LASZIP
-#include <laszip.hpp>
-#endif
-
 #include <geos_c.h>
 
 #ifdef PDAL_HAVE_LIBXML2
@@ -166,12 +162,6 @@ std::string getPDALDebugInformation()
     os << "GDAL (" << GDALVersionInfo("RELEASE_NAME") << ") - " <<
         "http://www.gdal.org" << std::endl;
 
-#ifdef PDAL_HAVE_LASZIP
-    os << "LASzip (" << LASZIP_VERSION_MAJOR << "." << LASZIP_VERSION_MINOR <<
-        "." << LASZIP_VERSION_REVISION << ") - " <<
-        "http://laszip.org" << std::endl;
-#endif
-
 #ifdef PDAL_HAVE_LIBXML2
     os << "libxml (" << LIBXML_DOTTED_VERSION << ") - " <<
               "http://www.xmlsoft.org/" << std::endl;
diff --git a/pdal/plang/Array.cpp b/pdal/plang/Array.cpp
deleted file mode 100644
index 35b2c03..0000000
--- a/pdal/plang/Array.cpp
+++ /dev/null
@@ -1,199 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-* Copyright (c) 2015, Howard Butler (howard at hobu.co)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/plang/Array.hpp>
-#include <pdal/plang/Environment.hpp>
-
-#include <algorithm>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127) // conditional expression is constant
-#endif
-
-#include <Python.h>
-#undef toupper
-#undef tolower
-#undef isspace
-
-
-#define PY_ARRAY_UNIQUE_SYMBOL PDALARRAY_ARRAY_API
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <numpy/arrayobject.h>
-
-namespace pdal
-{
-namespace plang
-{
-
-Array::Array()
-    : m_py_array(0)
-{
-    auto initNumpy = []()
-    {
-#undef NUMPY_IMPORT_ARRAY_RETVAL
-#define NUMPY_IMPORT_ARRAY_RETVAL
-        import_array();
-    };
-    initNumpy();
-}
-
-
-Array::~Array()
-{
-    cleanup();
-}
-
-void Array::cleanup()
-{
-    PyObject* p = (PyObject*)(m_py_array);
-    Py_XDECREF(p);
-    m_data_array.reset();
-}
-PyObject* Array::buildNumpyDescription(PointViewPtr view) const
-{
-
-    // Build up a numpy dtype dictionary
-    //
-    // {'formats': ['f8', 'f8', 'f8', 'u2', 'u1', 'u1', 'u1', 'u1', 'u1', 'f4', 'u1', 'u2', 'f8', 'u2', 'u2', 'u2'],
-    // 'names': ['X', 'Y', 'Z', 'Intensity', 'ReturnNumber', 'NumberOfReturns',
-    // 'ScanDirectionFlag', 'EdgeOfFlightLine', 'Classification',
-    // 'ScanAngleRank', 'UserData', 'PointSourceId', 'GpsTime', 'Red', 'Green',
-    // 'Blue']}
-    //
-    std::stringstream oss;
-    Dimension::IdList dims = view->dims();
-
-    PyObject* dict = PyDict_New();
-    PyObject* sizes = PyList_New(dims.size());
-    PyObject* formats = PyList_New(dims.size());
-    PyObject* titles = PyList_New(dims.size());
-
-    for (Dimension::IdList::size_type i=0; i < dims.size(); ++i)
-    {
-        Dimension::Id id = (dims[i]);
-        Dimension::Type t = view->dimType(id);
-        npy_intp stride = view->dimSize(id);
-
-        std::string name = view->dimName(id);
-
-        std::string kind("i");
-        Dimension::BaseType b = Dimension::base(t);
-        if (b == Dimension::BaseType::Unsigned)
-            kind = "u";
-        else if (b == Dimension::BaseType::Floating)
-            kind = "f";
-        else
-        {
-            std::stringstream o;
-            oss << "unable to map kind '" << kind <<"' to PDAL dimension type";
-            throw pdal::pdal_error(o.str());
-        }
-
-        oss << kind << stride;
-        PyObject* pySize = PyLong_FromLong(stride);
-        PyObject* pyTitle = PyUnicode_FromString(name.c_str());
-        PyObject* pyFormat = PyUnicode_FromString(oss.str().c_str());
-
-        PyList_SetItem(sizes, i, pySize);
-        PyList_SetItem(titles, i, pyTitle);
-        PyList_SetItem(formats, i, pyFormat);
-
-        oss.str("");
-    }
-
-    PyDict_SetItemString(dict, "names", titles);
-    PyDict_SetItemString(dict, "formats", formats);
-
-//     PyObject* obj = PyUnicode_AsASCIIString(PyObject_Str(dict));
-//     const char* s = PyBytes_AsString(obj);
-//     std::string output(s);
-//     std::cout << "array: " << output << std::endl;
-    return dict;
-}
-void Array::update(PointViewPtr view)
-{
-    typedef std::unique_ptr<std::vector<uint8_t>> DataPtr;
-    cleanup();
-    int nd = 1;
-    Dimension::IdList dims = view->dims();
-    npy_intp mydims = view->size();
-    npy_intp* ndims = &mydims;
-    std::vector<npy_intp> strides(dims.size());
-
-
-    DataPtr pdata( new std::vector<uint8_t>(view->pointSize()* view->size(), 0));
-
-    PyArray_Descr *dtype(0);
-    PyObject * dtype_dict = (PyObject*)buildNumpyDescription(view);
-    if (!dtype_dict)
-        throw pdal_error("Unable to build numpy dtype description dictionary");
-    int did_convert = PyArray_DescrConverter(dtype_dict, &dtype);
-    if (did_convert == NPY_FAIL)
-        throw pdal_error("Unable to build numpy dtype");
-    Py_XDECREF(dtype_dict);
-
-#ifdef NPY_ARRAY_CARRAY
-    int flags = NPY_ARRAY_CARRAY;
-#else
-    int flags = NPY_CARRAY;
-#endif
-    uint8_t* sp = pdata.get()->data();
-    PyObject * pyArray = PyArray_NewFromDescr(&PyArray_Type,
-                                              dtype,
-                                              nd,
-                                              ndims,
-                                              0,
-                                              sp,
-                                              flags,
-                                              NULL);
-
-    // copy the data
-    uint8_t* p(sp);
-    DimTypeList types = view->dimTypes();
-    for (PointId idx = 0; idx < view->size(); idx++)
-    {
-        p = sp + (view->pointSize() * idx);
-        view->getPackedPoint(types, idx, (char*)p);
-    }
-
-    m_py_array = pyArray;
-    m_data_array = std::move(pdata);
-
-}
-
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/Array.hpp b/pdal/plang/Array.hpp
deleted file mode 100644
index b1bcb42..0000000
--- a/pdal/plang/Array.hpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <pdal/pdal_internal.hpp>
-#include <pdal/PointView.hpp>
-
-
-// forward declare PyObject so we don't need the python headers everywhere
-// see: http://mail.python.org/pipermail/python-dev/2003-August/037601.html
-#ifndef PyObject_HEAD
-struct _object;
-typedef _object PyObject;
-#endif
-
-namespace pdal
-{
-namespace plang
-{
-
-
-class PDAL_DLL Array
-{
-public:
-    Array();
-    ~Array();
-
-    void update(PointViewPtr view);
-
-    inline PyObject* getPythonArray() const { return m_py_array; }
-
-
-private:
-    void cleanup();
-    PyObject* buildNumpyDescription(PointViewPtr view) const;
-
-    PyObject* m_py_array;
-    std::unique_ptr<std::vector<uint8_t> > m_data_array;
-
-    Array& operator=(Array const& rhs);
-};
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/CMakeLists.txt b/pdal/plang/CMakeLists.txt
deleted file mode 100644
index 63eaa6c..0000000
--- a/pdal/plang/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-
-set(plang_srcs
-    Array.cpp
-    Invocation.cpp
-    Environment.cpp
-    Redirector.cpp
-    Script.cpp
-)
-
-include(${PDAL_CMAKE_DIR}/python.cmake)
-
-PDAL_ADD_LIBRARY(${PDAL_PLANG_LIB_NAME} ${plang_srcs} )
-set_target_properties(${PDAL_PLANG_LIB_NAME} PROPERTIES
-    VERSION "${PDAL_BUILD_VERSION}"
-    SOVERSION "${PDAL_API_VERSION}"
-    CLEAN_DIRECT_OUTPUT 1)
-target_link_libraries(${PDAL_PLANG_LIB_NAME} PUBLIC
-    ${PDAL_BASE_LIB_NAME}
-    ${PDAL_UTIL_LIB_NAME}
-    ${PYTHON_LIBRARY})
-target_include_directories(${PDAL_PLANG_LIB_NAME} PRIVATE
-    ${PYTHON_INCLUDE_DIR}
-    ${PROJECT_BINARY_DIR}/include)
-install(TARGETS ${PLANG_LIB_NAME}
-    RUNTIME DESTINATION ${PDAL_BIN_INSTALL_DIR}
-    LIBRARY DESTINATION ${PDAL_LIB_INSTALL_DIR}
-    ARCHIVE DESTINATION ${PDAL_LIB_INSTALL_DIR})
-
-
diff --git a/pdal/plang/Environment.cpp b/pdal/plang/Environment.cpp
deleted file mode 100644
index 40d7138..0000000
--- a/pdal/plang/Environment.cpp
+++ /dev/null
@@ -1,355 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#ifndef _WIN32
-#include <dlfcn.h>
-#endif
-
-#include <pdal/plang/Environment.hpp>
-#include <pdal/plang/Redirector.hpp>
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#define PY_ARRAY_UNIQUE_SYMBOL PDAL_ARRAY_API
-#include <numpy/arrayobject.h>
-
-#include <sstream>
-#include <mutex>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127)  // conditional expression is constant
-#endif
-
-#include <Python.h>
-#include <pystate.h>
-#undef toupper
-#undef tolower
-#undef isspace
-
-// See ticket #1010.  This function runs when libplang is loaded.  It makes
-// sure python symbols can be found by extention module .so's since on some
-// platforms (notably Ubuntu), they aren't linked with libpython even though
-// they depend on it.  If a platform doesn't support
-// __attribute__ ((constructor)) this does nothing.  We'll have to deal with
-// those as they come up.
-#ifndef _WIN32
-__attribute__ ((constructor))
-static void loadPython()
-{
-    ::dlopen(PDAL_PYTHON_LIBRARY, RTLD_LAZY | RTLD_GLOBAL);
-}
-#endif
-
-// http://www.linuxjournal.com/article/3641
-// http://www.codeproject.com/Articles/11805/Embedding-Python-in-C-C-Part-I
-// http://stackoverflow.com/questions/6596016/python-threads-in-c
-
-namespace pdal
-{
-namespace plang
-{
-
-static Environment* g_environment=0;
-
-EnvironmentPtr Environment::get()
-{
-    static std::once_flag flag;
-
-    auto init = []()
-    {
-        g_environment = new Environment();
-    };
-
-    std::call_once(flag, init);
-
-    return g_environment;
-}
-
-
-Environment::Environment()
-{
-    // This awfulness is due to the import_array MACRO that returns a value
-    // in some cases and returns nothing at other times.  Defining
-    // NUMPY_IMPORT_ARRAY_RETVAL to nothing makes it so we don't ever return
-    // a value.  The function needs to be stuck in a function to deal with
-    // the return.
-    auto initNumpy = []()
-    {
-#undef NUMPY_IMPORT_ARRAY_RETVAL
-#define NUMPY_IMPORT_ARRAY_RETVAL
-        import_array();
-    };
-
-    if (!Py_IsInitialized())
-    {
-        PyImport_AppendInittab(const_cast<char*>("redirector"), redirector_init);
-        Py_Initialize();
-    } else
-    {
-        m_redirector.init();
-        PyObject* added  = PyImport_AddModule("redirector");
-        if (!added)
-            throw pdal_error("unable to add redirector module!");
-    }
-
-    initNumpy();
-    PyImport_ImportModule("redirector");
-}
-
-
-Environment::~Environment()
-{
-    Py_Finalize();
-}
-
-
-void Environment::set_stdout(std::ostream* ostr)
-{
-    m_redirector.set_stdout(ostr);
-}
-
-
-void Environment::reset_stdout()
-{
-    m_redirector.reset_stdout();
-}
-
-
-std::string getTraceback()
-{
-    // get exception info
-    PyObject *type, *value, *traceback;
-    PyErr_Fetch(&type, &value, &traceback);
-    PyErr_NormalizeException(&type, &value, &traceback);
-
-    std::ostringstream mssg;
-    if (traceback)
-    {
-        PyObject* tracebackModule;
-        PyObject* tracebackDictionary;
-        PyObject* tracebackFunction;
-
-        tracebackModule = PyImport_ImportModule("traceback");
-        if (!tracebackModule)
-            throw pdal::pdal_error("Unable to load traceback module.");
-
-        tracebackDictionary = PyModule_GetDict(tracebackModule);
-        if (!tracebackDictionary)
-            throw pdal::pdal_error("Unable to load traceback dictionary.");
-        tracebackFunction =
-            PyDict_GetItemString(tracebackDictionary, "format_exception");
-        if (!tracebackFunction)
-            throw pdal::pdal_error("Unable to find traceback function.");
-
-        if (!PyCallable_Check(tracebackFunction))
-            throw pdal::pdal_error("Invalid traceback function.");
-
-        // create an argument for "format exception"
-        PyObject* args = PyTuple_New(3);
-        PyTuple_SetItem(args, 0, type);
-        PyTuple_SetItem(args, 1, value);
-        PyTuple_SetItem(args, 2, traceback);
-
-        // get a list of string describing what went wrong
-        PyObject* output = PyObject_CallObject(tracebackFunction, args);
-
-        // print error message
-        Py_ssize_t n = PyList_Size(output);
-
-        for (Py_ssize_t i = 0; i < n; i++)
-        {
-            PyObject* l = PyList_GetItem(output, i);
-            if (!l)
-                throw pdal::pdal_error("unable to get list item in getTraceback");
-            PyObject* r = PyObject_Repr(l);
-            if (!r)
-                throw pdal::pdal_error("unable to get repr in getTraceback");
-#if PY_MAJOR_VERSION >= 3
-            Py_ssize_t size;
-            char *d = PyUnicode_AsUTF8AndSize(r, &size);
-#else
-            char *d = PyString_AsString(r);
-#endif
-            mssg << d;
-        }
-
-        // clean up
-        Py_XDECREF(args);
-        Py_XDECREF(output);
-    }
-    else if (value != NULL)
-    {
-        PyObject* r = PyObject_Repr(value);
-        if (!r)
-            throw pdal::pdal_error("couldn't make string representation of traceback value");
-#if PY_MAJOR_VERSION >= 3
-        Py_ssize_t size;
-        char *d = PyUnicode_AsUTF8AndSize(r, &size);
-#else
-        char *d = PyString_AsString(r);
-#endif
-        mssg << d;
-    }
-    else
-        mssg << "unknown error that we are unable to get a traceback for."
-            "Was it already printed/taken?";
-
-    Py_XDECREF(value);
-    Py_XDECREF(type);
-    Py_XDECREF(traceback);
-
-    return mssg.str();
-}
-
-PyObject *fromMetadata(MetadataNode m)
-{
-    std::string name = m.name();
-    std::string value = m.value();
-    std::string type = m.type();
-    std::string description = m.description();
-
-    MetadataNodeList children = m.children();
-    PyObject *submeta = PyList_New(0);
-    if (children.size())
-    {
-        for (MetadataNode& child : children)
-            PyList_Append(submeta, fromMetadata(child));
-    }
-    PyObject *data = PyDict_New();
-    PyDict_SetItemString(data, "name", PyUnicode_FromString(name.data()));
-    PyDict_SetItemString(data, "value", PyUnicode_FromString(value.data()));
-    PyDict_SetItemString(data, "type", PyUnicode_FromString(type.data()));
-    PyDict_SetItemString(data, "description", PyUnicode_FromString(description.data()));
-    PyDict_SetItemString(data, "children", submeta);
-
-    return data;
-}
-
-std::string readPythonString(PyObject* dict, const std::string& key)
-{
-    std::stringstream ss;
-
-    PyObject* o = PyDict_GetItemString(dict, key.c_str());
-    if (!o)
-    {
-        std::stringstream oss;
-        oss << "Unable to get dictionary item '" << key << "'";
-        throw pdal_error(oss.str());
-    }
-
-    PyObject* r = PyObject_Str(o);
-    if (!r)
-        throw pdal::pdal_error("unable to get repr in readPythonString");
-#if PY_MAJOR_VERSION >= 3
-    Py_ssize_t size;
-    char *d = PyUnicode_AsUTF8AndSize(r, &size);
-#else
-    char *d = PyString_AsString(r);
-#endif
-    ss << d;
-
-    return ss.str();
-}
-void addMetadata(PyObject *dict, MetadataNode m)
-{
-
-    if (! dict)
-    {
-        return;
-    }
-
-    if (!PyDict_Check(dict) )
-        throw pdal::pdal_error("'metadata' member must be a dictionary!");
-
-    std::string name = readPythonString(dict, "name");
-    std::string value = readPythonString(dict, "value");
-
-    std::string type = readPythonString(dict, "type");
-    if (type.empty())
-        type = Metadata::inferType(value);
-
-    std::string description = readPythonString(dict, "description");
-
-    PyObject *submeta = PyDict_GetItemString(dict, "children");
-    if (submeta)
-    {
-        if (!PyList_Check(submeta))
-            throw pdal::pdal_error("'children' metadata member must be a list!");
-
-        for (Py_ssize_t i = 0; i < PyList_Size(submeta); ++i)
-        {
-            PyObject* p = PyList_GetItem(submeta, i);
-            addMetadata(p, m);
-        }
-        MetadataNode child =  m.addWithType(name, value, type, description);
-    }
-}
-
-int Environment::getPythonDataType(Dimension::Type t)
-{
-    using namespace Dimension;
-
-    switch (t)
-    {
-    case Type::Float:
-        return NPY_FLOAT;
-    case Type::Double:
-        return NPY_DOUBLE;
-    case Type::Signed8:
-        return NPY_BYTE;
-    case Type::Signed16:
-        return NPY_SHORT;
-    case Type::Signed32:
-        return NPY_INT;
-    case Type::Signed64:
-        return NPY_LONGLONG;
-    case Type::Unsigned8:
-        return NPY_UBYTE;
-    case Type::Unsigned16:
-        return NPY_USHORT;
-    case Type::Unsigned32:
-        return NPY_UINT;
-    case Type::Unsigned64:
-        return NPY_ULONGLONG;
-    default:
-        return -1;
-    }
-    assert(0);
-
-    return -1;
-}
-
-
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/Environment.hpp b/pdal/plang/Environment.hpp
deleted file mode 100644
index 689c3ed..0000000
--- a/pdal/plang/Environment.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2012, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Consulting LLC nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-
-
-// forward declare PyObject so we don't need the python headers everywhere
-// see: http://mail.python.org/pipermail/python-dev/2003-August/037601.html
-#ifndef PyObject_HEAD
-struct _object;
-typedef _object PyObject;
-#endif
-
-
-#include <pdal/pdal_internal.hpp>
-#include <pdal/Metadata.hpp>
-#include <pdal/Dimension.hpp>
-
-#include "Redirector.hpp"
-
-namespace pdal
-{
-namespace plang
-{
-
-PyObject *fromMetadata(MetadataNode m);
-void addMetadata(PyObject *list, MetadataNode m);
-
-std::string getTraceback();
-
-class Environment;
-typedef Environment *EnvironmentPtr;
-
-class PDAL_DLL Environment
-{
-public:
-    Environment();
-    ~Environment();
-
-    // these just forward into the Redirector class
-    void set_stdout(std::ostream* ostr);
-    void reset_stdout();
-
-    static EnvironmentPtr get();
-    static int getPythonDataType(Dimension::Type t);
-
-private:
-    Redirector m_redirector;
-};
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/Invocation.cpp b/pdal/plang/Invocation.cpp
deleted file mode 100644
index c5fc338..0000000
--- a/pdal/plang/Invocation.cpp
+++ /dev/null
@@ -1,448 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/plang/Invocation.hpp>
-#include <pdal/plang/Environment.hpp>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127) // conditional expression is constant
-#define HAVE_ROUND // inconsistent dll linkage otherwise
-#endif
-
-#include <Python.h>
-#undef toupper
-#undef tolower
-#undef isspace
-
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-
-#define NO_IMPORT_ARRAY
-#define PY_ARRAY_UNIQUE_SYMBOL PDAL_ARRAY_API
-#include <numpy/arrayobject.h>
-
-namespace
-{
-
-int argCount(PyObject *function)
-{
-    PyObject *module = PyImport_ImportModule("inspect");
-    if (!module)
-        return false;
-    PyObject *dictionary = PyModule_GetDict(module);
-    PyObject *getargFunc = PyDict_GetItemString(dictionary, "getargspec");
-    PyObject *inArgs = PyTuple_New(1);
-    PyTuple_SetItem(inArgs, 0, function);
-    PyObject *outArgs = PyObject_CallObject(getargFunc, inArgs);
-    PyObject *arglist = PyTuple_GetItem(outArgs, (Py_ssize_t)0);
-    return (int) PyList_Size(arglist);
-}
-
-}
-
-namespace pdal
-{
-namespace plang
-{
-
-Invocation::Invocation(const Script& script)
-    : m_script(script)
-    , m_bytecode(NULL)
-    , m_module(NULL)
-    , m_dictionary(NULL)
-    , m_function(NULL)
-    , m_varsIn(NULL)
-    , m_varsOut(NULL)
-    , m_scriptArgs(NULL)
-    , m_scriptResult(NULL)
-    , m_metadata_PyObject(NULL)
-    , m_schema_PyObject(NULL)
-    , m_srs_PyObject(NULL)
-    , m_pdalargs_PyObject(NULL)
-{
-    plang::Environment::get();
-    resetArguments();
-}
-
-
-Invocation::~Invocation()
-{
-    cleanup();
-}
-
-
-void Invocation::compile()
-{
-    m_bytecode = Py_CompileString(m_script.source(), m_script.module(),
-        Py_file_input);
-    if (!m_bytecode)
-        throw pdal::pdal_error(getTraceback());
-
-    Py_INCREF(m_bytecode);
-
-    m_module = PyImport_ExecCodeModule(const_cast<char*>(m_script.module()),
-        m_bytecode);
-    if (!m_module)
-        throw pdal::pdal_error(getTraceback());
-
-    m_dictionary = PyModule_GetDict(m_module);
-    m_function = PyDict_GetItemString(m_dictionary, m_script.function());
-    if (!m_function)
-    {
-        std::ostringstream oss;
-        oss << "unable to find target function '" << m_script.function() <<
-            "' in module.";
-        throw pdal::pdal_error(oss.str());
-    }
-    if (!PyCallable_Check(m_function))
-        throw pdal::pdal_error(getTraceback());
-}
-
-
-void Invocation::cleanup()
-{
-    Py_XDECREF(m_varsIn);
-    Py_XDECREF(m_varsOut);
-    Py_XDECREF(m_scriptResult);
-    Py_XDECREF(m_scriptArgs); // also decrements script and vars
-    for (size_t i = 0; i < m_pyInputArrays.size(); i++)
-        Py_XDECREF(m_pyInputArrays[i]);
-    m_pyInputArrays.clear();
-    Py_XDECREF(m_bytecode);
-}
-
-
-void Invocation::resetArguments()
-{
-    cleanup();
-    m_varsIn = PyDict_New();
-    m_varsOut = PyDict_New();
-}
-
-
-void Invocation::insertArgument(std::string const& name, uint8_t* data,
-    Dimension::Type t, point_count_t count)
-{
-    npy_intp mydims = count;
-    int nd = 1;
-    npy_intp* dims = &mydims;
-    npy_intp stride = Dimension::size(t);
-    npy_intp* strides = &stride;
-
-#ifdef NPY_ARRAY_CARRAY
-    int flags = NPY_ARRAY_CARRAY;
-#else
-    int flags = NPY_CARRAY;
-#endif
-
-    const int pyDataType = plang::Environment::getPythonDataType(t);
-
-    PyObject* pyArray = PyArray_New(&PyArray_Type, nd, dims, pyDataType,
-        strides, data, 0, flags, NULL);
-    m_pyInputArrays.push_back(pyArray);
-    PyDict_SetItemString(m_varsIn, name.c_str(), pyArray);
-}
-
-
-void *Invocation::extractResult(std::string const& name,
-    Dimension::Type t)
-{
-    PyObject* xarr = PyDict_GetItemString(m_varsOut, name.c_str());
-    if (!xarr)
-        throw pdal::pdal_error("plang output variable '" + name + "' not found.");
-    if (!PyArray_Check(xarr))
-        throw pdal::pdal_error("Plang output variable  '" + name +
-            "' is not a numpy array");
-
-    PyArrayObject* arr = (PyArrayObject*)xarr;
-
-    npy_intp one = 0;
-    const int pyDataType = pdal::plang::Environment::getPythonDataType(t);
-    PyArray_Descr *dtype = PyArray_DESCR(arr);
-
-    if (static_cast<uint32_t>(dtype->elsize) != Dimension::size(t))
-    {
-        std::ostringstream oss;
-        oss << "dtype of array has size " << dtype->elsize
-            << " but PDAL dimension '" << name << "' has byte size of "
-            << Dimension::size(t) << " bytes.";
-        throw pdal::pdal_error(oss.str());
-    }
-
-    using namespace Dimension;
-    BaseType b = Dimension::base(t);
-    if (dtype->kind == 'i' && b != BaseType::Signed)
-    {
-        std::ostringstream oss;
-        oss << "dtype of array has a signed integer type but the " <<
-            "dimension data type of '" << name <<
-            "' is not pdal::Signed.";
-        throw pdal::pdal_error(oss.str());
-    }
-
-    if (dtype->kind == 'u' && b != BaseType::Unsigned)
-    {
-        std::ostringstream oss;
-        oss << "dtype of array has a unsigned integer type but the " <<
-            "dimension data type of '" << name <<
-            "' is not pdal::Unsigned.";
-        throw pdal::pdal_error(oss.str());
-    }
-
-    if (dtype->kind == 'f' && b != BaseType::Floating)
-    {
-        std::ostringstream oss;
-        oss << "dtype of array has a float type but the " <<
-            "dimension data type of '" << name << "' is not pdal::Floating.";
-        throw pdal::pdal_error(oss.str());
-    }
-    return PyArray_GetPtr(arr, &one);
-}
-
-
-void Invocation::getOutputNames(std::vector<std::string>& names)
-{
-    names.clear();
-
-    PyObject *key, *value;
-    Py_ssize_t pos = 0;
-
-    while (PyDict_Next(m_varsOut, &pos, &key, &value))
-    {
-        const char* p(0);
-#if PY_MAJOR_VERSION >= 3
-        p = PyBytes_AsString(PyUnicode_AsUTF8String(key));
-#else
-        p = PyString_AsString(key);
-#endif
-        if (p)
-            names.push_back(p);
-    }
-}
-
-
-bool Invocation::hasOutputVariable(const std::string& name) const
-{
-    return (PyDict_GetItemString(m_varsOut, name.c_str()) != NULL);
-}
-
-
-bool Invocation::execute()
-{
-    if (!m_bytecode)
-        throw pdal::pdal_error("No code has been compiled");
-
-    Py_INCREF(m_varsIn);
-    Py_ssize_t numArgs = argCount(m_function);
-    m_scriptArgs = PyTuple_New(numArgs);
-
-    if (numArgs > 2)
-        throw pdal::pdal_error("Only two arguments -- ins and outs numpy arrays -- can be passed!");
-
-    PyTuple_SetItem(m_scriptArgs, 0, m_varsIn);
-    if (numArgs > 1)
-    {
-        Py_INCREF(m_varsOut);
-        PyTuple_SetItem(m_scriptArgs, 1, m_varsOut);
-    }
-
-    int success(0);
-
-    if (m_metadata_PyObject)
-    {
-        success = PyModule_AddObject(m_module, "metadata", m_metadata_PyObject);
-        if (success)
-            throw pdal::pdal_error("unable to set metadata global");
-        Py_INCREF(m_metadata_PyObject);
-    }
-
-    if (m_schema_PyObject)
-    {
-        success = PyModule_AddObject(m_module, "schema", m_schema_PyObject);
-        if (success)
-            throw pdal::pdal_error("unable to set schema global");
-        Py_INCREF(m_srs_PyObject);
-    }
-
-    if (m_srs_PyObject)
-    {
-        success = PyModule_AddObject(m_module, "spatialreference", m_srs_PyObject);
-        if (success)
-            throw pdal::pdal_error("unable to set spatialreference global");
-        Py_INCREF(m_schema_PyObject);
-    }
-
-    if (m_pdalargs_PyObject)
-    {
-        success = PyModule_AddObject(m_module, "pdalargs", m_pdalargs_PyObject);
-        if (success)
-            throw pdal::pdal_error("unable to set pdalargs global");
-        Py_INCREF(m_pdalargs_PyObject);
-    }
-
-    m_scriptResult = PyObject_CallObject(m_function, m_scriptArgs);
-    if (!m_scriptResult)
-        throw pdal::pdal_error(getTraceback());
-    if (!PyBool_Check(m_scriptResult))
-        throw pdal::pdal_error("User function return value not a boolean type.");
-
-    PyObject* mod_vars = PyModule_GetDict(m_module);
-
-    PyObject* b =  PyUnicode_FromString("metadata");
-    if (PyDict_Contains(mod_vars, PyUnicode_FromString("metadata")) == 1)
-        m_metadata_PyObject = PyDict_GetItem(m_dictionary, b);
-
-    return (m_scriptResult == Py_True);
-}
-
-PyObject* getPyJSON(std::string const& str)
-{
-
-    PyObject* raw_json =  PyUnicode_FromString(str.c_str());
-    PyObject* json_module = PyImport_ImportModule("json");
-    if (!json_module)
-        throw pdal::pdal_error(getTraceback());
-
-    PyObject* json_mod_dict = PyModule_GetDict(json_module);
-    if (!json_mod_dict)
-        throw pdal::pdal_error(getTraceback());
-
-    PyObject* loads_func = PyDict_GetItemString(json_mod_dict, "loads");
-    if (!loads_func)
-        throw pdal::pdal_error(getTraceback());
-
-    PyObject* json_args = PyTuple_New(1);
-    if (!json_args)
-        throw pdal::pdal_error(getTraceback());
-
-    int success = PyTuple_SetItem(json_args, 0, raw_json);
-    if (success != 0)
-        throw pdal::pdal_error(getTraceback());
-
-    PyObject* json = PyObject_CallObject(loads_func, json_args);
-    if (!json)
-        throw pdal::pdal_error(getTraceback());
-
-    return json;
-}
-
-void Invocation::setKWargs(std::string const& s)
-{
-    Py_XDECREF(m_pdalargs_PyObject);
-    m_pdalargs_PyObject = getPyJSON(s);
-}
-
-void Invocation::begin(PointView& view, MetadataNode m)
-{
-    PointLayoutPtr layout(view.m_pointTable.layout());
-    Dimension::IdList const& dims = layout->dims();
-
-    for (auto di = dims.begin(); di != dims.end(); ++di)
-    {
-        Dimension::Id d = *di;
-        const Dimension::Detail *dd = layout->dimDetail(d);
-        void *data = malloc(dd->size() * view.size());
-        m_buffers.push_back(data);  // Hold pointer for deallocation
-        char *p = (char *)data;
-        for (PointId idx = 0; idx < view.size(); ++idx)
-        {
-            view.getFieldInternal(d, idx, (void *)p);
-            p += dd->size();
-        }
-        std::string name = layout->dimName(*di);
-        insertArgument(name, (uint8_t *)data, dd->type(), view.size());
-    }
-
-    // Put pipeline 'metadata' variable into module scope
-    Py_XDECREF(m_metadata_PyObject);
-    m_metadata_PyObject= plang::fromMetadata(m);
-
-    // Put 'schema' dict into module scope
-    Py_XDECREF(m_schema_PyObject);
-    MetadataNode s = view.layout()->toMetadata();
-    std::ostringstream ostrm;
-    Utils::toJSON(s, ostrm);
-    m_schema_PyObject = getPyJSON(ostrm.str());
-    ostrm.str("");
-
-    Py_XDECREF(m_srs_PyObject);
-    MetadataNode srs = view.spatialReference().toMetadata();
-    Utils::toJSON(srs, ostrm);
-    m_srs_PyObject = getPyJSON(ostrm.str());
-    ostrm.str("");
-}
-
-
-void Invocation::end(PointView& view, MetadataNode m)
-{
-    // for each entry in the script's outs dictionary,
-    // look up that entry's name in the schema and then
-    // copy the data into the right dimension spot in the
-    // buffer
-
-    std::vector<std::string> names;
-    getOutputNames(names);
-
-    PointLayoutPtr layout(view.m_pointTable.layout());
-    Dimension::IdList const& dims = layout->dims();
-
-    for (auto di = dims.begin(); di != dims.end(); ++di)
-    {
-        Dimension::Id d = *di;
-        const Dimension::Detail *dd = layout->dimDetail(d);
-        std::string name = layout->dimName(*di);
-        auto found = std::find(names.begin(), names.end(), name);
-        if (found == names.end()) continue; // didn't have this dim in the names
-
-        assert(name == *found);
-        assert(hasOutputVariable(name));
-
-        size_t size = dd->size();
-        void *data = extractResult(name, dd->type());
-        char *p = (char *)data;
-        for (PointId idx = 0; idx < view.size(); ++idx)
-        {
-            view.setField(d, dd->type(), idx, (void *)p);
-            p += size;
-        }
-    }
-    for (auto bi = m_buffers.begin(); bi != m_buffers.end(); ++bi)
-        free(*bi);
-    m_buffers.clear();
-    if (m_metadata_PyObject)
-        addMetadata(m_metadata_PyObject, m);
-}
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/Redirector.cpp b/pdal/plang/Redirector.cpp
deleted file mode 100644
index f0014e7..0000000
--- a/pdal/plang/Redirector.cpp
+++ /dev/null
@@ -1,221 +0,0 @@
-//
-// Copyright (C) 2011 Mateusz Loskot <mateusz at loskot.net>
-// Distributed under the Boost Software License, Version 1.0.
-// (See accompanying file LICENSE_1_0.txt or copy at
-// http://www.boost.org/LICENSE_1_0.txt)
-//
-// Blog article: http://mateusz.loskot.net/?p=2819
-
-#include <pdal/plang/Redirector.hpp>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127)  // conditional expression is constant
-#  pragma warning(disable: 4068)  // gcc pragma warnings
-#endif
-
-#include <ostream>
-#include <string>
-
-namespace pdal
-{
-namespace plang
-{
-
-struct Stdout
-{
-    PyObject_HEAD
-    Redirector::stdout_write_type write;
-    Redirector::stdout_flush_type flush;
-};
-
-
-static PyObject* Stdout_write(PyObject* self, PyObject* args)
-{
-    std::size_t written(0);
-    Stdout* selfimpl = reinterpret_cast<Stdout*>(self);
-    if (selfimpl->write)
-    {
-        char* data;
-        if (!PyArg_ParseTuple(args, "s", &data))
-            return 0;
-
-        std::string str(data);
-        selfimpl->write(str);
-        written = str.size();
-    }
-    return PyLong_FromSize_t(written);
-}
-
-
-static PyObject* Stdout_flush(PyObject* self, PyObject* /*args*/)
-{
-    Stdout *selfimpl = reinterpret_cast<Stdout *>(self);
-    if (selfimpl->flush)
-    {
-        selfimpl->flush();
-    }
-    return Py_BuildValue("");
-}
-
-
-static PyMethodDef Stdout_methods[] =
-{
-    {"write", Stdout_write, METH_VARARGS, "sys.stdout.write"},
-    {"flush", Stdout_flush, METH_VARARGS, "sys.stdout.flush"},
-    {0, 0, 0, 0} // sentinel
-};
-
-
-static PyTypeObject StdoutType =
-{
-    PyVarObject_HEAD_INIT(0, 0)
-    "redirector.StdoutType", /* tp_name */
-    sizeof(Stdout), /* tp_basicsize */
-    0, /* tp_itemsize */
-    0, /* tp_dealloc */
-    0, /* tp_print */
-    0, /* tp_getattr */
-    0, /* tp_setattr */
-    0, /* tp_reserved */
-    0, /* tp_repr */
-    0, /* tp_as_number */
-    0, /* tp_as_sequence */
-    0, /* tp_as_mapping */
-    0, /* tp_hash */
-    0, /* tp_call */
-    0, /* tp_str */
-    0, /* tp_getattro */
-    0, /* tp_setattro */
-    0, /* tp_as_buffer */
-    Py_TPFLAGS_DEFAULT, /* tp_flags */
-    "redirector.Stdout objects", /* tp_doc */
-    0, /* tp_traverse */
-    0, /* tp_clear */
-    0, /* tp_richcompare */
-    0, /* tp_weaklistoffset */
-    0, /* tp_iter */
-    0, /* tp_iternext */
-    Stdout_methods, /* tp_methods */
-    0, /* tp_members */
-    0, /* tp_getset */
-    0, /* tp_base */
-    0, /* tp_dict */
-    0, /* tp_descr_get */
-    0, /* tp_descr_set */
-    0, /* tp_dictoffset */
-    0, /* tp_init */
-    0, /* tp_alloc */
-    0, /* tp_new */
-    0, /* tp_free */
-    0, /* tp_is_gc */
-    0, /* tp_bases */
-    0, /* tp_mro */
-    0, /* tp_cache */
-    0, /* tp_subclasses */
-    0, /* tp_weaklist */
-    0, /* tp_del */
-    0, /* tp_version_tag */
-#if PY_MAJOR_VERSION >= 3
-    0, /* tp_finalilzer */
-#endif
-};
-
-
-Redirector::Redirector()
-    : m_stdout(NULL)
-    , m_stdout_saved(NULL)
-{
-    return;
-}
-
-
-Redirector::~Redirector()
-{
-    return;
-}
-
-
-PyMODINIT_FUNC redirector_init(void)
-{
-#if PY_MAJOR_VERSION >= 3
-    return Redirector::init();
-#else
-    Redirector::init();
-#endif
-}
-
-#if PY_MAJOR_VERSION >= 3
-    static struct PyModuleDef redirectordef = {
-        PyModuleDef_HEAD_INIT,
-        "redirector",     /* m_name */
-        "redirector.Stdout objects",  /* m_doc */
-        -1,                  /* m_size */
-        Stdout_methods,    /* m_methods */
-        NULL,                /* m_reload */
-        NULL,                /* m_traverse */
-        NULL,                /* m_clear */
-        NULL,                /* m_free */
-    };
-#endif
-
-PyObject* Redirector::init()
-{
-    StdoutType.tp_new = PyType_GenericNew;
-    if (PyType_Ready(&StdoutType) < 0)
-        return NULL;
-#if PY_MAJOR_VERSION >= 3
-    PyObject* m = PyModule_Create(&redirectordef);
-#else
-    PyObject* m = Py_InitModule3("redirector", 0, 0);
-#endif
-    if (m)
-    {
-        //ABELL - This is bad code as the type cast is invalid. (type pun
-        //  warning.)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wstrict-aliasing"
-        Py_INCREF(reinterpret_cast<PyObject*>(&StdoutType));
-        PyModule_AddObject(m, "Stdout", reinterpret_cast<PyObject*>(&StdoutType));
-#pragma GCC diagnostic pop
-    }
-    return m;
-}
-
-
-void Redirector::set_stdout(std::ostream* ostr)
-{
-    stdout_write_type writeFunc = [ostr](std::string msg) { *ostr << msg; };
-    stdout_flush_type flushFunc = [ostr]{ ostr->flush(); };
-
-    this->set_stdout(writeFunc, flushFunc);
-}
-
-
-void Redirector::set_stdout(stdout_write_type write, stdout_flush_type flush)
-{
-    if (!m_stdout)
-    {
-        m_stdout_saved =
-            PySys_GetObject(const_cast<char*>("stdout")); // borrowed
-        m_stdout = StdoutType.tp_new(&StdoutType, 0, 0);
-    }
-
-    Stdout* impl = reinterpret_cast<Stdout*>(m_stdout);
-    impl->write = write;
-    impl->flush = flush;
-    PySys_SetObject(const_cast<char*>("stdout"), m_stdout);
-}
-
-
-void Redirector::reset_stdout()
-{
-    if (m_stdout_saved)
-        PySys_SetObject(const_cast<char*>("stdout"), m_stdout_saved);
-
-    Py_XDECREF(m_stdout);
-    m_stdout = 0;
-}
-
-} //namespace plang
-} //namespace pdal
-
diff --git a/pdal/plang/Redirector.hpp b/pdal/plang/Redirector.hpp
deleted file mode 100644
index 40d1ed1..0000000
--- a/pdal/plang/Redirector.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-//
-// Copyright (C) 2011 Mateusz Loskot <mateusz at loskot.net>
-// Distributed under the Boost Software License, Version 1.0.
-// (See accompanying file LICENSE_1_0.txt or copy at
-// http://www.boost.org/LICENSE_1_0.txt)
-//
-// Blog article: http://mateusz.loskot.net/?p=2819
-
-// http://python3porting.com/cextensions.html
-
-#pragma once
-
-#include <functional>
-#include <pdal/pdal_defines.h>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127) // conditional expression is constant
-#define HAVE_ROUND // inconsistent dll linkage otherwise
-#endif
-
-#include <Python.h>
-
-#undef toupper
-#undef tolower
-#undef isspace
-
-namespace pdal
-{
-namespace plang
-{
-
-PyMODINIT_FUNC redirector_init(void);
-
-class Redirector
-{
-public:
-    Redirector();
-    ~Redirector();
-
-    static PyObject* init();
-    void set_stdout(std::ostream* ostr);
-    void reset_stdout();
-
-    typedef std::function<void(std::string)> stdout_write_type;
-    typedef std::function<void()> stdout_flush_type;
-
-private:
-    void set_stdout(stdout_write_type write, stdout_flush_type flush);
-
-    // Internal state
-    PyObject* m_stdout;
-    PyObject* m_stdout_saved;
-};
-
-} // namespace plang
-} // namespace pdal
-
diff --git a/pdal/plang/Script.cpp b/pdal/plang/Script.cpp
deleted file mode 100644
index dfc9177..0000000
--- a/pdal/plang/Script.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/plang/Script.hpp>
-
-#ifdef PDAL_COMPILER_MSVC
-#  pragma warning(disable: 4127) // conditional expression is constant
-#endif
-
-namespace pdal
-{
-namespace plang
-{
-
-Script::Script(const std::string& source, const std::string& module,
-    const std::string& function) : m_source(source) , m_module(module),
-    m_function(function)
-{
-}
-
-
-std::ostream& operator << (std::ostream& os, Script const& script)
-{
-    os << "source=[" << strlen(script.source()) << " bytes], ";
-    os << "module=" << script.module() << ", ";
-    os << "function=" << script.function();
-    os << std::endl;
-
-    return os;
-}
-
-} //namespace plang
-} //namespace pdal
-
diff --git a/pdal/private/PipelineReaderXML.hpp b/pdal/private/PipelineReaderXML.hpp
deleted file mode 100644
index c58a268..0000000
--- a/pdal/private/PipelineReaderXML.hpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <boost/property_tree/ptree.hpp>
-
-#include <pdal/pdal_internal.hpp>
-#include <pdal/StageFactory.hpp>
-
-#include <vector>
-#include <string>
-
-
-namespace pdal
-{
-
-class Options;
-class PipelineManager;
-
-class PDAL_DLL PipelineReaderXML
-{
-private:
-    class StageParserContext;
-
-public:
-    PipelineReaderXML(PipelineManager&);
-
-    /**
-      Read an XML pipeline file into a PipelineManager.
-
-      \param filename  Filename to read from.
-    */
-    void readPipeline(const std::string& filename);
-
-    /**
-      Read an XML pipeline from a stream into a PipelineManager.
-
-      \param input  Stream to read from.
-    */
-    void readPipeline(std::istream& input);
-
-private:
-    typedef std::map<std::string, std::string> map_t;
-
-    void parseElement_Pipeline(const pdalboost::property_tree::ptree&);
-    Stage *parseElement_anystage(const std::string& name,
-        const pdalboost::property_tree::ptree& subtree);
-    Stage *parseElement_Reader(const pdalboost::property_tree::ptree& tree);
-    Stage *parseElement_Filter(const pdalboost::property_tree::ptree& tree);
-    Stage *parseElement_Writer(const pdalboost::property_tree::ptree& tree);
-    Option parseElement_Option(const pdalboost::property_tree::ptree& tree);
-    void collect_attributes(map_t& attrs,
-        const pdalboost::property_tree::ptree& tree);
-    void parse_attributes(map_t& attrs,
-        const pdalboost::property_tree::ptree& tree);
-
-private:
-    PipelineManager& m_manager;
-    std::string m_inputXmlFile;
-
-    PipelineReaderXML& operator=(const PipelineReaderXML&); // not implemented
-    PipelineReaderXML(const PipelineReaderXML&); // not implemented
-
-    void baseReadPipeline(std::istream& input);
-};
-
-} // namespace pdal
diff --git a/pdal/util/Bounds.cpp b/pdal/util/Bounds.cpp
index 8929e28..92c6c3f 100644
--- a/pdal/util/Bounds.cpp
+++ b/pdal/util/Bounds.cpp
@@ -168,7 +168,7 @@ Bounds::Bounds(const BOX2D& box) : m_box(box)
 
 BOX3D Bounds::to3d() const
 {
-    if (m_box.minz == HIGHEST && m_box.maxz == LOWEST)
+    if (!is3d())
         return BOX3D();
     return m_box;
 }
diff --git a/pdal/util/Bounds.hpp b/pdal/util/Bounds.hpp
index 45d93ca..2438a06 100644
--- a/pdal/util/Bounds.hpp
+++ b/pdal/util/Bounds.hpp
@@ -566,8 +566,8 @@ public:
     Bounds()
     {}
 
-    Bounds(const BOX3D& box);
-    Bounds(const BOX2D& box);
+    explicit Bounds(const BOX3D& box);
+    explicit Bounds(const BOX2D& box);
 
     BOX3D to3d() const;
     BOX2D to2d() const;
diff --git a/pdal/util/IStream.hpp b/pdal/util/IStream.hpp
index dd819eb..1d921da 100644
--- a/pdal/util/IStream.hpp
+++ b/pdal/util/IStream.hpp
@@ -421,6 +421,167 @@ public:
 
 
 /**
+  Stream wrapper for input of binary data that converts from big-endian
+  to host ordering.
+*/
+class IBeStream : public IStream
+{
+public:
+    /**
+      Default constructor.
+    */
+    PDAL_DLL IBeStream()
+    {}
+
+    /**
+      Constructor that opens the file and maps it to a stream.
+
+      \param filename  Filename.
+    */
+    PDAL_DLL IBeStream(const std::string& filename) : IStream(filename)
+    {}
+
+    /**
+      Constructor that maps to a provided stream.
+
+      \param stream  Stream to extract from.
+    */
+    PDAL_DLL IBeStream(std::istream *stream) : IStream(stream)
+    {}
+
+    /**
+      Extract an unsigned byte from the stream.
+
+      \param v  unsigned byte to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (uint8_t& v)
+    {
+        v = (uint8_t)m_stream->get();
+        return *this;
+    }
+
+    /**
+      Extract an unsigned byte from the stream.
+
+      \param v  unsigned byte to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (int8_t& v)
+    {
+        v = (int8_t)m_stream->get();
+        return *this;
+    }
+
+    /**
+      Extract an unsigned short from the stream.
+
+      \param v  unsigned short to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (uint16_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = be16toh(v);
+        return *this;
+    }
+
+    /**
+      Extract an short from the stream.
+
+      \param v  short to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (int16_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = (int16_t)be16toh((uint16_t)v);
+        return *this;
+    }
+
+    /**
+      Extract an unsigned int from the stream.
+
+      \param v  unsigned int to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (uint32_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = be32toh(v);
+        return *this;
+    }
+
+    /**
+      Extract an int from the stream.
+
+      \param v  int to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (int32_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = (int32_t)be32toh((uint32_t)v);
+        return *this;
+    }
+
+    /**
+      Extract an unsigned long int from the stream.
+
+      \param v  unsigned long int to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (uint64_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = be64toh(v);
+        return *this;
+    }
+
+    /**
+      Extract a long int from the stream.
+
+      \param v  long int to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (int64_t& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        v = (int64_t)be64toh((uint64_t)v);
+        return *this;
+    }
+
+    /**
+      Extract a float from the stream.
+
+      \param v  float to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (float& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        uint32_t tmp = be32toh(*(uint32_t *)(&v));
+        std::memcpy(&v, &tmp, sizeof(tmp));
+        return *this;
+    }
+
+    /**
+      Extract a double from the stream.
+
+      \param v  double to populate
+      \return  This stream.
+    */
+    PDAL_DLL IBeStream& operator >> (double& v)
+    {
+        m_stream->read((char *)&v, sizeof(v));
+        uint64_t tmp = be64toh(*(uint64_t *)(&v));
+        std::memcpy(&v, &tmp, sizeof(tmp));
+        return *this;
+    }
+};
+
+
+/**
   Stream wrapper for input of binary data that converts from either
   little-endian or big-endian to host ordering, depending on object
   settings.
@@ -437,7 +598,7 @@ public:
         : IStream(filename)
         , m_isLittleEndian(DefaultIsLittleEndian)
     {}
-    
+
     PDAL_DLL ISwitchableStream(std::istream* stream)
         : IStream(stream)
         , m_isLittleEndian(DefaultIsLittleEndian)
diff --git a/pdal/util/NullOStream.hpp b/pdal/util/NullOStream.hpp
index 7d709fc..ccb62a1 100644
--- a/pdal/util/NullOStream.hpp
+++ b/pdal/util/NullOStream.hpp
@@ -34,6 +34,8 @@
 
 // Copied from http://stackoverflow.com/questions/8243743/is-there-a-null-stdostream-implementation-in-c-or-libraries
 
+#pragma once
+
 #include <iostream>
 #include <streambuf>
 
diff --git a/pdal/util/OStream.hpp b/pdal/util/OStream.hpp
index 9b2fc3b..ca54caf 100644
--- a/pdal/util/OStream.hpp
+++ b/pdal/util/OStream.hpp
@@ -206,6 +206,92 @@ public:
     }
 };
 
+
+/// Stream wrapper for output of binary data that converts from host ordering
+/// to big endian format
+class OBeStream : public OStream
+{
+public:
+    PDAL_DLL OBeStream()
+    {}
+    PDAL_DLL OBeStream(const std::string& filename) : OStream(filename)
+    {}
+    PDAL_DLL OBeStream(std::ostream *stream) : OStream(stream)
+    {}
+
+    PDAL_DLL OBeStream& operator << (uint8_t v)
+    {
+        m_stream->put((char)v);
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (int8_t v)
+    {
+        m_stream->put((char)v);
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (uint16_t v)
+    {
+        v = htobe16(v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (int16_t v)
+    {
+        v = (int16_t)htobe16((uint16_t)v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (uint32_t v)
+    {
+        v = htobe32(v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (int32_t v)
+    {
+        v = (int32_t)htobe32((uint32_t)v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (uint64_t v)
+    {
+        v = htobe64(v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (int64_t v)
+    {
+        v = (int64_t)htobe64((uint64_t)v);
+        m_stream->write((char *)&v, sizeof(v));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (float v)
+    {
+        uint32_t tmp(0);
+        std::memcpy(&tmp, &v, sizeof(v));
+        tmp = htobe32(tmp);
+        m_stream->write((char *)&tmp, sizeof(tmp));
+        return *this;
+    }
+
+    PDAL_DLL OBeStream& operator << (double v)
+    {
+        uint64_t tmp(0);
+        std::memcpy(&tmp, &v, sizeof(v));
+        tmp = htobe64(tmp);
+        m_stream->write((char *)&tmp, sizeof(tmp));
+        return *this;
+    }
+};
+
 /// Stream position marker with rewinding/reset support.
 class OStreamMarker
 {
@@ -226,7 +312,7 @@ public:
 private:
     std::streampos m_pos;
     OStream& m_stream;
-        
+
     OStreamMarker(const OStreamMarker&);  // not implemented
     OStreamMarker& operator=(const OStreamMarker&);  // not implemented
 };
diff --git a/pdal/util/ProgramArgs.hpp b/pdal/util/ProgramArgs.hpp
index cf4dc49..346035a 100644
--- a/pdal/util/ProgramArgs.hpp
+++ b/pdal/util/ProgramArgs.hpp
@@ -1070,8 +1070,8 @@ public:
 
     /**
       Parse a command line as specified by its argument vector.  No validation
-      occurs and no exceptions are raised, but assignments are made
-      to bound variables where possible.
+      occurs and only argument value exceptions are raised,
+      but assignments are made to bound variables where possible.
 
       \param s  List of strings that constitute the argument list.
     */
@@ -1131,7 +1131,7 @@ public:
 
       \param s  List of strings that constitute the argument list.
     */
-    void parse(std::vector<std::string>& s)
+    void parse(const std::vector<std::string>& s)
     {
         validate();
         ArgValList vals(s);
@@ -1160,6 +1160,24 @@ public:
     }
 
     /**
+      Add a synonym for an argument.
+
+      \param name  Longname of existing arugment.
+      \param synonym  Synonym for argument.
+    */
+    void addSynonym(const std::string& name, const std::string& synonym)
+    {
+        Arg *arg = findLongArg(name);
+        if (!arg)
+            throw arg_error("Can't set synonym for argument '" + name + "'. "
+                "Argument doesn't exist.");
+        if (synonym.empty())
+            throw arg_error("Invalid (empty) synonym for argument '" +
+                name + "'.");
+        addLongArg(synonym, arg);
+    }
+
+    /**
       Reset the state of all arguments and bound variables as if no parsing
       had occurred.
     */
@@ -1312,6 +1330,7 @@ public:
         }
         out << "]";
     }
+
 private:
     /*
       Split an argument name into longname and shortname.
diff --git a/pdal/util/Utils.cpp b/pdal/util/Utils.cpp
index c2a9489..46b94ca 100644
--- a/pdal/util/Utils.cpp
+++ b/pdal/util/Utils.cpp
@@ -44,7 +44,9 @@
 #include <cxxabi.h>
 #include <sys/ioctl.h>
 #include <sys/wait.h>  // WIFEXITED, WEXITSTATUS
+#ifdef PDAL_HAVE_EXECINFO_H
 #include <execinfo.h> // backtrace
+#endif
 #include <dlfcn.h> // dladdr
 #endif
 
@@ -604,7 +606,7 @@ double Utils::normalizeLongitude(double longitude)
 std::vector<std::string> Utils::backtrace()
 {
     std::vector<std::string> lines;
-#ifndef WIN32
+#ifdef PDAL_HAVE_EXECINFO_H
     const int MAX_STACK_SIZE(100);
     void* buffer[MAX_STACK_SIZE];
     std::vector<std::string> prefixes;
@@ -695,4 +697,57 @@ std::string Utils::hexDump(const char *buf, size_t count)
    return (out);
 }
 
+
+std::vector<std::string> Utils::simpleWordexp(const std::string& cmdline)
+{
+    std::string temp;
+    bool instring = false;
+    bool escape = false;
+    std::vector<std::string> cmdArgs;
+    for (size_t i = 0; i < cmdline.size(); ++i)
+    {
+        if (instring)
+        {
+            if (escape)
+            {
+                if (cmdline[i] != '"' && cmdline[i] != '\\')
+                    temp += '\\';
+                escape = false;
+                temp += cmdline[i];
+            }
+            else if (cmdline[i] == '"')
+                instring = false;
+            else if (cmdline[i] == '\\')
+                escape = true;
+            else
+                temp += cmdline[i];
+        }
+        else
+        {
+            if (escape)
+            {
+                escape = false;
+                temp += cmdline[i];
+            }
+            else if (cmdline[i] == '"')
+                instring = true;
+            else if (cmdline[i] ==  '\\')
+                escape = true;
+            else if (std::isspace(cmdline[i]))
+            {
+                if (temp.size())
+                {
+                    cmdArgs.push_back(temp);
+                    temp.clear();
+                }
+            }
+            else
+                temp += cmdline[i];
+        }
+    }
+    if (!instring && temp.size())
+        cmdArgs.push_back(temp);
+    return cmdArgs;
+}
+
 } // namespace pdal
diff --git a/pdal/util/Utils.hpp b/pdal/util/Utils.hpp
index 9f5eda4..53569bf 100644
--- a/pdal/util/Utils.hpp
+++ b/pdal/util/Utils.hpp
@@ -45,6 +45,7 @@
 #include <istream>
 #include <limits>
 #include <map>
+#include <memory>
 #include <sstream>
 #include <stdexcept>
 #include <string>
@@ -54,6 +55,7 @@
 
 #include <iostream>
 
+#include "NullOStream.hpp"
 #include "pdal_util_export.hpp"
 
 namespace pdal
@@ -64,8 +66,8 @@ namespace Utils
     /**
      * \brief Clamp value to given bounds.
      *
-     * Clamps the input value t to bounds specified by min and max. Used to ensure
-     * that row and column indices remain within valid bounds.
+     * Clamps the input value t to bounds specified by min and max.
+     * Used to ensure that row and column indices remain within valid bounds.
      *
      * \param t the input value.
      * \param min the lower bound.
@@ -443,7 +445,7 @@ namespace Utils
 
       \param s  String in which to start counting characters.
       \param p  Position in input string at which to start counting.
-      \param pred  Unary predicte that tests a character.
+      \param pred  Unary predicate that tests a character.
       \return  Then number of characters matching the predicate.
     */
     template<typename PREDICATE>
@@ -451,12 +453,23 @@ namespace Utils
     extract(const std::string& s, std::string::size_type p, PREDICATE pred)
     {
         std::string::size_type count = 0;
-        while (pred(s[p++]))
+        while (p < s.size() && pred(s[p++]))
             count++;
         return count;
     }
 
     /**
+      Count the number of characters spaces in a string at a position.
+
+      \param s  String in which to start counting characters.
+      \param p  Position in input string at which to start counting.
+      \return  Then number of space-y characters matching the predicate.
+    */
+    PDAL_DLL inline std::string::size_type
+    extractSpaces(const std::string& s, std::string::size_type p)
+        { return extract(s, p, (int(*)(int))std::isspace); }
+
+    /**
       Split a string into substrings based on a predicate.  Characters
       matching the predicate are discarded.
 
@@ -555,6 +568,20 @@ namespace Utils
     }
 
     /**
+      Perform shell-style word expansion (break a string into arguments).
+      This only does simple handling of quoted values and backslashes
+      and doesn't support fancier shell behavior.  Use the real wordexp()
+      if you need all that.  The behavior of escaped values in a string
+      was surprising to me, so try the shell first if you think you've
+      found a problem.
+
+      \param s  Input string to parse.
+      \return  List of arguments.
+    */
+    PDAL_DLL std::vector<std::string>
+    simpleWordexp(const std::string& s);
+
+    /**
       Return a string representation of a type specified by the template
       argument.
 
@@ -566,16 +593,16 @@ namespace Utils
 
     struct RedirectStream
     {
-        RedirectStream() : m_out(NULL), m_out2(NULL), m_buf(NULL)
+        RedirectStream() : m_out(NULL), m_buf(NULL), m_null(new NullOStream)
         {}
 
         std::ofstream *m_out;
-        std::ostream *m_out2;
         std::streambuf *m_buf;
+        std::unique_ptr<NullOStream> m_null;
     };
 
     /**
-      Redirect a stream to some other stream.
+      Redirect a stream to some other stream, by default a null stream.
 
       \param out   Stream to redirect.
       \param dst   Destination stream.
@@ -585,21 +612,34 @@ namespace Utils
     {
         RedirectStream redir;
 
-        redir.m_out2 = &dst;
         redir.m_buf = out.rdbuf();
-        out.rdbuf(redir.m_out2->rdbuf());
+        out.rdbuf(dst.rdbuf());
         return redir;
     }
 
     /**
-      Redirect a stream to some file, by default /dev/null.
+      Redirect a stream to a null stream.
+
+      \param out   Stream to redirect.
+      \return  Context for stream restoration (see \ref restore()).
+    */
+    inline RedirectStream redirect(std::ostream& out)
+    {
+        RedirectStream redir;
+
+        redir.m_buf = out.rdbuf();
+        out.rdbuf(redir.m_null->rdbuf());
+        return redir;
+    }
+
+    /**
+      Redirect a stream to some file.
 
       \param out   Stream to redirect.
       \param file  Name of file where stream should be redirected.
       \return  Context for stream restoration (see \ref restore()).
     */
-    inline RedirectStream redirect(std::ostream& out,
-        const std::string& file = "/dev/null")
+    inline RedirectStream redirect(std::ostream& out, const std::string& file)
     {
         RedirectStream redir;
 
@@ -616,13 +656,12 @@ namespace Utils
       \param redir RedirectStream returned from corresponding
         \ref redirect() call.
     */
-    inline void restore(std::ostream& out, RedirectStream redir)
+    inline void restore(std::ostream& out, RedirectStream& redir)
     {
         out.rdbuf(redir.m_buf);
         if (redir.m_out)
             redir.m_out->close();
         redir.m_out = NULL;
-        redir.m_out2 = NULL;
         redir.m_buf = NULL;
     }
 
@@ -835,6 +874,19 @@ namespace Utils
     inline std::string toString(signed char from)
         { return std::to_string((int)from); }
 
+
+    template<typename T>
+    bool fromString(const std::string& from, T* & to)
+    {
+        void *v;
+        std::istringstream iss(from);
+
+        iss >> v;
+        to = reinterpret_cast<T*>(v);
+        return !iss.fail();
+    }
+
+
     /**
       Convert a string to a value by reading from a string stream.
 
diff --git a/pdal_defines.h.in b/pdal_defines.h.in
index 77dca12..191edc1 100644
--- a/pdal_defines.h.in
+++ b/pdal_defines.h.in
@@ -30,10 +30,16 @@
 #cmakedefine PDAL_HAVE_LASZIP
 #cmakedefine PDAL_HAVE_LAZPERF
 #cmakedefine PDAL_HAVE_LIBXML2
+#cmakedefine PDAL_HAVE_PYTHON
 
 #cmakedefine PDAL_ARBITER_ENABLED
 
 /*
+ * availability of execinfo.h
+ */
+#cmakedefine PDAL_HAVE_EXECINFO_H
+
+/*
  * Debug or Release build?
  */
 #define PDAL_BUILD_TYPE "@PDAL_BUILD_TYPE@"
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index 581b07f..4c6bf38 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -61,6 +61,10 @@ if(BUILD_PLUGIN_PYTHON)
     add_subdirectory(python)
 endif()
 
+if(BUILD_PLUGIN_OPENSCENEGRAPH)
+    add_subdirectory(openscenegraph)
+endif()
+
 if(BUILD_PLUGIN_RIVLIB)
     add_subdirectory(rxp)
 endif(BUILD_PLUGIN_RIVLIB)
diff --git a/plugins/cpd/CMakeLists.txt b/plugins/cpd/CMakeLists.txt
index 2d27bec..4e66b9b 100644
--- a/plugins/cpd/CMakeLists.txt
+++ b/plugins/cpd/CMakeLists.txt
@@ -1,14 +1,21 @@
-find_package(Cpd 0.5 REQUIRED)
+set(Cpd_VERSION 0.5)
 
-set_package_properties(Cpd PROPERTIES
-    DESCRIPTION "Coherent Point Drift"
-    URL "https://github.com/gadomski/cpd"
-    TYPE OPTIONAL
-    PURPOSE "Register two point sets using the Coherent Point Drift algorithm"
-    )
+find_package(Cpd ${Cpd_VERSION} REQUIRED)
+option(BUILD_PLUGIN_CPD "Build Coherent Point Drift support" ${Cpd_FOUND})
+
+set(files filters/CpdFilter.cpp)
+set(include_dirs "${CMAKE_CURRENT_LIST_DIR}" "${PDAL_VENDOR_DIR}/eigen")
 
-pdal_add_plugin(cpd_kernel_lib_name kernel cpd
-    FILES kernel/CpdKernel.cpp
+PDAL_ADD_PLUGIN(filter_libname filter cpd
+    FILES filters/CpdFilter.cpp
     LINK_WITH Cpd::Library-C++
     )
-target_include_directories(${cpd_kernel_lib_name} PRIVATE ${CMAKE_CURRENT_LIST_DIR})
+target_include_directories(${filter_libname} PRIVATE "${include_dirs}")
+
+if(${WITH_TESTS})
+    PDAL_ADD_TEST(pdal_filters_cpd_test
+        FILES test/CpdFilterTest.cpp
+        LINK_WITH ${filter_libname}
+        )
+    target_include_directories(pdal_filters_cpd_test PRIVATE "${include_dirs}")
+endif()
diff --git a/plugins/cpd/filters/CpdFilter.cpp b/plugins/cpd/filters/CpdFilter.cpp
new file mode 100644
index 0000000..a0e28a9
--- /dev/null
+++ b/plugins/cpd/filters/CpdFilter.cpp
@@ -0,0 +1,175 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include <cpd/affine.hpp>
+#include <cpd/nonrigid.hpp>
+#include <cpd/rigid.hpp>
+#include <filters/CpdFilter.hpp>
+#include <pdal/EigenUtils.hpp>
+#include <pdal/pdal_macros.hpp>
+
+namespace pdal
+{
+namespace
+{
+void movePoints(PointViewPtr moving, const cpd::Matrix& result)
+{
+    assert(moving->size() == (point_count_t)result.rows());
+    for (PointId i = 0; i < moving->size(); ++i)
+    {
+        moving->setField(Dimension::Id::X, i, result(i, 0));
+        moving->setField(Dimension::Id::Y, i, result(i, 1));
+        moving->setField(Dimension::Id::Z, i, result(i, 2));
+    }
+}
+
+void addMetadata(CpdFilter* filter, const cpd::Result& result)
+{
+    MetadataNode root = filter->getMetadata();
+    root.add("sigma2", result.sigma2);
+    root.add("runtime", double(result.runtime.count()) / 1e6);
+    root.add("iterations", result.iterations);
+}
+}
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.cpd", "CPD filter", "http://pdal.io/stages/filters.cpd.html");
+
+CREATE_SHARED_PLUGIN(1, 0, CpdFilter, Filter, s_info);
+
+std::string CpdFilter::getName() const
+{
+    return s_info.name;
+}
+
+void CpdFilter::addArgs(ProgramArgs& args)
+{
+    args.add("method", "CPD method (rigid, nonrigid, or affine)", m_method,
+             "rigid");
+}
+
+std::string CpdFilter::defaultMethod()
+{
+    return "rigid";
+}
+
+PointViewSet CpdFilter::run(PointViewPtr view)
+{
+    PointViewSet viewSet;
+    if (this->m_complete)
+    {
+        throw pdal_error(
+            "filters.cpd must have two point view inputs, no more, no less");
+    }
+    else if (this->m_fixed)
+    {
+        log()->get(LogLevel::Debug2) << "Adding moving points\n";
+        PointViewPtr result = this->change(this->m_fixed, view);
+        viewSet.insert(result);
+        this->m_complete = true;
+        log()->get(LogLevel::Debug2) << "filters.cpd complete\n";
+    }
+    else
+    {
+        log()->get(LogLevel::Debug2) << "Adding fixed points\n";
+        this->m_fixed = view;
+    }
+    return viewSet;
+}
+
+void CpdFilter::done(PointTableRef _)
+{
+    if (!this->m_complete)
+    {
+        throw pdal_error(
+            "filters.cpd must have two point view inputs, no more, no less");
+    }
+}
+
+PointViewPtr CpdFilter::change(PointViewPtr fixed, PointViewPtr moving)
+{
+    MetadataNode root = this->getMetadata();
+    root.add("method", this->m_method);
+    log()->get(LogLevel::Debug2)
+        << "filters.cpd running method:" << this->m_method << "\n";
+    if (this->m_method == "rigid")
+    {
+        this->cpd_rigid(fixed, moving);
+    }
+    else if (this->m_method == "affine")
+    {
+        this->cpd_affine(fixed, moving);
+    }
+    else if (this->m_method == "nonrigid")
+    {
+        this->cpd_nonrigid(fixed, moving);
+    }
+    else
+    {
+        std::stringstream ss;
+        ss << "Invalid cpd detection method: " << this->m_method;
+        throw pdal_error(ss.str());
+    }
+    return moving;
+}
+
+void CpdFilter::cpd_rigid(PointViewPtr fixed, PointViewPtr moving)
+{
+    cpd::Matrix fixedMatrix = eigen::pointViewToEigen(*fixed);
+    cpd::Matrix movingMatrix = eigen::pointViewToEigen(*moving);
+    cpd::RigidResult result = cpd::rigid(fixedMatrix, movingMatrix);
+    movePoints(moving, result.points);
+    addMetadata(this, static_cast<cpd::Result>(result));
+    MetadataNode root = getMetadata();
+    root.add("transform", result.matrix());
+}
+
+void CpdFilter::cpd_affine(PointViewPtr fixed, PointViewPtr moving)
+{
+    cpd::Matrix fixedMatrix = eigen::pointViewToEigen(*fixed);
+    cpd::Matrix movingMatrix = eigen::pointViewToEigen(*moving);
+    cpd::AffineResult result = cpd::affine(fixedMatrix, movingMatrix);
+    movePoints(moving, result.points);
+    MetadataNode root = getMetadata();
+    root.add("transform", result.matrix());
+}
+
+void CpdFilter::cpd_nonrigid(PointViewPtr fixed, PointViewPtr moving)
+{
+    cpd::Matrix fixedMatrix = eigen::pointViewToEigen(*fixed);
+    cpd::Matrix movingMatrix = eigen::pointViewToEigen(*moving);
+    cpd::NonrigidResult result = cpd::nonrigid(fixedMatrix, movingMatrix);
+    movePoints(moving, result.points);
+}
+}
diff --git a/plugins/cpd/filters/CpdFilter.hpp b/plugins/cpd/filters/CpdFilter.hpp
new file mode 100644
index 0000000..a217788
--- /dev/null
+++ b/plugins/cpd/filters/CpdFilter.hpp
@@ -0,0 +1,77 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+
+extern "C" int32_t CpdFilter_ExitFunc();
+extern "C" PF_ExitFunc CpdFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL CpdFilter : public Filter
+{
+  public:
+    static std::string defaultMethod();
+
+    CpdFilter() : Filter(), m_fixed(nullptr), m_method(""), m_complete(false)
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+
+    virtual PointViewSet run(PointViewPtr view);
+
+  private:
+    virtual void addArgs(ProgramArgs& args);
+    virtual void done(PointTableRef _);
+
+    PointViewPtr change(PointViewPtr fixed, PointViewPtr moving);
+    void cpd_rigid(PointViewPtr fixed, PointViewPtr moving);
+    void cpd_affine(PointViewPtr fixed, PointViewPtr moving);
+    void cpd_nonrigid(PointViewPtr fixed, PointViewPtr moving);
+
+    PointViewPtr m_fixed;
+    std::string m_method;
+    bool m_complete;
+
+    CpdFilter& operator=(const CpdFilter&); // not implemented
+    CpdFilter(const CpdFilter&);            // not implemented
+};
+} // namespace pdal
diff --git a/plugins/cpd/kernel/CpdKernel.cpp b/plugins/cpd/kernel/CpdKernel.cpp
deleted file mode 100644
index b2d5a98..0000000
--- a/plugins/cpd/kernel/CpdKernel.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/******************************************************************************
- * Copyright (c) 2014, Pete Gadomski (pete.gadomski at gmail.com)
- *
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following
- * conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in
- *       the documentation and/or other materials provided
- *       with the distribution.
- *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
- *       names of its contributors may be used to endorse or promote
- *       products derived from this software without specific prior
- *       written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
- * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
- * OF SUCH DAMAGE.
- ****************************************************************************/
-
-#include "kernel/CpdKernel.hpp"
-#include <pdal/pdal_macros.hpp>
-
-#include <cpd/nonrigid.hpp>
-#include <cpd/rigid.hpp>
-
-#include <filters/CropFilter.hpp>
-#include <io/BufferReader.hpp>
-#include <pdal/KernelFactory.hpp>
-#include <pdal/StageFactory.hpp>
-#include <pdal/EigenUtils.hpp>
-
-namespace pdal {
-
-static PluginInfo const s_info = PluginInfo(
-    "kernels.cpd", "CPD Kernel", "http://pdal.io/kernels/kernels.cpd.html");
-
-CREATE_SHARED_PLUGIN(1, 0, CpdKernel, Kernel, s_info)
-
-std::string CpdKernel::getName() const { return s_info.name; }
-
-void CpdKernel::addSwitches(ProgramArgs& args) {
-    Arg& method =
-        args.add("method,M", "registration method (rigid, nonrigid)", m_method);
-    method.setPositional();
-    Arg& fixed =
-        args.add("fixed,f", "input file containing the fixed points", m_fixed);
-    fixed.setPositional();
-    Arg& moving = args.add("moving,m",
-                          "input file containing the moving points, "
-                          "i.e. the points that will be registered",
-                          m_moving);
-    moving.setPositional();
-    Arg& output = args.add("output,o", "output file name", m_output);
-    output.setPositional();
-    args.add("bounds", "Extent (in XYZ) to clip output to", m_bounds);
-
-    args.add("max-iterations", "maximum number of iterations allowed",
-             m_max_iterations, cpd::DEFAULT_MAX_ITERATIONS);
-    args.add("normalize", "whether cpd should normalize the points before running",
-             m_normalize, true);
-    args.add("outliers", "a number between zero and one that represents the tolerance for outliers",
-             m_outliers, cpd::DEFAULT_OUTLIERS);
-    args.add("sigma2", "the starting sigma2 value.",
-             m_sigma2, cpd::DEFAULT_SIGMA2);
-    args.add("tolerance", "the amount the error must change to continue iterations",
-             m_tolerance, cpd::DEFAULT_TOLERANCE);
-
-    args.add("reflections", "should rigid registrations allow reflections",
-            m_reflections, false);
-    args.add("scale", "should rigid registrations allow scaling",
-            m_reflections, false);
-
-    args.add("beta", "beta parameter for nonrigid registrations",
-            m_beta, cpd::DEFAULT_BETA);
-    args.add("lambda", "lambda parameter for nonrigid registrations",
-            m_lambda, cpd::DEFAULT_LAMBDA);
-}
-
-cpd::Matrix CpdKernel::readFile(const std::string& filename) {
-    Stage& reader = makeReader(filename, "");
-
-    PointTable table;
-    PointViewSet viewSet;
-    if (!m_bounds.empty()) {
-        Options boundsOptions;
-        boundsOptions.add("bounds", m_bounds);
-
-        Stage& crop = makeFilter("filters.crop", reader);
-        crop.setOptions(boundsOptions);
-        crop.prepare(table);
-        viewSet = crop.execute(table);
-    } else {
-        reader.prepare(table);
-        viewSet = reader.execute(table);
-    }
-
-    return eigen::pointViewToEigen(**viewSet.begin());
-}
-
-int CpdKernel::execute() {
-    cpd::Matrix fixed = readFile(m_fixed);
-    cpd::Matrix moving = readFile(m_moving);
-
-    if (fixed.rows() == 0 || moving.rows() == 0) {
-        throw pdal_error("No points to process.");
-    }
-
-    cpd::Matrix result;
-    if (m_method == "rigid") {
-        cpd::Rigid rigid;
-        rigid.max_iterations(m_max_iterations)
-            .normalize(m_normalize)
-            .outliers(m_outliers)
-            .sigma2(m_sigma2)
-            .tolerance(m_tolerance);
-        rigid.reflections(m_reflections)
-            .scale(m_scale);
-        result = rigid.run(fixed, moving).points;
-    } else if (m_method == "nonrigid") {
-        cpd::Nonrigid nonrigid;
-        nonrigid.max_iterations(m_max_iterations)
-            .normalize(m_normalize)
-            .outliers(m_outliers)
-            .sigma2(m_sigma2)
-            .tolerance(m_tolerance);
-        nonrigid.beta(m_beta).lambda(m_lambda);
-        result = nonrigid.run(fixed, moving).points;
-    } else {
-        std::stringstream ss;
-        ss << "Invalid cpd method: " << m_method << std::endl;
-        throw pdal_error(ss.str());
-    }
-
-    PointTable outTable;
-    PointLayoutPtr outLayout(outTable.layout());
-    outLayout->registerDim(Dimension::Id::X);
-    outLayout->registerDim(Dimension::Id::Y);
-    outLayout->registerDim(Dimension::Id::Z);
-    outLayout->registerDim(Dimension::Id::XVelocity);
-    outLayout->registerDim(Dimension::Id::YVelocity);
-    outLayout->registerDim(Dimension::Id::ZVelocity);
-    PointViewPtr outView(new PointView(outTable));
-
-    size_t rows = moving.rows();
-    for (size_t i = 0; i < rows; ++i) {
-        outView->setField<double>(Dimension::Id::X, i, result(i, 0));
-        outView->setField<double>(Dimension::Id::Y, i, result(i, 1));
-        outView->setField<double>(Dimension::Id::Z, i, result(i, 2));
-        outView->setField<double>(Dimension::Id::XVelocity, i,
-                                  moving(i, 0) - result(i, 0));
-        outView->setField<double>(Dimension::Id::YVelocity, i,
-                                  moving(i, 1) - result(i, 1));
-        outView->setField<double>(Dimension::Id::ZVelocity, i,
-                                  moving(i, 2) - result(i, 2));
-    }
-
-    BufferReader reader;
-    reader.addView(outView);
-
-    Options writerOpts;
-    if (StageFactory::inferReaderDriver(m_output) == "writers.text") {
-        writerOpts.add("order", "X,Y,Z,XVelocity,YVelocity,ZVelocity");
-        writerOpts.add("keep_unspecified", false);
-    }
-    Stage& writer = makeWriter(m_output, reader, "", writerOpts);
-    writer.prepare(outTable);
-    writer.execute(outTable);
-
-    return 0;
-}
-
-}  // namespace pdal
diff --git a/plugins/cpd/kernel/CpdKernel.hpp b/plugins/cpd/kernel/CpdKernel.hpp
deleted file mode 100644
index 19d7b44..0000000
--- a/plugins/cpd/kernel/CpdKernel.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/******************************************************************************
- * Copyright (c) 2014, Pete Gadomski (pete.gadomski at gmail.com)
- *
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following
- * conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in
- *       the documentation and/or other materials provided
- *       with the distribution.
- *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
- *       names of its contributors may be used to endorse or promote
- *       products derived from this software without specific prior
- *       written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
- * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
- * OF SUCH DAMAGE.
- ****************************************************************************/
-
-#pragma once
-
-#include <cpd/matrix.hpp>
-#include <pdal/Kernel.hpp>
-#include <pdal/pdal_export.hpp>
-
-namespace pdal
-{
-
-class PDAL_DLL CpdKernel : public Kernel
-{
-public:
-    static void *create();
-    static int32_t destroy(void *);
-    std::string getName() const;
-    int execute();
-
-private:
-    CpdKernel() : Kernel() {};
-    virtual void addSwitches(ProgramArgs& args);
-    cpd::Matrix readFile(const std::string& filename);
-
-    std::string m_method;
-    std::string m_fixed;
-    std::string m_moving;
-    std::string m_output;
-    BOX3D m_bounds;
-
-    // cpd::Transform
-    size_t m_max_iterations;
-    bool m_normalize;
-    double m_outliers;
-    double m_sigma2;
-    double m_tolerance;
-
-    // cpd::Rigid
-    bool m_reflections;
-    bool m_scale;
-
-    // cpd::Nonrigid
-    double m_beta;
-    double m_lambda;
-};
-
-} // namespace pdal
diff --git a/plugins/cpd/test/CpdFilterTest.cpp b/plugins/cpd/test/CpdFilterTest.cpp
new file mode 100644
index 0000000..e222824
--- /dev/null
+++ b/plugins/cpd/test/CpdFilterTest.cpp
@@ -0,0 +1,202 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "Support.hpp"
+#include <Eigen/Dense>
+#include <filters/CpdFilter.hpp>
+#include <filters/TransformationFilter.hpp>
+#include <io/LasReader.hpp>
+#include <pdal/EigenUtils.hpp>
+#include <pdal/Options.hpp>
+#include <pdal/StageFactory.hpp>
+#include <pdal/pdal_test_main.hpp>
+
+namespace pdal
+{
+namespace
+{
+
+std::unique_ptr<LasReader> newReader()
+{
+    Options options;
+    options.add("filename", Support::datapath("las/100-points.las"));
+    std::unique_ptr<LasReader> reader(new LasReader());
+    reader->setOptions(options);
+    return reader;
+}
+
+std::unique_ptr<CpdFilter> newFilter()
+{
+    return std::unique_ptr<CpdFilter>(new CpdFilter());
+}
+
+void checkNoThrow(const std::string& method)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(*reader2);
+
+    Options options;
+    options.add("method", method);
+    filter->setOptions(options);
+
+    PointTable table;
+    filter->prepare(table);
+    ASSERT_NO_THROW(filter->execute(table));
+}
+
+void checkPointsEqualReader(const PointViewSet& pointViewSet, double tolerance)
+{
+    auto reader = newReader();
+    PointTable table;
+    reader->prepare(table);
+    PointViewSet readerPointViewSet = reader->execute(table);
+    ASSERT_EQ(1u, readerPointViewSet.size());
+    PointViewPtr expected = *readerPointViewSet.begin();
+    ASSERT_EQ(1u, pointViewSet.size());
+    PointViewPtr actual = *pointViewSet.begin();
+
+    ASSERT_EQ(expected->size(), actual->size());
+
+    for (PointId i = 0; i < expected->size(); ++i)
+    {
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::X, i),
+                    actual->getFieldAs<double>(Dimension::Id::X, i), tolerance);
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::Y, i),
+                    actual->getFieldAs<double>(Dimension::Id::Y, i), tolerance);
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::Z, i),
+                    actual->getFieldAs<double>(Dimension::Id::Z, i), tolerance);
+    }
+}
+}
+
+TEST(CpdFilterTest, DefaultMethod)
+{
+    EXPECT_EQ("rigid", CpdFilter::defaultMethod());
+}
+
+TEST(CpdFilterTest, DefaultIdentity)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(*reader2);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet viewSet = filter->execute(table);
+    EXPECT_EQ(1u, viewSet.size());
+    EXPECT_EQ(100u, (*viewSet.begin())->size());
+
+    MetadataNode root = filter->getMetadata();
+    EXPECT_EQ(CpdFilter::defaultMethod(), root.findChild("method").value());
+    MetadataNode transform = root.findChild("transform");
+    EXPECT_EQ("matrix", transform.type());
+    Eigen::MatrixXd transformMatrix = transform.value<Eigen::MatrixXd>();
+    EXPECT_TRUE(
+        transformMatrix.isApprox(Eigen::MatrixXd::Identity(4, 4), 1e-4));
+}
+
+TEST(CpdFilterTest, RecoverTranslation)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    TransformationFilter transformationFilter;
+    Options transformationOptions;
+    transformationOptions.add("matrix", "1 0 0 1\n0 1 0 2\n0 0 1 3\n0 0 0 1");
+    transformationFilter.setOptions(transformationOptions);
+    transformationFilter.setInput(*reader2);
+
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(transformationFilter);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet pointViewSet = filter->execute(table);
+
+    MetadataNode root = filter->getMetadata();
+    Eigen::MatrixXd transform =
+        root.findChild("transform").value<Eigen::MatrixXd>();
+    double tolerance = 1e-4;
+    EXPECT_NEAR(-1.0, transform(0, 3), tolerance);
+    EXPECT_NEAR(-2.0, transform(1, 3), tolerance);
+    EXPECT_NEAR(-3.0, transform(2, 3), tolerance);
+    checkPointsEqualReader(pointViewSet, tolerance);
+}
+
+TEST(CpdFilterTest, TooFewInputs)
+{
+    auto reader = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader);
+
+    PointTable table;
+    filter->prepare(table);
+    ASSERT_THROW(filter->execute(table), pdal_error);
+}
+
+TEST(CpdFilterTest, TooManyInputs)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    auto reader3 = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(*reader2);
+    filter->setInput(*reader3);
+
+    PointTable table;
+    filter->prepare(table);
+    ASSERT_THROW(filter->execute(table), pdal_error);
+}
+
+TEST(CpdFilterTest, RigidNoThrow)
+{
+    checkNoThrow("rigid");
+}
+
+TEST(CpdFilterTest, AffineNoThrow)
+{
+    checkNoThrow("affine");
+}
+
+TEST(CpdFilterTest, NonrigidNoThrow)
+{
+    checkNoThrow("nonrigid");
+}
+} // namespace pdal
diff --git a/plugins/geowave/io/GeoWaveReader.cpp b/plugins/geowave/io/GeoWaveReader.cpp
index 7172bd7..1f2d7b0 100644
--- a/plugins/geowave/io/GeoWaveReader.cpp
+++ b/plugins/geowave/io/GeoWaveReader.cpp
@@ -129,6 +129,9 @@ using jace::proxy::mil::nga::giat::geowave::datastore::accumulo::AccumuloDataSto
 #include "jace/proxy/mil/nga/giat/geowave/datastore/accumulo/metadata/AccumuloAdapterStore.h"
 using jace::proxy::mil::nga::giat::geowave::datastore::accumulo::metadata::AccumuloAdapterStore;
 
+namespace pdal
+{
+
 static PluginInfo const s_info = PluginInfo(
     "readers.geowave",
     "\"GeoWave\"  reader support. ",
@@ -138,12 +141,10 @@ CREATE_SHARED_PLUGIN(1, 0, GeoWaveReader, Reader, s_info)
 
 std::string pdal::GeoWaveReader::getName() const { return s_info.name; }
 
-
 #define STRINGIFY(x) #x
 #define TOSTRING(x) STRINGIFY(x)
 
-namespace pdal
-{
+
     void GeoWaveReader::addArgs(ProgramArgs& args)
     {
         args.add("zookeeper_url", "The comma-delimited URLs for all "
@@ -190,7 +191,7 @@ namespace pdal
 
     void GeoWaveReader::addDimensions(PointLayoutPtr layout)
     {
-        layout->registerDims(getDefaultDimensions());
+        layout->registerDims( { Dimension::Id::X, Dimension::Id::Y } );
 
         BasicAccumuloOperations accumuloOperations;
         try
@@ -228,14 +229,6 @@ namespace pdal
         }
     }
 
-    Dimension::IdList GeoWaveReader::getDefaultDimensions()
-    {
-        Dimension::IdList ids;
-        ids.push_back(Dimension::Id::X);
-        ids.push_back(Dimension::Id::Y);
-        return ids;
-    }
-
     void GeoWaveReader::ready(PointTableRef table)
     {
         if (m_bounds.empty())
diff --git a/plugins/geowave/io/GeoWaveReader.hpp b/plugins/geowave/io/GeoWaveReader.hpp
index 9b1bdad..22d185c 100644
--- a/plugins/geowave/io/GeoWaveReader.hpp
+++ b/plugins/geowave/io/GeoWaveReader.hpp
@@ -65,8 +65,6 @@ namespace pdal
         virtual void ready(PointTableRef table);
         virtual point_count_t read(PointViewPtr view, point_count_t count);
         virtual void done(PointTableRef table);
-
-	Dimension::IdList getDefaultDimensions();
         int createJvm();
 
         std::string m_zookeeperUrl;
diff --git a/plugins/geowave/io/GeoWaveWriter.cpp b/plugins/geowave/io/GeoWaveWriter.cpp
index ad53a17..12f8bfb 100644
--- a/plugins/geowave/io/GeoWaveWriter.cpp
+++ b/plugins/geowave/io/GeoWaveWriter.cpp
@@ -34,6 +34,7 @@
 
 #include "GeoWaveWriter.hpp"
 
+#include <pdal/pdal_macros.hpp>
 #include <pdal/util/Algorithm.hpp>
 #include <pdal/util/ProgramArgs.hpp>
 
@@ -135,6 +136,9 @@ using jace::proxy::mil::nga::giat::geowave::datastore::accumulo::AccumuloDataSto
 #include "jace/proxy/mil/nga/giat/geowave/datastore/accumulo/AccumuloIndexWriter.h"
 using jace::proxy::mil::nga::giat::geowave::datastore::accumulo::AccumuloIndexWriter;
 
+namespace pdal
+{
+  
 static PluginInfo const s_info = PluginInfo(
     "writers.geowave",
     "Write data using GeoWave.",
@@ -144,12 +148,9 @@ CREATE_SHARED_PLUGIN(1, 0, GeoWaveWriter, Writer, s_info)
 
 std::string pdal::GeoWaveWriter::getName() const { return s_info.name; }
 
-
 #define STRINGIFY(x) #x
 #define TOSTRING(x) STRINGIFY(x)
 
-namespace pdal
-{
     void GeoWaveWriter::addArgs(ProgramArgs& args)
     {
         args.add("zookeeper_url", "The comma-delimited URLs for all "
@@ -162,7 +163,7 @@ namespace pdal
             "an Accumulo connector.", m_username).setPositional();
         args.add("password", "The password for the account to establish "
             "an Accumulo connector.", m_password).setPositional();
-        args.add("table_namespace", " "The table name to be used when "
+        args.add("table_namespace", "The table name to be used when "
             "interacting with GeoWave.", m_tableNamespace).setPositional();
         args.add("feature_type_name", "The feature type name to be used "
             "when interacting with GeoWave.", m_featureTypeName, "PDAL_Point");
@@ -193,7 +194,7 @@ namespace pdal
         // get a list of all the dimensions & their types
         Dimension::IdList all = table.layout()->dims();
         for (auto di = all.begin(); di != all.end(); ++di)
-            if (!contains(m_dims, *di))
+            if (!Utils::contains(m_dims, *di))
                 m_dims.push_back(*di);
     }
 
diff --git a/plugins/greyhound/CMakeLists.txt b/plugins/greyhound/CMakeLists.txt
index 8d89bb8..e989dde 100644
--- a/plugins/greyhound/CMakeLists.txt
+++ b/plugins/greyhound/CMakeLists.txt
@@ -3,24 +3,27 @@
 #
 
 add_definitions(-DHAVE_JSONCPP=1)
+if (WIN32)
+add_definitions("-DARBITER_DLL_IMPORT")
+endif()
 
 PDAL_ADD_PLUGIN(libname reader greyhound
     FILES
         io/CompressionStream.cpp
         io/GreyhoundReader.cpp
         io/bounds.cpp
-        io/pool.cpp
     LINK_WITH ${PDAL_JSONCPP_LIB_NAME})
 target_include_directories(${libname} PRIVATE
     ${PDAL_JSONCPP_INCLUDE_DIR}
     ${PDAL_VENDOR_DIR})
 
+
 if (WITH_TESTS)
-    PDAL_ADD_TEST(greyhoundreadertest
+    PDAL_ADD_TEST(pdal_io_greyhound_reader_test
         FILES
             test/GreyhoundReaderTest.cpp
         LINK_WITH ${libname} )
-target_include_directories(greyhoundreadertest PRIVATE
+target_include_directories(pdal_io_greyhound_reader_test PRIVATE
     ${PDAL_JSONCPP_INCLUDE_DIR}
     ${PDAL_VENDOR_DIR})
 endif()
diff --git a/plugins/greyhound/io/GreyhoundReader.cpp b/plugins/greyhound/io/GreyhoundReader.cpp
index 3aa4403..e4df6ca 100644
--- a/plugins/greyhound/io/GreyhoundReader.cpp
+++ b/plugins/greyhound/io/GreyhoundReader.cpp
@@ -34,6 +34,7 @@
 
 #include "GreyhoundReader.hpp"
 
+#include <regex>
 #include <sstream>
 
 #include <pdal/pdal_macros.hpp>
@@ -54,599 +55,264 @@ std::string GreyhoundReader::getName() const { return s_info.name; }
 
 namespace
 {
-    Json::Value parse(const std::string& data)
-    {
-        Json::Value json;
-        Json::Reader reader;
 
-        if (data.size())
-        {
-            if (!reader.parse(data, json, false))
-            {
-                const std::string jsonError(reader.getFormattedErrorMessages());
-                if (!jsonError.empty())
-                {
-                    throw pdal_error("Error during parsing: " + jsonError);
-                }
-            }
-        }
-
-        return json;
-    }
-
-    std::string write(const Json::Value& json)
-    {
-        Json::StreamWriterBuilder builder;
-        builder.settings_["indentation"] = "";
-        return Json::writeString(builder, json);
-    }
+Json::Value parse(const std::string& data)
+{
+    Json::Value json;
+    Json::Reader reader;
 
-    DimTypeList schemaToDims(const Json::Value& json)
+    if (data.size())
     {
-        DimTypeList output;
-
-        // XYZ might be natively stored as integral values, typically when the
-        // disk-storage for Entwine is scaled/offset.  Since we're abstracting
-        // this out, always ask for XYZ as doubles.
-        auto isXyz([](Dimension::Id id)
+        if (!reader.parse(data, json, false))
         {
-            return
-                id == Dimension::Id::X ||
-                id == Dimension::Id::Y ||
-                id == Dimension::Id::Z;
-        });
-
-        if (!json.isNull() && json.isArray())
-        {
-            for (const auto& jsonDim : json)
+            const std::string jsonError(reader.getFormattedErrorMessages());
+            if (!jsonError.empty())
             {
-                const Dimension::Id id(
-                        Dimension::id(jsonDim["name"].asString()));
-
-                const int baseType(
-                        Utils::toNative(
-                            Dimension::fromName(jsonDim["type"].asString())));
-
-                const int size(jsonDim["size"].asUInt64());
-
-                const Dimension::Type type(
-                        isXyz(id) ?
-                            Dimension::Type::Double :
-                            static_cast<Dimension::Type>(baseType | size));
-
-                output.emplace_back(id, type);
+                throw pdal_error("Error during parsing: " + jsonError);
             }
         }
-
-        return output;
     }
 
-    Json::Value layoutToSchema(const PointLayout& layout)
-    {
-        Json::Value result;
-
-        std::map<std::size_t, const Dimension::Detail> details;
-
-        for (const Dimension::Id id : layout.dims())
-        {
-            const auto& d(*layout.dimDetail(id));
-            details.emplace(d.offset(), d);
-        }
+    return json;
+}
 
-        for (const auto& p : details)
-        {
-            const auto& d(p.second);
-            Json::Value j;
-            j["name"] = Dimension::name(d.id());
-            j["type"] = Dimension::toName(base(d.type()));
-            j["size"] = static_cast<int>(Dimension::size(d.type()));
-            result.append(j);
-        }
+std::string dense(const Json::Value& json)
+{
+    Json::StreamWriterBuilder builder;
+    builder.settings_["indentation"] = "";
+    return Json::writeString(builder, json);
+}
 
-        return result;
-    }
+} // unnamed namespace
 
-    greyhound::Bounds zoom(
-            const greyhound::Bounds& queryBounds,
-            const greyhound::Bounds& fullBounds,
-            std::size_t& split)
-    {
-        auto currentBounds(fullBounds);
+void GreyhoundReader::addArgs(ProgramArgs& args)
+{
+    args.add("url", "URL", m_args.url);
+    args.add("resource", "Resource name", m_args.resource);
+    args.add("bounds", "Bounds", m_args.sbounds);
+    args.add("depth_begin", "Beginning depth to query", m_args.depthBegin);
+    args.add("depth_end", "Ending depth to query", m_args.depthEnd);
+    args.add("tile_path", "Index-optimized tile selection", m_args.tilePath);
+    args.add("filter", "Query filter", m_args.filter);
+    args.add("schema", "Greyhound schema", m_args.schema);
+}
 
-        greyhound::Dir dir(
-                pdal::greyhound::getDirection(
-                    currentBounds.mid(),
-                    queryBounds.mid()));
+std::string GreyhoundReader::Args::base() const
+{
+    // The url may be of the form:
+    //      server.com
+    //      server.com/resource/asdf/read?<query>
+    //
+    // We want to extract, from either form (resource may be specified
+    // separately):
+    //      server.com/resource/asdf/
 
-        while (currentBounds.get(dir, true).contains(queryBounds))
-        {
-            currentBounds.go(dir, true);
-            ++split;
+    // Strip off query string.
+    std::string s(url.substr(0, url.find('?')));
 
-            dir = pdal::greyhound::getDirection(
-                    currentBounds.mid(),
-                    queryBounds.mid());
-        }
+    if (std::regex_match(s, std::regex(".+/resource/.+/read$")))
+    {
+        // If the URL is a fully-specified READ query, strip off the "read".
+        if (resource.size())
+            throw pdal_error("Cannot specify resource twice");
 
-        return currentBounds;
+        s = s.substr(0, s.size() - 4);
     }
 
-    std::string stringify(const greyhound::Bounds& bounds)
-    {
-        std::stringstream ss;
-        ss << std::fixed;
-        ss <<
-            "[" <<
-            bounds.min().x << "," << bounds.min().y << "," << bounds.min().z <<
-            "," <<
-            bounds.max().x << "," << bounds.max().y << "," << bounds.max().z <<
-            "]";
-        return ss.str();
-    }
+    if (s.empty())
+        throw pdal_error("No server specified");
 
-    BOX3D toBox(const greyhound::Bounds& bounds)
+    if (resource.size())
     {
-        return BOX3D(
-                bounds.min().x, bounds.min().y, bounds.min().z,
-                bounds.max().x, bounds.max().y, bounds.max().z);
+        // Otherwise, if resource is specified separately, add it now.
+        s = s + (s.back() == '/' ? "" : "/") + "resource/" + resource;
     }
 
-    pdal::greyhound::Bounds toBounds(const BOX3D& box)
-    {
-        return greyhound::Bounds(
-                box.minx, box.miny, box.minz,
-                box.maxx, box.maxy, box.maxz);
-    }
+    // Make sure we end up with a trailing slash.
+    if (s.back() != '/')
+        s = s + '/';
 
-    const double dmin(std::numeric_limits<double>::lowest());
-    const double dmax(std::numeric_limits<double>::max());
-    const BOX3D everythingBox(dmin, dmin, dmin, dmax, dmax, dmax);
-    const greyhound::Bounds everythingBounds(toBounds(everythingBox));
+    // Finally, ensure an HTTP prefix so arbiter interprets it correctly.
+    if (s.find("http://") == 0 || s.find("https://") == 0)
+        return s;
+    else return "http://" + s;
 }
 
-GreyhoundReader::GreyhoundReader()
-    : Reader()
-    , m_url()
-    , m_resource()
-    , m_depthBegin(0)
-    , m_depthEnd(0)
-    , m_baseDepth(0)
-    , m_sparseDepth(0)
-    , m_numPoints(0)
-    , m_depthBeginArg(0)
-    , m_depthEndArg(0)
-{ }
-
-void GreyhoundReader::initialize(PointTableRef table)
+std::string GreyhoundReader::Args::query() const
 {
-    if (m_url.find("http://") == std::string::npos &&
-            m_url.find("https://") == std::string::npos)
-    {
-        m_url = "http://" + m_url;
-    }
+    const std::size_t q(url.find('?'));
+    std::string s(url.substr(q != std::string::npos ? q : url.size()));
 
-    Json::Value config;
-
-    if (log()->getLevel() > LogLevel::Debug4)
+    auto add([&s](std::string k, std::string v)
     {
-        config["arbiter"]["verbose"] = true;
-    }
-
-    m_arbiter.reset(new arbiter::Arbiter(config));
-
-    std::string infoUrl = m_url + "/resource/" + m_resource + "/info";
-    log()->get(LogLevel::Debug) << "Fetching info URL: " << infoUrl <<
-        std::endl;
-    try
-    {
-        m_info = parse(m_arbiter->get(infoUrl));
-    }
-    catch (const pdal_error& err)
-    {
-        throwError(err.what());
-    }
-
-    m_depthBegin = m_depthBeginArg;
-    m_depthEnd = m_depthEndArg;
-
-    m_fullBounds = m_info["bounds"];
-
-    m_queryBounds = toBounds(m_queryBox).intersection(m_fullBounds);
+        s += (s.size() ? '&' : '?') + k + '=' + v;
+    });
 
-    if (m_pathsArg.size())
+    if (sbounds.size())
     {
-        if (m_pathsArg.size() == 1)
+        greyhound::Bounds gbounds;
+        if (sbounds.find('(') != std::string::npos)
         {
-            m_filter["Path"] = m_pathsArg.front();
+            // This is a PDAL-specified bounds.
+            Bounds pdalBounds;
+            std::istringstream iss(sbounds);
+            iss >> pdalBounds;
+            if (pdalBounds.is3d())
+            {
+                const auto box(pdalBounds.to3d());
+                gbounds = greyhound::Bounds(box.minx, box.miny, box.minz,
+                        box.maxx, box.maxy, box.maxz);
+            }
+            else
+            {
+                const auto box(pdalBounds.to2d());
+                gbounds = greyhound::Bounds(box.minx, box.miny,
+                        box.maxx, box.maxy);
+            }
         }
         else
         {
-            for (const auto& p : m_pathsArg)
-            {
-                m_filter["Path"].append(p);
-            }
+            gbounds = greyhound::Bounds(parse(sbounds));
         }
-    }
 
-    if (!m_filter.isNull())
-    {
-        log()->get(LogLevel::Debug) << "Filter: " << m_filter << std::endl;
+        add("bounds", dense(gbounds.toJson()));
     }
 
-    m_dims = schemaToDims(m_info["schema"]);
-    m_baseDepth = m_info["baseDepth"].asUInt64();
-    m_sparseDepth = std::log(m_info["numPoints"].asUInt64()) / std::log(4) + 1;
+    if (depthBegin)
+        add("depthBegin", std::to_string(depthBegin));
+    if (depthEnd)
+        add("depthEnd", std::to_string(depthEnd));
 
-    setSpatialReference(m_info["srs"].asString());
-}
+    Json::Value f(filter);
 
-void GreyhoundReader::addArgs(ProgramArgs& args)
-{
-    args.add("url", "URL", m_url);
-    args.add("resource", "Resource ID", m_resource);
-    args.add("bounds", "Bounding cube", m_queryBox, everythingBox);
-    args.add("depth_begin", "Beginning depth to query", m_depthBeginArg, 0u);
-    args.add("depth_end", "Ending depth to query", m_depthEndArg, 0u);
-    args.add("tile_path", "Index-optimized tile selection", m_pathsArg);
-    args.add("filter", "Query filter", m_filter);
-    args.add("threads", "Number of threads for HTTP requests", m_threadsArg, 4);
-}
+    if (f.isString())
+        f = parse(f.asString());
 
-void GreyhoundReader::prepared(PointTableRef table)
-{
-    auto& layout(*table.layout());
-    // Note that we must construct the schema (which drives the formatting of
-    // Greyhound's responses) here, rather than just from the 'info' that comes
-    // back from Greyhound.  This is because other Reader instances may add
-    // dimensions that don't exist in this resource.  Also, the dimensions may
-    // be re-ordered in the layout from what we obtained in 'info'.  Greyhound
-    // will zero-fill non-existent dimentions in the responses, which will
-    // compress to pretty much nothing.
-    m_schema = layoutToSchema(layout);
-    log()->get(LogLevel::Debug) << "Schema: " << m_schema << std::endl;
+    if (tilePath.size())
+        f["Path"] = tilePath;
 
-    m_dims.clear();
-    for (const auto& j : m_schema)
-    {
-        m_dims.push_back(layout.findDimType(j["name"].asString()));
+    if (!f.isNull())
+        add("filter", dense(f));
 
-        if (m_dims.back().m_id == Dimension::Id::Unknown)
-        {
-            throwError("Could not find dimension " + j["name"].asString());
-        }
-    }
-}
+    if (!schema.isNull())
+        add("schema", dense(schema));
 
-void GreyhoundReader::addDimensions(PointLayoutPtr layout)
-{
-    for (auto& dim : m_dims)
-    {
-        layout->registerDim(dim.m_id, dim.m_type);
-    }
+#ifdef PDAL_HAVE_LAZPERF
+    add("compress", "true");
+#endif
+
+    return s;
 }
 
-QuickInfo GreyhoundReader::inspect()
+void GreyhoundReader::initialize(PointTableRef table)
 {
-    QuickInfo qi;
-    std::unique_ptr<PointLayout> layout(new PointLayout());
-
-    PointTable table;
-    initialize(table);
-    addDimensions(layout.get());
+    Json::Value config;
+    if (log()->getLevel() > LogLevel::Debug4)
+        config["arbiter"]["verbose"] = true;
+    m_arbiter.reset(new arbiter::Arbiter(config));
 
-    for (auto di = layout->dims().begin(); di != layout->dims().end(); ++di)
+    if (m_filename.size() && m_args.url.empty())
     {
-        qi.m_dimNames.push_back(layout->dimName(*di));
+        m_args.url = m_filename;
+        const std::string pre("greyhound://");
+        if (m_args.url.find(pre) == 0)
+            m_args.url = m_args.url.substr(pre.size());
     }
 
-    qi.m_srs = getSpatialReference();
-    qi.m_valid = true;
-
-    std::size_t split(0);
-    const greyhound::Bounds zoomBounds(
-            zoom(m_queryBounds, m_fullBounds, split));
+    log()->get(LogLevel::Debug) << "Fetching info from " << m_args.base() <<
+        std::endl;
 
-    if (split)
+    try
     {
-        const std::size_t depthBegin(
-                std::max(m_depthBegin, m_baseDepth + split));
-        const std::size_t depthEnd(depthBegin + 32);
-
-        const auto hierarchy(
-                fetchVerticalHierarchy(zoomBounds, depthBegin, depthEnd));
-        qi.m_pointCount =
-            std::accumulate(hierarchy.begin(), hierarchy.end(), 0);
-
-        // The hierarchy doesn't have the resolution we want at the upper
-        // levels.  Estimate what's there based on the top level of information
-        // that we have.
-        if (hierarchy.size())
-        {
-            for (std::size_t i(0); i < split; ++i)
-            {
-                qi.m_pointCount += hierarchy.front() / ((i + 1) * 8);
-            }
-        }
+        m_info = parse(m_arbiter->get(m_args.base() + "info"));
     }
-    else
+    catch (std::exception& e)
     {
-        qi.m_pointCount = m_info["numPoints"].asUInt64();
+        throw pdal_error(std::string("Failed to fetch info: ") + e.what());
     }
 
-    qi.m_bounds = toBox(m_fullBounds.intersection(toBounds(m_queryBox)));
-    done(table);
-
-    return qi;
+    if (m_info.isMember("srs"))
+        setSpatialReference(m_info["srs"].asString());
 }
 
-point_count_t GreyhoundReader::read(PointViewPtr view, point_count_t count)
-{
-    std::size_t split(0);
-    const greyhound::Bounds zoomBounds(
-            zoom(m_queryBounds, m_fullBounds, split));
-
-    // Greyhound's native chunking is pretty small to accomodate a renderer's
-    // need for very fast response times.  Since we don't really care about
-    // that, we'll let Greyhound do more work per query for better overall
-    // throughput.
-    split += 3;
-
-    const std::size_t depthBegin(m_depthBegin);
-    const std::size_t depthSplit(std::max(m_depthBegin, m_baseDepth + split));
-
-    greyhound::Pool pool(m_threadsArg);
-
-    if (depthSplit > depthBegin)
-    {
-        pool.add([this, &view, depthBegin, depthSplit]()
-        {
-            try
-            {
-                inc(fetchData(*view, m_queryBounds, depthBegin, depthSplit));
-            }
-            catch (std::exception& e)
-            {
-                std::lock_guard<std::mutex> lock(m_mutex);
-                m_error.reset(new std::string(e.what()));
-            }
-            catch (...)
-            {
-                std::lock_guard<std::mutex> lock(m_mutex);
-                m_error.reset(new std::string("Unknown error during read"));
-            }
-        });
-    }
-
-    launchPooledReads(*view, zoomBounds, depthSplit, pool);
-
-    pool.await();
-    if (m_error)
-        throwError(*m_error);
-
-    return m_numPoints;
-}
-
-void GreyhoundReader::launchPooledReads(
-        PointView& view,
-        const greyhound::Bounds& bounds,
-        const std::size_t startDepth,
-        greyhound::Pool& pool)
+void GreyhoundReader::addDimensions(PointLayoutPtr layout)
 {
-    Json::Value hierarchy(
-            fetchHierarchy(bounds, startDepth, startDepth + m_hierarchyStep));
-
-    m_tasks.emplace([this, &view, &hierarchy, bounds, startDepth]()
+    auto isXyz([](const std::string& name)
     {
-        read(view, hierarchy, bounds, startDepth, startDepth);
+        return name == "X" || name == "Y" || name == "Z";
     });
 
-    while (m_running.size() || m_tasks.size())
+    for (const auto& d : m_info["schema"])
     {
-        std::unique_lock<std::mutex> lock(m_mutex);
-        if (m_tasks.size())
-        {
-            const std::size_t taskId(m_taskId);
-            ++m_taskId;
+        const auto name(d["name"].asString());
 
-            m_running[taskId] = std::move(m_tasks.front());
-            auto& task(m_running[taskId]);
-            m_tasks.pop();
+        const int baseType(
+                Utils::toNative(Dimension::fromName(d["type"].asString())));
 
-            lock.unlock();
+        const int size(d["size"].asInt());
 
-            pool.add([this, taskId, &task]()
-            {
-                try
-                {
-                    task();
-                }
-                catch (std::runtime_error& e)
-                {
-                    std::lock_guard<std::mutex> lock(m_mutex);
-                    m_error.reset(new std::string(
-                                std::string("Greyhound read failed: ") +
-                                e.what()));
-                }
-                catch (...)
-                {
-                    std::lock_guard<std::mutex> lock(m_mutex);
-                    m_error.reset(new std::string(
-                                "Greyhound read failed: unknown error"));
-                }
-
-                std::lock_guard<std::mutex> lock(m_mutex);
-                m_running.erase(taskId);
-            });
-        }
-        else
-        {
-            lock.unlock();
-            std::this_thread::sleep_for(std::chrono::milliseconds(500));
-        }
+        const Dimension::Type type(
+                isXyz(name) ?
+                    Dimension::Type::Double :
+                    static_cast<Dimension::Type>(baseType | size));
 
-        // If any tasks failed, rethrow in the main thread.
-        lock.lock();
-        if (m_error)
-            throwError(*m_error);
+        layout->registerOrAssignDim(name, type);
     }
 }
 
-void GreyhoundReader::read(
-        PointView& view,
-        Json::Value& hierarchy,
-        const greyhound::Bounds& bounds,
-        const std::size_t startDepth,
-        const std::size_t depth)
-{
-    // At the end of the query.
-    if (m_depthEnd && depth >= m_depthEnd) return;
-    if (!bounds.overlaps(m_queryBounds)) return;
-
-    const greyhound::Bounds intersect(bounds.intersection(m_queryBounds));
-
-    if (depth > m_sparseDepth)
-    {
-        // We're at the sparse depth, so request all remaining depths for the
-        // current bounds.
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_tasks.emplace([this, &view, intersect, depth]()
-        {
-            inc(fetchData(view, intersect, depth, m_depthEnd));
-        });
-    }
-    else
-    {
-        // If we're at the step size, fetch the next hierarchy range.
-        if (hierarchy.isNull())
-        {
-            const auto diff(depth - startDepth);
-            if (diff && diff % m_hierarchyStep == 0)
-            {
-                hierarchy = fetchHierarchy(
-                        bounds, depth, depth + m_hierarchyStep);
-            }
-            else return;
-        }
-
-        if (hierarchy.isNull() || !hierarchy["n"].asUInt64()) return;
-
-        const std::size_t nextDepth(depth + 1);
-
-        auto next([this, &view, startDepth, nextDepth, bounds, &hierarchy]()
-        {
-            for (std::size_t d(0); d < greyhound::dirEnd(); ++d)
-            {
-                const auto dir(greyhound::toDir(d));
-                const greyhound::Bounds nextBounds(bounds.get(dir));
-                auto& nextHierarchy(hierarchy[greyhound::dirToString(dir)]);
-
-                read(view, nextHierarchy, nextBounds, startDepth, nextDepth);
-            }
-        });
-
-        // For the first level, kick off the next level without waiting for
-        // the response.
-        if (depth == startDepth) next();
-
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_tasks.emplace(
-                [this, &view, intersect, depth, nextDepth, startDepth, next]()
-        {
-            const auto inc(fetchData(view, intersect, depth, nextDepth));
-            if (inc && depth != startDepth) next();
-        });
-    }
-}
-
-std::vector<point_count_t> GreyhoundReader::fetchVerticalHierarchy(
-        const greyhound::Bounds& bounds,
-        std::size_t depthBegin,
-        std::size_t depthEnd) const
+void GreyhoundReader::prepared(PointTableRef table)
 {
-    std::stringstream url;
-    url << m_url << "/resource/" << m_resource;
-    url << "/hierarchy?bounds=" << arbiter::http::sanitize(stringify(bounds));
-    url << "&depthBegin=" << depthBegin;
-    url << "&depthEnd=" << depthEnd;
-    url << "&vertical=true";
+    auto& layout(*table.layout());
 
-    log()->get(LogLevel::Debug) << "Hierarchy: " << url.str() << std::endl;
+    // Note that we must construct the schema (which drives the formatting of
+    // Greyhound's responses) here, rather than just from the 'info' that comes
+    // back from Greyhound.  This is because other Reader instances may add
+    // dimensions that don't exist in this resource.  Also, the dimensions may
+    // be re-ordered in the layout from what we obtained in 'info'.  Greyhound
+    // will zero-fill non-existent dimentions in the responses, which will
+    // compress to pretty much nothing.
 
-    std::vector<point_count_t> results;
-    try
-    {
-        const Json::Value json(parse(m_arbiter->get(url.str())));
+    std::map<std::size_t, const Dimension::Detail> details;
 
-        for (const auto& v : json)
-            results.push_back(v.asUInt64());
-    }
-    catch (const pdal_error& err)
+    for (const Dimension::Id id : layout.dims())
     {
-        throwError(err.what());
+        const auto& detail(*layout.dimDetail(id));
+        details.emplace(detail.offset(), detail);
     }
-    return results;
-}
 
-Json::Value GreyhoundReader::fetchHierarchy(
-        const greyhound::Bounds& bounds,
-        std::size_t depthBegin,
-        std::size_t depthEnd) const
-{
-    std::stringstream url;
-    url << m_url << "/resource/" << m_resource;
-    url << "/hierarchy?bounds=" << arbiter::http::sanitize(stringify(bounds));
-    url << "&depthBegin=" << depthBegin;
-    url << "&depthEnd=" << depthEnd;
-
-    log()->get(LogLevel::Debug) << "Hierarchy: " << url.str() << std::endl;
-
-    Json::Value json;
-    try
-    {
-        json = parse(m_arbiter->get(url.str()));
-    }
-    catch (const pdal_error& err)
+    m_args.schema = Json::Value();
+    for (const auto& p : details)
     {
-        throwError(err.what());
-    }
-    return json;
-}
+        const Dimension::Detail& d(p.second);
+        const std::string name(layout.dimName(d.id()));
 
-point_count_t GreyhoundReader::fetchData(
-        PointView& view,
-        const greyhound::Bounds& bounds,
-        const std::size_t depthBegin,
-        const std::size_t depthEnd)
-{
-    std::stringstream url;
-    url << m_url << "/resource/" << m_resource;
-    url << "/read?bounds=" << arbiter::http::sanitize(stringify(bounds));
-    url << "&depthBegin=" << depthBegin;
-    url << "&depthEnd=" << depthEnd;
-
-#ifdef PDAL_HAVE_LAZPERF
-    url << "&compress=true";
-#endif
-    if (!m_filter.isNull())
-    {
-        url << "&filter=" << arbiter::http::sanitize(write(m_filter));
-    }
+        Json::Value j;
+        j["name"] = name;
+        j["type"] = Dimension::toName(base(d.type()));
+        j["size"] = static_cast<int>(Dimension::size(d.type()));
+        m_args.schema.append(j);
 
-    {
-        std::lock_guard<std::mutex> lock(m_mutex);
-        log()->get(LogLevel::Debug) << "Reading: " << url.str() << std::endl;
+        m_dims.push_back(layout.findDimType(name));
+        if (m_dims.back().m_id == Dimension::Id::Unknown)
+            throw pdal_error("Could not find dimension " + name);
     }
 
-    url << "&schema=" << arbiter::http::sanitize(write(m_schema));
+    log()->get(LogLevel::Debug) << "Schema: " << m_args.schema << std::endl;
+}
 
-    auto response(m_arbiter->getBinary(url.str()));
-    const std::size_t pointSize(view.layout()->pointSize());
+point_count_t GreyhoundReader::read(PointViewPtr view, point_count_t count)
+{
+    const std::string url(m_args.base() + "read" + m_args.query());
+    log()->get(LogLevel::Debug) << "Reading: " << url << std::endl;
 
-    std::unique_lock<std::mutex> lock(m_mutex);
+    auto response(m_arbiter->getBinary(url));
+    const std::size_t pointSize(view->layout()->pointSize());
 
-    const std::size_t numPoints(
-            *reinterpret_cast<const uint32_t*>(
-                response.data() + response.size() - sizeof(uint32_t)));
+    uint32_t numPoints(0);
+    std::copy(
+            response.data() + response.size() - sizeof(uint32_t),
+            response.data() + response.size(),
+            reinterpret_cast<char*>(&numPoints));
 
     log()->get(LogLevel::Debug) <<
         "Fetched " << numPoints << " points" << std::endl;
@@ -658,17 +324,15 @@ point_count_t GreyhoundReader::fetchData(
     std::vector<char*> points;
     points.reserve(numPoints);
 
-    const PointId startId(view.size());
+    const PointId startId(view->size());
     PointId id(startId);
 
     for (std::size_t i(0); i < numPoints; ++i)
     {
-        points.push_back(view.getOrAddPoint(id));
+        points.push_back(view->getOrAddPoint(id));
         ++id;
     }
 
-    lock.unlock();
-
     // Because we are requesting the data in the exact PointLayout of our
     // PointView, we can just decompress directly into that memory.  Any
     // non-existent dimensions (for example those added by other readers in the
@@ -697,10 +361,9 @@ point_count_t GreyhoundReader::fetchData(
 
     if (m_cb)
     {
-        lock.lock();
         for (std::size_t i(0); i < numPoints; ++i)
         {
-            m_cb(view, startId + i);
+            m_cb(*view, startId + i);
         }
     }
 
diff --git a/plugins/greyhound/io/GreyhoundReader.hpp b/plugins/greyhound/io/GreyhoundReader.hpp
index f489d66..a5346b9 100644
--- a/plugins/greyhound/io/GreyhoundReader.hpp
+++ b/plugins/greyhound/io/GreyhoundReader.hpp
@@ -45,7 +45,6 @@
 #include <pdal/util/Bounds.hpp>
 
 #include "bounds.hpp"
-#include "pool.hpp"
 
 namespace pdal
 {
@@ -54,88 +53,40 @@ namespace greyhound = entwine;
 
 class PDAL_DLL GreyhoundReader : public pdal::Reader
 {
-
 public:
-    GreyhoundReader();
-
     static void* create();
     static int32_t destroy(void*);
     std::string getName() const override;
 
 private:
-    std::unique_ptr<arbiter::Arbiter> m_arbiter;
-
-    std::string m_url;
-    std::string m_resource;
-    std::string m_sessionId;
-    BOX3D m_queryBox;
-    greyhound::Bounds m_queryBounds;
-    greyhound::Bounds m_fullBounds;
-    std::size_t m_depthBegin;
-    std::size_t m_depthEnd;
-    std::size_t m_baseDepth;
-    std::size_t m_sparseDepth;
-    Json::Value m_info;
-    Json::Value m_schema;
-
-    mutable std::mutex m_mutex;
-    point_count_t m_numPoints = 0;
-    const std::size_t m_hierarchyStep = 6;
-    std::size_t m_taskId = 0;
-    std::queue<std::function<void()>> m_tasks;
-    std::map<std::size_t, std::function<void()>> m_running;
-    std::unique_ptr<std::string> m_error;
-
-    void inc(point_count_t n)
-    {
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_numPoints += n;
-    }
-
-    DimTypeList m_dims;
-
-    uint32_t m_depthBeginArg;
-    uint32_t m_depthEndArg;
-    std::vector<std::string> m_pathsArg;
-    Json::Value m_filter;
-    int32_t m_threadsArg;
-
-    virtual void initialize(PointTableRef table) override;
     virtual void addArgs(ProgramArgs& args) override;
+    virtual void initialize(PointTableRef table) override;
     virtual void addDimensions(PointLayoutPtr layout) override;
     virtual void prepared(PointTableRef table) override;
     virtual point_count_t read(PointViewPtr view, point_count_t count) override;
-    virtual QuickInfo inspect() override;
-    virtual void done(PointTableRef table) override { }
-
-    void launchPooledReads(
-            PointView& view,
-            const greyhound::Bounds& bounds,
-            std::size_t depth,
-            greyhound::Pool& pool);
-
-    void read(
-            PointView& view,
-            Json::Value& hierarchy,
-            const greyhound::Bounds& bounds,
-            std::size_t startDepth,
-            std::size_t depth);
 
-    std::vector<point_count_t> fetchVerticalHierarchy(
-            const greyhound::Bounds& bounds,
-            std::size_t depthBegin,
-            std::size_t depthEnd) const;
-
-    Json::Value fetchHierarchy(
-            const greyhound::Bounds& bounds,
-            std::size_t depthBegin,
-            std::size_t depthEnd) const;
+    struct Args
+    {
+        std::string url;
+        std::string resource;
+        std::string sbounds;
+        std::size_t depthBegin = 0;
+        std::size_t depthEnd = 0;
+        std::string tilePath;
+        Json::Value filter;
+        Json::Value schema;
+
+        std::string base() const;
+        std::string query() const;
+    };
+
+    Args m_args;
+    std::string m_base;
+    std::string m_query;
+    std::unique_ptr<arbiter::Arbiter> m_arbiter;
 
-    point_count_t fetchData(
-            PointView& view,
-            const greyhound::Bounds& bounds,
-            std::size_t depthBegin,
-            std::size_t depthEnd);
+    Json::Value m_info;
+    DimTypeList m_dims;
 };
 
 } // namespace pdal
diff --git a/plugins/greyhound/io/bounds.hpp b/plugins/greyhound/io/bounds.hpp
index 97829bb..6cdf163 100644
--- a/plugins/greyhound/io/bounds.hpp
+++ b/plugins/greyhound/io/bounds.hpp
@@ -11,6 +11,7 @@
 
 #include <cstdlib>
 #include <iostream>
+#include <algorithm>
 
 #include <json/json.h>
 
@@ -22,7 +23,7 @@ namespace pdal
 namespace entwine
 {
 
-class Bounds
+class PDAL_DLL Bounds
 {
 public:
     Bounds() = default;
@@ -279,11 +280,11 @@ private:
     }
 };
 
-std::ostream& operator<<(std::ostream& os, const Bounds& bounds);
+PDAL_DLL std::ostream& operator<<(std::ostream& os, const Bounds& bounds);
 
 // Orders Bounds by their midpoint.  This is really only useful if the bounds
 // are arranged in a grid and are of equal size (like during a MetaQuery).
-inline bool operator<(const Bounds& lhs, const Bounds& rhs)
+PDAL_DLL inline bool operator<(const Bounds& lhs, const Bounds& rhs)
 {
     const auto& lhsMid(lhs.mid());
     const auto& rhsMid(rhs.mid());
@@ -294,12 +295,12 @@ inline bool operator<(const Bounds& lhs, const Bounds& rhs)
         (lhsMid.x == rhsMid.x && lhsMid.y == rhsMid.y && lhsMid.z < rhsMid.z);
 }
 
-inline bool operator==(const Bounds& lhs, const Bounds& rhs)
+PDAL_DLL inline bool operator==(const Bounds& lhs, const Bounds& rhs)
 {
     return lhs.min() == rhs.min() && lhs.max() == rhs.max();
 }
 
-inline bool operator!=(const Bounds& lhs, const Bounds& rhs)
+PDAL_DLL inline bool operator!=(const Bounds& lhs, const Bounds& rhs)
 {
     return !(lhs == rhs);
 }
diff --git a/plugins/greyhound/io/point.hpp b/plugins/greyhound/io/point.hpp
index b8d6ac9..f6f3fc2 100644
--- a/plugins/greyhound/io/point.hpp
+++ b/plugins/greyhound/io/point.hpp
@@ -17,6 +17,7 @@
 #include <vector>
 
 #include <json/json.h>
+#include <pdal/pdal_export.hpp>
 
 namespace pdal
 {
@@ -25,7 +26,7 @@ namespace entwine
 
 using Transformation = std::vector<double>;
 
-class Point
+class PDAL_DLL Point
 {
 public:
     Point() noexcept
diff --git a/plugins/greyhound/io/pool.cpp b/plugins/greyhound/io/pool.cpp
deleted file mode 100644
index 7498d25..0000000
--- a/plugins/greyhound/io/pool.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2016, Connor Manning (connor at hobu.co)
-*
-* Entwine -- Point cloud indexing
-*
-* Entwine is available under the terms of the LGPL2 license. See COPYING
-* for specific license text and more information.
-*
-******************************************************************************/
-
-#include "pool.hpp"
-
-#include <cassert>
-#include <iostream>
-
-namespace pdal
-{
-namespace entwine
-{
-
-Pool::Pool(const std::size_t numThreads, const std::size_t queueSize)
-    : m_numThreads(std::max<std::size_t>(numThreads, 1u))
-    , m_queueSize(std::max<std::size_t>(queueSize, 1u))
-    , m_threads()
-    , m_tasks()
-    , m_running(0)
-    , m_stop(true)
-    , m_mutex()
-    , m_produceCv()
-    , m_consumeCv()
-{
-    go();
-}
-
-Pool::~Pool()
-{
-    join();
-}
-
-void Pool::resize(const std::size_t numThreads)
-{
-    join();
-    m_numThreads = numThreads;
-    go();
-}
-
-void Pool::go()
-{
-    std::lock_guard<std::mutex> lock(m_mutex);
-
-    if (!stop())
-    {
-        throw std::runtime_error(
-                "Attempted to call Pool::go on an already running Pool");
-    }
-
-    stop(false);
-
-    for (std::size_t i(0); i < m_numThreads; ++i)
-    {
-        m_threads.emplace_back([this]() { work(); });
-    }
-}
-
-void Pool::join()
-{
-    if (!stop())
-    {
-        stop(true);
-
-        for (auto& t : m_threads)
-        {
-            m_consumeCv.notify_all();
-            t.join();
-        }
-
-        std::lock_guard<std::mutex> lock(m_mutex);
-        m_threads.clear();
-        assert(m_tasks.empty());
-    }
-}
-
-void Pool::await()
-{
-    std::unique_lock<std::mutex> lock(m_mutex);
-    m_produceCv.wait(lock, [this]() { return !m_running && m_tasks.empty(); });
-}
-
-void Pool::add(std::function<void()> task)
-{
-    if (stop())
-    {
-        throw std::runtime_error("Attempted to add a task to a stopped Pool");
-    }
-
-    if (!numThreads())
-    {
-        throw std::runtime_error("Attempted to add a task to an empty Pool");
-    }
-
-    std::unique_lock<std::mutex> lock(m_mutex);
-
-    m_produceCv.wait(lock, [this]() { return m_tasks.size() < m_queueSize; });
-    m_tasks.emplace(task);
-
-    lock.unlock();
-
-    // Notify worker that a task is available.
-    m_consumeCv.notify_all();
-}
-
-void Pool::work()
-{
-    std::unique_lock<std::mutex> lock(m_mutex);
-
-    while (!stop() || !m_tasks.empty())
-    {
-        m_consumeCv.wait(lock, [this]() { return !m_tasks.empty() || stop(); });
-
-        if (!m_tasks.empty())
-        {
-            ++m_running;
-            auto task(std::move(m_tasks.front()));
-            m_tasks.pop();
-
-            lock.unlock();
-
-            // Notify add(), which may be waiting for a spot in the queue.
-            m_produceCv.notify_all();
-
-            try
-            {
-                task();
-            }
-            catch (std::exception& e)
-            {
-                std::cout <<
-                    "Exception caught in pool task: " << e.what() << std::endl;
-            }
-            catch (...)
-            {
-                std::cout <<
-                    "Unknown exception caught in pool task." << std::endl;
-            }
-
-            // Notify await(), which may be waiting for a running task.
-            --m_running;
-            m_produceCv.notify_all();
-
-            lock.lock();
-        }
-    }
-}
-
-bool Pool::stop() const
-{
-    return m_stop.load();
-}
-
-void Pool::stop(const bool val)
-{
-    m_stop.store(val);
-}
-
-} // namespace entwine
-} // namespace pdal
-
diff --git a/plugins/greyhound/io/pool.hpp b/plugins/greyhound/io/pool.hpp
deleted file mode 100644
index 836ba2c..0000000
--- a/plugins/greyhound/io/pool.hpp
+++ /dev/null
@@ -1,93 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2016, Connor Manning (connor at hobu.co)
-*
-* Entwine -- Point cloud indexing
-*
-* Entwine is available under the terms of the LGPL2 license. See COPYING
-* for specific license text and more information.
-*
-******************************************************************************/
-
-#pragma once
-
-#include <atomic>
-#include <condition_variable>
-#include <cstddef>
-#include <functional>
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <vector>
-
-namespace pdal
-{
-namespace entwine
-{
-
-class Pool
-{
-public:
-    // After numThreads tasks are actively running, and queueSize tasks have
-    // been enqueued to wait for an available worker thread, subsequent calls
-    // to Pool::add will block until an enqueued task has been popped from the
-    // queue.
-    Pool(std::size_t numThreads, std::size_t queueSize = 1);
-    ~Pool();
-
-    // Start worker threads
-    void go();
-
-    // Wait for all currently running tasks to complete.
-    void join();
-
-    bool joined() const { return stop(); }
-
-    void cycle() { join(); go(); }
-
-    // Change the number of threads.  Current threads will be joined.
-    void resize(std::size_t numThreads);
-
-    // Wait for all current tasks to complete.  As opposed to join, tasks may
-    // continue to be added while a thread is await()-ing the queue to empty.
-    void await();
-
-    // Not thread-safe, pool should be joined before calling.
-    const std::vector<std::string>& errors() const { return m_errors; }
-
-    // Add a threaded task, blocking until a thread is available.  If join() is
-    // called, add() may not be called again until go() is called and completes.
-    void add(std::function<void()> task);
-
-    std::size_t numThreads() const { return m_numThreads; }
-
-private:
-    // Worker thread function.  Wait for a task and run it - or if stop() is
-    // called, complete any outstanding task and return.
-    void work();
-
-    // Atomically set/get the stop flag.
-    bool stop() const;
-    void stop(bool val);
-
-    std::size_t m_numThreads;
-    std::size_t m_queueSize;
-    std::vector<std::thread> m_threads;
-    std::queue<std::function<void()>> m_tasks;
-    std::atomic_size_t m_running;
-
-    std::vector<std::string> m_errors;
-    std::mutex m_errorMutex;
-
-    std::atomic<bool> m_stop;
-    std::mutex m_mutex;
-    std::condition_variable m_produceCv;
-    std::condition_variable m_consumeCv;
-
-    // Disable copy/assignment.
-    Pool(const Pool& other);
-    Pool& operator=(const Pool& other);
-};
-
-} // namespace entwine
-} // namespace pdal
-
diff --git a/plugins/greyhound/test/GreyhoundReaderTest.cpp b/plugins/greyhound/test/GreyhoundReaderTest.cpp
index 7525d04..cd13668 100644
--- a/plugins/greyhound/test/GreyhoundReaderTest.cpp
+++ b/plugins/greyhound/test/GreyhoundReaderTest.cpp
@@ -51,45 +51,36 @@ using namespace pdal;
 namespace
 {
 
-const bool fullTest(false);
-
-const greyhound::Bounds fullBounds(634950,848860,-1830,639650,853560,2870);
-const greyhound::Bounds stadiumBounds(637000,851550,-1830,637800,852300,2870);
-const greyhound::Bounds patchBounds(637000,851550,-1830,637100,851650,2870);
-const greyhound::Bounds originBounds(
-        greyhound::Bounds(-92369, 123812, -11170, -22218, 230745, 2226)
-        .unscale(.01, greyhound::Point(637300, 851210, 520)));
-
-std::string toString(const greyhound::Bounds& b)
-{
-    std::ostringstream ss;
-    ss << "([" <<
-        b.min().x << "," << b.max().x << "],[" <<
-        b.min().y << "," << b.max().y << "],[" <<
-        b.min().z << "," << b.max().z << "])";
-    return ss.str();
-}
-
 const std::string server("http://data.greyhound.io");
-const std::string resource("dev/autzen-chipped");
+const std::string resource("dev/ellipsoid-multi-nyc");
+const greyhound::Point center(-8242596.04, 4966606.26);
+const greyhound::Point radius(151, 101, 51);
+const greyhound::Bounds full(center - radius, center + radius);
 
-Options greyhoundOptions(
-        const greyhound::Bounds* b = nullptr,
-        const std::size_t depthBegin = 0,
-        const std::size_t depthEnd = 0)
+Options toOptions(const Json::Value& json)
 {
     Options options;
     options.add("url", server);
     options.add("resource", resource);
-    if (b) options.add("bounds", toString(*b));
-    if (depthBegin) options.add("depth_begin", depthBegin);
-    if (depthEnd) options.add("depth_end", depthEnd);
+
+    for (const auto k : json.getMemberNames())
+    {
+        const auto& v(json[k]);
+        if (v.isBool()) options.add(k, v.asBool());
+        else if (v.isIntegral()) options.add(k, v.asInt());
+        else if (v.isDouble()) options.add(k, v.asDouble());
+        else if (v.isString()) options.add(k, v.asString());
+        else if (v.isObject() || v.isArray()) options.add(k, v);
+    }
+
     return options;
 }
 
-pdal::greyhound::Bounds toBounds(const BOX3D& b)
+std::string dense(const Json::Value& json)
 {
-    return greyhound::Bounds(b.minx, b.miny, b.minz, b.maxx, b.maxy, b.maxz);
+    Json::StreamWriterBuilder builder;
+    builder.settings_["indentation"] = "";
+    return Json::writeString(builder, json);
 }
 
 }
@@ -111,21 +102,20 @@ protected:
     bool m_doTests;
 };
 
-TEST_F(GreyhoundReaderTest, tilePath)
+TEST_F(GreyhoundReaderTest, tileQuery)
 {
     if (!doTests()) return;
 
     pdal::GreyhoundReader reader;
-
-    auto options(greyhoundOptions(nullptr, 14, 15));
-    options.add("tile_path", "c-13.laz");
-    reader.setOptions(options);
+    Json::Value json;
+    json["tile_path"] = "neu.laz";
+    reader.setOptions(toOptions(json));
 
     pdal::PointTable table;
     reader.prepare(table);
     PointViewSet viewSet = reader.execute(table);
     PointViewPtr view = *viewSet.begin();
-    ASSERT_EQ(view->size(), 2676u);
+    ASSERT_EQ(view->size(), 12593u);
 
     greyhound::Point p;
     for (std::size_t i(0); i < view->size(); ++i)
@@ -134,22 +124,26 @@ TEST_F(GreyhoundReaderTest, tilePath)
         p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
         p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
 
-        ASSERT_TRUE(originBounds.contains(p));
+        ASSERT_TRUE(p >= center) << p;
     }
 }
 
-TEST_F(GreyhoundReaderTest, readPatch)
+TEST_F(GreyhoundReaderTest, boundsQuery)
 {
     if (!doTests()) return;
 
+    const greyhound::Bounds bounds(center - 100, center + 100);
+
     pdal::GreyhoundReader reader;
-    reader.setOptions(greyhoundOptions(&stadiumBounds, 14, 15));
+    Json::Value json;
+    json["bounds"] = bounds.toJson();
+    reader.setOptions(toOptions(json));
 
     pdal::PointTable table;
     reader.prepare(table);
     PointViewSet viewSet = reader.execute(table);
     PointViewPtr view = *viewSet.begin();
-    ASSERT_EQ(view->size(), 1880u);
+    ASSERT_EQ(view->size(), 66647u);
 
     greyhound::Point p;
     for (std::size_t i(0); i < view->size(); ++i)
@@ -158,54 +152,56 @@ TEST_F(GreyhoundReaderTest, readPatch)
         p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
         p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
 
-        ASSERT_TRUE(stadiumBounds.contains(p));
+        ASSERT_TRUE(bounds.contains(p));
     }
 }
 
-TEST_F(GreyhoundReaderTest, filter)
+TEST_F(GreyhoundReaderTest, boundsAndDepthQuery)
 {
     if (!doTests()) return;
 
-    {
-        pdal::GreyhoundReader reader;
-        auto options(greyhoundOptions(&stadiumBounds, 0, 12));
-        options.add("filter", "{ \"Z\": { \"$gte\": 500 } }");
+    const greyhound::Bounds bounds(center - 100, center + 100);
 
-        reader.setOptions(options);
+    pdal::GreyhoundReader reader;
+    Json::Value json;
+    json["bounds"] = bounds.toJson();
+    json["depth_begin"] = 7;
+    json["depth_end"] = 8;
+    reader.setOptions(toOptions(json));
 
-        pdal::PointTable table;
-        reader.prepare(table);
-        PointViewSet viewSet = reader.execute(table);
-        PointViewPtr view = *viewSet.begin();
-        ASSERT_LT(view->size(), 188260u);
+    pdal::PointTable table;
+    reader.prepare(table);
+    PointViewSet viewSet = reader.execute(table);
+    PointViewPtr view = *viewSet.begin();
+    ASSERT_EQ(view->size(), 13854u);
 
-        greyhound::Point p;
-        for (std::size_t i(0); i < view->size(); ++i)
-        {
-            p.x = view->getFieldAs<double>(Dimension::Id::X, i);
-            p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
-            p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
+    greyhound::Point p;
+    for (std::size_t i(0); i < view->size(); ++i)
+    {
+        p.x = view->getFieldAs<double>(Dimension::Id::X, i);
+        p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
+        p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
 
-            ASSERT_TRUE(stadiumBounds.contains(p));
-            ASSERT_GE(p.z, 500);
-        }
+        ASSERT_TRUE(bounds.contains(p));
     }
+}
 
-    {
-        pdal::GreyhoundReader reader;
-        auto options(greyhoundOptions(&stadiumBounds, 0, 12));
+TEST_F(GreyhoundReaderTest, filter)
+{
+    if (!doTests()) return;
 
-        Json::Value filter;
-        filter["Z"]["$gte"] = 500;
-        options.add("filter", filter);
+    const greyhound::Bounds bounds(center - 100, center + 100);
 
-        reader.setOptions(options);
+    auto run([&bounds](const Json::Value& json)
+    {
+        pdal::GreyhoundReader reader;
+        reader.setOptions(toOptions(json));
 
         pdal::PointTable table;
         reader.prepare(table);
         PointViewSet viewSet = reader.execute(table);
         PointViewPtr view = *viewSet.begin();
-        ASSERT_LT(view->size(), 188260u);
+        ASSERT_EQ(view->size(), 33423u);
 
         greyhound::Point p;
         for (std::size_t i(0); i < view->size(); ++i)
@@ -214,50 +210,55 @@ TEST_F(GreyhoundReaderTest, filter)
             p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
             p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
 
-            ASSERT_TRUE(stadiumBounds.contains(p));
-            ASSERT_GE(p.z, 500);
+            ASSERT_TRUE(bounds.contains(p));
+            ASSERT_GE(p.x, center.x);
         }
-    }
-}
+    });
 
-TEST_F(GreyhoundReaderTest, quickFull)
-{
-    if (!doTests()) return;
-
-    pdal::GreyhoundReader reader;
-    reader.setOptions(greyhoundOptions());
+    // Filter should work both as a JSON object and a stringified JSON object.
+    Json::Value json;
+    json["bounds"] = bounds.toJson();
+    json["filter"]["X"]["$gte"] = center.x;
+    run(json);
 
-    pdal::QuickInfo qi = reader.preview();
-    EXPECT_EQ(qi.m_pointCount, 10653336u);
-    EXPECT_EQ(toBounds(qi.m_bounds), fullBounds);
+    json["filter"] = json["filter"].toStyledString();
+    run(json);
 }
 
-TEST_F(GreyhoundReaderTest, quickSplit)
+TEST_F(GreyhoundReaderTest, singleOption)
 {
     if (!doTests()) return;
 
-    pdal::GreyhoundReader reader;
-    reader.setOptions(greyhoundOptions(&patchBounds));
-
-    // The quick-info point count is an upper bound, so it should be at no less
-    // than the actual query result.
-    pdal::QuickInfo qi = reader.preview();
-    EXPECT_GE(qi.m_pointCount, 5141u);
-}
-
-TEST_F(GreyhoundReaderTest, full)
-{
-    if (!doTests() || !fullTest) return;
+    const greyhound::Bounds bounds(center - 100, center + 100);
+    Json::Value filter;
+    filter["X"]["$gte"] = center.x;
 
     pdal::GreyhoundReader reader;
-    auto options(greyhoundOptions());
-    options.add("threads", 10);
+
+    pdal::Options options;
+    options.add("url", server + "/resource/" + resource + "/read" +
+            "?bounds=" + dense(bounds.toJson()) +
+            "&filter=" + dense(filter) +
+            "&depth=7");
     reader.setOptions(options);
 
     pdal::PointTable table;
     reader.prepare(table);
     PointViewSet viewSet = reader.execute(table);
     PointViewPtr view = *viewSet.begin();
-    ASSERT_EQ(view->size(), 10653336u);
+    ASSERT_EQ(view->size(), 7008u);
+
+    greyhound::Point p;
+    for (std::size_t i(0); i < view->size(); ++i)
+    {
+        p.x = view->getFieldAs<double>(Dimension::Id::X, i);
+        p.y = view->getFieldAs<double>(Dimension::Id::Y, i);
+        p.z = view->getFieldAs<double>(Dimension::Id::Z, i);
+
+        ASSERT_TRUE(bounds.contains(p));
+        ASSERT_GE(p.x, center.x);
+    }
 }
 
+
+
diff --git a/plugins/hexbin/kernel/OGR.cpp b/plugins/hexbin/kernel/OGR.cpp
index 0bf474c..fc742df 100644
--- a/plugins/hexbin/kernel/OGR.cpp
+++ b/plugins/hexbin/kernel/OGR.cpp
@@ -160,7 +160,6 @@ void OGR::writeBoundary(hexer::HexGrid *grid)
             << CPLGetLastErrorMsg() << "'";
         throw pdal::pdal_error(oss.str());
     }
-    OGR_F_Destroy( hFeature );
 }
 
 void OGR::collectPath(hexer::Path* path, OGRGeometryH polygon)
diff --git a/plugins/icebridge/io/IcebridgeReader.cpp b/plugins/icebridge/io/IcebridgeReader.cpp
index 454d8b2..2bd9d59 100644
--- a/plugins/icebridge/io/IcebridgeReader.cpp
+++ b/plugins/icebridge/io/IcebridgeReader.cpp
@@ -73,31 +73,23 @@ CREATE_SHARED_PLUGIN(1, 0, IcebridgeReader, Reader, s_info)
 
 std::string IcebridgeReader::getName() const { return s_info.name; }
 
-Dimension::IdList IcebridgeReader::getDefaultDimensions()
+namespace
 {
-    Dimension::IdList ids;
 
+Dimension::IdList dimensions()
+{
     using namespace Dimension;
 
-    ids.push_back(Id::OffsetTime);
-    ids.push_back(Id::Y);
-    ids.push_back(Id::X);
-    ids.push_back(Id::Z);
-    ids.push_back(Id::StartPulse);
-    ids.push_back(Id::ReflectedPulse);
-    ids.push_back(Id::Azimuth);
-    ids.push_back(Id::Pitch);
-    ids.push_back(Id::Roll);
-    ids.push_back(Id::Pdop);
-    ids.push_back(Id::PulseWidth);
-    ids.push_back(Id::GpsTime);
-    return ids;
+    return IdList { Id::OffsetTime, Id::Y, Id::X, Id::Z, Id::StartPulse,
+        Id::ReflectedPulse, Id::Azimuth, Id::Pitch, Id::Roll, Id::Pdop,
+        Id::PulseWidth, Id::GpsTime };
 }
 
+} // unnamed namespace
 
 void IcebridgeReader::addDimensions(PointLayoutPtr layout)
 {
-    return layout->registerDims(getDefaultDimensions());
+    layout->registerDims(dimensions());
 }
 
 
@@ -134,7 +126,7 @@ point_count_t IcebridgeReader::read(PointViewPtr view, point_count_t count)
         rawData(new unsigned char[count * sizeof(float)]);
 
     //Not loving the position-linked data, but fine for now.
-    Dimension::IdList dims = getDefaultDimensions();
+    Dimension::IdList dims = dimensions();
     auto di = dims.begin();
     for (auto ci = hdf5Columns.begin(); ci != hdf5Columns.end(); ++ci, ++di)
     {
diff --git a/plugins/icebridge/io/IcebridgeReader.hpp b/plugins/icebridge/io/IcebridgeReader.hpp
index d19d509..dddc9db 100644
--- a/plugins/icebridge/io/IcebridgeReader.hpp
+++ b/plugins/icebridge/io/IcebridgeReader.hpp
@@ -69,8 +69,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions();
-
 private:
     Hdf5Handler m_hdf5Handler;
     point_count_t m_index;
diff --git a/plugins/matlab/CMakeLists.txt b/plugins/matlab/CMakeLists.txt
index 4de6552..6f0c0aa 100644
--- a/plugins/matlab/CMakeLists.txt
+++ b/plugins/matlab/CMakeLists.txt
@@ -1,22 +1,96 @@
 # Matlab plugin
 
-find_package(Matlab REQUIRED)
+include(${PDAL_CMAKE_DIR}/matlab.cmake)
 
-PDAL_ADD_PLUGIN(libname writer matlab
+#set(CMAKE_SKIP_RPATH true)
+#if (LINUX)
+
+#endif()
+
+PDAL_ADD_PLUGIN(libname_writer writer matlab
     FILES
+        ./filters/Script.cpp
         io/MatlabWriter.cpp
     LINK_WITH
-        ${MATLAB_LIBRARIES}
+        ${Matlab_MX_LIBRARY} ${Matlab_MAT_LIBRARY}
+)
+target_include_directories(${libname_writer} PRIVATE
+    ${Matlab_INCLUDE_DIR})
+
+PDAL_ADD_PLUGIN(libname_reader reader matlab
+    FILES
+        ./filters/Script.cpp
+        io/MatlabReader.cpp
+    LINK_WITH
+        ${Matlab_MX_LIBRARY} ${Matlab_MAT_LIBRARY}
 )
-target_compile_definitions(${libname} PRIVATE -DHAVE_MATLAB=1)
-target_include_directories(${libname} PRIVATE ${MATLAB_INCLUDE_DIR})
+target_include_directories(${libname_reader} PRIVATE
+    ${Matlab_INCLUDE_DIR})
+
+
+PDAL_ADD_PLUGIN(matlab_libname filter matlab
+    FILES
+        ./filters/Environment.cpp
+        ./filters/Script.cpp
+        ./filters/MatlabFilter.cpp
+    LINK_WITH
+        ${Matlab_ENG_LIBRARY} ${Matlab_MX_LIBRARY} ${Matlab_MAT_LIBRARY}
+    )
+target_include_directories(${matlab_libname} PRIVATE
+    ${Matlab_INCLUDE_DIR}
+    ${PDAL_JSONCPP_INCLUDE_DIR} )
 
 if (WITH_TESTS)
-    PDAL_ADD_TEST(matlabtest
+    PDAL_ADD_TEST(pdal_io_matlab_writer_test
         FILES
             test/MatlabWriterTest.cpp
         LINK_WITH
-            ${libname}
+           ${libname_writer}
+    )
+    target_include_directories(pdal_io_matlab_writer_test PRIVATE
+        ${PDAL_IO_DIR}
+        ${Matlab_INCLUDE_DIR})
+    set_target_properties(pdal_io_matlab_writer_test
+        PROPERTIES
+        INSTALL_RPATH "${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES}:${MATLAB_LIB_DIR}"
+        BUILD_WITH_INSTALL_RPATH true
+    )
+
+
+    PDAL_ADD_TEST(pdal_io_matlab_reader_test
+        FILES
+            test/MatlabReaderTest.cpp
+        LINK_WITH
+           ${libname_reader}
+    )
+    target_include_directories(pdal_io_matlab_reader_test PRIVATE
+        ${PDAL_IO_DIR}
+        ${Matlab_INCLUDE_DIR})
+    set_target_properties(pdal_io_matlab_reader_test
+        PROPERTIES
+        INSTALL_RPATH "${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES}:${MATLAB_LIB_DIR}"
+        BUILD_WITH_INSTALL_RPATH true
+    )
+
+    PDAL_ADD_TEST(pdal_filters_matlab_test
+        FILES
+            ./filters/Script.cpp
+            ./filters/Environment.cpp
+            ./test/MatlabFilterTest.cpp
+        LINK_WITH
+            ${Matlab_ENG_LIBRARY}
+            ${Matlab_MX_LIBRARY}
+            ${Matlab_MAT_LIBRARY}
+    )
+    set_target_properties(pdal_filters_matlab_test
+        PROPERTIES
+        INSTALL_RPATH "${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES}:${MATLAB_LIB_DIR}:${CMAKE_LIBRARY_OUTPUT_DIRECTORY}"
+        BUILD_WITH_INSTALL_RPATH true
     )
 
+    target_include_directories(pdal_filters_matlab_test PRIVATE
+        ${ROOT_DIR}
+        ${Matlab_INCLUDE_DIR}
+        ${PDAL_JSONCPP_INCLUDE_DIR} )
 endif()
+
diff --git a/plugins/matlab/filters/Environment.cpp b/plugins/matlab/filters/Environment.cpp
new file mode 100644
index 0000000..7f5830e
--- /dev/null
+++ b/plugins/matlab/filters/Environment.cpp
@@ -0,0 +1,118 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#ifndef _WIN32
+#include <dlfcn.h>
+#endif
+
+#include "Environment.hpp"
+
+#include <sstream>
+#include <mutex>
+
+namespace pdal
+{
+namespace mlang
+{
+
+static Environment* g_environment=0;
+//
+EnvironmentPtr Environment::get()
+{
+    static std::once_flag flag;
+
+    auto init = []()
+    {
+        g_environment = new Environment();
+    };
+    std::call_once(flag, init);
+    return g_environment;
+}
+
+Environment::Environment()
+  : m_engine(0)
+{
+    m_engine = engOpen("");
+    if (!m_engine)
+        throw pdal_error("unable to initialize Matlab!");
+}
+
+
+Environment::~Environment()
+{
+    if (m_engine)
+        engClose (m_engine);
+}
+
+
+//
+// int Environment::getPythonDataType(Dimension::Type t)
+// {
+//     using namespace Dimension;
+//
+//     switch (t)
+//     {
+//     case Type::Float:
+//         return NPY_FLOAT;
+//     case Type::Double:
+//         return NPY_DOUBLE;
+//     case Type::Signed8:
+//         return NPY_BYTE;
+//     case Type::Signed16:
+//         return NPY_SHORT;
+//     case Type::Signed32:
+//         return NPY_INT;
+//     case Type::Signed64:
+//         return NPY_LONGLONG;
+//     case Type::Unsigned8:
+//         return NPY_UBYTE;
+//     case Type::Unsigned16:
+//         return NPY_USHORT;
+//     case Type::Unsigned32:
+//         return NPY_UINT;
+//     case Type::Unsigned64:
+//         return NPY_ULONGLONG;
+//     default:
+//         return -1;
+//     }
+//     assert(0);
+//
+//     return -1;
+// }
+//
+
+
+} // namespace mlang
+} // namespace pdal
+
diff --git a/plugins/matlab/filters/Environment.hpp b/plugins/matlab/filters/Environment.hpp
new file mode 100644
index 0000000..ce6eaf2
--- /dev/null
+++ b/plugins/matlab/filters/Environment.hpp
@@ -0,0 +1,73 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Consulting LLC nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+
+
+
+#include <pdal/pdal_internal.hpp>
+#include <pdal/Metadata.hpp>
+#include <pdal/Dimension.hpp>
+#include "Script.hpp"
+
+
+// Matlab "engine.h"
+#include <engine.h>
+
+
+namespace pdal
+{
+namespace mlang
+{
+
+class Environment;
+typedef Environment *EnvironmentPtr;
+
+class PDAL_DLL Environment
+{
+public:
+    Environment();
+    ~Environment();
+
+    void execute(Script& script) {};
+    static EnvironmentPtr get();
+
+
+    Engine* m_engine;
+};
+
+} // namespace mlang
+} // namespace pdal
+
diff --git a/plugins/matlab/filters/MatlabFilter.cpp b/plugins/matlab/filters/MatlabFilter.cpp
new file mode 100644
index 0000000..d1c355e
--- /dev/null
+++ b/plugins/matlab/filters/MatlabFilter.cpp
@@ -0,0 +1,158 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/pdal_internal.hpp>
+
+#include "MatlabFilter.hpp"
+#include <pdal/PointView.hpp>
+#include <pdal/StageFactory.hpp>
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+#include <pdal/util/FileUtils.hpp>
+
+#include <algorithm>
+#include <iterator>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.matlab",
+    "Manipulate data using inline Matlab",
+    "http://pdal.io/stages/filters.matlab.html" );
+
+CREATE_SHARED_PLUGIN(1, 0, MatlabFilter, Filter, s_info)
+
+std::string MatlabFilter::getName() const { return s_info.name; }
+
+void MatlabFilter::addArgs(ProgramArgs& args)
+{
+    args.add("source", "Matlab script to run", m_script.m_source);
+    args.add("add_dimension", "Dimensions to add", m_addDimensions);
+    args.add("struct", "Matlab struct array to read", m_structName, "PDAL");
+    args.add("pdalargs", "Dictionary to add to module globals when calling function", m_pdalargs);
+}
+
+
+void MatlabFilter::addDimensions(PointLayoutPtr layout)
+{
+    for (const std::string& s : m_addDimensions)
+        layout->registerOrAssignDim(s, pdal::Dimension::Type::Double);
+}
+
+
+void MatlabFilter::ready(PointTableRef table)
+{
+    if (m_script.m_source.empty())
+        m_script.m_source = FileUtils::readFileIntoString(m_script.m_scriptFilename);
+
+    m_tableMetadata = table.metadata();
+}
+
+
+PointViewSet MatlabFilter::run(PointViewPtr view)
+{
+    log()->get(LogLevel::Debug) << "filters.matlab " << m_script <<
+        " processing " << view->size() << " points." << std::endl;
+
+    int logBufferSize(4096);
+    std::unique_ptr<char[]> buf(new char[logBufferSize]);
+    m_MatlabOutputBuffer.swap(buf);
+
+    Engine* engine = mlang::Environment::get()->m_engine;
+    engOutputBuffer(engine, m_MatlabOutputBuffer.get(), logBufferSize);
+
+    Dimension::IdList dims;
+
+    mxArray* matlabData = mlang::Script::setMatlabStruct(view, dims, m_pdalargs, m_tableMetadata, log());
+    if (engPutVariable(engine, m_structName.c_str(), matlabData))
+    {
+        std::ostringstream oss;
+        oss << "Could not push '" << m_structName << "' struct to Matlab";
+        throwError(oss.str());
+    }
+
+    engEvalString(engine, m_script.m_source.c_str());
+
+    std::string noise(m_MatlabOutputBuffer.get(), strlen(m_MatlabOutputBuffer.get()));
+    log()->get(LogLevel::Debug) << "filters.matlab " << noise << std::endl;
+
+    matlabData = engGetVariable(engine, m_structName.c_str());
+    if (!matlabData)
+        throwError("No 'PDAL' variable is available in Matlab scope!");
+
+    PointViewSet viewSet;
+
+    std::string logicalDimensionName = m_script.getLogicalMask(matlabData, log());
+    if (logicalDimensionName.size())
+    {
+        PointViewPtr outview = view->makeNew();
+
+        mxArray* f = mxGetField(matlabData, 0, logicalDimensionName.c_str());
+        if (!f)
+        {
+            std::ostringstream oss;
+            oss << "Unable to fetch mask dimension '" << logicalDimensionName << "'";
+            throwError(oss.str());
+        }
+
+        mxLogical* logical = mxGetLogicals(f);
+        if (!logical)
+        {
+            std::ostringstream oss;
+            oss << "Unable to fetch logical mask for dimension '" << logicalDimensionName << "'";
+            throwError(oss.str());
+        }
+
+        char *ok = (char *)logical;
+        for (PointId idx = 0; idx < view->size(); ++idx)
+            if (*ok++)
+                outview->appendPoint(*view, idx);
+        viewSet.insert(outview);
+    }
+    else
+    {
+        mlang::Script::getMatlabStruct(matlabData, view, dims, m_pdalargs, m_tableMetadata, log());
+        viewSet.insert(view);
+    }
+    return viewSet;
+
+}
+
+
+void MatlabFilter::done(PointTableRef table)
+{
+}
+
+} // namespace pdal
diff --git a/plugins/matlab/filters/MatlabFilter.hpp b/plugins/matlab/filters/MatlabFilter.hpp
new file mode 100644
index 0000000..531c0f0
--- /dev/null
+++ b/plugins/matlab/filters/MatlabFilter.hpp
@@ -0,0 +1,78 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/pdal_internal.hpp>
+#include <pdal/Filter.hpp>
+#include "Script.hpp"
+#include "Environment.hpp"
+
+#include <json/json.h>
+
+namespace pdal
+{
+
+class PDAL_DLL MatlabFilter : public Filter
+{
+public:
+    MatlabFilter() : Filter()
+        {}
+
+    static void *create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+private:
+    mlang::Script m_script;
+    StringList m_addDimensions;
+
+    std::unique_ptr<char[]> m_MatlabOutputBuffer;
+
+    virtual void addArgs(ProgramArgs& args);
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual void ready(PointTableRef table);
+    virtual PointViewSet run(PointViewPtr view);
+    virtual void done(PointTableRef table);
+
+    MatlabFilter& operator=(const MatlabFilter&); // not implemented
+    MatlabFilter(const MatlabFilter&); // not implemented
+
+    MetadataNode m_tableMetadata;
+    std::string m_pdalargs;
+    std::string m_structName;
+
+};
+
+} // namespace pdal
diff --git a/plugins/matlab/filters/Script.cpp b/plugins/matlab/filters/Script.cpp
new file mode 100644
index 0000000..7b063a7
--- /dev/null
+++ b/plugins/matlab/filters/Script.cpp
@@ -0,0 +1,402 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "Script.hpp"
+
+
+namespace pdal
+{
+namespace mlang
+{
+
+
+std::ostream& operator << (std::ostream& os, Script const& script)
+{
+    os << "source=[" << script.m_source.size() << " bytes], ";
+    os << std::endl;
+
+    return os;
+}
+
+std::string Script::getLogicalMask(mxArray* array, LogPtr log)
+{
+
+    std::string output("");
+    mxClassID ml_id = mxGetClassID(array);
+    if (ml_id != mxSTRUCT_CLASS)
+        throw pdal::pdal_error("Selected array must be a Matlab struct array!");
+
+    for (int n = 0; n < mxGetNumberOfFields(array); ++n)
+    {
+
+        mxArray* f = mxGetFieldByNumber(array, 0, n);
+
+        if (mxIsLogical(f))
+        {
+            const char* name = mxGetFieldNameByNumber(array, n);
+            output = std::string(name);
+        }
+    }
+    return output;
+}
+
+std::string Script::getSRSWKT(mxArray* array, LogPtr log)
+{
+    std::string output("");
+
+    mxArray* metadata = mxGetField(array, 0, "metadata");
+    if (metadata)
+    {
+        mxArray* s = mxGetField(metadata, 0, "wkt");
+        mxClassID mt = mxGetClassID(s);
+        if (mt == mxCHAR_CLASS)
+        {
+            size_t len = mxGetN(s);
+            std::string data;
+            data.resize(len+1);
+            int ret = mxGetString(s, (char*)data.data(), len+1);
+            output = std::string(data);
+        }
+    }
+
+    return output;
+}
+
+
+PointLayoutPtr Script::getStructLayout(mxArray* array, LogPtr log)
+{
+
+    PointLayoutPtr layout = PointLayoutPtr(new PointLayout());
+    std::vector<mxArray*> arrays;
+
+    mxClassID ml_id = mxGetClassID(array);
+    if (ml_id != mxSTRUCT_CLASS)
+        throw pdal::pdal_error("Selected array must be a Matlab struct array!");
+
+
+    int numFields = mxGetNumberOfFields(array);
+
+    if (!numFields)
+        throw pdal::pdal_error("Selected struct array must have fields!");
+
+    // This needs to skip mxClassID types that
+    // don't map to PDAL
+    for (int i=0; i < numFields; ++i)
+    {
+        const char* fieldName = mxGetFieldNameByNumber(array, i);
+        mxArray* f = mxGetFieldByNumber(array, 0, i);
+        mxClassID mt = mxGetClassID(f);
+        Dimension::Type pt = Script::getPDALDataType(mt);
+        if (mt == mxDOUBLE_CLASS ||
+            mt == mxSINGLE_CLASS ||
+            mt == mxINT8_CLASS   ||
+            mt == mxUINT8_CLASS  ||
+            mt == mxINT16_CLASS  ||
+            mt == mxUINT16_CLASS ||
+            mt == mxINT32_CLASS  ||
+            mt == mxDOUBLE_CLASS ||
+            mt == mxINT32_CLASS  ||
+            mt == mxUINT32_CLASS ||
+            mt == mxINT64_CLASS  ||
+            mt == mxUINT64_CLASS )
+        {
+            layout->registerOrAssignDim(fieldName, pt);
+        }
+    }
+
+    layout->finalize();
+    return layout;
+}
+
+
+void Script::getMatlabStruct(mxArray* array, PointViewPtr view, const Dimension::IdList& indims, std::string& pdalargs, MetadataNode pdalmetadata, LogPtr log)
+{
+    std::vector<mxArray*> arrays;
+    std::vector<std::string> dimNames;
+
+    mxClassID ml_id = mxGetClassID(array);
+    if (ml_id != mxSTRUCT_CLASS)
+        throw pdal::pdal_error("Selected array must be a Matlab struct array!");
+
+    mxArray* metadata = mxGetField(array, 0, "metadata");
+    if (metadata)
+    {
+
+        mxArray* args = mxGetField(metadata, 0, "pdalargs");
+        if (args)
+        {
+            mxClassID mt = mxGetClassID(args);
+            if (mt == mxCHAR_CLASS)
+            {
+                size_t len = mxGetN(args);
+                std::string data;
+                data.resize(len+1);
+                int ret = mxGetString(args, (char*)data.data(), len+1);
+                pdalargs = std::string(data);
+            }
+        }
+    }
+    Dimension::IdList  dims;
+    if (!indims.size())
+        dims = view->dims();
+    else
+        dims = indims;
+
+    for (auto d: dims)
+    {
+        std::string dimName = view->dimName(d);
+
+        mxArray* f = mxGetField(array, 0, dimName.c_str());
+        if (!f)
+        {
+            std::ostringstream oss;
+            oss << "No dimension named '" << dimName << "' exists on struct array.";
+            throw pdal::pdal_error(oss.str());
+        }
+
+        mwSize numElements = mxGetNumberOfElements(f);
+        if (numElements != view->size())
+        {
+            std::ostringstream oss;
+            oss << "Array shape is not the same as the PDAL PointView. ";
+            oss << "Matlab array is has '" << numElements << "' elements. ";
+            oss << "PointView has '" << view->size() << "' elements.";
+            throw pdal::pdal_error(oss.str());
+        }
+
+        mxClassID mt = mxGetClassID(f);
+        Dimension::Type pt = Script::getPDALDataType(mt);
+
+        char* p = (char*)mxGetData(f);
+        if (!p)
+        {
+            std::ostringstream oss;
+            oss << "Unable to fetch Matlab pointer to array for dimension '" << dimName << "'";
+            throw pdal::pdal_error(oss.str());
+        }
+
+        for (PointId i = 0; i < view->size(); ++i)
+        {
+            view->setField(d, pt, i, p);
+            p += view->dimSize(d);
+        }
+    }
+
+    // TODO: add back metadata
+}
+
+mxArray* Script::setMatlabStruct(PointViewPtr view, const Dimension::IdList& indims, const std::string& pdalargs, MetadataNode mdataNode,  LogPtr log)
+{
+
+    std::vector<mxArray*> arrays;
+    std::vector<std::string> dimNames;
+
+    Dimension::IdList  dims;
+    if (!indims.size())
+        dims = view->dims();
+    else
+        dims = indims;
+
+    mwSize mdims[2] = {0, 0};
+    mdims[0] = view->size();
+    mdims[1] = 1;
+
+    std::stringstream dimensionsString;
+    for (auto d: dims)
+    {
+        std::string dimName = Dimension::name(d);
+        mxArray* array = mxCreateNumericArray(  2,
+                                                mdims,
+                                                (mxClassID)mlang::Script::getMatlabDataType(view->dimType(d)),
+                                                (mxComplexity)0);
+        arrays.push_back(array);
+        dimNames.push_back(dimName);
+    }
+
+    // Matlab is column-major
+    for (size_t j = 0; j < dims.size(); ++j)
+    {
+        Dimension::Id id = dims[j];
+        Dimension::Type t = view->dimType(id);
+        mxArray* array = arrays[j];
+        char* pointsPtr = (char*)mxGetData(array);
+
+        for (point_count_t i = 0; i < view->size(); ++i)
+        {
+            view->getField(pointsPtr, id, t, i);
+            pointsPtr += view->dimSize(id);
+        }
+    }
+
+    // Push the dimension names into a char**
+    auto convert = [](std::string& s)
+    {
+        return s.c_str();
+    };
+    //
+    // Going into a 1x1 struct
+    mdims[0] = 1;
+    mdims[1] = 1;
+
+
+    std::vector<const char*> fieldNames;
+
+    // Metadata
+    //
+    std::vector<std::string> metadataDimNames;
+    dimNames.push_back("metadata");
+
+    metadataDimNames.push_back("json");
+    metadataDimNames.push_back("wkt");
+    metadataDimNames.push_back("horizontal");
+    metadataDimNames.push_back("vertical");
+    metadataDimNames.push_back("pdalargs");
+
+
+    std::transform(metadataDimNames.begin(), metadataDimNames.end(), std::back_inserter(fieldNames), convert);
+    mxArray* metadata = mxCreateStructArray(2, mdims, metadataDimNames.size(), fieldNames.data());
+
+    std::stringstream strm;
+    MetadataNode root = mdataNode.clone("metadata");
+    pdal::Utils::toJSON(root, strm);
+
+    mxArray* json = mxCreateString(strm.str().c_str());
+    mxSetField(metadata, 0, "json", json);
+
+    SpatialReference srs = view->spatialReference();
+
+    std::string wkt_s = srs.getWKT();
+    mxArray* wkt = mxCreateString(wkt_s.c_str());
+    mxSetField(metadata, 0, "wkt", wkt);
+
+    std::string horizontal_s = srs.getHorizontal();
+    mxArray* horizontal = mxCreateString(horizontal_s.c_str());
+    mxSetField(metadata, 0, "horizontal", horizontal);
+
+    std::string vertical_s = srs.getVertical();
+    mxArray* vertical = mxCreateString(vertical_s.c_str());
+    mxSetField(metadata, 0, "vertical", vertical);
+
+    mxArray* pargs = mxCreateString(pdalargs.c_str());
+    mxSetField(metadata, 0, "pdalargs", pargs);
+
+    fieldNames.clear();
+    std::transform(dimNames.begin(), dimNames.end(), std::back_inserter(fieldNames), convert);
+    mxArray* s = mxCreateStructArray(2, mdims, dimNames.size(), fieldNames.data());
+    for (size_t j = 0; j < dims.size(); ++j)
+    {
+        std::string dimName = dimNames[j];
+        mxArray* array = arrays[j];
+        mxSetField(s, 0, dimName.c_str(), array);
+    }
+
+    mxSetField(s, 0, "metadata", metadata);
+
+
+
+    return s;
+
+}
+
+Dimension::Type Script::getPDALDataType(mxClassID t)
+{
+    using namespace Dimension;
+
+    switch (t)
+    {
+    case mxSINGLE_CLASS:
+        return Type::Float;
+    case mxDOUBLE_CLASS:
+        return Type::Double;
+    case mxINT8_CLASS:
+        return Type::Signed8;
+    case mxINT16_CLASS:
+        return Type::Signed16;
+    case mxINT32_CLASS:
+        return Type::Signed32;
+    case mxINT64_CLASS:
+        return Type::Signed64;
+    case mxUINT8_CLASS:
+        return Type::Unsigned8;
+    case mxUINT16_CLASS:
+        return Type::Unsigned16;
+    case mxUINT32_CLASS:
+        return Type::Unsigned32;
+    case mxUINT64_CLASS:
+        return Type::Unsigned64;
+    default:
+        return Type::None;
+    }
+    assert(0);
+
+    return Type::None;
+}
+
+int Script::getMatlabDataType(Dimension::Type t)
+{
+    using namespace Dimension;
+
+    switch (t)
+    {
+    case Type::Float:
+        return mxSINGLE_CLASS;
+    case Type::Double:
+        return mxDOUBLE_CLASS;
+    case Type::Signed8:
+        return mxINT8_CLASS;
+    case Type::Signed16:
+        return mxINT16_CLASS;
+    case Type::Signed32:
+        return mxINT32_CLASS;
+    case Type::Signed64:
+        return mxINT64_CLASS;
+    case Type::Unsigned8:
+        return mxUINT8_CLASS;
+    case Type::Unsigned16:
+        return mxUINT16_CLASS;
+    case Type::Unsigned32:
+        return mxUINT32_CLASS;
+    case Type::Unsigned64:
+        return mxUINT64_CLASS;
+    default:
+        return -1;
+    }
+    assert(0);
+
+    return -1;
+}
+
+} //namespace plang
+} //namespace pdal
+
diff --git a/plugins/matlab/filters/Script.hpp b/plugins/matlab/filters/Script.hpp
new file mode 100644
index 0000000..45af72e
--- /dev/null
+++ b/plugins/matlab/filters/Script.hpp
@@ -0,0 +1,77 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/pdal_internal.hpp>
+
+#include <matrix.h>
+
+#include <pdal/Options.hpp>
+#include <pdal/PointView.hpp>
+#include <pdal/Log.hpp>
+
+namespace pdal
+{
+namespace mlang
+{
+
+class PDAL_DLL Script
+{
+public:
+    Script() {};
+
+    static int getMatlabDataType(Dimension::Type t);
+    static Dimension::Type getPDALDataType(mxClassID t);
+
+    static mxArray* setMatlabStruct(PointViewPtr view, const Dimension::IdList& dims, const std::string& pdalargs, MetadataNode node, LogPtr log);
+
+    static void getMatlabStruct(mxArray* array, PointViewPtr view, const Dimension::IdList& dims, std::string& pdalargs, MetadataNode node, LogPtr log);
+    static PointLayoutPtr getStructLayout(mxArray* array, LogPtr log);
+    static std::string getLogicalMask(mxArray* array, LogPtr log);
+    static std::string getSRSWKT(mxArray* array, LogPtr log);
+
+    std::string m_source;
+    std::string m_scriptFilename;
+
+private:
+
+    Script& operator=(Script const& rhs); // nope
+};
+
+PDAL_DLL std::ostream& operator<<(std::ostream& os, Script const& d);
+
+} // namespace mlang
+} // namespace pdal
+
diff --git a/plugins/matlab/io/MatlabReader.cpp b/plugins/matlab/io/MatlabReader.cpp
new file mode 100644
index 0000000..827ca4d
--- /dev/null
+++ b/plugins/matlab/io/MatlabReader.cpp
@@ -0,0 +1,196 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc., info at hobu.co
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/PDALUtils.hpp>
+#include <pdal/util/Algorithm.hpp>
+
+#include "MatlabReader.hpp"
+
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/Algorithm.hpp>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "readers.matlab",
+    "Matlab Reader",
+    "http://pdal.io/stages/readers.matlab.html" );
+
+CREATE_SHARED_PLUGIN(1, 0, MatlabReader, Reader, s_info)
+std::string MatlabReader::getName() const { return s_info.name; }
+
+void MatlabReader::initialize(PointTableRef table)
+{
+    m_matfile = matOpen(m_filename.c_str(), "r");
+    if (!m_matfile)
+        throwError("Could not open file '" + m_filename + "' for reading.");
+
+    m_structArray = matGetVariable(m_matfile, m_structName.c_str());
+    if (!m_structArray)
+    {
+        std::ostringstream oss;
+        oss << "Array struct with name '" << m_structName << "' not found ";
+        oss << "in file '" << m_filename << "'";
+        throwError(oss.str());
+    }
+
+    m_pointIndex = 0;
+    m_numElements = 0;
+    m_numFields = 0;
+
+    std::string wkt = mlang::Script::getSRSWKT(m_structArray, log());
+    if (wkt.size())
+    {
+        SpatialReference srs(wkt);
+        setSpatialReference(srs);
+    }
+    m_tableMetadata = table.metadata();
+}
+
+
+void MatlabReader::addArgs(ProgramArgs& args)
+{
+    args.add("struct", "Name of struct to read from file", m_structName, "PDAL");
+}
+
+
+void MatlabReader::addDimensions(PointLayoutPtr layout)
+{
+    log()->get(LogLevel::Debug) << "Opening file" <<
+        " '" << m_filename << "'." << std::endl;
+
+
+
+    // For now we read all of the fields in the given
+    // array structure
+    m_numFields = mxGetNumberOfFields(m_structArray);
+    if (!m_numFields)
+        throw pdal::pdal_error("Selected struct array must have fields!");
+
+    // Fetch the first array and determine number of elements
+    // it has. We're only going to read that many elements no
+    // matter what
+    mxArray* f = mxGetFieldByNumber(m_structArray, 0, 0);
+    if (!f)
+    {
+        throwError("Unable to fetch first array in array struct to determine number of elements!");
+    }
+    m_numElements = mxGetNumberOfElements(f);
+
+    // Get the dimensions and their types from the array struct
+    PointLayoutPtr matlabLayout = mlang::Script::getStructLayout(m_structArray, log());
+    const Dimension::IdList& dims = matlabLayout->dims();
+
+    int nDimensionNumber(0);
+    for(auto d: dims)
+    {
+        std::string dimName = matlabLayout->dimName(d);
+        const Dimension::Detail* detail = matlabLayout->dimDetail(d);
+        Dimension::Id id = detail->id();
+        Dimension::Type t = detail->type();
+        layout->registerDim(id, t);
+
+        // Keep a map of the Matlab dimension number to
+        // both the PDAL type and PDAL id
+        std::pair<int, int> pd = std::make_pair(nDimensionNumber, (int)id);
+        m_dimensionIdMap.insert(pd);
+        std::pair<int, int> pt = std::make_pair(nDimensionNumber, (int)t);
+        m_dimensionTypeMap.insert(pt);
+        nDimensionNumber++;
+    }
+
+}
+
+
+point_count_t MatlabReader::read(PointViewPtr view, point_count_t numPts)
+{
+    PointId idx = view->size();
+    point_count_t cnt = 0;
+    PointRef point(*view, idx);
+    while (cnt < numPts)
+    {
+        point.setPointId(idx);
+        if (!processOne(point))
+            break;
+        cnt++;
+        idx++;
+    }
+    return cnt;
+}
+
+
+bool MatlabReader::processOne(PointRef& point)
+{
+    // We read them all
+    if (m_pointIndex == m_numElements)
+        return false;
+
+    for (int i=0; i < m_numFields; ++i)
+    {
+        Dimension::Id d = (Dimension::Id) m_dimensionIdMap[i];
+        Dimension::Type t = (Dimension::Type) m_dimensionTypeMap[i];
+
+        mxArray* f = mxGetFieldByNumber(m_structArray, 0, i);
+        if (!f)
+        {
+            std::ostringstream oss;
+            oss << "Unable to fetch array for point " << m_pointIndex;
+            throwError(oss.str());
+        }
+        PointId numElements = (PointId) mxGetNumberOfElements(f);
+        if (numElements >= m_pointIndex )
+        {
+            size_t size = mxGetElementSize(f);
+            char* p = (char*)mxGetData(f) + (m_pointIndex*size);
+            point.setField(d, t, (void*)p);
+        }
+    }
+
+    m_pointIndex++;
+
+    return true;
+}
+
+
+void MatlabReader::done(PointTableRef table)
+{
+    matClose(m_matfile);
+    getMetadata().addList("filename", m_filename);
+    getMetadata().add("struct", m_structName);
+}
+
+
+} // namespace pdal
+
diff --git a/plugins/matlab/io/MatlabReader.hpp b/plugins/matlab/io/MatlabReader.hpp
new file mode 100644
index 0000000..b2aa17d
--- /dev/null
+++ b/plugins/matlab/io/MatlabReader.hpp
@@ -0,0 +1,126 @@
+/******************************************************************************
+* Copyright (c) 2017, Hobu Inc. (info at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <istream>
+
+#include <pdal/Reader.hpp>
+#include <pdal/plugin.hpp>
+#include "../filters/Script.hpp"
+
+
+#include <mat.h>
+
+
+extern "C" int32_t MatlabReader_ExitFunc();
+extern "C" PF_ExitFunc MatlabReader_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL MatlabReader : public Reader
+{
+public:
+    static void * create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+    MatlabReader()
+    {}
+
+private:
+    /**
+      Initialize the reader by opening the file and reading the header line.
+      Closes the file on completion.
+
+      \param table  Point table being initialized.
+    */
+    virtual void initialize(PointTableRef table);
+
+    /**
+      Add arguments to those accepted at the command line.
+      \param args  Argument list to modify.
+    */
+    virtual void addArgs(ProgramArgs& args);
+
+    /**
+      Add dimensions found in the header line to the layout.
+
+      \param layout  Layout to which the dimenions are added.
+    */
+    virtual void addDimensions(PointLayoutPtr layout);
+
+    /**
+      Read up to numPts points into the \ref view.
+
+      \param view  PointView in which to insert point data.
+      \param numPts  Maximum number of points to read.
+      \return  Number of points read.
+    */
+    virtual point_count_t read(PointViewPtr view, point_count_t numPts);
+
+    /**
+      Close input file.
+
+      \param table  PointTable we're done with.
+    */
+    virtual void done(PointTableRef table);
+
+    /**
+      Read a single point from the input.
+
+      \param point  Reference to point to fill with data.
+      \return  False if no point could be read.
+    */
+    virtual bool processOne(PointRef& point);
+
+private:
+
+
+    std::string m_structName;
+    MATFile * m_matfile;
+
+    int m_numFields;
+    size_t m_numElements;
+    mxArray* m_structArray;
+
+    std::map<int, int> m_dimensionIdMap;
+    std::map<int, int> m_dimensionTypeMap;
+    PointId m_pointIndex;
+    MetadataNode m_tableMetadata;
+
+};
+
+} // namespace pdal
diff --git a/plugins/matlab/io/MatlabWriter.cpp b/plugins/matlab/io/MatlabWriter.cpp
index 6638a96..9726679 100644
--- a/plugins/matlab/io/MatlabWriter.cpp
+++ b/plugins/matlab/io/MatlabWriter.cpp
@@ -33,9 +33,10 @@
  ****************************************************************************/
 
 #include "MatlabWriter.hpp"
+#include "../filters/Script.hpp"
 
 #include <pdal/pdal_macros.hpp>
-#include <pdal/ProgramArgs.hpp>
+#include <pdal/util/ProgramArgs.hpp>
 
 namespace pdal
 {
@@ -55,6 +56,7 @@ void MatlabWriter::addArgs(ProgramArgs& args)
 {
     args.add("filename", "Output filename", m_filename).setPositional();
     args.add("output_dims", "Output dimensions", m_outputDims);
+    args.add("struct", "Matlab struct name", m_structName, "PDAL");
 }
 
 
@@ -62,17 +64,18 @@ void MatlabWriter::prepared(PointTableRef table)
 {
     if (m_outputDims.empty())
     {
-        m_dimTypes = table.layout()->dimTypes();
+        m_dims = table.layout()->dims();
     }
     else
     {
         for (std::string& s : m_outputDims)
         {
-            DimType dimType = table.layout()->findDimType(s);
-            if (dimType.m_id == Dimension::Id::Unknown)
+//             DimType dimType = table.layout()->findDimType(s);
+            Dimension::Id id = table.layout()->findDim(s);
+            if (id == Dimension::Id::Unknown)
                 throwError("Invalid dimension '" + s + "' specified for "
                     "'output_dims' option.");
-            m_dimTypes.push_back(dimType);
+            m_dims.push_back(id);
         }
     }
 }
@@ -83,47 +86,19 @@ void MatlabWriter::ready(PointTableRef table)
     m_matfile = matOpen(m_filename.c_str(), "w");
     if (!m_matfile)
         throwError("Could not open file '" + m_filename + "' for writing.");
+
+    m_tableMetadata = table.metadata();
 }
 
 
 void MatlabWriter::write(const PointViewPtr view)
 {
-    point_count_t nPoints = view->size();
-    auto nDimensions = m_dimTypes.size();
 
-    std::stringstream dimensionsString;
-    for (size_t i = 0; i < nDimensions; ++i)
-    {
-        if (i > 0) dimensionsString << ",";
-        dimensionsString << Dimension::name(m_dimTypes[i].m_id);
-    }
-    mxArray * dimensionNames = mxCreateString(dimensionsString.str().c_str());
-    if (!dimensionNames)
-        throwError("Could not create string '" + dimensionsString.str() + "'");
-    if (matPutVariable(m_matfile, "Dimensions", dimensionNames));
-        throwError("Could not write dimension names to file '" +
-            m_filename + "'.");
-
-    mxArray * points = mxCreateDoubleMatrix(nPoints, nDimensions, mxREAL);
-    if (!points)
-        throwError("Could not create a points array with dimensions " +
-            Utils::toString(nPoints) + "x" + Utils::toString(nDimensions));
-
-    double * pointsPtr = mxGetPr(points);
-    // Matlab is column-major
-    for (size_t j = 0; j < nDimensions; ++j)
-    {
-        for (point_count_t i = 0; i < nPoints; ++i)
-        {
-            double value = view->getFieldAs<double>(m_dimTypes[j].m_id, i);
-            memcpy(static_cast<void*>(pointsPtr++),
-                    static_cast<void*>(&value),
-                    sizeof(double));
-        }
-    }
-    if (matPutVariable(m_matfile, "Points", points))
+    mxArray* data = mlang::Script::setMatlabStruct(view, m_dims, "", m_tableMetadata, log());
+    if (matPutVariable(m_matfile, m_structName.c_str(), data))
         throwError("Could not write points to file '" + m_filename + "'.");
-    mxDestroyArray(points);
+
+    mxDestroyArray(data);
 }
 
 
diff --git a/plugins/matlab/io/MatlabWriter.hpp b/plugins/matlab/io/MatlabWriter.hpp
index a6e6074..bc105ce 100644
--- a/plugins/matlab/io/MatlabWriter.hpp
+++ b/plugins/matlab/io/MatlabWriter.hpp
@@ -55,9 +55,6 @@ public:
     static int32_t destroy(void*);
     std::string getName() const;
 
-    MatlabWriter()
-    {}
-
 private:
     virtual void addArgs(ProgramArgs& args);
     virtual void prepared(PointTableRef table);
@@ -66,10 +63,12 @@ private:
     virtual void done(PointTableRef table);
 
     std::string m_filename;
+    std::string m_structName;
     StringList m_outputDims; ///< List of dimensions to write
     // Can't use unique_ptr b/c MATFile is an incomplete type.
     MATFile * m_matfile;
-    DimTypeList m_dimTypes;
+    Dimension::IdList m_dims;
+    MetadataNode m_tableMetadata;
 };
 
 
diff --git a/plugins/matlab/test/MatlabFilterTest.cpp b/plugins/matlab/test/MatlabFilterTest.cpp
new file mode 100644
index 0000000..3224d0f
--- /dev/null
+++ b/plugins/matlab/test/MatlabFilterTest.cpp
@@ -0,0 +1,155 @@
+/******************************************************************************
+* Copyright (c) 2017, Howard Butler (howard at hobu.co)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/pdal_test_main.hpp>
+
+#include "../filters/Environment.hpp"
+#include "../filters/MatlabFilter.hpp"
+#include <pdal/StageFactory.hpp>
+#include <io/FauxReader.hpp>
+#include <io/LasReader.hpp>
+#include <Support.hpp>
+
+using namespace pdal;
+using namespace pdal::mlang;
+//
+// TEST(MatlabFilterTest, MatlabFilterTest_basic)
+// {
+//     Engine* engine(0);
+//     engine = mlang::Environment::get()->m_engine;
+//     ASSERT_TRUE(engine != 0);
+// }
+
+TEST(MatlabFilterTest, simple_fetch)
+{
+
+    Options reader_opts;
+    {
+        BOX3D bounds(1.0, 2.0, 3.0, 101.0, 102.0, 103.0);
+        Option opt1("bounds", bounds);
+        Option opt2("count", 10);
+        Option opt3("mode", "constant");
+
+        reader_opts.add(opt1);
+        reader_opts.add(opt2);
+        reader_opts.add(opt3);
+    }
+
+    Options xfilter_opts;
+    {
+        const Option source("source",
+            "PDAL.X = PDAL.X + 10;PDAL.X(1,1); PDAL.metadata"
+            );
+        xfilter_opts.add(source);
+        const Option args("pdalargs","pdalargs");
+        xfilter_opts.add(args);
+    }
+
+    StageFactory f;
+    {
+        FauxReader reader;
+
+        reader.setOptions(reader_opts);
+
+        Stage* xfilter(f.createStage("filters.matlab"));
+        LogPtr log = LogPtr(new Log("matlab.log", "stderr"));
+        log->setLevel(LogLevel::Debug2);
+        xfilter->setLog(log);
+        xfilter->setOptions(xfilter_opts);
+        xfilter->setInput(reader);
+
+        PointTable table;
+        xfilter->prepare(table);
+        PointViewSet pvSet = xfilter->execute(table);
+
+        PointLayoutPtr layout(table.layout());
+        MetadataNode m = table.metadata();
+        m = m.findChild("filters.matlab");
+        MetadataNodeList l = m.children();
+
+        EXPECT_EQ(l.size(), 0u);
+        if (l.size())
+        {
+            // Matlab filter doesn't i/o metadata
+            EXPECT_EQ(l[0].name(), "filters.matlab");
+            EXPECT_EQ(l[0].value(), "52");
+            EXPECT_EQ(l[0].description(), "a filter description");
+
+        }
+
+
+        EXPECT_EQ(pvSet.size(), 1u);
+        PointViewPtr view = *pvSet.begin();
+        EXPECT_EQ(view->size(), 10u);
+        EXPECT_EQ(view->getFieldAs<double>(pdal::Dimension::Id::X, 0), 11u);
+    }
+
+}
+
+TEST(MatlabFilterTest, logical)
+{
+
+    Options lasReadOpts;
+    lasReadOpts.add("filename", Support::datapath("las/1.2-with-color.las"));
+
+    Options xfilter_opts;
+    {
+        const Option source("source",
+            "PDAL.Mask = PDAL.Intensity < 30"
+            );
+        xfilter_opts.add(source);
+    }
+
+    StageFactory f;
+    {
+        LasReader reader;
+        reader.setOptions(lasReadOpts);
+
+
+        Stage* xfilter(f.createStage("filters.matlab"));
+        LogPtr log = LogPtr(new Log("matlab.log", "stderr"));
+        log->setLevel(LogLevel::Debug2);
+        xfilter->setLog(log);
+        xfilter->setOptions(xfilter_opts);
+        xfilter->setInput(reader);
+
+        PointTable table;
+        xfilter->prepare(table);
+        PointViewSet pvSet = xfilter->execute(table);
+        EXPECT_EQ(pvSet.size(), 1u);
+        PointViewPtr view = *pvSet.begin();
+        EXPECT_EQ(view->size(), 357u);
+    }
+
+}
diff --git a/plugins/matlab/test/MatlabReaderTest.cpp b/plugins/matlab/test/MatlabReaderTest.cpp
new file mode 100644
index 0000000..3a7c345
--- /dev/null
+++ b/plugins/matlab/test/MatlabReaderTest.cpp
@@ -0,0 +1,62 @@
+/******************************************************************************
+ * Copyright (c) 2017, Hobu Inc. (info at hobu.co)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include <pdal/pdal_test_main.hpp>
+
+#include "Support.hpp"
+
+#include <io/LasReader.hpp>
+#include "../io/MatlabReader.hpp"
+#include <pdal/util/FileUtils.hpp>
+
+using namespace pdal;
+
+TEST(MatlabReaderTest, t1)
+{
+    MatlabReader t;
+    Options mlabOptions;
+    mlabOptions.add("filename", Support::datapath("matlab/autzen.mat"));
+    t.setOptions(mlabOptions);
+
+    PointTable tt;
+    t.prepare(tt);
+    PointViewSet ts = t.execute(tt);
+    EXPECT_EQ(ts.size(), 1U);
+    PointViewPtr tv = *ts.begin();
+    EXPECT_EQ(tv->size(), 106U);
+
+    SpatialReference ref = tv->spatialReference();
+    ASSERT_FALSE(ref.empty());
+}
+
diff --git a/plugins/matlab/test/MatlabWriterTest.cpp b/plugins/matlab/test/MatlabWriterTest.cpp
index fc5dfa6..07f97d3 100644
--- a/plugins/matlab/test/MatlabWriterTest.cpp
+++ b/plugins/matlab/test/MatlabWriterTest.cpp
@@ -34,9 +34,9 @@
 
 #include <pdal/pdal_test_main.hpp>
 
-#include "MatlabWriter.hpp"
+#include "../io/MatlabWriter.hpp"
 
-#include <faux/FauxReader.hpp>
+#include <FauxReader.hpp>
 #include <pdal/StageFactory.hpp>
 #include "Support.hpp"
 
@@ -52,7 +52,7 @@ protected:
     {
         Options options;
         options.add("mode", "ramp");
-        options.add("num_points", 100);
+        options.add("count", 100);
         m_reader.setOptions(options);
     }
 
diff --git a/plugins/nitf/io/NitfWriter.cpp b/plugins/nitf/io/NitfWriter.cpp
index 9ce0a1c..565929b 100644
--- a/plugins/nitf/io/NitfWriter.cpp
+++ b/plugins/nitf/io/NitfWriter.cpp
@@ -124,7 +124,6 @@ void NitfWriter::readyFile(const std::string& filename,
     const SpatialReference& srs)
 {
     m_nitf.setFilename(filename);
-    m_error.setFilename(filename);
 
     Utils::writeProgress(m_progressFd, "READYFILE", filename);
     prepOutput(&m_oss, srs);
diff --git a/plugins/nitf/test/NitfReaderTest.cpp b/plugins/nitf/test/NitfReaderTest.cpp
index 0706fc9..8d2976c 100644
--- a/plugins/nitf/test/NitfReaderTest.cpp
+++ b/plugins/nitf/test/NitfReaderTest.cpp
@@ -133,10 +133,12 @@ TEST(NitfReaderTest, optionSrs)
     EXPECT_TRUE(nitfReader);
     nitfReader->setOptions(nitfOpts);
 
+    std::string outfile(Support::temppath("temp.nitf"));
     Options lasOpts;
-    lasOpts.add("filename", "/dev/null");
+    lasOpts.add("filename", outfile);
 
     LasWriter writer;
+
     writer.setInput(*nitfReader);
     writer.setOptions(lasOpts);;
 
diff --git a/plugins/openscenegraph/CMakeLists.txt b/plugins/openscenegraph/CMakeLists.txt
new file mode 100644
index 0000000..4706506
--- /dev/null
+++ b/plugins/openscenegraph/CMakeLists.txt
@@ -0,0 +1,22 @@
+#
+# OpenScenGraph plugin CMake configuration
+#
+
+include (${PDAL_CMAKE_DIR}/openscenegraph.cmake)
+
+# OpenSceneGraph Reader
+#
+
+PDAL_ADD_PLUGIN(reader_libname reader openscenegraph
+    FILES
+    io/OSGReader.cpp
+    io/OSGReader.hpp
+    LINK_WITH ${OPENTHREADS_LIBRARY} ${OSG_LIBRARY} ${OSGDB_LIBRARY})
+target_include_directories(${reader_libname} PRIVATE ${OSG_INCLUDE_DIRS})
+
+# PDAL_ADD_TEST(sqlitetest
+#        FILES test/SQLiteTest.cpp
+#        LINK_WITH ${reader_libname} ${writer_libname})
+#    target_include_directories(sqlitetest PRIVATE
+#        ${PDAL_IO_DIR}
+#        ${LIBXML2_INCLUDE_DIR})
diff --git a/plugins/openscenegraph/io/OSGReader.cpp b/plugins/openscenegraph/io/OSGReader.cpp
new file mode 100644
index 0000000..f6c9842
--- /dev/null
+++ b/plugins/openscenegraph/io/OSGReader.cpp
@@ -0,0 +1,176 @@
+/******************************************************************************
+* Copyright (c) 2017, Jason Beverage, jasonbeverage at gmail.com
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+
+#include "OSGReader.hpp"
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+
+#include <osg/NodeVisitor>
+#include <osg/TriangleFunctor>
+#include <osgDB/ReadFile>
+#include <osg/Version>
+
+namespace pdal
+{
+
+struct CollectTriangles
+{
+    CollectTriangles()
+    {
+        verts = new osg::Vec3Array();
+    }
+#ifdef OSG_VERSION_GREATER_THAN
+#if OSG_VERSION_GREATER_THAN(3,2,0)
+    inline void operator () (const osg::Vec3& v1, const osg::Vec3& v2, const osg::Vec3& v3, bool treatVertexDataAsTemporary)
+#else
+    inline void operator () (const osg::Vec3& v1, const osg::Vec3& v2, const osg::Vec3& v3)
+#endif
+#else
+    inline void operator () (const osg::Vec3& v1, const osg::Vec3& v2, const osg::Vec3& v3)
+#endif
+    {
+        verts->push_back(v1);
+        verts->push_back(v2);
+        verts->push_back(v3);
+    }
+
+    osg::ref_ptr< osg::Vec3Array > verts;
+};
+
+struct CollectTrianglesVisitor : public osg::NodeVisitor
+{
+    CollectTrianglesVisitor() :
+        osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN)
+    {
+    }
+
+    void apply(osg::Transform& transform)
+    {
+        osg::Matrix matrix;
+        if (!_matrixStack.empty()) matrix = _matrixStack.back();
+
+        transform.computeLocalToWorldMatrix(matrix, this);
+
+        pushMatrix(matrix);
+
+        traverse(transform);
+
+        popMatrix();
+    }
+
+    void apply(osg::Geode& geode)
+    {
+        for (unsigned int i = 0; i<geode.getNumDrawables(); ++i)
+        {
+            osg::TriangleFunctor<CollectTriangles> triangleCollector;
+            geode.getDrawable(i)->accept(triangleCollector);
+            for (unsigned int j = 0; j < triangleCollector.verts->size(); j++)
+            {
+                osg::Matrix matrix;
+                if (!_matrixStack.empty())
+                {
+                    matrix = _matrixStack.back();
+                }
+                osg::Vec3d v = (*triangleCollector.verts)[j];
+                _points.push_back(v * matrix);
+            }
+        }
+    }
+
+    inline void pushMatrix(osg::Matrix& matrix) { _matrixStack.push_back(matrix); }
+
+    inline void popMatrix() { _matrixStack.pop_back(); }
+
+    typedef std::vector<osg::Matrix> MatrixStack;
+    std::vector< osg::Vec3d > _points;
+    MatrixStack _matrixStack;
+};
+
+static PluginInfo const s_info = PluginInfo(
+"readers.osg",
+"osg reader.",
+"" );
+
+CREATE_SHARED_PLUGIN(1, 0, OSGReader, Reader, s_info)
+
+std::string OSGReader::getName() const { return s_info.name; }
+
+void OSGReader::addDimensions(PointLayoutPtr layout)
+{
+    layout->registerDim(Dimension::Id::X);
+    layout->registerDim(Dimension::Id::Y);
+    layout->registerDim(Dimension::Id::Z);
+}
+
+void OSGReader::ready(PointTableRef)
+{
+    osg::ref_ptr< osg::Node > node = osgDB::readNodeFile(m_filename);
+
+    CollectTrianglesVisitor v;
+    node->accept(v);
+    _points = v._points;
+}
+
+point_count_t OSGReader::read(PointViewPtr view, point_count_t count)
+{
+    PointId nextId = view->size();
+    PointId idx = m_index;
+    point_count_t numRead = 0;
+
+    for (unsigned int i = m_index; i < _points.size(); i++)
+    {
+        view->setField(Dimension::Id::X, nextId, _points[i].x());
+        view->setField(Dimension::Id::Y, nextId, _points[i].y());
+        view->setField(Dimension::Id::Z, nextId, _points[i].z());
+
+        nextId++;
+        numRead++;
+
+        if (i >= _points.size() - 1)
+        {
+            break;
+        }
+    }
+
+    m_index = nextId;
+    return numRead;
+}
+
+void OSGReader::done(PointTableRef)
+{
+    _points.clear();
+}
+
+} //namespace pdal
diff --git a/plugins/openscenegraph/io/OSGReader.hpp b/plugins/openscenegraph/io/OSGReader.hpp
new file mode 100644
index 0000000..a19115c
--- /dev/null
+++ b/plugins/openscenegraph/io/OSGReader.hpp
@@ -0,0 +1,72 @@
+/******************************************************************************
+* Copyright (c) 2017, Jason Beverage, jasonbeverage at gmail.com
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+
+#pragma once
+
+#include <pdal/PointView.hpp>
+#include <pdal/Reader.hpp>
+#include <pdal/util/IStream.hpp>
+
+#include <osg/Vec3d>
+#include <osg/Vec4f>
+
+#include <iostream>
+
+namespace pdal
+{
+  class OSGReader : public Reader
+  {
+  public:
+    OSGReader() :
+        Reader(),
+        m_index(0)
+    {
+    };
+
+    static void * create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+  private:
+    point_count_t m_index;
+
+    std::vector< osg::Vec3d > _points;
+
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual void ready(PointTableRef table);
+    virtual point_count_t read(PointViewPtr view, point_count_t count);
+    virtual void done(PointTableRef table);
+  };
+}
diff --git a/plugins/pcl/CMakeLists.txt b/plugins/pcl/CMakeLists.txt
index 38a9d4b..1687189 100644
--- a/plugins/pcl/CMakeLists.txt
+++ b/plugins/pcl/CMakeLists.txt
@@ -32,11 +32,13 @@ endif()
 
 set_package_properties(PCL PROPERTIES DESCRIPTION "Point Cloud Library"
     URL "http://pointclouds.org" TYPE RECOMMENDED
-    PURPOSE "Enables PCD reader/writer, PCLVisualizer, PCLBlock filter, and ground, pcl, smooth, and view kernels")
+    PURPOSE "Enables PCD reader/writer, PCLVisualizer, PCLBlock filter, ICP filter, and ground, pcl, smooth, and view kernels")
 
 set(INCLUDE_DIRS
     ${ROOT_DIR}
-    ${PCL_INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS}
+    ${CMAKE_CURRENT_LIST_DIR}
+    )
 
 add_definitions(${PCL_DEFINITIONS})
 if (NOT WIN32)
@@ -120,6 +122,13 @@ PDAL_ADD_PLUGIN(greedyprojection_filter_libname filter greedyprojection
 target_include_directories(${greedyprojection_filter_libname} PRIVATE
     ${INCLUDE_DIRS})
 
+PDAL_ADD_PLUGIN(icp_filter_libname filter icp
+    FILES
+        filters/IcpFilter.cpp
+    LINK_WITH ${PCL_LIBRARIES})
+target_include_directories(${icp_filter_libname} PRIVATE
+    ${INCLUDE_DIRS})
+
 #
 # PCL Kernel
 #
@@ -144,10 +153,18 @@ target_include_directories(${smooth_libname} PRIVATE
     ${PDAL_IO_DIR})
 
 if (WITH_TESTS)
-    PDAL_ADD_TEST(pcltest
+    PDAL_ADD_TEST(pdal_filters_pcl_block_test
     FILES
         test/PCLBlockFilterTest.cpp
     LINK_WITH ${pcd_reader_libname} ${pcd_writer_libname} ${pclblock_libname}
         ${pcl_libname} ${smooth_libname}
     )
+
+    PDAL_ADD_TEST(pdal_filters_icp_test
+    FILES
+        test/IcpFilterTest.cpp
+    LINK_WITH
+        ${icp_filter_libname}
+    )
+    target_include_directories(pdal_filters_icp_test PRIVATE ${INCLUDE_DIRS})
 endif()
diff --git a/plugins/pcl/filters/IcpFilter.cpp b/plugins/pcl/filters/IcpFilter.cpp
new file mode 100644
index 0000000..9113fc3
--- /dev/null
+++ b/plugins/pcl/filters/IcpFilter.cpp
@@ -0,0 +1,116 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "PCLConversions.hpp"
+#include <filters/IcpFilter.hpp>
+#include <pcl/point_types.h>
+#include <pcl/registration/icp.h>
+#include <pdal/EigenUtils.hpp>
+#include <pdal/pdal_macros.hpp>
+
+namespace pdal
+{
+
+static PluginInfo const s_info =
+    PluginInfo("filters.icp", "Iterative Closest Point (ICP) filter",
+               "http://pdal.io/stages/filters.icp.html");
+
+CREATE_SHARED_PLUGIN(1, 0, IcpFilter, Filter, s_info);
+
+std::string IcpFilter::getName() const
+{
+    return s_info.name;
+}
+
+PointViewSet IcpFilter::run(PointViewPtr view)
+{
+    PointViewSet viewSet;
+    if (this->m_fixed)
+    {
+        log()->get(LogLevel::Debug2) << "Calculating ICP\n";
+        PointViewPtr result = this->icp(this->m_fixed, view);
+        viewSet.insert(result);
+        log()->get(LogLevel::Debug2) << "ICP complete\n";
+        this->m_complete = true;
+    }
+    else
+    {
+        log()->get(LogLevel::Debug2) << "Adding fixed points\n";
+        this->m_fixed = view;
+    }
+    return viewSet;
+}
+
+void IcpFilter::done(PointTableRef _)
+{
+    if (!this->m_complete)
+    {
+        throw pdal_error(
+            "filters.icp must have two point view inputs, no more, no less");
+    }
+}
+
+PointViewPtr IcpFilter::icp(PointViewPtr fixed, PointViewPtr moving) const
+{
+    typedef pcl::PointXYZ Point;
+    typedef pcl::PointCloud<Point> Cloud;
+    Cloud::Ptr fixedCloud(new Cloud());
+    pclsupport::PDALtoPCD(fixed, *fixedCloud);
+    Cloud::Ptr movingCloud(new Cloud());
+    pclsupport::PDALtoPCD(moving, *movingCloud);
+    pcl::IterativeClosestPoint<Point, Point> icp;
+    icp.setInputCloud(movingCloud);
+    icp.setInputTarget(fixedCloud);
+    Cloud result;
+    icp.align(result);
+
+    MetadataNode root = getMetadata();
+    // I couldn't figure out the template-fu to get
+    // `MetadataNodeImpl::setValue` to work for all Eigen matrices with one
+    // function, so I'm just brute-forcing the cast for now.
+    root.add("transform",
+             Eigen::MatrixXd(icp.getFinalTransformation().cast<double>()));
+    root.add("converged", icp.hasConverged());
+    root.add("fitness", icp.getFitnessScore());
+
+    assert(moving->size() == result.points.size());
+    for (PointId i = 0; i < moving->size(); ++i)
+    {
+        moving->setField(Dimension::Id::X, i, result.points[i].x);
+        moving->setField(Dimension::Id::Y, i, result.points[i].y);
+        moving->setField(Dimension::Id::Z, i, result.points[i].z);
+    }
+    return moving;
+}
+}
diff --git a/plugins/pcl/filters/IcpFilter.hpp b/plugins/pcl/filters/IcpFilter.hpp
new file mode 100644
index 0000000..477958e
--- /dev/null
+++ b/plugins/pcl/filters/IcpFilter.hpp
@@ -0,0 +1,65 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/plugin.hpp>
+
+extern "C" int32_t IcpFilter_ExitFunc();
+extern "C" PF_ExitFunc IcpFilter_InitPlugin();
+
+namespace pdal
+{
+
+class PDAL_DLL IcpFilter : public Filter
+{
+  public:
+    IcpFilter() : Filter(), m_fixed(nullptr), m_complete(false)
+    {
+    }
+
+    static void* create();
+    static int32_t destroy(void*);
+    std::string getName() const;
+    virtual PointViewSet run(PointViewPtr view);
+
+  private:
+    PointViewPtr icp(PointViewPtr fixed, PointViewPtr moving) const;
+    virtual void done(PointTableRef _);
+
+    PointViewPtr m_fixed;
+    bool m_complete;
+};
+}
diff --git a/plugins/pcl/io/PcdReader.cpp b/plugins/pcl/io/PcdReader.cpp
index 0f20604..aa1f4e4 100644
--- a/plugins/pcl/io/PcdReader.cpp
+++ b/plugins/pcl/io/PcdReader.cpp
@@ -68,7 +68,7 @@ void PcdReader::ready(PointTableRef table)
 
 void PcdReader::addDimensions(PointLayoutPtr layout)
 {
-    layout->registerDims(getDefaultDimensions());
+    layout->registerDims(fileDimensions());
 }
 
 
diff --git a/plugins/pcl/io/PcdReader.hpp b/plugins/pcl/io/PcdReader.hpp
index c824bb9..7d9ebe7 100644
--- a/plugins/pcl/io/PcdReader.hpp
+++ b/plugins/pcl/io/PcdReader.hpp
@@ -52,11 +52,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions()
-    {
-        return fileDimensions();
-    };
-
 private:
     point_count_t m_numPts;
 
diff --git a/plugins/pcl/kernel/PCLKernel.cpp b/plugins/pcl/kernel/PCLKernel.cpp
index b86d701..3a2e622 100644
--- a/plugins/pcl/kernel/PCLKernel.cpp
+++ b/plugins/pcl/kernel/PCLKernel.cpp
@@ -32,7 +32,6 @@
  * OF SUCH DAMAGE.
  ****************************************************************************/
 
-#include <pdal/KernelFactory.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <io/BufferReader.hpp>
 
diff --git a/plugins/pcl/kernel/SmoothKernel.cpp b/plugins/pcl/kernel/SmoothKernel.cpp
index a9c44b9..2949c96 100644
--- a/plugins/pcl/kernel/SmoothKernel.cpp
+++ b/plugins/pcl/kernel/SmoothKernel.cpp
@@ -35,7 +35,6 @@
 
 #include "SmoothKernel.hpp"
 
-#include <pdal/KernelFactory.hpp>
 #include <pdal/pdal_macros.hpp>
 #include <io/BufferReader.hpp>
 
diff --git a/plugins/pcl/test/IcpFilterTest.cpp b/plugins/pcl/test/IcpFilterTest.cpp
new file mode 100644
index 0000000..9ef6293
--- /dev/null
+++ b/plugins/pcl/test/IcpFilterTest.cpp
@@ -0,0 +1,163 @@
+/******************************************************************************
+ * Copyright (c) 2017, Peter J. Gadomski <pete at gadom.ski>
+ *
+ * All rights reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following
+ * conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in
+ *       the documentation and/or other materials provided
+ *       with the distribution.
+ *     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+ *       names of its contributors may be used to endorse or promote
+ *       products derived from this software without specific prior
+ *       written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ ****************************************************************************/
+
+#include "Support.hpp"
+#include <Eigen/Dense>
+#include <filters/IcpFilter.hpp>
+#include <filters/TransformationFilter.hpp>
+#include <io/LasReader.hpp>
+#include <memory>
+#include <pdal/pdal_test_main.hpp>
+#include <pdal/EigenUtils.hpp>
+
+namespace pdal
+{
+namespace
+{
+
+std::unique_ptr<LasReader> newReader()
+{
+    Options options;
+    options.add("filename", Support::datapath("las/100-points.las"));
+    std::unique_ptr<LasReader> reader(new LasReader());
+    reader->setOptions(options);
+    return reader;
+}
+
+std::unique_ptr<IcpFilter> newFilter()
+{
+    return std::unique_ptr<IcpFilter>(new IcpFilter());
+}
+
+void checkPointsEqualReader(const PointViewSet& pointViewSet, double tolerance)
+{
+    auto reader = newReader();
+    PointTable table;
+    reader->prepare(table);
+    PointViewSet readerPointViewSet = reader->execute(table);
+    ASSERT_EQ(1u, readerPointViewSet.size());
+    PointViewPtr expected = *readerPointViewSet.begin();
+    ASSERT_EQ(1u, pointViewSet.size());
+    PointViewPtr actual = *pointViewSet.begin();
+
+    ASSERT_EQ(expected->size(), actual->size());
+
+    for (PointId i = 0; i < expected->size(); ++i)
+    {
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::X, i),
+                    actual->getFieldAs<double>(Dimension::Id::X, i), tolerance);
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::Y, i),
+                    actual->getFieldAs<double>(Dimension::Id::Y, i), tolerance);
+        ASSERT_NEAR(expected->getFieldAs<double>(Dimension::Id::Z, i),
+                    actual->getFieldAs<double>(Dimension::Id::Z, i), tolerance);
+    }
+}
+}
+
+TEST(IcpFilterTest, DefaultIdentity)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(*reader2);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet viewSet = filter->execute(table);
+    EXPECT_EQ(1u, viewSet.size());
+    EXPECT_EQ(100u, (*viewSet.begin())->size());
+
+    MetadataNode root = filter->getMetadata();
+    MetadataNode transform = root.findChild("transform");
+    EXPECT_EQ("matrix", transform.type());
+    Eigen::MatrixXd transformMatrix = transform.value<Eigen::MatrixXd>();
+    EXPECT_TRUE(transformMatrix.isApprox(Eigen::MatrixXd::Identity(4, 4), 1.0));
+}
+
+TEST(IcpFilterTest, RecoverTranslation)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    TransformationFilter transformationFilter;
+    Options transformationOptions;
+    transformationOptions.add("matrix", "1 0 0 1\n0 1 0 2\n0 0 1 3\n0 0 0 1");
+    transformationFilter.setOptions(transformationOptions);
+    transformationFilter.setInput(*reader2);
+
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(transformationFilter);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet pointViewSet = filter->execute(table);
+
+    MetadataNode root = filter->getMetadata();
+    Eigen::MatrixXd transform =
+        root.findChild("transform").value<Eigen::MatrixXd>();
+    double tolerance = 1.5;
+    EXPECT_NEAR(-1.0, transform(0, 3), tolerance);
+    EXPECT_NEAR(-2.0, transform(1, 3), tolerance);
+    EXPECT_NEAR(-3.0, transform(2, 3), tolerance);
+    checkPointsEqualReader(pointViewSet, tolerance);
+}
+
+TEST(IcpFilterTest, TooFewInputs)
+{
+    auto reader = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader);
+
+    PointTable table;
+    filter->prepare(table);
+    ASSERT_THROW(filter->execute(table), pdal_error);
+}
+
+TEST(IcpFilterTest, ThreeInputs)
+{
+    auto reader1 = newReader();
+    auto reader2 = newReader();
+    auto reader3 = newReader();
+    auto filter = newFilter();
+    filter->setInput(*reader1);
+    filter->setInput(*reader2);
+    filter->setInput(*reader3);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet pointViewSet = filter->execute(table);
+    EXPECT_EQ(2ul, pointViewSet.size());
+}
+}
diff --git a/plugins/pgpointcloud/include/Pgtest-Support.hpp b/plugins/pgpointcloud/include/Pgtest-Support.hpp
new file mode 100644
index 0000000..88ba042
--- /dev/null
+++ b/plugins/pgpointcloud/include/Pgtest-Support.hpp
@@ -0,0 +1,54 @@
+/******************************************************************************
+* Copyright (c) 2014, Peter J. Gadomski (pete.gadomski at gmail.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+namespace pdal
+{
+
+
+static const std::string testDbUser("");
+static const std::string testDbHost("");
+static const std::string testDbPort("");
+static const std::string testDbName("template1");
+static const std::string testDbTempname("pdal_test_tmp");
+
+
+
+//boost::property_tree::ptree Reader::serializePipeline(PointTablePtr table) const
+//{
+//    return m_stage->serializePipeline(table);
+//}
+
+} // namespace pdal
diff --git a/plugins/python/CMakeLists.txt b/plugins/python/CMakeLists.txt
index 7066bad..46b95f4 100644
--- a/plugins/python/CMakeLists.txt
+++ b/plugins/python/CMakeLists.txt
@@ -5,18 +5,3 @@
 include(${PDAL_CMAKE_DIR}/python.cmake)
 
 add_subdirectory(filters)
-if (WITH_TESTS)
-    PDAL_ADD_TEST(plangtest
-        FILES ./test/PLangTest.cpp
-        LINK_WITH ${PDAL_PLANG_LIB_NAME})
-    target_include_directories(plangtest PRIVATE
-        ${PDAL_VENDOR_DIR}/pdalboost
-        ${ROOT_DIR} ${PDAL_JSONCPP_INCLUDE_DIR})
-    if (WITH_APPS)
-        PDAL_ADD_TEST(python_pipeline_test
-            FILES ./test/PythonPipelineTest.cpp
-            LINK_WITH ${PDAL_PLANG_LIB_NAME})
-        target_include_directories(python_pipeline_test PRIVATE
-            ${PDAL_JSONCPP_INCLUDE_DIR})
-    endif()
-endif()
diff --git a/plugins/python/filters/CMakeLists.txt b/plugins/python/filters/CMakeLists.txt
index 3d41ac8..42f0e1f 100644
--- a/plugins/python/filters/CMakeLists.txt
+++ b/plugins/python/filters/CMakeLists.txt
@@ -1,30 +1,24 @@
-
-# Predicate Filter
-#
-PDAL_ADD_PLUGIN(predicate_libname filter predicate
+set(PLANG ../plang/Invocation.cpp
+          ../plang/Environment.cpp
+          ../plang/Redirector.cpp
+          ../plang/Script.cpp)
+PDAL_ADD_PLUGIN(python_libname filter python
     FILES
-        PredicateFilter.cpp
-    LINK_WITH ${PDAL_PLANG_LIB_NAME})
-target_include_directories(${predicate_libname} PRIVATE
+        ${PLANG}
+        PythonFilter.cpp
+    )
+target_include_directories(${python_libname} PRIVATE
     ${PYTHON_INCLUDE_DIR} ${PDAL_JSONCPP_INCLUDE_DIR})
 
-#
-# Programmable Filter
-#
-
-PDAL_ADD_PLUGIN(programmable_libname filter programmable
-    FILES
-        ProgrammableFilter.cpp
-    LINK_WITH ${PDAL_PLANG_LIB_NAME})
-target_include_directories(${programmable_libname} PRIVATE
-    ${PYTHON_INCLUDE_DIR} ${PDAL_JSONCPP_INCLUDE_DIR})
+target_link_libraries(${python_libname} PUBLIC
+    ${PYTHON_LIBRARY} ${CMAKE_DL_LIBS})
 
 if (WITH_TESTS)
-    PDAL_ADD_TEST(python_predicate_test
-        FILES ../test/PredicateFilterTest.cpp
-        LINK_WITH ${predicate_libname} ${PDAL_PLANG_LIB_NAME})
 
-    PDAL_ADD_TEST(python_programmable_test
-        FILES ../test/ProgrammableFilterTest.cpp
-        LINK_WITH ${programmable_libname} ${PDAL_PLANG_LIB_NAME})
+    PDAL_ADD_TEST(pdal_filters_python_test
+        FILES ../test/PythonFilterTest.cpp ${PLANG}
+        LINK_WITH ${programmable_libname} )
+    target_link_libraries(pdal_filters_python_test PUBLIC
+        ${PYTHON_LIBRARY} ${CMAKE_DL_LIBS})
+
 endif()
diff --git a/plugins/python/filters/PredicateFilter.cpp b/plugins/python/filters/PredicateFilter.cpp
deleted file mode 100644
index 82db044..0000000
--- a/plugins/python/filters/PredicateFilter.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_internal.hpp>
-
-#include "PredicateFilter.hpp"
-#include <pdal/PointView.hpp>
-#include <pdal/StageFactory.hpp>
-#include <pdal/pdal_macros.hpp>
-#include <pdal/util/FileUtils.hpp>
-#include <pdal/util/ProgramArgs.hpp>
-
-namespace pdal
-{
-
-static PluginInfo const s_info = PluginInfo(
-    "filters.predicate",
-    "Filter data using inline Python expressions.",
-    "http://pdal.io/stages/filters.predicate.html" );
-
-CREATE_SHARED_PLUGIN(1, 0, PredicateFilter, Filter, s_info)
-
-std::string PredicateFilter::getName() const { return s_info.name; }
-
-void PredicateFilter::addArgs(ProgramArgs& args)
-{
-    args.add("source", "Python script to run", m_source);
-    args.add("script", "File containing script to run", m_scriptFile);
-    args.add("module", "Python module containing the function to run",
-        m_module);
-    args.add("function", "Function to call", m_function);
-    args.add("pdalargs", "Dictionary to add to module globals when calling function", m_pdalargs);
-}
-
-
-void PredicateFilter::ready(PointTableRef table)
-{
-    if (m_source.empty())
-        m_source = FileUtils::readFileIntoString(m_scriptFile);
-
-    plang::Environment::get()->set_stdout(log()->getLogStream());
-    m_script = new plang::Script(m_source, m_module, m_function);
-    m_pythonMethod = new plang::Invocation(*m_script);
-    m_pythonMethod->compile();
-}
-
-
-PointViewSet PredicateFilter::run(PointViewPtr view)
-{
-    MetadataNode n;
-
-    m_pythonMethod->resetArguments();
-    m_pythonMethod->begin(*view, n);
-
-    if (!m_pdalargs.empty())
-    {
-        std::ostringstream args;
-        args << m_pdalargs;
-        m_pythonMethod->setKWargs(args.str());
-    }
-
-    m_pythonMethod->execute();
-
-    if (!m_pythonMethod->hasOutputVariable("Mask"))
-        throwError("Mask variable not set in filter function.");
-
-    PointViewPtr outview = view->makeNew();
-
-    void *pydata =
-        m_pythonMethod->extractResult("Mask", Dimension::Type::Unsigned8);
-    char *ok = (char *)pydata;
-    for (PointId idx = 0; idx < view->size(); ++idx)
-        if (*ok++)
-            outview->appendPoint(*view, idx);
-
-    PointViewSet viewSet;
-    viewSet.insert(outview);
-    return viewSet;
-}
-
-
-void PredicateFilter::done(PointTableRef table)
-{
-    plang::Environment::get()->reset_stdout();
-    delete m_pythonMethod;
-    delete m_script;
-}
-
-} // namespace pdal
diff --git a/plugins/python/filters/PredicateFilter.hpp b/plugins/python/filters/PredicateFilter.hpp
deleted file mode 100644
index 79a3075..0000000
--- a/plugins/python/filters/PredicateFilter.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <pdal/pdal_internal.hpp>
-#include <pdal/Filter.hpp>
-
-#include <pdal/plang/Invocation.hpp>
-
-#include <json/json.h>
-
-namespace pdal
-{
-
-class PDAL_DLL PredicateFilter : public Filter
-{
-public:
-    PredicateFilter() : Filter(), m_script(NULL)
-        {}
-
-    static void * create();
-    static int32_t destroy(void *);
-    std::string getName() const;
-
-private:
-    plang::Invocation* m_pythonMethod;
-    plang::Script* m_script;
-    std::string m_source;
-    std::string m_scriptFile;
-    std::string m_module;
-    std::string m_function;
-    Json::Value m_pdalargs;
-
-    virtual void addArgs(ProgramArgs& args);
-    virtual void ready(PointTableRef table);
-    virtual PointViewSet run(PointViewPtr view);
-    virtual void done(PointTableRef table);
-
-    PredicateFilter& operator=(const PredicateFilter&); // not implemented
-    PredicateFilter(const PredicateFilter&); // not implemented
-};
-
-} // namespace pdal
diff --git a/plugins/python/filters/ProgrammableFilter.cpp b/plugins/python/filters/ProgrammableFilter.cpp
deleted file mode 100644
index f30db10..0000000
--- a/plugins/python/filters/ProgrammableFilter.cpp
+++ /dev/null
@@ -1,112 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_internal.hpp>
-
-#include "ProgrammableFilter.hpp"
-#include <pdal/PointView.hpp>
-#include <pdal/StageFactory.hpp>
-#include <pdal/pdal_macros.hpp>
-#include <pdal/util/ProgramArgs.hpp>
-#include <pdal/util/FileUtils.hpp>
-
-namespace pdal
-{
-
-static PluginInfo const s_info = PluginInfo(
-    "filters.programmable",
-    "Manipulate data using inline Python",
-    "http://pdal.io/stages/filters.programmable.html" );
-
-CREATE_SHARED_PLUGIN(1, 0, ProgrammableFilter, Filter, s_info)
-
-std::string ProgrammableFilter::getName() const { return s_info.name; }
-
-void ProgrammableFilter::addArgs(ProgramArgs& args)
-{
-    args.add("source", "Python script to run", m_source);
-    args.add("script", "File containing script to run", m_scriptFile);
-    args.add("module", "Python module containing the function to run",
-        m_module);
-    args.add("function", "Function to call", m_function);
-    args.add("add_dimension", "Dimensions to add", m_addDimensions);
-    args.add("pdalargs", "Dictionary to add to module globals when calling function", m_pdalargs);
-}
-
-
-void ProgrammableFilter::addDimensions(PointLayoutPtr layout)
-{
-    for (const std::string& s : m_addDimensions)
-        layout->registerOrAssignDim(s, pdal::Dimension::Type::Double);
-}
-
-
-void ProgrammableFilter::ready(PointTableRef table)
-{
-    if (m_source.empty())
-        m_source = FileUtils::readFileIntoString(m_scriptFile);
-    plang::Environment::get()->set_stdout(log()->getLogStream());
-    m_script = new plang::Script(m_source, m_module, m_function);
-    m_pythonMethod = new plang::Invocation(*m_script);
-    m_pythonMethod->compile();
-    m_totalMetadata = table.metadata();
-}
-
-
-void ProgrammableFilter::filter(PointView& view)
-{
-    log()->get(LogLevel::Debug5) << "Python script " << *m_script <<
-        " processing " << view.size() << " points." << std::endl;
-    m_pythonMethod->resetArguments();
-    m_pythonMethod->begin(view, m_totalMetadata);
-
-    if (!m_pdalargs.empty())
-    {
-        std::ostringstream args;
-        args << m_pdalargs;
-        m_pythonMethod->setKWargs(args.str());
-    }
-    m_pythonMethod->execute();
-    m_pythonMethod->end(view, getMetadata());
-}
-
-
-void ProgrammableFilter::done(PointTableRef table)
-{
-    plang::Environment::get()->reset_stdout();
-    delete m_pythonMethod;
-    delete m_script;
-}
-
-} // namespace pdal
diff --git a/plugins/python/filters/ProgrammableFilter.hpp b/plugins/python/filters/ProgrammableFilter.hpp
deleted file mode 100644
index 67ddb3a..0000000
--- a/plugins/python/filters/ProgrammableFilter.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#pragma once
-
-#include <pdal/pdal_internal.hpp>
-#include <pdal/Filter.hpp>
-
-#include <pdal/plang/Invocation.hpp>
-
-#include <json/json.h>
-
-namespace pdal
-{
-
-class ProgrammableFilterSequentialIterator;
-
-class PDAL_DLL ProgrammableFilter : public Filter
-{
-public:
-    ProgrammableFilter() : Filter(), m_script(NULL)
-        {}
-
-    static void *create();
-    static int32_t destroy(void *);
-    std::string getName() const;
-
-private:
-    plang::Script* m_script;
-    plang::Invocation *m_pythonMethod;
-    std::string m_source;
-    std::string m_scriptFile;
-    std::string m_module;
-    std::string m_function;
-    StringList m_addDimensions;
-
-    virtual void addArgs(ProgramArgs& args);
-    virtual void addDimensions(PointLayoutPtr layout);
-    virtual void ready(PointTableRef table);
-    virtual void filter(PointView& view);
-    virtual void done(PointTableRef table);
-
-    ProgrammableFilter& operator=(const ProgrammableFilter&); // not implemented
-    ProgrammableFilter(const ProgrammableFilter&); // not implemented
-
-    MetadataNode m_totalMetadata;
-    Json::Value m_pdalargs;
-};
-
-} // namespace pdal
diff --git a/plugins/python/filters/PythonFilter.cpp b/plugins/python/filters/PythonFilter.cpp
new file mode 100644
index 0000000..d0da52f
--- /dev/null
+++ b/plugins/python/filters/PythonFilter.cpp
@@ -0,0 +1,135 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/pdal_internal.hpp>
+
+#include "PythonFilter.hpp"
+#include <pdal/PointView.hpp>
+#include <pdal/StageFactory.hpp>
+#include <pdal/pdal_macros.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+#include <pdal/util/FileUtils.hpp>
+
+namespace pdal
+{
+
+static PluginInfo const s_info = PluginInfo(
+    "filters.python",
+    "Manipulate data using inline Python",
+    "http://pdal.io/stages/filters.python.html" );
+
+CREATE_SHARED_PLUGIN(1, 0, PythonFilter, Filter, s_info)
+
+std::string PythonFilter::getName() const { return s_info.name; }
+
+void PythonFilter::addArgs(ProgramArgs& args)
+{
+    args.add("source", "Python script to run", m_source);
+    args.add("script", "File containing script to run", m_scriptFile);
+    args.add("module", "Python module containing the function to run",
+        m_module);
+    args.add("function", "Function to call", m_function);
+    args.add("add_dimension", "Dimensions to add", m_addDimensions);
+    args.add("pdalargs", "Dictionary to add to module globals when calling function", m_pdalargs);
+}
+
+
+void PythonFilter::addDimensions(PointLayoutPtr layout)
+{
+    for (const std::string& s : m_addDimensions)
+        layout->registerOrAssignDim(s, pdal::Dimension::Type::Double);
+}
+
+
+void PythonFilter::ready(PointTableRef table)
+{
+    if (m_source.empty())
+        m_source = FileUtils::readFileIntoString(m_scriptFile);
+    static_cast<plang::Environment*>(plang::Environment::get())->set_stdout(log()->getLogStream());
+    m_script = new plang::Script(m_source, m_module, m_function);
+    m_pythonMethod = new plang::Invocation(*m_script);
+    m_pythonMethod->compile();
+    m_totalMetadata = table.metadata();
+}
+
+
+PointViewSet PythonFilter::run(PointViewPtr view)
+{
+    log()->get(LogLevel::Debug5) << "filters.python " << *m_script <<
+        " processing " << view->size() << " points." << std::endl;
+    m_pythonMethod->resetArguments();
+    m_pythonMethod->begin(*view, m_totalMetadata);
+
+    if (!m_pdalargs.empty())
+    {
+        std::ostringstream args;
+        args << m_pdalargs;
+        m_pythonMethod->setKWargs(args.str());
+    }
+    m_pythonMethod->execute();
+
+    PointViewSet viewSet;
+
+    if (m_pythonMethod->hasOutputVariable("Mask"))
+    {
+        PointViewPtr outview = view->makeNew();
+
+        void *pydata =
+            m_pythonMethod->extractResult("Mask", Dimension::Type::Unsigned8);
+        char *ok = (char *)pydata;
+        for (PointId idx = 0; idx < view->size(); ++idx)
+            if (*ok++)
+                outview->appendPoint(*view, idx);
+
+        viewSet.insert(outview);
+    }
+    else
+    {
+        m_pythonMethod->end(*view, getMetadata());
+        viewSet.insert(view);
+    }
+
+    return viewSet;
+
+}
+
+
+void PythonFilter::done(PointTableRef table)
+{
+    static_cast<plang::Environment*>(plang::Environment::get())->reset_stdout();
+    delete m_pythonMethod;
+    delete m_script;
+}
+
+} // namespace pdal
diff --git a/plugins/python/filters/PythonFilter.hpp b/plugins/python/filters/PythonFilter.hpp
new file mode 100644
index 0000000..ab9f2b1
--- /dev/null
+++ b/plugins/python/filters/PythonFilter.hpp
@@ -0,0 +1,79 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+#include <pdal/pdal_internal.hpp>
+#include <pdal/Filter.hpp>
+
+#include "../plang/Invocation.hpp"
+
+#include <json/json.h>
+
+namespace pdal
+{
+
+class PDAL_DLL PythonFilter : public Filter
+{
+public:
+    PythonFilter() : Filter(), m_script(NULL)
+        {}
+
+    static void *create();
+    static int32_t destroy(void *);
+    std::string getName() const;
+
+private:
+    plang::Script* m_script;
+    plang::Invocation *m_pythonMethod;
+    std::string m_source;
+    std::string m_scriptFile;
+    std::string m_module;
+    std::string m_function;
+    StringList m_addDimensions;
+
+    virtual void addArgs(ProgramArgs& args);
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual void ready(PointTableRef table);
+    virtual PointViewSet run(PointViewPtr view);
+    virtual void done(PointTableRef table);
+
+    PythonFilter& operator=(const PythonFilter&); // not implemented
+    PythonFilter(const PythonFilter&); // not implemented
+
+    MetadataNode m_totalMetadata;
+    Json::Value m_pdalargs;
+};
+
+} // namespace pdal
diff --git a/plugins/python/plang/CMakeLists.txt b/plugins/python/plang/CMakeLists.txt
new file mode 100644
index 0000000..0c3b941
--- /dev/null
+++ b/plugins/python/plang/CMakeLists.txt
@@ -0,0 +1,28 @@
+
+set(plang_srcs
+    Invocation.cpp
+    Environment.cpp
+    Redirector.cpp
+    Script.cpp
+)
+
+include(${PDAL_CMAKE_DIR}/python.cmake)
+
+PDAL_ADD_LIBRARY(${PDAL_PLANG_LIB_NAME} ${plang_srcs} )
+set_target_properties(${PDAL_PLANG_LIB_NAME} PROPERTIES
+    VERSION "${PDAL_BUILD_VERSION}"
+    SOVERSION "${PDAL_API_VERSION}"
+    CLEAN_DIRECT_OUTPUT 1)
+target_link_libraries(${PDAL_PLANG_LIB_NAME} PUBLIC
+    ${PDAL_BASE_LIB_NAME}
+    ${PDAL_UTIL_LIB_NAME}
+    ${PYTHON_LIBRARY})
+target_include_directories(${PDAL_PLANG_LIB_NAME} PRIVATE
+    ${PYTHON_INCLUDE_DIR}
+    ${PROJECT_BINARY_DIR}/include)
+install(TARGETS ${PLANG_LIB_NAME}
+    RUNTIME DESTINATION ${PDAL_BIN_INSTALL_DIR}
+    LIBRARY DESTINATION ${PDAL_LIB_INSTALL_DIR}
+    ARCHIVE DESTINATION ${PDAL_LIB_INSTALL_DIR})
+
+
diff --git a/plugins/python/plang/Environment.cpp b/plugins/python/plang/Environment.cpp
new file mode 100644
index 0000000..341b21c
--- /dev/null
+++ b/plugins/python/plang/Environment.cpp
@@ -0,0 +1,353 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#ifndef _WIN32
+#include <dlfcn.h>
+#endif
+
+#include "Environment.hpp"
+#include "Redirector.hpp"
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+#define PY_ARRAY_UNIQUE_SYMBOL PDAL_ARRAY_API
+#include <numpy/arrayobject.h>
+
+#include <sstream>
+#include <mutex>
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127)  // conditional expression is constant
+#endif
+
+#include <Python.h>
+#include <pystate.h>
+#undef toupper
+#undef tolower
+#undef isspace
+
+// See ticket #1010.  This function runs when libplang is loaded.  It makes
+// sure python symbols can be found by extention module .so's since on some
+// platforms (notably Ubuntu), they aren't linked with libpython even though
+// they depend on it.  If a platform doesn't support
+// __attribute__ ((constructor)) this does nothing.  We'll have to deal with
+// those as they come up.
+#ifndef _WIN32
+__attribute__ ((constructor))
+static void loadPython()
+{
+    ::dlopen(PDAL_PYTHON_LIBRARY, RTLD_LAZY | RTLD_GLOBAL);
+}
+#endif
+
+// http://www.linuxjournal.com/article/3641
+// http://www.codeproject.com/Articles/11805/Embedding-Python-in-C-C-Part-I
+// http://stackoverflow.com/questions/6596016/python-threads-in-c
+
+namespace pdal
+{
+namespace plang
+{
+
+static Environment* g_environment=0;
+//
+EnvironmentPtr Environment::get()
+{
+    static std::once_flag flag;
+
+    auto init = []()
+    {
+        g_environment = new Environment();
+    };
+    std::call_once(flag, init);
+    return g_environment;
+}
+//
+
+Environment::Environment()
+{
+    // This awfulness is due to the import_array MACRO that returns a value
+    // in some cases and returns nothing at other times.  Defining
+    // NUMPY_IMPORT_ARRAY_RETVAL to nothing makes it so we don't ever return
+    // a value.  The function needs to be stuck in a function to deal with
+    // the return.
+    auto initNumpy = []()
+    {
+#undef NUMPY_IMPORT_ARRAY_RETVAL
+#define NUMPY_IMPORT_ARRAY_RETVAL
+        import_array();
+    };
+
+    if (!Py_IsInitialized())
+    {
+        PyImport_AppendInittab(const_cast<char*>("redirector"), redirector_init);
+        Py_Initialize();
+    } else
+    {
+        m_redirector.init();
+        PyObject* added  = PyImport_AddModule("redirector");
+        if (!added)
+            throw pdal_error("unable to add redirector module!");
+    }
+
+    initNumpy();
+    PyImport_ImportModule("redirector");
+}
+
+
+Environment::~Environment()
+{
+    Py_Finalize();
+}
+
+
+void Environment::set_stdout(std::ostream* ostr)
+{
+    m_redirector.set_stdout(ostr);
+}
+
+
+void Environment::reset_stdout()
+{
+    m_redirector.reset_stdout();
+}
+
+
+std::string getTraceback()
+{
+    // get exception info
+    PyObject *type, *value, *traceback;
+    PyErr_Fetch(&type, &value, &traceback);
+    PyErr_NormalizeException(&type, &value, &traceback);
+
+    std::ostringstream mssg;
+    if (traceback)
+    {
+        PyObject* tracebackModule;
+        PyObject* tracebackDictionary;
+        PyObject* tracebackFunction;
+
+        tracebackModule = PyImport_ImportModule("traceback");
+        if (!tracebackModule)
+            throw pdal::pdal_error("Unable to load traceback module.");
+
+        tracebackDictionary = PyModule_GetDict(tracebackModule);
+        if (!tracebackDictionary)
+            throw pdal::pdal_error("Unable to load traceback dictionary.");
+        tracebackFunction =
+            PyDict_GetItemString(tracebackDictionary, "format_exception");
+        if (!tracebackFunction)
+            throw pdal::pdal_error("Unable to find traceback function.");
+
+        if (!PyCallable_Check(tracebackFunction))
+            throw pdal::pdal_error("Invalid traceback function.");
+
+        // create an argument for "format exception"
+        PyObject* args = PyTuple_New(3);
+        PyTuple_SetItem(args, 0, type);
+        PyTuple_SetItem(args, 1, value);
+        PyTuple_SetItem(args, 2, traceback);
+
+        // get a list of string describing what went wrong
+        PyObject* output = PyObject_CallObject(tracebackFunction, args);
+
+        // print error message
+        Py_ssize_t n = PyList_Size(output);
+
+        for (Py_ssize_t i = 0; i < n; i++)
+        {
+            PyObject* l = PyList_GetItem(output, i);
+            if (!l)
+                throw pdal::pdal_error("unable to get list item in getTraceback");
+            PyObject* r = PyObject_Repr(l);
+            if (!r)
+                throw pdal::pdal_error("unable to get repr in getTraceback");
+#if PY_MAJOR_VERSION >= 3
+            Py_ssize_t size;
+            char *d = PyUnicode_AsUTF8AndSize(r, &size);
+#else
+            char *d = PyString_AsString(r);
+#endif
+            mssg << d;
+        }
+
+        // clean up
+        Py_XDECREF(args);
+        Py_XDECREF(output);
+    }
+    else if (value != NULL)
+    {
+        PyObject* r = PyObject_Repr(value);
+        if (!r)
+            throw pdal::pdal_error("couldn't make string representation of traceback value");
+#if PY_MAJOR_VERSION >= 3
+        Py_ssize_t size;
+        char *d = PyUnicode_AsUTF8AndSize(r, &size);
+#else
+        char *d = PyString_AsString(r);
+#endif
+        mssg << d;
+    }
+    else
+        mssg << "unknown error that we are unable to get a traceback for."
+            "Was it already printed/taken?";
+
+    Py_XDECREF(value);
+    Py_XDECREF(type);
+    Py_XDECREF(traceback);
+
+    return mssg.str();
+}
+
+PyObject *fromMetadata(MetadataNode m)
+{
+    std::string name = m.name();
+    std::string value = m.value();
+    std::string type = m.type();
+    std::string description = m.description();
+
+    MetadataNodeList children = m.children();
+    PyObject *submeta = PyList_New(0);
+    if (children.size())
+    {
+        for (MetadataNode& child : children)
+            PyList_Append(submeta, fromMetadata(child));
+    }
+    PyObject *data = PyDict_New();
+    PyDict_SetItemString(data, "name", PyUnicode_FromString(name.data()));
+    PyDict_SetItemString(data, "value", PyUnicode_FromString(value.data()));
+    PyDict_SetItemString(data, "type", PyUnicode_FromString(type.data()));
+    PyDict_SetItemString(data, "description", PyUnicode_FromString(description.data()));
+    PyDict_SetItemString(data, "children", submeta);
+
+    return data;
+}
+
+std::string readPythonString(PyObject* dict, const std::string& key)
+{
+    std::stringstream ss;
+
+    PyObject* o = PyDict_GetItemString(dict, key.c_str());
+    if (!o)
+    {
+        std::stringstream oss;
+        oss << "Unable to get dictionary item '" << key << "'";
+        throw pdal_error(oss.str());
+    }
+
+    PyObject* r = PyObject_Str(o);
+    if (!r)
+        throw pdal::pdal_error("unable to get repr in readPythonString");
+#if PY_MAJOR_VERSION >= 3
+    Py_ssize_t size;
+    char *d = PyUnicode_AsUTF8AndSize(r, &size);
+#else
+    char *d = PyString_AsString(r);
+#endif
+    ss << d;
+
+    return ss.str();
+}
+void addMetadata(PyObject *dict, MetadataNode m)
+{
+
+    if (! dict)
+    {
+        return;
+    }
+
+    if (!PyDict_Check(dict) )
+        throw pdal::pdal_error("'metadata' member must be a dictionary!");
+
+    std::string name = readPythonString(dict, "name");
+    std::string value = readPythonString(dict, "value");
+
+    std::string type = readPythonString(dict, "type");
+    if (type.empty())
+        type = Metadata::inferType(value);
+
+    std::string description = readPythonString(dict, "description");
+
+    PyObject *submeta = PyDict_GetItemString(dict, "children");
+    if (submeta)
+    {
+        if (!PyList_Check(submeta))
+            throw pdal::pdal_error("'children' metadata member must be a list!");
+
+        for (Py_ssize_t i = 0; i < PyList_Size(submeta); ++i)
+        {
+            PyObject* p = PyList_GetItem(submeta, i);
+            addMetadata(p, m);
+        }
+        MetadataNode child =  m.addWithType(name, value, type, description);
+    }
+}
+
+int Environment::getPythonDataType(Dimension::Type t)
+{
+    using namespace Dimension;
+
+    switch (t)
+    {
+    case Type::Float:
+        return NPY_FLOAT;
+    case Type::Double:
+        return NPY_DOUBLE;
+    case Type::Signed8:
+        return NPY_BYTE;
+    case Type::Signed16:
+        return NPY_SHORT;
+    case Type::Signed32:
+        return NPY_INT;
+    case Type::Signed64:
+        return NPY_LONGLONG;
+    case Type::Unsigned8:
+        return NPY_UBYTE;
+    case Type::Unsigned16:
+        return NPY_USHORT;
+    case Type::Unsigned32:
+        return NPY_UINT;
+    case Type::Unsigned64:
+        return NPY_ULONGLONG;
+    default:
+        return -1;
+    }
+    assert(0);
+
+    return -1;
+}
+
+
+
+} // namespace plang
+} // namespace pdal
+
diff --git a/plugins/python/plang/Environment.hpp b/plugins/python/plang/Environment.hpp
new file mode 100644
index 0000000..589ab2b
--- /dev/null
+++ b/plugins/python/plang/Environment.hpp
@@ -0,0 +1,89 @@
+/******************************************************************************
+* Copyright (c) 2012, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Consulting LLC nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#pragma once
+
+
+
+// forward declare PyObject so we don't need the python headers everywhere
+// see: http://mail.python.org/pipermail/python-dev/2003-August/037601.html
+#ifndef PyObject_HEAD
+struct _object;
+typedef _object PyObject;
+#endif
+
+
+#include <pdal/pdal_internal.hpp>
+#include <pdal/Metadata.hpp>
+#include <pdal/Dimension.hpp>
+
+#include "Redirector.hpp"
+#include "Script.hpp"
+
+namespace pdal
+{
+namespace plang
+{
+
+PyObject *fromMetadata(MetadataNode m);
+void addMetadata(PyObject *list, MetadataNode m);
+
+std::string getTraceback();
+
+class Environment;
+typedef Environment *EnvironmentPtr;
+
+class PDAL_DLL Environment
+{
+public:
+    Environment();
+    ~Environment();
+
+    // these just forward into the Redirector class
+    void set_stdout(std::ostream* ostr);
+    void reset_stdout();
+
+    void execute(Script& script) {};
+
+    static EnvironmentPtr get();
+
+    static int getPythonDataType(Dimension::Type t);
+
+private:
+    Redirector m_redirector;
+};
+
+} // namespace plang
+} // namespace pdal
+
diff --git a/plugins/python/plang/Invocation.cpp b/plugins/python/plang/Invocation.cpp
new file mode 100644
index 0000000..d096110
--- /dev/null
+++ b/plugins/python/plang/Invocation.cpp
@@ -0,0 +1,448 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "Invocation.hpp"
+#include "Environment.hpp"
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127) // conditional expression is constant
+#define HAVE_ROUND // inconsistent dll linkage otherwise
+#endif
+
+#include <Python.h>
+#undef toupper
+#undef tolower
+#undef isspace
+
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+
+#define NO_IMPORT_ARRAY
+#define PY_ARRAY_UNIQUE_SYMBOL PDAL_ARRAY_API
+#include <numpy/arrayobject.h>
+
+namespace
+{
+
+int argCount(PyObject *function)
+{
+    PyObject *module = PyImport_ImportModule("inspect");
+    if (!module)
+        return false;
+    PyObject *dictionary = PyModule_GetDict(module);
+    PyObject *getargFunc = PyDict_GetItemString(dictionary, "getargspec");
+    PyObject *inArgs = PyTuple_New(1);
+    PyTuple_SetItem(inArgs, 0, function);
+    PyObject *outArgs = PyObject_CallObject(getargFunc, inArgs);
+    PyObject *arglist = PyTuple_GetItem(outArgs, (Py_ssize_t)0);
+    return (int) PyList_Size(arglist);
+}
+
+}
+
+namespace pdal
+{
+namespace plang
+{
+
+Invocation::Invocation(const Script& script)
+    : m_script(script)
+    , m_bytecode(NULL)
+    , m_module(NULL)
+    , m_dictionary(NULL)
+    , m_function(NULL)
+    , m_varsIn(NULL)
+    , m_varsOut(NULL)
+    , m_scriptArgs(NULL)
+    , m_scriptResult(NULL)
+    , m_metadata_PyObject(NULL)
+    , m_schema_PyObject(NULL)
+    , m_srs_PyObject(NULL)
+    , m_pdalargs_PyObject(NULL)
+{
+    plang::Environment::get();
+    resetArguments();
+}
+
+
+Invocation::~Invocation()
+{
+    cleanup();
+}
+
+
+void Invocation::compile()
+{
+    m_bytecode = Py_CompileString(m_script.source(), m_script.module(),
+        Py_file_input);
+    if (!m_bytecode)
+        throw pdal::pdal_error(getTraceback());
+
+    Py_INCREF(m_bytecode);
+
+    m_module = PyImport_ExecCodeModule(const_cast<char*>(m_script.module()),
+        m_bytecode);
+    if (!m_module)
+        throw pdal::pdal_error(getTraceback());
+
+    m_dictionary = PyModule_GetDict(m_module);
+    m_function = PyDict_GetItemString(m_dictionary, m_script.function());
+    if (!m_function)
+    {
+        std::ostringstream oss;
+        oss << "unable to find target function '" << m_script.function() <<
+            "' in module.";
+        throw pdal::pdal_error(oss.str());
+    }
+    if (!PyCallable_Check(m_function))
+        throw pdal::pdal_error(getTraceback());
+}
+
+
+void Invocation::cleanup()
+{
+    Py_XDECREF(m_varsIn);
+    Py_XDECREF(m_varsOut);
+    Py_XDECREF(m_scriptResult);
+    Py_XDECREF(m_scriptArgs); // also decrements script and vars
+    for (size_t i = 0; i < m_pyInputArrays.size(); i++)
+        Py_XDECREF(m_pyInputArrays[i]);
+    m_pyInputArrays.clear();
+    Py_XDECREF(m_bytecode);
+}
+
+
+void Invocation::resetArguments()
+{
+    cleanup();
+    m_varsIn = PyDict_New();
+    m_varsOut = PyDict_New();
+}
+
+
+void Invocation::insertArgument(std::string const& name, uint8_t* data,
+    Dimension::Type t, point_count_t count)
+{
+    npy_intp mydims = count;
+    int nd = 1;
+    npy_intp* dims = &mydims;
+    npy_intp stride = Dimension::size(t);
+    npy_intp* strides = &stride;
+
+#ifdef NPY_ARRAY_CARRAY
+    int flags = NPY_ARRAY_CARRAY;
+#else
+    int flags = NPY_CARRAY;
+#endif
+
+    const int pyDataType = plang::Environment::getPythonDataType(t);
+
+    PyObject* pyArray = PyArray_New(&PyArray_Type, nd, dims, pyDataType,
+        strides, data, 0, flags, NULL);
+    m_pyInputArrays.push_back(pyArray);
+    PyDict_SetItemString(m_varsIn, name.c_str(), pyArray);
+}
+
+
+void *Invocation::extractResult(std::string const& name,
+    Dimension::Type t)
+{
+    PyObject* xarr = PyDict_GetItemString(m_varsOut, name.c_str());
+    if (!xarr)
+        throw pdal::pdal_error("plang output variable '" + name + "' not found.");
+    if (!PyArray_Check(xarr))
+        throw pdal::pdal_error("Plang output variable  '" + name +
+            "' is not a numpy array");
+
+    PyArrayObject* arr = (PyArrayObject*)xarr;
+
+    npy_intp one = 0;
+    const int pyDataType = pdal::plang::Environment::getPythonDataType(t);
+    PyArray_Descr *dtype = PyArray_DESCR(arr);
+
+    if (static_cast<uint32_t>(dtype->elsize) != Dimension::size(t))
+    {
+        std::ostringstream oss;
+        oss << "dtype of array has size " << dtype->elsize
+            << " but PDAL dimension '" << name << "' has byte size of "
+            << Dimension::size(t) << " bytes.";
+        throw pdal::pdal_error(oss.str());
+    }
+
+    using namespace Dimension;
+    BaseType b = Dimension::base(t);
+    if (dtype->kind == 'i' && b != BaseType::Signed)
+    {
+        std::ostringstream oss;
+        oss << "dtype of array has a signed integer type but the " <<
+            "dimension data type of '" << name <<
+            "' is not pdal::Signed.";
+        throw pdal::pdal_error(oss.str());
+    }
+
+    if (dtype->kind == 'u' && b != BaseType::Unsigned)
+    {
+        std::ostringstream oss;
+        oss << "dtype of array has a unsigned integer type but the " <<
+            "dimension data type of '" << name <<
+            "' is not pdal::Unsigned.";
+        throw pdal::pdal_error(oss.str());
+    }
+
+    if (dtype->kind == 'f' && b != BaseType::Floating)
+    {
+        std::ostringstream oss;
+        oss << "dtype of array has a float type but the " <<
+            "dimension data type of '" << name << "' is not pdal::Floating.";
+        throw pdal::pdal_error(oss.str());
+    }
+    return PyArray_GetPtr(arr, &one);
+}
+
+
+void Invocation::getOutputNames(std::vector<std::string>& names)
+{
+    names.clear();
+
+    PyObject *key, *value;
+    Py_ssize_t pos = 0;
+
+    while (PyDict_Next(m_varsOut, &pos, &key, &value))
+    {
+        const char* p(0);
+#if PY_MAJOR_VERSION >= 3
+        p = PyBytes_AsString(PyUnicode_AsUTF8String(key));
+#else
+        p = PyString_AsString(key);
+#endif
+        if (p)
+            names.push_back(p);
+    }
+}
+
+
+bool Invocation::hasOutputVariable(const std::string& name) const
+{
+    return (PyDict_GetItemString(m_varsOut, name.c_str()) != NULL);
+}
+
+
+bool Invocation::execute()
+{
+    if (!m_bytecode)
+        throw pdal::pdal_error("No code has been compiled");
+
+    Py_INCREF(m_varsIn);
+    Py_ssize_t numArgs = argCount(m_function);
+    m_scriptArgs = PyTuple_New(numArgs);
+
+    if (numArgs > 2)
+        throw pdal::pdal_error("Only two arguments -- ins and outs numpy arrays -- can be passed!");
+
+    PyTuple_SetItem(m_scriptArgs, 0, m_varsIn);
+    if (numArgs > 1)
+    {
+        Py_INCREF(m_varsOut);
+        PyTuple_SetItem(m_scriptArgs, 1, m_varsOut);
+    }
+
+    int success(0);
+
+    if (m_metadata_PyObject)
+    {
+        success = PyModule_AddObject(m_module, "metadata", m_metadata_PyObject);
+        if (success)
+            throw pdal::pdal_error("unable to set metadata global");
+        Py_INCREF(m_metadata_PyObject);
+    }
+
+    if (m_schema_PyObject)
+    {
+        success = PyModule_AddObject(m_module, "schema", m_schema_PyObject);
+        if (success)
+            throw pdal::pdal_error("unable to set schema global");
+        Py_INCREF(m_srs_PyObject);
+    }
+
+    if (m_srs_PyObject)
+    {
+        success = PyModule_AddObject(m_module, "spatialreference", m_srs_PyObject);
+        if (success)
+            throw pdal::pdal_error("unable to set spatialreference global");
+        Py_INCREF(m_schema_PyObject);
+    }
+
+    if (m_pdalargs_PyObject)
+    {
+        success = PyModule_AddObject(m_module, "pdalargs", m_pdalargs_PyObject);
+        if (success)
+            throw pdal::pdal_error("unable to set pdalargs global");
+        Py_INCREF(m_pdalargs_PyObject);
+    }
+
+    m_scriptResult = PyObject_CallObject(m_function, m_scriptArgs);
+    if (!m_scriptResult)
+        throw pdal::pdal_error(getTraceback());
+    if (!PyBool_Check(m_scriptResult))
+        throw pdal::pdal_error("User function return value not a boolean type.");
+
+    PyObject* mod_vars = PyModule_GetDict(m_module);
+
+    PyObject* b =  PyUnicode_FromString("metadata");
+    if (PyDict_Contains(mod_vars, PyUnicode_FromString("metadata")) == 1)
+        m_metadata_PyObject = PyDict_GetItem(m_dictionary, b);
+
+    return (m_scriptResult == Py_True);
+}
+
+PyObject* getPyJSON(std::string const& str)
+{
+
+    PyObject* raw_json =  PyUnicode_FromString(str.c_str());
+    PyObject* json_module = PyImport_ImportModule("json");
+    if (!json_module)
+        throw pdal::pdal_error(getTraceback());
+
+    PyObject* json_mod_dict = PyModule_GetDict(json_module);
+    if (!json_mod_dict)
+        throw pdal::pdal_error(getTraceback());
+
+    PyObject* loads_func = PyDict_GetItemString(json_mod_dict, "loads");
+    if (!loads_func)
+        throw pdal::pdal_error(getTraceback());
+
+    PyObject* json_args = PyTuple_New(1);
+    if (!json_args)
+        throw pdal::pdal_error(getTraceback());
+
+    int success = PyTuple_SetItem(json_args, 0, raw_json);
+    if (success != 0)
+        throw pdal::pdal_error(getTraceback());
+
+    PyObject* json = PyObject_CallObject(loads_func, json_args);
+    if (!json)
+        throw pdal::pdal_error(getTraceback());
+
+    return json;
+}
+
+void Invocation::setKWargs(std::string const& s)
+{
+    Py_XDECREF(m_pdalargs_PyObject);
+    m_pdalargs_PyObject = getPyJSON(s);
+}
+
+void Invocation::begin(PointView& view, MetadataNode m)
+{
+    PointLayoutPtr layout(view.m_pointTable.layout());
+    Dimension::IdList const& dims = layout->dims();
+
+    for (auto di = dims.begin(); di != dims.end(); ++di)
+    {
+        Dimension::Id d = *di;
+        const Dimension::Detail *dd = layout->dimDetail(d);
+        void *data = malloc(dd->size() * view.size());
+        m_buffers.push_back(data);  // Hold pointer for deallocation
+        char *p = (char *)data;
+        for (PointId idx = 0; idx < view.size(); ++idx)
+        {
+            view.getFieldInternal(d, idx, (void *)p);
+            p += dd->size();
+        }
+        std::string name = layout->dimName(*di);
+        insertArgument(name, (uint8_t *)data, dd->type(), view.size());
+    }
+
+    // Put pipeline 'metadata' variable into module scope
+    Py_XDECREF(m_metadata_PyObject);
+    m_metadata_PyObject= plang::fromMetadata(m);
+
+    // Put 'schema' dict into module scope
+    Py_XDECREF(m_schema_PyObject);
+    MetadataNode s = view.layout()->toMetadata();
+    std::ostringstream ostrm;
+    Utils::toJSON(s, ostrm);
+    m_schema_PyObject = getPyJSON(ostrm.str());
+    ostrm.str("");
+
+    Py_XDECREF(m_srs_PyObject);
+    MetadataNode srs = view.spatialReference().toMetadata();
+    Utils::toJSON(srs, ostrm);
+    m_srs_PyObject = getPyJSON(ostrm.str());
+    ostrm.str("");
+}
+
+
+void Invocation::end(PointView& view, MetadataNode m)
+{
+    // for each entry in the script's outs dictionary,
+    // look up that entry's name in the schema and then
+    // copy the data into the right dimension spot in the
+    // buffer
+
+    std::vector<std::string> names;
+    getOutputNames(names);
+
+    PointLayoutPtr layout(view.m_pointTable.layout());
+    Dimension::IdList const& dims = layout->dims();
+
+    for (auto di = dims.begin(); di != dims.end(); ++di)
+    {
+        Dimension::Id d = *di;
+        const Dimension::Detail *dd = layout->dimDetail(d);
+        std::string name = layout->dimName(*di);
+        auto found = std::find(names.begin(), names.end(), name);
+        if (found == names.end()) continue; // didn't have this dim in the names
+
+        assert(name == *found);
+        assert(hasOutputVariable(name));
+
+        size_t size = dd->size();
+        void *data = extractResult(name, dd->type());
+        char *p = (char *)data;
+        for (PointId idx = 0; idx < view.size(); ++idx)
+        {
+            view.setField(d, dd->type(), idx, (void *)p);
+            p += size;
+        }
+    }
+    for (auto bi = m_buffers.begin(); bi != m_buffers.end(); ++bi)
+        free(*bi);
+    m_buffers.clear();
+    if (m_metadata_PyObject)
+        addMetadata(m_metadata_PyObject, m);
+}
+
+} // namespace plang
+} // namespace pdal
+
diff --git a/pdal/plang/Invocation.hpp b/plugins/python/plang/Invocation.hpp
similarity index 100%
rename from pdal/plang/Invocation.hpp
rename to plugins/python/plang/Invocation.hpp
diff --git a/plugins/python/plang/Redirector.cpp b/plugins/python/plang/Redirector.cpp
new file mode 100644
index 0000000..778103c
--- /dev/null
+++ b/plugins/python/plang/Redirector.cpp
@@ -0,0 +1,221 @@
+//
+// Copyright (C) 2011 Mateusz Loskot <mateusz at loskot.net>
+// Distributed under the Boost Software License, Version 1.0.
+// (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+//
+// Blog article: http://mateusz.loskot.net/?p=2819
+
+#include "Redirector.hpp"
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127)  // conditional expression is constant
+#  pragma warning(disable: 4068)  // gcc pragma warnings
+#endif
+
+#include <ostream>
+#include <string>
+
+namespace pdal
+{
+namespace plang
+{
+
+struct Stdout
+{
+    PyObject_HEAD
+    Redirector::stdout_write_type write;
+    Redirector::stdout_flush_type flush;
+};
+
+
+static PyObject* Stdout_write(PyObject* self, PyObject* args)
+{
+    std::size_t written(0);
+    Stdout* selfimpl = reinterpret_cast<Stdout*>(self);
+    if (selfimpl->write)
+    {
+        char* data;
+        if (!PyArg_ParseTuple(args, "s", &data))
+            return 0;
+
+        std::string str(data);
+        selfimpl->write(str);
+        written = str.size();
+    }
+    return PyLong_FromSize_t(written);
+}
+
+
+static PyObject* Stdout_flush(PyObject* self, PyObject* /*args*/)
+{
+    Stdout *selfimpl = reinterpret_cast<Stdout *>(self);
+    if (selfimpl->flush)
+    {
+        selfimpl->flush();
+    }
+    return Py_BuildValue("");
+}
+
+
+static PyMethodDef Stdout_methods[] =
+{
+    {"write", Stdout_write, METH_VARARGS, "sys.stdout.write"},
+    {"flush", Stdout_flush, METH_VARARGS, "sys.stdout.flush"},
+    {0, 0, 0, 0} // sentinel
+};
+
+
+static PyTypeObject StdoutType =
+{
+    PyVarObject_HEAD_INIT(0, 0)
+    "redirector.StdoutType", /* tp_name */
+    sizeof(Stdout), /* tp_basicsize */
+    0, /* tp_itemsize */
+    0, /* tp_dealloc */
+    0, /* tp_print */
+    0, /* tp_getattr */
+    0, /* tp_setattr */
+    0, /* tp_reserved */
+    0, /* tp_repr */
+    0, /* tp_as_number */
+    0, /* tp_as_sequence */
+    0, /* tp_as_mapping */
+    0, /* tp_hash */
+    0, /* tp_call */
+    0, /* tp_str */
+    0, /* tp_getattro */
+    0, /* tp_setattro */
+    0, /* tp_as_buffer */
+    Py_TPFLAGS_DEFAULT, /* tp_flags */
+    "redirector.Stdout objects", /* tp_doc */
+    0, /* tp_traverse */
+    0, /* tp_clear */
+    0, /* tp_richcompare */
+    0, /* tp_weaklistoffset */
+    0, /* tp_iter */
+    0, /* tp_iternext */
+    Stdout_methods, /* tp_methods */
+    0, /* tp_members */
+    0, /* tp_getset */
+    0, /* tp_base */
+    0, /* tp_dict */
+    0, /* tp_descr_get */
+    0, /* tp_descr_set */
+    0, /* tp_dictoffset */
+    0, /* tp_init */
+    0, /* tp_alloc */
+    0, /* tp_new */
+    0, /* tp_free */
+    0, /* tp_is_gc */
+    0, /* tp_bases */
+    0, /* tp_mro */
+    0, /* tp_cache */
+    0, /* tp_subclasses */
+    0, /* tp_weaklist */
+    0, /* tp_del */
+    0, /* tp_version_tag */
+#if PY_MAJOR_VERSION >= 3
+    0, /* tp_finalilzer */
+#endif
+};
+
+
+Redirector::Redirector()
+    : m_stdout(NULL)
+    , m_stdout_saved(NULL)
+{
+    return;
+}
+
+
+Redirector::~Redirector()
+{
+    return;
+}
+
+
+PyMODINIT_FUNC redirector_init(void)
+{
+#if PY_MAJOR_VERSION >= 3
+    return Redirector::init();
+#else
+    Redirector::init();
+#endif
+}
+
+#if PY_MAJOR_VERSION >= 3
+    static struct PyModuleDef redirectordef = {
+        PyModuleDef_HEAD_INIT,
+        "redirector",     /* m_name */
+        "redirector.Stdout objects",  /* m_doc */
+        -1,                  /* m_size */
+        Stdout_methods,    /* m_methods */
+        NULL,                /* m_reload */
+        NULL,                /* m_traverse */
+        NULL,                /* m_clear */
+        NULL,                /* m_free */
+    };
+#endif
+
+PyObject* Redirector::init()
+{
+    StdoutType.tp_new = PyType_GenericNew;
+    if (PyType_Ready(&StdoutType) < 0)
+        return NULL;
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m = PyModule_Create(&redirectordef);
+#else
+    PyObject* m = Py_InitModule3("redirector", 0, 0);
+#endif
+    if (m)
+    {
+        //ABELL - This is bad code as the type cast is invalid. (type pun
+        //  warning.)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
+        Py_INCREF(reinterpret_cast<PyObject*>(&StdoutType));
+        PyModule_AddObject(m, "Stdout", reinterpret_cast<PyObject*>(&StdoutType));
+#pragma GCC diagnostic pop
+    }
+    return m;
+}
+
+
+void Redirector::set_stdout(std::ostream* ostr)
+{
+    stdout_write_type writeFunc = [ostr](std::string msg) { *ostr << msg; };
+    stdout_flush_type flushFunc = [ostr]{ ostr->flush(); };
+
+    this->set_stdout(writeFunc, flushFunc);
+}
+
+
+void Redirector::set_stdout(stdout_write_type write, stdout_flush_type flush)
+{
+    if (!m_stdout)
+    {
+        m_stdout_saved =
+            PySys_GetObject(const_cast<char*>("stdout")); // borrowed
+        m_stdout = StdoutType.tp_new(&StdoutType, 0, 0);
+    }
+
+    Stdout* impl = reinterpret_cast<Stdout*>(m_stdout);
+    impl->write = write;
+    impl->flush = flush;
+    PySys_SetObject(const_cast<char*>("stdout"), m_stdout);
+}
+
+
+void Redirector::reset_stdout()
+{
+    if (m_stdout_saved)
+        PySys_SetObject(const_cast<char*>("stdout"), m_stdout_saved);
+
+    Py_XDECREF(m_stdout);
+    m_stdout = 0;
+}
+
+} //namespace plang
+} //namespace pdal
+
diff --git a/plugins/python/plang/Redirector.hpp b/plugins/python/plang/Redirector.hpp
new file mode 100644
index 0000000..2a34dba
--- /dev/null
+++ b/plugins/python/plang/Redirector.hpp
@@ -0,0 +1,59 @@
+//
+// Copyright (C) 2011 Mateusz Loskot <mateusz at loskot.net>
+// Distributed under the Boost Software License, Version 1.0.
+// (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+//
+// Blog article: http://mateusz.loskot.net/?p=2819
+
+// http://python3porting.com/cextensions.html
+
+#pragma once
+
+#include <functional>
+#include <pdal/pdal_defines.h>
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127) // conditional expression is constant
+#ifndef HAVE_ROUND
+#define HAVE_ROUND // inconsistent dll linkage otherwise
+#endif
+#endif
+
+#include <Python.h>
+
+#undef toupper
+#undef tolower
+#undef isspace
+
+namespace pdal
+{
+namespace plang
+{
+
+PyMODINIT_FUNC redirector_init(void);
+
+class Redirector
+{
+public:
+    Redirector();
+    ~Redirector();
+
+    static PyObject* init();
+    void set_stdout(std::ostream* ostr);
+    void reset_stdout();
+
+    typedef std::function<void(std::string)> stdout_write_type;
+    typedef std::function<void()> stdout_flush_type;
+
+private:
+    void set_stdout(stdout_write_type write, stdout_flush_type flush);
+
+    // Internal state
+    PyObject* m_stdout;
+    PyObject* m_stdout_saved;
+};
+
+} // namespace plang
+} // namespace pdal
+
diff --git a/plugins/python/plang/Script.cpp b/plugins/python/plang/Script.cpp
new file mode 100644
index 0000000..a4f4714
--- /dev/null
+++ b/plugins/python/plang/Script.cpp
@@ -0,0 +1,68 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include "../plang/Script.hpp"
+
+#ifdef PDAL_COMPILER_MSVC
+#  pragma warning(disable: 4127) // conditional expression is constant
+#endif
+
+namespace pdal
+{
+namespace plang
+{
+
+Script::Script( const std::string& source,
+                const std::string& module,
+                const std::string& function)
+    : m_source(source)
+    , m_module(module)
+    , m_function(function)
+{
+}
+
+
+std::ostream& operator << (std::ostream& os, Script const& script)
+{
+    os << "source=[" << strlen(script.source()) << " bytes], ";
+    os << "module=" << script.module() << ", ";
+    os << "function=" << script.function();
+    os << std::endl;
+
+    return os;
+}
+
+} //namespace plang
+} //namespace pdal
+
diff --git a/pdal/plang/Script.hpp b/plugins/python/plang/Script.hpp
similarity index 100%
rename from pdal/plang/Script.hpp
rename to plugins/python/plang/Script.hpp
diff --git a/plugins/python/test/PLangTest.cpp b/plugins/python/test/PLangTest.cpp
deleted file mode 100644
index c3f6101..0000000
--- a/plugins/python/test/PLangTest.cpp
+++ /dev/null
@@ -1,468 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_test_main.hpp>
-
-#include <pdal/plang/Invocation.hpp>
-#include <pdal/plang/Array.hpp>
-#include <pdal/StageFactory.hpp>
-#include <io/FauxReader.hpp>
-#include <Support.hpp>
-
-using namespace pdal;
-using namespace pdal::plang;
-
-TEST(PLangTest, PLangTest_basic)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  #print 'hi'\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-    meth.execute();
-}
-
-
-//---------------------------------------------------------------------------
-//
-// Error tests
-//
-//---------------------------------------------------------------------------
-
-TEST(PLangTest, PLangTest_compile_error)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-
-    ASSERT_THROW(meth.compile(), pdal::pdal_error);
-}
-
-
-TEST(PLangTest, PLangTest_runtime_error)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  z['s'] = 9\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    ASSERT_THROW(meth.execute(), pdal::pdal_error);
-}
-
-
-TEST(PLangTest, PLangTest_returnvoid)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs,mids):\n"
-        "  #print 'foo'\n"
-        "  return\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    ASSERT_THROW(meth.execute(), pdal::pdal_error);
-}
-
-
-TEST(PLangTest, PLangTest_returnint)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs,mids):\n"
-        "  #print 'foo'\n"
-        "  return 7\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    ASSERT_THROW(meth.execute(), pdal::pdal_error);
-}
-
-
-//---------------------------------------------------------------------------
-//
-// PARAM tests
-//
-//---------------------------------------------------------------------------
-
-
-TEST(PLangTest, PLangTest_ins)
-{
-    double data[5] = {1.0, 2.0, 3.0, 4.0, 5.0};
-
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  #print ins['X']\n"
-        "  X = ins['X']\n"
-        "  #print X\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-    meth.insertArgument("X", (uint8_t*)data, Dimension::Type::Double, 5);
-    meth.execute();
-}
-
-
-TEST(PLangTest, PLangTest_outs)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  #print outs['X']\n"
-        "  X = np.ones(5)\n"
-        "  #print X\n"
-        "  outs['X'] = X\n"
-        "  #print outs['X']\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-    meth.execute();
-    EXPECT_TRUE(meth.hasOutputVariable("X"));
-    void *output = meth.extractResult("X", Dimension::Type::Double);
-
-    double *d = (double *)output;
-    EXPECT_FLOAT_EQ(*d++, 1.0);
-    EXPECT_FLOAT_EQ(*d++, 1.0);
-    EXPECT_FLOAT_EQ(*d++, 1.0);
-    EXPECT_FLOAT_EQ(*d++, 1.0);
-    EXPECT_FLOAT_EQ(*d++, 1.0);
-}
-
-
-TEST(PLangTest, PLangTest_aliases)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  \n"
-        "  #print ins['X']\n"
-        "  #print ins['prefix.X']\n"
-        "  \n"
-        "  X = ins['X']\n"
-        "  prefixX = ins['prefix.X']\n"
-        "  \n"
-        "  #print X\n"
-        "  #print prefixX\n"
-        "  \n"
-        "  Y = X + prefixX\n"
-        "  prefixY = Y\n"
-        "  \n"
-        "  #print Y\n"
-        "  #print prefixY\n"
-        "  \n"
-        "  outs['Y'] = Y\n"
-        "  outs['prefix.Y'] = prefixY\n"
-        "  \n"
-        "  #print outs['Y']\n"
-        "  #print outs['prefix.Y']\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    {
-        double data[5] = {1.0, 2.0, 3.0, 4.0, 5.0};
-        meth.insertArgument("X", (uint8_t*)data, Dimension::Type::Double, 5);
-        meth.insertArgument("prefix.X", (uint8_t*)data,
-            Dimension::Type::Double, 5);
-    }
-    meth.execute();
-
-    {
-        EXPECT_TRUE(meth.hasOutputVariable("Y"));
-        EXPECT_TRUE(meth.hasOutputVariable("prefix.Y"));
-
-        void *output = meth.extractResult("Y", Dimension::Type::Double);
-        double *d = (double *)output;
-        EXPECT_FLOAT_EQ(*d++, 2.0);
-        EXPECT_FLOAT_EQ(*d++, 4.0);
-        EXPECT_FLOAT_EQ(*d++, 6.0);
-        EXPECT_FLOAT_EQ(*d++, 8.0);
-        EXPECT_FLOAT_EQ(*d++, 10.0);
-
-        output = meth.extractResult("prefix.Y", Dimension::Type::Double);
-        d = (double *)output;
-        EXPECT_FLOAT_EQ(*d++, 2.0);
-        EXPECT_FLOAT_EQ(*d++, 4.0);
-        EXPECT_FLOAT_EQ(*d++, 6.0);
-        EXPECT_FLOAT_EQ(*d++, 8.0);
-        EXPECT_FLOAT_EQ(*d++, 10.0);
-    }
-
-    {
-        std::vector<std::string> names;
-        meth.getOutputNames(names);
-
-        // We're getting stuff from a hash, so it
-        // isn't stable
-        std::sort(names.begin(), names.end());
-        EXPECT_EQ(names.size(), 2u);
-        EXPECT_EQ(names[0], "Y");
-        EXPECT_EQ(names[1], "prefix.Y");
-    }
-}
-
-
-TEST(PLangTest, PLangTest_returntrue)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    bool sts = meth.execute();
-    EXPECT_TRUE(sts);
-}
-
-
-TEST(PLangTest, PLangTest_returnfalse)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  return False\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    bool sts = meth.execute();
-    EXPECT_TRUE(!sts);
-}
-
-
-//---------------------------------------------------------------------------
-//
-// MISC tests
-//
-//---------------------------------------------------------------------------
-
-TEST(PLangTest, PLangTest_reentry)
-{
-    const char* source =
-        "import numpy as np\n"
-        "def yow(ins,outs):\n"
-        "  X = ins['X']\n"
-        "  Y = X + 1.0\n"
-        "  #print Y\n"
-        "  outs['Y'] = Y\n"
-        "  return True\n"
-        ;
-    Script script(source, "MyTest", "yow");
-    Invocation meth(script);
-    meth.compile();
-
-    {
-        double indata1[5] = {0.0, 1.0, 2.0, 3.0, 4.0};
-        meth.insertArgument("X", (uint8_t*)indata1, Dimension::Type::Double, 5);
-        meth.execute();
-        void *output = meth.extractResult("Y", Dimension::Type::Double);
-
-        double *d = (double *)output;
-        EXPECT_FLOAT_EQ(*d++, 1.0);
-        EXPECT_FLOAT_EQ(*d++, 2.0);
-        EXPECT_FLOAT_EQ(*d++, 3.0);
-        EXPECT_FLOAT_EQ(*d++, 4.0);
-        EXPECT_FLOAT_EQ(*d++, 5.0);
-    }
-
-    {
-        double indata2[5] = {10.0, 20.0, 30.0, 40.0, 50.0};
-        meth.insertArgument("X", (uint8_t*)indata2, Dimension::Type::Double, 5);
-        meth.execute();
-        void *output = meth.extractResult("Y", Dimension::Type::Double);
-
-        double *d = (double *)output;
-        EXPECT_FLOAT_EQ(*d++, 11.0);
-        EXPECT_FLOAT_EQ(*d++, 21.0);
-        EXPECT_FLOAT_EQ(*d++, 31.0);
-        EXPECT_FLOAT_EQ(*d++, 41.0);
-        EXPECT_FLOAT_EQ(*d++, 51.0);
-    }
-}
-
-TEST(PLangTest, log)
-{
-    // verify we can redirect the stdout inside the python script
-
-    Options reader_opts;
-    {
-        BOX3D bounds(1.0, 2.0, 3.0, 101.0, 102.0, 103.0);
-        Option opt1("bounds", bounds);
-        Option opt2("count", 750);
-        Option opt3("mode", "constant");
-
-        reader_opts.add(opt1);
-        reader_opts.add(opt2);
-        reader_opts.add(opt3);
-
-        Option optlog("log", Support::temppath("mylog_three.txt"));
-        reader_opts.add(optlog);
-    }
-
-    Options xfilter_opts;
-    {
-        const Option source("source",
-            "import numpy as np\n"
-            "import sys\n"
-            "def xfunc(ins,outs):\n"
-            "  X = ins['X']\n"
-            "  print (\"Testing log output through python script.\")\n"
-            "  X = X + 1.0\n"
-            "  outs['X'] = X\n"
-            "  sys.stdout.flush()\n"
-            "  return True\n"
-            );
-        const Option module("module", "xModule");
-        const Option function("function", "xfunc");
-        xfilter_opts.add("log", Support::temppath("mylog_three.txt"));
-        xfilter_opts.add(source);
-        xfilter_opts.add(module);
-        xfilter_opts.add(function);
-    }
-
-    StageFactory f;
-    {
-        FauxReader reader;
-
-        reader.setOptions(reader_opts);
-
-        Stage* xfilter(f.createStage("filters.programmable"));
-        xfilter->setOptions(xfilter_opts);
-        xfilter->setInput(reader);
-
-        PointTable table;
-        xfilter->prepare(table);
-        PointViewSet pvSet = xfilter->execute(table);
-        EXPECT_EQ(pvSet.size(), 1u);
-        PointViewPtr view = *pvSet.begin();
-        EXPECT_EQ(view->size(), 750u);
-    }
-
-    bool ok = Support::compare_text_files(
-        Support::temppath("mylog_three.txt"),
-        Support::datapath("logs/log_py.txt"));
-
-    // TODO: fails on Windows
-    // unknown file: error: C++ exception with description "pdalboost::filesystem::remove:
-    // The process cannot access the file because it is being used by another process:
-    // "C:/projects/pdal/test/data/../temp/mylog_three.txt"" thrown in the test body.
-    //if (ok)
-    //    FileUtils::deleteFile(Support::temppath("mylog_three.txt"));
-
-    EXPECT_TRUE(ok);
-}
-
-
-
-PointViewPtr makeTestView(PointTableRef table, point_count_t cnt = 17)
-{
-    PointLayoutPtr layout(table.layout());
-
-    layout->registerDim(Dimension::Id::Classification);
-    layout->registerDim(Dimension::Id::X);
-    layout->registerDim(Dimension::Id::Y);
-
-    PointViewPtr view(new PointView(table));
-
-    // write the data into the view
-    for (PointId i = 0; i < cnt; i++)
-    {
-        const uint8_t x = (uint8_t)(i + 1);
-        const int32_t y = i * 10;
-        const double z = i * 100;
-
-        view->setField(Dimension::Id::Classification, i, x);
-        view->setField(Dimension::Id::X, i, y);
-        view->setField(Dimension::Id::Y, i, z);
-    }
-    EXPECT_EQ(view->size(), cnt);
-    return view;
-}
-
-void verifyTestView(const PointView& view, point_count_t cnt = 17)
-{
-    // read the view back out
-    for (PointId i = 0; i < cnt; i++)
-    {
-        uint8_t x = view.getFieldAs<uint8_t>(
-            Dimension::Id::Classification, i);
-        int32_t y = view.getFieldAs<uint32_t>(Dimension::Id::X, i);
-        double z = view.getFieldAs<double>(Dimension::Id::Y, i);
-
-        EXPECT_EQ(x, (uint8_t)(i + 1));
-        EXPECT_EQ(y, (int32_t)(i * 10));
-        EXPECT_TRUE(Utils::compare_approx(z, static_cast<double>(i) * 100.0,
-            (std::numeric_limits<double>::min)()));
-    }
-}
-
-TEST(PLangTest, PLangTest_array)
-{
-    PointTable table;
-    PointViewPtr view = makeTestView(table, 40);
-
-    plang::Array array;
-    array.update(view);
-    verifyTestView(*view.get(), 4);
-
-}
-
-
diff --git a/plugins/python/test/PredicateFilterTest.cpp b/plugins/python/test/PredicateFilterTest.cpp
deleted file mode 100644
index 7d4dd97..0000000
--- a/plugins/python/test/PredicateFilterTest.cpp
+++ /dev/null
@@ -1,369 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_test_main.hpp>
-
-#include <pdal/PipelineManager.hpp>
-#include <pdal/StageFactory.hpp>
-#include <pdal/StageWrapper.hpp>
-#include <io/FauxReader.hpp>
-#include <filters/StatsFilter.hpp>
-
-#include "Support.hpp"
-
-using namespace pdal;
-
-#include <pdal/plang/Environment.hpp>
-
-class PredicateFilterTest : public ::testing::Test
-{
-public:
-    virtual void SetUp()
-    {
-        pdal::plang::Environment::get();
-    }
-
-};
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_test1)
-{
-    StageFactory f;
-
-    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
-    Options readerOps;
-    readerOps.add("bounds", bounds);
-    readerOps.add("count", 1000);
-    readerOps.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(readerOps);
-
-    // keep all points where x less than 1.0
-    const Option source("source",
-        // "X < 1.0"
-        "import numpy as np\n"
-        "def yow1(ins,outs):\n"
-        "  X = ins['X']\n"
-        "  Mask = np.less(X, 1.0)\n"
-        "  #print X\n"
-        "  #print Mask\n"
-        "  outs['Mask'] = Mask\n"
-        "  return True\n"
-    );
-    const Option module("module", "MyModule1");
-    const Option function("function", "yow1");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.predicate"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    Options statOpts;
-    std::unique_ptr<StatsFilter> stats(new StatsFilter);
-    stats->setOptions(statOpts);
-    stats->setInput(*filter);
-
-    PointTable table;
-
-    stats->prepare(table);
-    PointViewSet viewSet = stats->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-
-    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
-    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
-    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
-
-    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 0.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 0.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 0.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 1.0, 0.01));
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_test2)
-{
-    StageFactory f;
-    // same as above, but with 'Y >' instead of 'X <'
-
-    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
-    Options readerOps;
-    readerOps.add("bounds", bounds);
-    readerOps.add("count", 1000);
-    readerOps.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(readerOps);
-
-    Option source("source",
-        // "Y > 1.0"
-        "import numpy as np\n"
-        "def yow2(ins,outs):\n"
-        "  Y = ins['Y']\n"
-        "  Mask = np.greater(Y, 1.0)\n"
-        "  #print Mask\n"
-        "  outs['Mask'] = Mask\n"
-        "  return True\n"
-    );
-    Option module("module", "MyModule1");
-    Option function("function", "yow2");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.predicate"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    Options statOpts;
-    std::unique_ptr<StatsFilter> stats(new StatsFilter);
-    stats->setOptions(statOpts);
-    stats->setInput(*filter);
-
-    PointTable table;
-
-    stats->prepare(table);
-    PointViewSet viewSet = stats->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-
-    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
-    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
-    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
-
-    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 2.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 2.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 2.0, 0.01));
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_test3)
-{
-    StageFactory f;
-    // can we make a pipeline with TWO python filters in it?
-
-    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
-    Options readerOpts;
-    readerOpts.add("bounds", bounds);
-    readerOpts.add("count", 1000);
-    readerOpts.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(readerOpts);
-
-    // keep all points where x less than 1.0
-    const Option source1("source",
-        // "X < 1.0"
-        "import numpy as np\n"
-        "def yow1(ins,outs):\n"
-        "  X = ins['X']\n"
-        "  Mask = np.less(X, 1.0)\n"
-        "  #print X\n"
-        "  #print Mask\n"
-        "  outs['Mask'] = Mask\n"
-        "  return True\n"
-    );
-    const Option module1("module", "MyModule1");
-    const Option function1("function", "yow1");
-    Options opts1;
-    opts1.add(source1);
-    opts1.add(module1);
-    opts1.add(function1);
-
-    Stage* filter1(f.createStage("filters.predicate"));
-    filter1->setOptions(opts1);
-    filter1->setInput(reader);
-
-    // keep all points where y greater than 0.5
-    const Option source2("source",
-        // "Y > 0.5"
-        "import numpy as np\n"
-        "def yow2(ins,outs):\n"
-        "  Y = ins['Y']\n"
-        "  Mask = np.greater(Y, 0.5)\n"
-        "  #print X\n"
-        "  #print Mask\n"
-        "  outs['Mask'] = Mask\n"
-        "  return True\n"
-    );
-    const Option module2("module", "MyModule2");
-    const Option function2("function", "yow2");
-    Options opts2;
-    opts2.add(source2);
-    opts2.add(module2);
-    opts2.add(function2);
-
-    Stage* filter2(f.createStage("filters.predicate"));
-    filter2->setOptions(opts2);
-    filter2->setInput(*filter1);
-
-    Options statOpts;
-    std::unique_ptr<StatsFilter> stats(new StatsFilter);
-    stats->setOptions(statOpts);
-    stats->setInput(*filter2);
-
-    PointTable table;
-    stats->prepare(table);
-    stats->execute(table);
-
-    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
-    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
-    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
-
-    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 0.5, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 0.5, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 0.5, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 1.0, 0.01));
-    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 1.0, 0.01));
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_test4)
-{
-    StageFactory f;
-    // test the point counters in the Predicate's iterator
-
-    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
-    Options readerOpts;
-    readerOpts.add("bounds", bounds);
-    readerOpts.add("count", 1000);
-    readerOpts.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(readerOpts);
-
-    const Option source("source",
-        // "Y > 0.5"
-        "import numpy as np\n"
-        "def yow2(ins,outs):\n"
-        "  Y = ins['Y']\n"
-        "  Mask = np.greater(Y, 0.5)\n"
-        "  #print Mask\n"
-        "  outs['Mask'] = Mask\n"
-        "  return True\n"
-    );
-    const Option module("module", "MyModule1");
-    const Option function("function", "yow2");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.predicate"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    PointTable table;
-    PointViewPtr buf(new PointView(table));
-
-    filter->prepare(table);
-
-    StageWrapper::ready(reader, table);
-    PointViewSet viewSet = StageWrapper::run(reader, buf);
-    StageWrapper::done(reader, table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    buf = *viewSet.begin();
-    EXPECT_EQ(buf->size(), 1000u);
-
-    StageWrapper::ready(*filter, table);
-    viewSet = StageWrapper::run(*filter, buf);
-    StageWrapper::done(*filter, table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    buf = *viewSet.begin();
-    EXPECT_EQ(buf->size(), 750u);
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_test5)
-{
-    StageFactory f;
-    // test error handling if missing Mask
-
-    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
-    Options readerOpts;
-    readerOpts.add("bounds", bounds);
-    readerOpts.add("count", 1000);
-    readerOpts.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(readerOpts);
-
-    const Option source("source",
-        // "Y > 0.5"
-        "import numpy as np\n"
-        "def yow2(ins,outs):\n"
-        "  Y = ins['Y']\n"
-        "  Mask = np.greater(Y, 0.5)\n"
-        "  #print Mask\n"
-        "  outs['xxxMaskxxx'] = Mask # delierbately rong\n"
-        "  return True\n"
-    );
-    const Option module("module", "MyModule1");
-    const Option function("function", "yow2");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.predicate"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    PointTable table;
-    filter->prepare(table);
-
-    ASSERT_THROW(filter->execute(table), pdal::pdal_error);
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_PipelineJSON)
-{
-    PipelineManager mgr;
-
-    mgr.readPipeline(Support::configuredpath("plang/from-module.json"));
-    point_count_t cnt = mgr.execute();
-    EXPECT_EQ(cnt, 1u);
-}
-
-TEST_F(PredicateFilterTest, PredicateFilterTest_EmbedJSON)
-{
-    PipelineManager mgr;
-
-    mgr.readPipeline(Support::configuredpath("plang/predicate-embed.json"));
-    point_count_t cnt = mgr.execute();
-    EXPECT_EQ(cnt, 1u);
-}
diff --git a/plugins/python/test/ProgrammableFilterTest.cpp b/plugins/python/test/ProgrammableFilterTest.cpp
deleted file mode 100644
index d67e98f..0000000
--- a/plugins/python/test/ProgrammableFilterTest.cpp
+++ /dev/null
@@ -1,285 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_test_main.hpp>
-
-#include <pdal/PipelineManager.hpp>
-#include <pdal/StageFactory.hpp>
-#include <io/FauxReader.hpp>
-#include <filters/StatsFilter.hpp>
-
-#include "Support.hpp"
-
-using namespace pdal;
-#include <pdal/plang/Environment.hpp>
-
-class ProgrammableFilterTest : public ::testing::Test
-{
-public:
-    virtual void SetUp()
-    {
-        pdal::plang::Environment::get();
-    }
-
-};
-TEST_F(ProgrammableFilterTest, ProgrammableFilterTest_test1)
-{
-    StageFactory f;
-
-    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
-
-    Options ops;
-    ops.add("bounds", bounds);
-    ops.add("count", 10);
-    ops.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(ops);
-
-    Option source("source", "import numpy as np\n"
-        "def myfunc(ins,outs):\n"
-        "  X = ins['X']\n"
-        "  Y = ins['Y']\n"
-        "  Z = ins['Z']\n"
-        "  #print ins['X']\n"
-        "  X = X + 10.0\n"
-        "  # Y: leave as-is, don't export back out\n"
-        "  # Z: goofiness to make it a numpy array of a constant\n"
-        "  Z = np.zeros(X.size) + 3.14\n"
-        "  outs['X'] = X\n"
-        "  #print outs['X']\n"
-        "  outs['Z'] = Z\n"
-        "  return True\n"
-    );
-    Option module("module", "MyModule");
-    Option function("function", "myfunc");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.programmable"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    std::unique_ptr<StatsFilter> stats(new StatsFilter);
-    stats->setInput(*filter);
-
-    PointTable table;
-
-    stats->prepare(table);
-    PointViewSet viewSet = stats->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    PointViewPtr view = *viewSet.begin();
-
-    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
-    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
-    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
-
-    EXPECT_DOUBLE_EQ(statsX.minimum(), 10.0);
-    EXPECT_DOUBLE_EQ(statsX.maximum(), 11.0);
-
-    EXPECT_DOUBLE_EQ(statsY.minimum(), 0.0);
-    EXPECT_DOUBLE_EQ(statsY.maximum(), 1.0);
-
-    EXPECT_DOUBLE_EQ(statsZ.minimum(), 3.14);
-    EXPECT_DOUBLE_EQ(statsZ.maximum(), 3.14);
-}
-
-TEST_F(ProgrammableFilterTest, pipelineJSON)
-{
-    PipelineManager manager;
-
-    manager.readPipeline(
-        Support::configuredpath("plang/programmable-update-y-dims.json"));
-    manager.execute();
-    PointViewSet viewSet = manager.views();
-    EXPECT_EQ(viewSet.size(), 1u);
-    PointViewPtr view = *viewSet.begin();
-
-    for (PointId idx = 0; idx < 10; ++idx)
-    {
-        int32_t y = view->getFieldAs<int32_t>(Dimension::Id::Y, idx);
-        EXPECT_EQ(y, 314);
-    }
-}
-
-TEST_F(ProgrammableFilterTest, add_dimension)
-{
-    StageFactory f;
-
-    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
-
-    Options ops;
-    ops.add("bounds", bounds);
-    ops.add("count", 10);
-    ops.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(ops);
-
-    Option source("source", "import numpy\n"
-        "def myfunc(ins,outs):\n"
-        "  outs['AddedIntensity'] = np.zeros(ins['X'].size, dtype=numpy.double) + 1\n"
-        "  outs['AddedPointSourceId'] = np.zeros(ins['X'].size, dtype=numpy.double) + 2\n"
-        "  return True\n"
-    );
-    Option module("module", "MyModule");
-    Option function("function", "myfunc");
-    Option intensity("add_dimension", "AddedIntensity");
-    Option scanDirection("add_dimension", "AddedPointSourceId");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-    opts.add(intensity);
-    opts.add(scanDirection);
-
-    Stage* filter(f.createStage("filters.programmable"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    PointTable table;
-    filter->prepare(table);
-    PointViewSet viewSet = filter->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    PointViewPtr view = *viewSet.begin();
-
-    PointLayoutPtr layout(table.layout());
-
-    Dimension::Id int_id = layout->findDim("AddedIntensity");
-    Dimension::Id psid_id = layout->findDim("AddedPointSourceId");
-
-    for (unsigned int i = 0; i < view->size(); ++i)
-    {
-        EXPECT_EQ(view->getFieldAs<uint16_t>(int_id, i), 1);
-        EXPECT_EQ(view->getFieldAs<uint16_t>(psid_id, i), 2);
-    }
-}
-
-
-TEST_F(ProgrammableFilterTest, metadata)
-{
-    StageFactory f;
-
-    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
-
-    Options ops;
-    ops.add("bounds", bounds);
-    ops.add("count", 10);
-    ops.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(ops);
-
-    Option source("source", "import numpy\n"
-        "import sys\n"
-        "import redirector\n"
-        "def myfunc(ins,outs):\n"
-        "  global metadata\n"
-        "  #print('before', globals(),  file=sys.stderr,)\n"
-        "  metadata = {'name': 'root', 'value': 'a string', 'type': 'string', 'description': 'a description', 'children': [{'name': 'filters.programmable', 'value': 52, 'type': 'integer', 'description': 'a filter description', 'children': []}, {'name': 'readers.faux', 'value': 'another string', 'type': 'string', 'description': 'a reader description', 'children': []}]}\n"
-        " # print ('schema', schema, file=sys.stderr,)\n"
-        "  return True\n"
-    );
-    Option module("module", "MyModule");
-    Option function("function", "myfunc");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-
-    Stage* filter(f.createStage("filters.programmable"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    PointTable table;
-    filter->prepare(table);
-    PointViewSet viewSet = filter->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    PointViewPtr view = *viewSet.begin();
-
-    PointLayoutPtr layout(table.layout());
-    MetadataNode m = table.metadata();
-    m = m.findChild("filters.programmable");
-    MetadataNodeList l = m.children();
-    EXPECT_EQ(l.size(), 3u);
-    EXPECT_EQ(l[0].name(), "filters.programmable");
-    EXPECT_EQ(l[0].value(), "52");
-    EXPECT_EQ(l[0].description(), "a filter description");
-}
-
-TEST_F(ProgrammableFilterTest, pdalargs)
-{
-    StageFactory f;
-
-    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
-
-    Options ops;
-    ops.add("bounds", bounds);
-    ops.add("count", 10);
-    ops.add("mode", "ramp");
-
-    FauxReader reader;
-    reader.setOptions(ops);
-
-    Option source("source", "import numpy\n"
-        "import sys\n"
-        "import redirector\n"
-        "def myfunc(ins,outs):\n"
-        "  pdalargs['name']\n"
-        "# print ('pdalargs', pdalargs, file=sys.stderr,)\n"
-        "  return True\n"
-    );
-    Option module("module", "MyModule");
-    Option function("function", "myfunc");
-    Option args("pdalargs", "{\"name\":\"Howard\",\"something\":42, \"another\": \"True\"}");
-    Options opts;
-    opts.add(source);
-    opts.add(module);
-    opts.add(function);
-    opts.add(args);
-
-    Stage* filter(f.createStage("filters.programmable"));
-    filter->setOptions(opts);
-    filter->setInput(reader);
-
-    PointTable table;
-    filter->prepare(table);
-    PointViewSet viewSet = filter->execute(table);
-    EXPECT_EQ(viewSet.size(), 1u);
-    PointViewPtr view = *viewSet.begin();
-
-    // Not throwing anything is success for now
-}
diff --git a/plugins/python/test/PythonFilterTest.cpp b/plugins/python/test/PythonFilterTest.cpp
new file mode 100644
index 0000000..2c4b224
--- /dev/null
+++ b/plugins/python/test/PythonFilterTest.cpp
@@ -0,0 +1,1058 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/pdal_test_main.hpp>
+
+#include <pdal/PipelineManager.hpp>
+#include <pdal/StageFactory.hpp>
+#include <io/FauxReader.hpp>
+#include <filters/StatsFilter.hpp>
+
+#include "../plang/Invocation.hpp"
+#include <pdal/PyArray.hpp>
+#include "../plang/Environment.hpp"
+
+#include <pdal/StageWrapper.hpp>
+
+#include "Support.hpp"
+
+using namespace pdal;
+using namespace pdal::plang;
+
+
+class PythonFilterTest : public ::testing::Test
+{
+public:
+    virtual void SetUp()
+    {
+        pdal::plang::Environment::get();
+    }
+
+};
+
+TEST_F(PythonFilterTest, PythonFilterTest_test1)
+{
+    StageFactory f;
+
+    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
+
+    Options ops;
+    ops.add("bounds", bounds);
+    ops.add("count", 10);
+    ops.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(ops);
+
+    Option source("source", "import numpy as np\n"
+        "def myfunc(ins,outs):\n"
+        "  X = ins['X']\n"
+        "  Y = ins['Y']\n"
+        "  Z = ins['Z']\n"
+        "  #print ins['X']\n"
+        "  X = X + 10.0\n"
+        "  # Y: leave as-is, don't export back out\n"
+        "  # Z: goofiness to make it a numpy array of a constant\n"
+        "  Z = np.zeros(X.size) + 3.14\n"
+        "  outs['X'] = X\n"
+        "  #print outs['X']\n"
+        "  outs['Z'] = Z\n"
+        "  return True\n"
+    );
+    Option module("module", "MyModule");
+    Option function("function", "myfunc");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    std::unique_ptr<StatsFilter> stats(new StatsFilter);
+    stats->setInput(*filter);
+
+    PointTable table;
+
+    stats->prepare(table);
+    PointViewSet viewSet = stats->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    PointViewPtr view = *viewSet.begin();
+
+    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
+    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
+    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
+
+    EXPECT_DOUBLE_EQ(statsX.minimum(), 10.0);
+    EXPECT_DOUBLE_EQ(statsX.maximum(), 11.0);
+
+    EXPECT_DOUBLE_EQ(statsY.minimum(), 0.0);
+    EXPECT_DOUBLE_EQ(statsY.maximum(), 1.0);
+
+    EXPECT_DOUBLE_EQ(statsZ.minimum(), 3.14);
+    EXPECT_DOUBLE_EQ(statsZ.maximum(), 3.14);
+}
+
+TEST_F(PythonFilterTest, pipelineJSON)
+{
+    PipelineManager manager;
+
+    manager.readPipeline(
+        Support::configuredpath("plang/programmable-update-y-dims.json"));
+    manager.execute();
+    PointViewSet viewSet = manager.views();
+    EXPECT_EQ(viewSet.size(), 1u);
+    PointViewPtr view = *viewSet.begin();
+
+    for (PointId idx = 0; idx < 10; ++idx)
+    {
+        int32_t y = view->getFieldAs<int32_t>(Dimension::Id::Y, idx);
+        EXPECT_EQ(y, 314);
+    }
+}
+
+TEST_F(PythonFilterTest, add_dimension)
+{
+    StageFactory f;
+
+    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
+
+    Options ops;
+    ops.add("bounds", bounds);
+    ops.add("count", 10);
+    ops.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(ops);
+
+    Option source("source", "import numpy\n"
+        "def myfunc(ins,outs):\n"
+        "  outs['AddedIntensity'] = np.zeros(ins['X'].size, dtype=numpy.double) + 1\n"
+        "  outs['AddedPointSourceId'] = np.zeros(ins['X'].size, dtype=numpy.double) + 2\n"
+        "  return True\n"
+    );
+    Option module("module", "MyModule");
+    Option function("function", "myfunc");
+    Option intensity("add_dimension", "AddedIntensity");
+    Option scanDirection("add_dimension", "AddedPointSourceId");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+    opts.add(intensity);
+    opts.add(scanDirection);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet viewSet = filter->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    PointViewPtr view = *viewSet.begin();
+
+    PointLayoutPtr layout(table.layout());
+
+    Dimension::Id int_id = layout->findDim("AddedIntensity");
+    Dimension::Id psid_id = layout->findDim("AddedPointSourceId");
+
+    for (unsigned int i = 0; i < view->size(); ++i)
+    {
+        EXPECT_EQ(view->getFieldAs<uint16_t>(int_id, i), 1);
+        EXPECT_EQ(view->getFieldAs<uint16_t>(psid_id, i), 2);
+    }
+}
+
+
+TEST_F(PythonFilterTest, metadata)
+{
+    StageFactory f;
+
+    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
+
+    Options ops;
+    ops.add("bounds", bounds);
+    ops.add("count", 10);
+    ops.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(ops);
+
+    Option source("source", "import numpy\n"
+        "import sys\n"
+        "import redirector\n"
+        "def myfunc(ins,outs):\n"
+        "  global metadata\n"
+        "  #print('before', globals(),  file=sys.stderr,)\n"
+        "  metadata = {'name': 'root', 'value': 'a string', 'type': 'string', 'description': 'a description', 'children': [{'name': 'filters.python', 'value': 52, 'type': 'integer', 'description': 'a filter description', 'children': []}, {'name': 'readers.faux', 'value': 'another string', 'type': 'string', 'description': 'a reader description', 'children': []}]}\n"
+        " # print ('schema', schema, file=sys.stderr,)\n"
+        "  return True\n"
+    );
+    Option module("module", "MyModule");
+    Option function("function", "myfunc");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet viewSet = filter->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    PointViewPtr view = *viewSet.begin();
+
+    PointLayoutPtr layout(table.layout());
+    MetadataNode m = table.metadata();
+    m = m.findChild("filters.python");
+    MetadataNodeList l = m.children();
+    EXPECT_EQ(l.size(), 3u);
+    EXPECT_EQ(l[0].name(), "filters.python");
+    EXPECT_EQ(l[0].value(), "52");
+    EXPECT_EQ(l[0].description(), "a filter description");
+}
+
+TEST_F(PythonFilterTest, pdalargs)
+{
+    StageFactory f;
+
+    BOX3D bounds(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
+
+    Options ops;
+    ops.add("bounds", bounds);
+    ops.add("count", 10);
+    ops.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(ops);
+
+    Option source("source", "import numpy\n"
+        "import sys\n"
+        "import redirector\n"
+        "def myfunc(ins,outs):\n"
+        "  pdalargs['name']\n"
+        "# print ('pdalargs', pdalargs, file=sys.stderr,)\n"
+        "  return True\n"
+    );
+    Option module("module", "MyModule");
+    Option function("function", "myfunc");
+    Option args("pdalargs", "{\"name\":\"Howard\",\"something\":42, \"another\": \"True\"}");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+    opts.add(args);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    PointTable table;
+    filter->prepare(table);
+    PointViewSet viewSet = filter->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    PointViewPtr view = *viewSet.begin();
+
+    // Not throwing anything is success for now
+}
+
+
+class PredicateFilterTest : public ::testing::Test
+{
+public:
+    virtual void SetUp()
+    {
+        pdal::plang::Environment::get();
+    }
+
+};
+
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_test_programmable)
+{
+    StageFactory f;
+
+    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
+    Options readerOps;
+    readerOps.add("bounds", bounds);
+    readerOps.add("count", 1000);
+    readerOps.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(readerOps);
+
+    // keep all points where x less than 1.0
+    const Option source("source",
+        // "X < 1.0"
+        "import numpy as np\n"
+        "def yow1(ins,outs):\n"
+        "  X = ins['X']\n"
+        "  Mask = np.less(X, 1.0)\n"
+        "  #print X\n"
+        "  #print Mask\n"
+        "  outs['Mask'] = Mask\n"
+        "  return True\n"
+    );
+    const Option module("module", "MyModule1");
+    const Option function("function", "yow1");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    Options statOpts;
+    std::unique_ptr<StatsFilter> stats(new StatsFilter);
+    stats->setOptions(statOpts);
+    stats->setInput(*filter);
+
+    PointTable table;
+
+    stats->prepare(table);
+    PointViewSet viewSet = stats->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+
+    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
+    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
+    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
+
+    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 0.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 0.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 0.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 1.0, 0.01));
+}
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_test_programmable_2)
+{
+    StageFactory f;
+    // same as above, but with 'Y >' instead of 'X <'
+
+    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
+    Options readerOps;
+    readerOps.add("bounds", bounds);
+    readerOps.add("count", 1000);
+    readerOps.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(readerOps);
+
+    Option source("source",
+        // "Y > 1.0"
+        "import numpy as np\n"
+        "def yow2(ins,outs):\n"
+        "  Y = ins['Y']\n"
+        "  Mask = np.greater(Y, 1.0)\n"
+        "  #print Mask\n"
+        "  outs['Mask'] = Mask\n"
+        "  return True\n"
+    );
+    Option module("module", "MyModule1");
+    Option function("function", "yow2");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    Options statOpts;
+    std::unique_ptr<StatsFilter> stats(new StatsFilter);
+    stats->setOptions(statOpts);
+    stats->setInput(*filter);
+
+    PointTable table;
+
+    stats->prepare(table);
+    PointViewSet viewSet = stats->execute(table);
+    EXPECT_EQ(viewSet.size(), 1u);
+
+    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
+    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
+    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
+
+    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 2.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 2.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 2.0, 0.01));
+}
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_test_programmable_3)
+{
+    StageFactory f;
+    // can we make a pipeline with TWO python filters in it?
+
+    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
+    Options readerOpts;
+    readerOpts.add("bounds", bounds);
+    readerOpts.add("count", 1000);
+    readerOpts.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(readerOpts);
+
+    // keep all points where x less than 1.0
+    const Option source1("source",
+        // "X < 1.0"
+        "import numpy as np\n"
+        "def yow1(ins,outs):\n"
+        "  X = ins['X']\n"
+        "  Mask = np.less(X, 1.0)\n"
+        "  #print X\n"
+        "  #print Mask\n"
+        "  outs['Mask'] = Mask\n"
+        "  return True\n"
+    );
+    const Option module1("module", "MyModule1");
+    const Option function1("function", "yow1");
+    Options opts1;
+    opts1.add(source1);
+    opts1.add(module1);
+    opts1.add(function1);
+
+    Stage* filter1(f.createStage("filters.python"));
+    filter1->setOptions(opts1);
+    filter1->setInput(reader);
+
+    // keep all points where y greater than 0.5
+    const Option source2("source",
+        // "Y > 0.5"
+        "import numpy as np\n"
+        "def yow2(ins,outs):\n"
+        "  Y = ins['Y']\n"
+        "  Mask = np.greater(Y, 0.5)\n"
+        "  #print X\n"
+        "  #print Mask\n"
+        "  outs['Mask'] = Mask\n"
+        "  return True\n"
+    );
+    const Option module2("module", "MyModule2");
+    const Option function2("function", "yow2");
+    Options opts2;
+    opts2.add(source2);
+    opts2.add(module2);
+    opts2.add(function2);
+
+    Stage* filter2(f.createStage("filters.python"));
+    filter2->setOptions(opts2);
+    filter2->setInput(*filter1);
+
+    Options statOpts;
+    std::unique_ptr<StatsFilter> stats(new StatsFilter);
+    stats->setOptions(statOpts);
+    stats->setInput(*filter2);
+
+    PointTable table;
+    stats->prepare(table);
+    stats->execute(table);
+
+    const stats::Summary& statsX = stats->getStats(Dimension::Id::X);
+    const stats::Summary& statsY = stats->getStats(Dimension::Id::Y);
+    const stats::Summary& statsZ = stats->getStats(Dimension::Id::Z);
+
+    EXPECT_TRUE(Utils::compare_approx(statsX.minimum(), 0.5, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.minimum(), 0.5, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.minimum(), 0.5, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsX.maximum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsY.maximum(), 1.0, 0.01));
+    EXPECT_TRUE(Utils::compare_approx(statsZ.maximum(), 1.0, 0.01));
+}
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_test_programmable_4)
+{
+    StageFactory f;
+    // test the point counters in the Predicate's iterator
+
+    BOX3D bounds(0.0, 0.0, 0.0, 2.0, 2.0, 2.0);
+    Options readerOpts;
+    readerOpts.add("bounds", bounds);
+    readerOpts.add("count", 1000);
+    readerOpts.add("mode", "ramp");
+
+    FauxReader reader;
+    reader.setOptions(readerOpts);
+
+    const Option source("source",
+        // "Y > 0.5"
+        "import numpy as np\n"
+        "def yow2(ins,outs):\n"
+        "  Y = ins['Y']\n"
+        "  Mask = np.greater(Y, 0.5)\n"
+        "  #print Mask\n"
+        "  outs['Mask'] = Mask\n"
+        "  return True\n"
+    );
+    const Option module("module", "MyModule1");
+    const Option function("function", "yow2");
+    Options opts;
+    opts.add(source);
+    opts.add(module);
+    opts.add(function);
+
+    Stage* filter(f.createStage("filters.python"));
+    filter->setOptions(opts);
+    filter->setInput(reader);
+
+    PointTable table;
+    PointViewPtr buf(new PointView(table));
+
+    filter->prepare(table);
+
+    StageWrapper::ready(reader, table);
+    PointViewSet viewSet = StageWrapper::run(reader, buf);
+    StageWrapper::done(reader, table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    buf = *viewSet.begin();
+    EXPECT_EQ(buf->size(), 1000u);
+
+    StageWrapper::ready(*filter, table);
+    viewSet = StageWrapper::run(*filter, buf);
+    StageWrapper::done(*filter, table);
+    EXPECT_EQ(viewSet.size(), 1u);
+    buf = *viewSet.begin();
+    EXPECT_EQ(buf->size(), 750u);
+}
+
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_PipelineJSON)
+{
+    PipelineManager mgr;
+
+    mgr.readPipeline(Support::configuredpath("plang/from-module.json"));
+    point_count_t cnt = mgr.execute();
+    EXPECT_EQ(cnt, 1u);
+}
+
+TEST_F(PredicateFilterTest, PredicateFilterTest_EmbedJSON)
+{
+    PipelineManager mgr;
+
+    mgr.readPipeline(Support::configuredpath("plang/predicate-embed.json"));
+    point_count_t cnt = mgr.execute();
+    EXPECT_EQ(cnt, 1u);
+}
+
+
+TEST(PLangTest, PLangTest_basic)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  #print 'hi'\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+    meth.execute();
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Error tests
+//
+//---------------------------------------------------------------------------
+
+TEST(PLangTest, PLangTest_compile_error)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+
+    ASSERT_THROW(meth.compile(), pdal::pdal_error);
+}
+
+
+TEST(PLangTest, PLangTest_runtime_error)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  z['s'] = 9\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    ASSERT_THROW(meth.execute(), pdal::pdal_error);
+}
+
+
+TEST(PLangTest, PLangTest_returnvoid)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs,mids):\n"
+        "  #print 'foo'\n"
+        "  return\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    ASSERT_THROW(meth.execute(), pdal::pdal_error);
+}
+
+
+TEST(PLangTest, PLangTest_returnint)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs,mids):\n"
+        "  #print 'foo'\n"
+        "  return 7\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    ASSERT_THROW(meth.execute(), pdal::pdal_error);
+}
+
+
+//---------------------------------------------------------------------------
+//
+// PARAM tests
+//
+//---------------------------------------------------------------------------
+
+
+TEST(PLangTest, PLangTest_ins)
+{
+    double data[5] = {1.0, 2.0, 3.0, 4.0, 5.0};
+
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  #print ins['X']\n"
+        "  X = ins['X']\n"
+        "  #print X\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+    meth.insertArgument("X", (uint8_t*)data, Dimension::Type::Double, 5);
+    meth.execute();
+}
+
+
+TEST(PLangTest, PLangTest_outs)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  #print outs['X']\n"
+        "  X = np.ones(5)\n"
+        "  #print X\n"
+        "  outs['X'] = X\n"
+        "  #print outs['X']\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+    meth.execute();
+    EXPECT_TRUE(meth.hasOutputVariable("X"));
+    void *output = meth.extractResult("X", Dimension::Type::Double);
+
+    double *d = (double *)output;
+    EXPECT_FLOAT_EQ(*d++, 1.0);
+    EXPECT_FLOAT_EQ(*d++, 1.0);
+    EXPECT_FLOAT_EQ(*d++, 1.0);
+    EXPECT_FLOAT_EQ(*d++, 1.0);
+    EXPECT_FLOAT_EQ(*d++, 1.0);
+}
+
+
+TEST(PLangTest, PLangTest_aliases)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  \n"
+        "  #print ins['X']\n"
+        "  #print ins['prefix.X']\n"
+        "  \n"
+        "  X = ins['X']\n"
+        "  prefixX = ins['prefix.X']\n"
+        "  \n"
+        "  #print X\n"
+        "  #print prefixX\n"
+        "  \n"
+        "  Y = X + prefixX\n"
+        "  prefixY = Y\n"
+        "  \n"
+        "  #print Y\n"
+        "  #print prefixY\n"
+        "  \n"
+        "  outs['Y'] = Y\n"
+        "  outs['prefix.Y'] = prefixY\n"
+        "  \n"
+        "  #print outs['Y']\n"
+        "  #print outs['prefix.Y']\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    {
+        double data[5] = {1.0, 2.0, 3.0, 4.0, 5.0};
+        meth.insertArgument("X", (uint8_t*)data, Dimension::Type::Double, 5);
+        meth.insertArgument("prefix.X", (uint8_t*)data,
+            Dimension::Type::Double, 5);
+    }
+    meth.execute();
+
+    {
+        EXPECT_TRUE(meth.hasOutputVariable("Y"));
+        EXPECT_TRUE(meth.hasOutputVariable("prefix.Y"));
+
+        void *output = meth.extractResult("Y", Dimension::Type::Double);
+        double *d = (double *)output;
+        EXPECT_FLOAT_EQ(*d++, 2.0);
+        EXPECT_FLOAT_EQ(*d++, 4.0);
+        EXPECT_FLOAT_EQ(*d++, 6.0);
+        EXPECT_FLOAT_EQ(*d++, 8.0);
+        EXPECT_FLOAT_EQ(*d++, 10.0);
+
+        output = meth.extractResult("prefix.Y", Dimension::Type::Double);
+        d = (double *)output;
+        EXPECT_FLOAT_EQ(*d++, 2.0);
+        EXPECT_FLOAT_EQ(*d++, 4.0);
+        EXPECT_FLOAT_EQ(*d++, 6.0);
+        EXPECT_FLOAT_EQ(*d++, 8.0);
+        EXPECT_FLOAT_EQ(*d++, 10.0);
+    }
+
+    {
+        std::vector<std::string> names;
+        meth.getOutputNames(names);
+
+        // We're getting stuff from a hash, so it
+        // isn't stable
+        std::sort(names.begin(), names.end());
+        EXPECT_EQ(names.size(), 2u);
+        EXPECT_EQ(names[0], "Y");
+        EXPECT_EQ(names[1], "prefix.Y");
+    }
+}
+
+
+TEST(PLangTest, PLangTest_returntrue)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    bool sts = meth.execute();
+    EXPECT_TRUE(sts);
+}
+
+
+TEST(PLangTest, PLangTest_returnfalse)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  return False\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    bool sts = meth.execute();
+    EXPECT_TRUE(!sts);
+}
+
+
+//---------------------------------------------------------------------------
+//
+// MISC tests
+//
+//---------------------------------------------------------------------------
+
+TEST(PLangTest, PLangTest_reentry)
+{
+    const char* source =
+        "import numpy as np\n"
+        "def yow(ins,outs):\n"
+        "  X = ins['X']\n"
+        "  Y = X + 1.0\n"
+        "  #print Y\n"
+        "  outs['Y'] = Y\n"
+        "  return True\n"
+        ;
+    Script script(source, "MyTest", "yow");
+    Invocation meth(script);
+    meth.compile();
+
+    {
+        double indata1[5] = {0.0, 1.0, 2.0, 3.0, 4.0};
+        meth.insertArgument("X", (uint8_t*)indata1, Dimension::Type::Double, 5);
+        meth.execute();
+        void *output = meth.extractResult("Y", Dimension::Type::Double);
+
+        double *d = (double *)output;
+        EXPECT_FLOAT_EQ(*d++, 1.0);
+        EXPECT_FLOAT_EQ(*d++, 2.0);
+        EXPECT_FLOAT_EQ(*d++, 3.0);
+        EXPECT_FLOAT_EQ(*d++, 4.0);
+        EXPECT_FLOAT_EQ(*d++, 5.0);
+    }
+
+    {
+        double indata2[5] = {10.0, 20.0, 30.0, 40.0, 50.0};
+        meth.insertArgument("X", (uint8_t*)indata2, Dimension::Type::Double, 5);
+        meth.execute();
+        void *output = meth.extractResult("Y", Dimension::Type::Double);
+
+        double *d = (double *)output;
+        EXPECT_FLOAT_EQ(*d++, 11.0);
+        EXPECT_FLOAT_EQ(*d++, 21.0);
+        EXPECT_FLOAT_EQ(*d++, 31.0);
+        EXPECT_FLOAT_EQ(*d++, 41.0);
+        EXPECT_FLOAT_EQ(*d++, 51.0);
+    }
+}
+
+TEST(PLangTest, log)
+{
+    // verify we can redirect the stdout inside the python script
+
+    Options reader_opts;
+    {
+        BOX3D bounds(1.0, 2.0, 3.0, 101.0, 102.0, 103.0);
+        Option opt1("bounds", bounds);
+        Option opt2("count", 750);
+        Option opt3("mode", "constant");
+
+        reader_opts.add(opt1);
+        reader_opts.add(opt2);
+        reader_opts.add(opt3);
+
+        Option optlog("log", Support::temppath("mylog_three.txt"));
+        reader_opts.add(optlog);
+    }
+
+    Options xfilter_opts;
+    {
+        const Option source("source",
+            "import numpy as np\n"
+            "import sys\n"
+            "def xfunc(ins,outs):\n"
+            "  X = ins['X']\n"
+            "  print (\"Testing log output through python script.\")\n"
+            "  X = X + 1.0\n"
+            "  outs['X'] = X\n"
+            "  sys.stdout.flush()\n"
+            "  return True\n"
+            );
+        const Option module("module", "xModule");
+        const Option function("function", "xfunc");
+        xfilter_opts.add("log", Support::temppath("mylog_three.txt"));
+        xfilter_opts.add(source);
+        xfilter_opts.add(module);
+        xfilter_opts.add(function);
+    }
+
+    StageFactory f;
+    {
+        FauxReader reader;
+
+        reader.setOptions(reader_opts);
+
+        Stage* xfilter(f.createStage("filters.python"));
+        xfilter->setOptions(xfilter_opts);
+        xfilter->setInput(reader);
+
+        PointTable table;
+        xfilter->prepare(table);
+        PointViewSet pvSet = xfilter->execute(table);
+        EXPECT_EQ(pvSet.size(), 1u);
+        PointViewPtr view = *pvSet.begin();
+        EXPECT_EQ(view->size(), 750u);
+    }
+
+    bool ok = Support::compare_text_files(
+        Support::temppath("mylog_three.txt"),
+        Support::datapath("logs/log_py.txt"));
+
+    // TODO: fails on Windows
+    // unknown file: error: C++ exception with description "pdalboost::filesystem::remove:
+    // The process cannot access the file because it is being used by another process:
+    // "C:/projects/pdal/test/data/../temp/mylog_three.txt"" thrown in the test body.
+    //if (ok)
+    //    FileUtils::deleteFile(Support::temppath("mylog_three.txt"));
+
+    EXPECT_TRUE(ok);
+}
+
+
+
+PointViewPtr makeTestView(PointTableRef table, point_count_t cnt = 17)
+{
+    PointLayoutPtr layout(table.layout());
+
+    layout->registerDim(Dimension::Id::Classification);
+    layout->registerDim(Dimension::Id::X);
+    layout->registerDim(Dimension::Id::Y);
+
+    PointViewPtr view(new PointView(table));
+
+    // write the data into the view
+    for (PointId i = 0; i < cnt; i++)
+    {
+        const uint8_t x = (uint8_t)(i + 1);
+        const int32_t y = i * 10;
+        const double z = i * 100;
+
+        view->setField(Dimension::Id::Classification, i, x);
+        view->setField(Dimension::Id::X, i, y);
+        view->setField(Dimension::Id::Y, i, z);
+    }
+    EXPECT_EQ(view->size(), cnt);
+    return view;
+}
+
+void verifyTestView(const PointView& view, point_count_t cnt = 17)
+{
+    // read the view back out
+    for (PointId i = 0; i < cnt; i++)
+    {
+        uint8_t x = view.getFieldAs<uint8_t>(
+            Dimension::Id::Classification, i);
+        int32_t y = view.getFieldAs<uint32_t>(Dimension::Id::X, i);
+        double z = view.getFieldAs<double>(Dimension::Id::Y, i);
+
+        EXPECT_EQ(x, (uint8_t)(i + 1));
+        EXPECT_EQ(y, (int32_t)(i * 10));
+        EXPECT_TRUE(Utils::compare_approx(z, static_cast<double>(i) * 100.0,
+            (std::numeric_limits<double>::min)()));
+    }
+}
+
+TEST(PLangTest, PLangTest_array)
+{
+    PointTable table;
+    PointViewPtr view = makeTestView(table, 40);
+
+    python::Array array;
+    array.update(view);
+    verifyTestView(*view.get(), 4);
+
+}
+
+
+// most pipelines (those with a writer) will be invoked via `pdal pipeline`
+static void run_pipeline(std::string const& pipeline)
+{
+    const std::string cmd = Support::binpath(Support::exename("pdal") +
+        " pipeline");
+
+    std::string output;
+    std::string file(Support::configuredpath(pipeline));
+    int stat = pdal::Utils::run_shell_command(cmd + " " + file, output);
+    EXPECT_EQ(0, stat);
+    if (stat)
+        std::cerr << output << std::endl;
+}
+
+class jsonWithProgrammable : public testing::TestWithParam<const char*> {};
+
+TEST_P(jsonWithProgrammable, pipeline)
+{
+    pdal::plang::Environment::get();
+    pdal::StageFactory f;
+    pdal::Stage* s = f.createStage("filters.python");
+    if (s)
+        run_pipeline(GetParam());
+    else
+        std::cerr << "WARNING: could not create filters.programmable, skipping test" << std::endl;
+}
+
+INSTANTIATE_TEST_CASE_P(plugins, jsonWithProgrammable,
+                        testing::Values(
+                            // "pipeline/programmable-hag.json",
+                            "pipeline/programmable-update-y-dims.json"
+                        ));
+
+class jsonWithPredicate : public testing::TestWithParam<const char*> {};
+
+TEST_P(jsonWithPredicate, pipeline)
+{
+    pdal::plang::Environment::get();
+    pdal::StageFactory f;
+    pdal::Stage* s = f.createStage("filters.python");
+    if (s)
+        run_pipeline(GetParam());
+    else
+        std::cerr << "WARNING: could not create filters.python, skipping test" << std::endl;
+}
+
+INSTANTIATE_TEST_CASE_P(plugins, jsonWithPredicate,
+                        testing::Values(
+                            "pipeline/crop_wkt_2d_classification.json",
+                            "pipeline/from-module.json",
+                            "pipeline/predicate-embed.json",
+                            "pipeline/predicate-keep-ground-and-unclass.json",
+                            "pipeline/predicate-keep-last-return.json",
+                            "pipeline/predicate-keep-specified-returns.json",
+                            "pipeline/reproject.json"
+                        ));
diff --git a/plugins/python/test/PythonPipelineTest.cpp b/plugins/python/test/PythonPipelineTest.cpp
deleted file mode 100644
index 929a649..0000000
--- a/plugins/python/test/PythonPipelineTest.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include <pdal/pdal_test_main.hpp>
-
-#include <pdal/StageFactory.hpp>
-#include <pdal/util/FileUtils.hpp>
-#include <pdal/util/Utils.hpp>
-#include "Support.hpp"
-
-#include <pdal/plang/Environment.hpp>
-
-#include <iostream>
-#include <sstream>
-#include <string>
-
-// most pipelines (those with a writer) will be invoked via `pdal pipeline`
-static void run_pipeline(std::string const& pipeline)
-{
-    const std::string cmd = Support::binpath(Support::exename("pdal") +
-        " pipeline");
-
-    std::string output;
-    std::string file(Support::configuredpath(pipeline));
-    int stat = pdal::Utils::run_shell_command(cmd + " " + file, output);
-    EXPECT_EQ(0, stat);
-    if (stat)
-        std::cerr << output << std::endl;
-}
-
-class jsonWithProgrammable : public testing::TestWithParam<const char*> {};
-
-TEST_P(jsonWithProgrammable, pipeline)
-{
-    pdal::plang::Environment::get();
-    pdal::StageFactory f;
-    pdal::Stage* s = f.createStage("filters.programmable");
-    if (s)
-        run_pipeline(GetParam());
-    else
-        std::cerr << "WARNING: could not create filters.programmable, skipping test" << std::endl;
-}
-
-INSTANTIATE_TEST_CASE_P(plugins, jsonWithProgrammable,
-                        testing::Values(
-                            // "pipeline/programmable-hag.json",
-                            "pipeline/programmable-update-y-dims.json"
-                        ));
-
-class jsonWithPredicate : public testing::TestWithParam<const char*> {};
-
-TEST_P(jsonWithPredicate, pipeline)
-{
-    pdal::plang::Environment::get();
-    pdal::StageFactory f;
-    pdal::Stage* s = f.createStage("filters.predicate");
-    if (s)
-        run_pipeline(GetParam());
-    else
-        std::cerr << "WARNING: could not create filters.predicate, skipping test" << std::endl;
-}
-
-INSTANTIATE_TEST_CASE_P(plugins, jsonWithPredicate,
-                        testing::Values(
-                            "pipeline/crop_wkt_2d_classification.json",
-                            "pipeline/from-module.json",
-                            "pipeline/predicate-embed.json",
-                            "pipeline/predicate-keep-ground-and-unclass.json",
-                            "pipeline/predicate-keep-last-return.json",
-                            "pipeline/predicate-keep-specified-returns.json",
-                            "pipeline/reproject.json"
-                        ));
diff --git a/plugins/rxp/io/RxpReader.hpp b/plugins/rxp/io/RxpReader.hpp
index ae79cae..86258e5 100644
--- a/plugins/rxp/io/RxpReader.hpp
+++ b/plugins/rxp/io/RxpReader.hpp
@@ -80,11 +80,6 @@ public:
     static int32_t destroy(void *);
     std::string getName() const;
 
-    static Dimension::IdList getDefaultDimensions()
-    {
-        return getRxpDimensions(DEFAULT_SYNC_TO_PPS, DEFAULT_MINIMAL);
-    }
-
 private:
     virtual void addArgs(ProgramArgs& args);
     virtual void initialize();
diff --git a/plugins/sqlite/io/SQLiteCommon.hpp b/plugins/sqlite/io/SQLiteCommon.hpp
index 36deff1..48117a9 100644
--- a/plugins/sqlite/io/SQLiteCommon.hpp
+++ b/plugins/sqlite/io/SQLiteCommon.hpp
@@ -126,6 +126,14 @@ public:
 
     size_t byte_size()
         { return buf.size(); }
+
+    void clear()
+        {
+           buf.clear();
+           count = 0;
+           remaining = 0;
+           idx = 0;
+         }
 };
 typedef std::shared_ptr<Patch> PatchPtr;
 
@@ -203,13 +211,17 @@ public:
         checkSession();
 
         m_log->get(LogLevel::Debug3) << "Executing '" << sql <<"'"<< std::endl;
-
-        int status = sqlite3_exec(m_session, sql.c_str(), NULL, NULL, NULL);
+		char* errmsg;
+        int status = sqlite3_exec(m_session, sql.c_str(), NULL, NULL, &errmsg);
         if (status != SQLITE_OK)
         {
             std::ostringstream oss;
-            oss << "Database operation failed: "
-                << sql;
+			std::string msg = std::string(errmsg);
+			Utils::trimTrailing(msg);
+			oss << "Database operation failed: "
+				<< "'" << sql << "'"
+				<< " with error '" << msg << "'";
+			sqlite3_free(errmsg);
             error(oss.str(), "execute");
         }
     }
@@ -453,12 +465,12 @@ public:
         std::string so_extension;
         std::string lib_extension;
 #ifdef __APPLE__
-        so_extension = "dylib";
+        so_extension = ".dylib";
         lib_extension = "mod_";
 #endif
 
 #if defined(__linux__) || defined(__FreeBSD_kernel__)
-        so_extension = "so";
+        so_extension = ".so";
 #ifdef MOD_SPATIALITE
         lib_extension = "mod_";
 #else
@@ -467,8 +479,8 @@ public:
 #endif
 
 #ifdef _WIN32
-        so_extension = "dll";
-        lib_extension = "mod_";
+        so_extension = ".dll";
+        lib_extension = "pdal";
 #endif
 
 // #if !defined(sqlite3_enable_load_extension)
@@ -480,15 +492,22 @@ public:
             error("spatialite library load failed", "loadSpatialite");
         }
 
-        std::ostringstream oss;
+		std::ostringstream oss;
+
+
 
         oss << "SELECT load_extension('";
         if (module_name.size())
             oss << module_name;
         else
-            oss << lib_extension << "spatialite";
-        oss << "')";
-        execute(oss.str());
+            oss << lib_extension << "spatialite" << so_extension;
+#ifdef _WIN32
+		oss << "', 'sqlite3_modspatialite_init";
+#endif
+		oss << "')";
+
+		std::string sql(oss.str());
+        execute(sql);
         oss.str("");
 
         m_log->get(LogLevel::Debug3) <<  "SpatiaLite version: " << getSpatialiteVersion() << std::endl;
diff --git a/plugins/sqlite/io/SQLiteWriter.cpp b/plugins/sqlite/io/SQLiteWriter.cpp
index 46fb587..d813269 100644
--- a/plugins/sqlite/io/SQLiteWriter.cpp
+++ b/plugins/sqlite/io/SQLiteWriter.cpp
@@ -75,6 +75,7 @@ void SQLiteWriter::addArgs(ProgramArgs& args)
         m_cloud_table).setPositional();
     args.add("connection", "SQL connection string",
         m_connection).setPositional();
+    args.addSynonym("connection", "filename");
     args.add("cloud_column_name", "Cloud column name", m_cloud_column, "id");
     args.add("module", "Module name", m_modulename);
     args.add("srid", "SRID", m_srid, 4326U);
@@ -209,7 +210,7 @@ void SQLiteWriter::CreateBlockTable()
 
     oss << "CREATE TABLE " << Utils::tolower(m_block_table)
         << "(" << Utils::tolower(m_cloud_column)  <<
-        " INTEGER REFERENCES " << Utils::tolower(m_cloud_column)  <<
+        " INTEGER REFERENCES " << Utils::tolower(m_cloud_table)  <<
         "," << " block_id INTEGER," << " num_points INTEGER," <<
         " points BLOB," << " bbox box3d " << ")";
 
@@ -453,8 +454,6 @@ void SQLiteWriter::writeTile(const PointViewPtr view)
 {
     using namespace std;
 
-    Patch outpatch;
-
     if (m_doCompression)
     {
 #ifdef PDAL_HAVE_LAZPERF
@@ -527,6 +526,7 @@ void SQLiteWriter::writeTile(const PointViewPtr view)
     rs.push_back(r);
     m_session->insert(m_block_insert_query.str(), rs);
     m_block_id++;
+    m_patch->clear();
 
 }
 
diff --git a/python/VERSION.txt b/python/VERSION.txt
index 3e1ad72..dc1e644 100644
--- a/python/VERSION.txt
+++ b/python/VERSION.txt
@@ -1 +1 @@
-1.5.0
\ No newline at end of file
+1.6.0
diff --git a/python/pdal/PyPipeline.cpp b/python/pdal/PyPipeline.cpp
index 63f1f17..880cbf0 100644
--- a/python/pdal/PyPipeline.cpp
+++ b/python/pdal/PyPipeline.cpp
@@ -91,7 +91,7 @@ std::vector<PArray> Pipeline::getArrays() const
 
     for (auto i: pvset)
     {
-        PArray array = new pdal::plang::Array;
+        PArray array = new pdal::python::Array;
         array->update(i);
         output.push_back(array);
     }
diff --git a/python/pdal/PyPipeline.hpp b/python/pdal/PyPipeline.hpp
index e356f7e..df7c1ef 100644
--- a/python/pdal/PyPipeline.hpp
+++ b/python/pdal/PyPipeline.hpp
@@ -37,7 +37,7 @@
 #include <pdal/PipelineManager.hpp>
 #include <pdal/PipelineWriter.hpp>
 #include <pdal/util/FileUtils.hpp>
-#include <pdal/plang/Array.hpp>
+#include <pdal/PyArray.hpp>
 #include <pdal/PipelineExecutor.hpp>
 
 #include <string>
@@ -46,8 +46,9 @@
 #undef tolower
 #undef isspace
 
+#ifndef PY_ARRAY_UNIQUE_SYMBOL
 #define PY_ARRAY_UNIQUE_SYMBOL LIBPDALPYTHON_ARRAY_API
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+#endif
 
 #include <numpy/arrayobject.h>
 
@@ -62,7 +63,7 @@ public:
         {}
 };
 
-    typedef pdal::plang::Array* PArray;
+    typedef pdal::python::Array* PArray;
 
 class Pipeline {
 public:
diff --git a/python/pdal/__init__.py b/python/pdal/__init__.py
index 0ec0921..4e4e32f 100644
--- a/python/pdal/__init__.py
+++ b/python/pdal/__init__.py
@@ -1,3 +1,3 @@
-__version__='1.5.0'
+__version__='1.6.0'
 
 from .pipeline import Pipeline
diff --git a/python/pdal/libpdalpython.pyx b/python/pdal/libpdalpython.pyx
index 0728cc1..6c7b748 100644
--- a/python/pdal/libpdalpython.pyx
+++ b/python/pdal/libpdalpython.pyx
@@ -12,7 +12,7 @@ from cpython cimport PyObject, Py_INCREF
 from cython.operator cimport dereference as deref, preincrement as inc
 
 
-cdef extern from "pdal/plang/Array.hpp" namespace "pdal::plang":
+cdef extern from "pdal/PyArray.hpp" namespace "pdal::python":
     cdef cppclass Array:
         void* getPythonArray() except+
 
diff --git a/python/setup.py b/python/setup.py
index 0542234..a4a87a5 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -145,7 +145,6 @@ if pdal_config and "clean" not in sys.argv:
 
 include_dirs.append(numpy.get_include())
 extra_compile_args = ['-std=c++11',]
-libraries.append('pdal_plang')
 
 DEBUG=False
 if DEBUG:
diff --git a/scripts/appveyor/config.cmd b/scripts/appveyor/config.cmd
index 0f97515..f93b494 100644
--- a/scripts/appveyor/config.cmd
+++ b/scripts/appveyor/config.cmd
@@ -1,27 +1,61 @@
 @echo off
 
+REM If OSGEO4W_BUILD is set, we build an OSGeo4W64 tarball package and 
+REM and install it to C:\pdalbin before letting AppVeyor upload it as 
+REM an artifact to S3.
+
+if "%OSGEO4W_BUILD%"=="ON" (
+
+SET PDAL_OPTIONAL_COMPONENTS=ON
+SET PDAL_PLUGIN_INSTALL_PATH="C:/OSGeo4W64/bin"
+set PDAL_BUILD_TESTS=OFF
+
+) ELSE (
+
+SET PDAL_PLUGIN_INSTALL_PATH="C:\pdalbin"
+set PDAL_BUILD_TESTS=ON
+
+)
+
+REM needed or else CMake won't find the Oracle library that OSGeo4W installs
+
+SET ORACLE_HOME="C:/OSGEO4W64/"
+
 cmake -G "Visual Studio 14 2015 Win64" ^
     -DBUILD_PLUGIN_CPD=OFF ^
-    -DBUILD_PLUGIN_GREYHOUND=OFF ^
-    -DBUILD_PLUGIN_HEXBIN=OFF ^
+    -DBUILD_PLUGIN_GREYHOUND=%PDAL_OPTIONAL_COMPONENTS% ^
+    -DBUILD_PLUGIN_HEXBIN=%PDAL_OPTIONAL_COMPONENTS% ^
     -DBUILD_PLUGIN_ICEBRIDGE=OFF ^
     -DBUILD_PLUGIN_MRSID=OFF ^
-    -DBUILD_PLUGIN_NITF=OFF ^
-    -DBUILD_PLUGIN_OCI=OFF ^
+    -DBUILD_PLUGIN_NITF=%PDAL_OPTIONAL_COMPONENTS% ^
+    -DBUILD_PLUGIN_OCI=%PDAL_OPTIONAL_COMPONENTS% ^
     -DBUILD_PLUGIN_PCL=OFF ^
-    -DBUILD_PLUGIN_PGPOINTCLOUD=OFF ^
-    -DBUILD_PLUGIN_SQLITE=OFF ^
+    -DBUILD_PLUGIN_PGPOINTCLOUD=%PDAL_OPTIONAL_COMPONENTS% ^
+    -DBUILD_PLUGIN_SQLITE=%PDAL_OPTIONAL_COMPONENTS% ^
     -DBUILD_PLUGIN_RIVLIB=OFF ^
     -DBUILD_PLUGIN_PYTHON=%PDAL_OPTIONAL_COMPONENTS% ^
     -DENABLE_CTEST=OFF ^
-    -DWITH_APPS=ON ^
-    -DWITH_LAZPERF=%PDAL_OPTIONAL_COMPONENTS% ^
-    -DWITH_LASZIP=%PDAL_OPTIONAL_COMPONENTS% ^
-    -DWITH_PDAL_JNI=%OPTIONAL_COMPONENT_SWITCH% ^
-    -DWITH_TESTS=ON ^
-    -DNUMPY_INCLUDE_DIR=%OSGEO4W_ROOT%\apps\python27\lib\site-packages\numpy\core\include ^
-	-DNUMPY_VERSION=1.8.1 ^
+    -DWITH_LAZPERF=ON ^
+	-DLazperf_DIR=%OSGEO4W_ROOT% ^
+    -DWITH_LASZIP=ON ^
+    -DWITH_TESTS=%PDAL_BUILD_TESTS% ^
+	-DPDAL_PLUGIN_INSTALL_PATH=%PDAL_PLUGIN_INSTALL_PATH% ^
+	-DGDAL_INCLUDE_DIR=%OSGEO4W_ROOT%/include ^
+	-DGDAL_LIBRARY=%OSGEO4W_ROOT%/lib/gdal_i.lib ^
+	-DPYTHON_EXECUTABLE=%OSGEO4W_ROOT%/apps/python36/python.exe ^
+	-DPYTHON_INCLUDE_DIR=%OSGEO4W_ROOT%/apps/python36/include ^
+	-DPYTHON_LIBRARY=%OSGEO4W_ROOT%/apps/python36/libs/python36.lib ^
+	-DPYTHON_DEBUG_LIBRARY=%OSGEO4W_ROOT%/apps/python36/libs/python36.lib ^
+	-DCURL_INCLUDE_DIR=%OSGEO4W_ROOT%/include ^
+	-DCURL_LIBRARY=%OSGEO4W_ROOT%/lib/libcurl.lib ^
+	-DNUMPY_INCLUDE_DIR=%OSGEO4W_ROOT%/apps/python36/lib/site-packages/numpy/core/include ^
+	-DNUMPY_VERSION=1.12.0 ^
     -Dgtest_force_shared_crt=ON ^
     -DCMAKE_INSTALL_PREFIX=C:\pdalbin ^
     -DCMAKE_VERBOSE_MAKEFILE=OFF ^
+    -DBUILD_PGPOINTCLOUD_TESTS=OFF ^
+    -DBUILD_SQLITE_TESTS=OFF ^
+    -DBUILD_OCI_TESTS=OFF ^
     .
+	
+	
\ No newline at end of file
diff --git a/scripts/appveyor/install.cmd b/scripts/appveyor/install.cmd
index 239b599..4630d81 100644
--- a/scripts/appveyor/install.cmd
+++ b/scripts/appveyor/install.cmd
@@ -1,3 +1,8 @@
 @echo off
 
-cmake --build . --target install
+cmake --build . --target install --config Release
+cd c:\pdalbin
+dir 
+tar jcvf ..\pdal-%APPVEYOR_REPO_COMMIT%.tar.bz2 .
+copy c:\pdal-%APPVEYOR_REPO_COMMIT%.tar.bz2 c:\projects\pdal
+echo "OSGeo4W64 build will be uploaded to https://s3.amazonaws.com/pdal/osgeo4w/pdal-%APPVEYOR_REPO_COMMIT%.tar.bz2"
diff --git a/scripts/ci/script.sh b/scripts/ci/script.sh
index 63e1f11..58850a0 100755
--- a/scripts/ci/script.sh
+++ b/scripts/ci/script.sh
@@ -1,82 +1,78 @@
-#!/bin/bash -e
+#!/bin/sh -e
 # Builds and tests PDAL
 
-clang --version
+echo "http://dl-cdn.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories
+apk update
+apk add \
+    cmake \
+    alpine-sdk \
+    eigen-dev \
+    hexer \
+    hexer-dev \
+    nitro \
+    nitro-dev \
+    gdal \
+    gdal-dev \
+    geos \
+    geos-dev \
+    laz-perf \
+    laz-perf-dev \
+    libgeotiff \
+    libgeotiff-dev \
+    libxml2 \
+    libxml2-dev \
+    python \
+    python-dev \
+    py-numpy \
+    py-numpy-dev \
+    jsoncpp \
+    jsoncpp-dev \
+    hdf5 \
+    hdf5-dev \
+    proj4 \
+    proj4-dev \
+    cpd \
+    cpd-dev \
+    fgt \
+    fgt-dev \
+    sqlite \
+    sqlite-dev \
+    postgresql-dev \
+    libcurl \
+    curl-dev \
+    linux-headers \
+    laszip \
+    laszip-dev \
+    libspatialite \
+    libspatialite-dev
+
 gcc --version
+g++ --version
 
 cd /pdal
-source ./scripts/ci/common.sh
 
 mkdir -p _build || exit 1
 cd _build || exit 1
 
-case "$PDAL_OPTIONAL_COMPONENTS" in
-    all)
-        OPTIONAL_COMPONENT_SWITCH=ON
-        ;;
-    none)
-        OPTIONAL_COMPONENT_SWITCH=OFF
-        ;;
-    *)
-        echo "Unrecognized value for PDAL_OPTIONAL_COMPONENTS=$PDAL_OPTIONAL_COMPONENTS"
-        exit 1
-esac
-
-
-cmake \
-    -DBUILD_PLUGIN_CPD=$OPTIONAL_COMPONENT_SWITCH \
-    -DBUILD_PLUGIN_GREYHOUND=OFF \
-    -DBUILD_PLUGIN_HEXBIN=$OPTIONAL_COMPONENT_SWITCH \
-    -DBUILD_PLUGIN_ICEBRIDGE=$OPTIONAL_COMPONENT_SWITCH \
-    -DBUILD_PLUGIN_MRSID=OFF \
-    -DBUILD_PLUGIN_NITF=OFF \
-    -DBUILD_PLUGIN_OCI=OFF \
-    -DBUILD_PLUGIN_PCL=$OPTIONAL_COMPONENT_SWITCH \
-    -DBUILD_PLUGIN_PGPOINTCLOUD=$OPTIONAL_COMPONENT_SWITCH \
+cmake .. \
+    -G "Unix Makefiles" \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER=gcc \
+    -DCMAKE_CXX_COMPILER=g++ \
+    -DCMAKE_MAKE_PROGRAM=make \
+    -DBUILD_PLUGIN_PYTHON=ON \
+    -DBUILD_PLUGIN_CPD=ON \
+    -DBUILD_PLUGIN_GREYHOUND=ON \
+    -DBUILD_PLUGIN_HEXBIN=ON \
+    -DBUILD_PLUGIN_NITF=ON \
+    -DBUILD_PLUGIN_ICEBRIDGE=ON \
+    -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
     -DBUILD_PGPOINTCLOUD_TESTS=OFF \
-    -DBUILD_PLUGIN_SQLITE=$OPTIONAL_COMPONENT_SWITCH \
-    -DBUILD_PLUGIN_RIVLIB=OFF \
-    -DBUILD_PLUGIN_PYTHON=$OPTIONAL_COMPONENT_SWITCH \
-    -DENABLE_CTEST=OFF \
-    -DWITH_APPS=ON \
-    -DWITH_LAZPERF=$OPTIONAL_COMPONENT_SWITCH \
-    -DWITH_LASZIP=$OPTIONAL_COMPONENT_SWITCH \
-    -DWITH_PDAL_JNI=$OPTIONAL_COMPONENT_SWITCH \
-    -DWITH_TESTS=ON \
-    -G "$PDAL_CMAKE_GENERATOR" \
-    ..
-
-cmake ..
-
-MAKECMD=make
-
-# Don't use ninja's default number of threads becuase it can
-# saturate Travis's available memory.
-NUMTHREADS=2
-${MAKECMD} -j ${NUMTHREADS} && \
-    LD_LIBRARY_PATH=./lib && \
-    PGUSER=postgres ctest -V && \
-    ${MAKECMD} install && \
-    /sbin/ldconfig
-
-if [ "${OPTIONAL_COMPONENT_SWITCH}" == "ON" ]; then
-    cd /pdal/python
-    pip install packaging
-    python setup.py build
-    echo "current path: " `pwd`
-    export PDAL_TEST_DIR=/pdal/_build/test
-    python setup.py test
-
-    # JNI tests
-    cd /pdal/java; PDAL_DEPEND_ON_NATIVE=false ./sbt -Djava.library.path=/pdal/_build/lib core/test
+    -DBUILD_PLUGIN_SQLITE=ON \
+    -DWITH_LASZIP=ON \
+    -DWITH_LAZPERF=ON \
+    -DWITH_TESTS=ON
 
-    # Build all examples
-    for EXAMPLE in writing writing-filter writing-kernel writing-reader writing-writer
-    do
-        cd /pdal/examples/$EXAMPLE
-        mkdir -p _build || exit 1
-        cd _build || exit 1
-        cmake -G "$PDAL_CMAKE_GENERATOR" .. && \
-        ${MAKECMD}
-    done
-fi
+make -j2
+LD_LIBRARY_PATH=./lib
+ctest -V
diff --git a/scripts/docker/1.4-maintenance/alpine/10-backtrace-guards.patch b/scripts/docker/1.4-maintenance/alpine/10-backtrace-guards.patch
new file mode 100644
index 0000000..4b737b9
--- /dev/null
+++ b/scripts/docker/1.4-maintenance/alpine/10-backtrace-guards.patch
@@ -0,0 +1,79 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a91cee1..4e38769 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -146,6 +146,8 @@ endif()
+ 
+ set(pdal_defines_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pdal_defines.h.in")
+ set(pdal_defines_h "${CMAKE_CURRENT_BINARY_DIR}/include/pdal/pdal_defines.h")
++include(CheckIncludeFiles)
++check_include_files(execinfo.h PDAL_HAVE_EXECINFO_H)
+ configure_file(${pdal_defines_h_in} ${pdal_defines_h})
+ 
+ #------------------------------------------------------------------------------
+diff --git a/apps/pdal.cpp b/apps/pdal.cpp
+index 3193196..548ea4f 100644
+--- a/apps/pdal.cpp
++++ b/apps/pdal.cpp
+@@ -355,6 +355,7 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
+         log->setLevel(LogLevel::Debug);
+     PluginManager::setLog(log);
+ #ifndef _WIN32
++#ifdef PDAL_HAVE_EXECINFO_H
+     if (m_debug)
+     {
+         signal(SIGSEGV, [](int sig)
+@@ -368,6 +369,7 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
+         });
+     }
+ #endif
++#endif
+ 
+     m_command = Utils::tolower(m_command);
+     if (!m_command.empty())
+diff --git a/pdal/util/Utils.cpp b/pdal/util/Utils.cpp
+index c2a9489..d0675c4 100644
+--- a/pdal/util/Utils.cpp
++++ b/pdal/util/Utils.cpp
+@@ -44,7 +44,9 @@
+ #include <cxxabi.h>
+ #include <sys/ioctl.h>
+ #include <sys/wait.h>  // WIFEXITED, WEXITSTATUS
++#ifdef PDAL_HAVE_EXECINFO_H
+ #include <execinfo.h> // backtrace
++#endif
+ #include <dlfcn.h> // dladdr
+ #endif
+ 
+@@ -605,6 +607,7 @@ std::vector<std::string> Utils::backtrace()
+ {
+     std::vector<std::string> lines;
+ #ifndef WIN32
++#ifdef PDAL_HAVE_EXECINFO_H
+     const int MAX_STACK_SIZE(100);
+     void* buffer[MAX_STACK_SIZE];
+     std::vector<std::string> prefixes;
+@@ -657,6 +660,7 @@ std::vector<std::string> Utils::backtrace()
+         }
+     }
+ #endif
++#endif
+     return lines;
+ }
+ 
+diff --git a/pdal_defines.h.in b/pdal_defines.h.in
+index 77dca12..15e3932 100644
+--- a/pdal_defines.h.in
++++ b/pdal_defines.h.in
+@@ -34,6 +34,11 @@
+ #cmakedefine PDAL_ARBITER_ENABLED
+ 
+ /*
++ * availability of execinfo.h
++ */
++#cmakedefine PDAL_HAVE_EXECINFO_H
++
++/*
+  * Debug or Release build?
+  */
+ #define PDAL_BUILD_TYPE "@PDAL_BUILD_TYPE@"
diff --git a/scripts/docker/1.4-maintenance/alpine/Dockerfile b/scripts/docker/1.4-maintenance/alpine/Dockerfile
new file mode 100644
index 0000000..d7cd3a6
--- /dev/null
+++ b/scripts/docker/1.4-maintenance/alpine/Dockerfile
@@ -0,0 +1,95 @@
+FROM alpine:edge
+
+ADD ./10-backtrace-guards.patch /10-backtrace-guards.patch
+
+RUN \
+    echo "http://dl-cdn.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories; \
+    apk update; \
+    apk add --no-cache --virtual .build-deps \
+        alpine-sdk \
+        unzip \
+        cmake \
+        eigen-dev \
+        hexer-dev \
+        nitro-dev \
+        gdal-dev \
+        geos-dev \
+        laz-perf-dev \
+        libgeotiff-dev \
+        libxml2-dev \
+        python-dev \
+        py-numpy-dev \
+        jsoncpp-dev \
+        hdf5-dev \
+        proj4-dev \
+        sqlite-dev \
+        postgresql-dev \
+        curl-dev \
+        linux-headers \
+        laszip-dev \
+        libspatialite-dev \
+    ; \
+    apk add --no-cache \
+        hexer \
+        nitro \
+        gdal \
+        geos \
+        laz-perf \
+        libgeotiff \
+        libxml2 \
+        python \
+        py-numpy \
+        jsoncpp \
+        hdf5 \
+        proj4 \
+        sqlite \
+        postgresql \
+        libcurl \
+        laszip \
+        libspatialite \
+    ;\
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/1.4-maintenance.tar.gz; \
+    tar -xf 1.4-maintenance.tar.gz; \
+    rm 1.4-maintenance.tar.gz; \
+    cd /PDAL-1.4-maintenance; \
+    git apply /10-backtrace-guards.patch; \
+    rm /10-backtrace-guards.patch; \
+    mkdir -p _build; \
+    cd _build; \
+    cmake .. \
+        -G "Unix Makefiles" \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_C_COMPILER=gcc \
+        -DCMAKE_CXX_COMPILER=g++ \
+        -DCMAKE_MAKE_PROGRAM=make \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DBUILD_PLUGIN_CPD=OFF \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_LAZPERF=ON \
+    ; \
+    make -j2; \
+    make install; \
+    cd /; \
+    rm -rf /PDAL-1.4-maintenance; \
+    apk del .build-deps
+
+CMD ["pdal"]
diff --git a/scripts/docker/1.4-maintenance/ubuntu/Dockerfile b/scripts/docker/1.4-maintenance/ubuntu/Dockerfile
new file mode 100644
index 0000000..74167d6
--- /dev/null
+++ b/scripts/docker/1.4-maintenance/ubuntu/Dockerfile
@@ -0,0 +1,357 @@
+FROM ubuntu:16.04
+MAINTAINER Howard Butler <howard at hobu.co>
+
+ENV CC gcc
+ENV CXX g++
+ENV JAVA_HOME /usr/lib/jvm/java-8-oracle
+
+RUN \
+    apt-key adv --recv-keys --keyserver hkp://keyserver.ubuntu.com:80 16126D3A3E5C1192; \
+    apt-get update -qq; \
+    apt-get -qq remove postgis; \
+    echo oracle-java8-installer shared/accepted-oracle-license-v1-1 select true | debconf-set-selections; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        software-properties-common \
+    ; \
+    add-apt-repository -y ppa:webupd8team/java; \
+    add-apt-repository ppa:ubuntugis/ubuntugis-unstable -y; \
+    apt-get update; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libsqlite3-mod-spatialite \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        clang-3.6 \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+        libgdal1-dev \
+        gdal-bin \
+        libpcl-dev \
+        time \
+        libhpdf-dev \
+        python-setuptools \
+        libgeos++-dev \
+        libhpdf-dev \
+        unzip \
+        mbsystem \
+        mbsystem-dev \
+        oracle-java8-installer \
+    ; \
+    rm -rf /var/lib/apt/lists/*; \
+    rm -rf /var/cache/oracle-jdk8-installer; \
+    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.6 20; \
+    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-3.6 20; \
+    ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so; \
+    git clone https://github.com/hobu/nitro; \
+    cd nitro; \
+    mkdir build; \
+    cd build; \
+    cmake ..\
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /nitro; \
+    git clone https://github.com/LASzip/LASzip.git laszip; \
+    cd laszip; \
+    git checkout e7065cbc5bdbbe0c6e50c9d93d1cd346e9be6778; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laszip; \
+    git clone https://github.com/hobu/hexer.git; \
+    cd hexer; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /hexer; \
+    git clone  https://github.com/hobu/laz-perf.git; \
+    cd laz-perf; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laz-perf; \
+    wget http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz; \
+    tar -xvf 3.2.7.tar.gz; \
+    cp -R eigen-eigen-b30b87236a1b/Eigen/ /usr/include/Eigen/; \
+    cp -R eigen-eigen-b30b87236a1b/unsupported/ /usr/include/unsupported/; \
+    rm -rf /3.2.7.tar.gz; \
+    rm -rf /eigen-eigen-b30b87236a1b; \
+    svn co -r 2691 https://svn.osgeo.org/metacrs/geotiff/trunk/libgeotiff/; \
+    cd libgeotiff; \
+    ./autogen.sh; \
+    ./configure --prefix=/usr; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /libgeotiff; \
+    git clone --depth 1 --branch v0.4.6 https://github.com/gadomski/fgt.git; \
+    cd fgt; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DBUILD_SHARED_LIBS=ON \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /fgt; \
+    git clone --depth 1 --branch v0.5.0 https://github.com/gadomski/cpd.git; \
+    cd cpd; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DWITH_JSONCPP=OFF \
+        -DWITH_FGT=ON \
+        -DWITH_STRICT_WARNINGS=OFF \
+        -DWITH_DOCS=OFF \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DBUILD_SHARED_LIBS=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /cpd; \
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/1.4-maintenance.tar.gz; \
+    tar -xf 1.4-maintenance.tar.gz; \
+    rm 1.4-maintenance.tar.gz; \
+    cd /PDAL-1.4-maintenance; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DBUILD_PLUGIN_CPD=OFF \
+        -DBUILD_PLUGIN_MBIO=ON \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_MRSID=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_OCI=OFF \
+        -DBUILD_PLUGIN_PCL=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DBUILD_PLUGIN_RIVLIB=OFF \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DENABLE_CTEST=OFF \
+        -DWITH_APPS=ON \
+        -DWITH_LAZPERF=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_TESTS=ON \
+        -DWITH_PDAL_JNI=ON \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make -j2; \
+    make install; \
+    cd /; \
+    rm -rf /PDAL; \
+    pip install packaging; \
+    pip install PDAL; \
+    git clone https://github.com/PDAL/PRC.git; \
+    cd PRC; \
+    git checkout master; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DPDAL_DIR=/usr/lib/pdal/cmake \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /PRC; \
+    apt-get purge -y \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        software-properties-common \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+    ; \
+    apt-get autoremove -y; \
+    apt-get update; \
+    apt-get install -y \
+        libexpat1 \
+        libgomp1 \
+        libxml2 \
+        libgeos-c1v5 \
+        libjsoncpp1 \
+        libcurl3 \
+        libarmadillo6 \
+        libwebp5 \
+        libodbc1 \
+        odbcinst1debian2 \
+        libxerces-c3.1 \
+        libjasper1 \
+        netcdf-bin \
+        libhdf4-0-alt \
+        libgif7 \
+        libpq5 \
+        libdapclient6v5 \
+        libspatialite7 \
+        libsqlite3-mod-spatialite \
+        spatialite-bin \
+        libmysqlclient20 \
+        libtiff5 \
+        libboost-system1.58.0 \
+        libboost-filesystem1.58.0 \
+        libboost-thread1.58.0 \
+        libboost-program-options1.58.0 \
+        libboost-iostreams1.58.0 \
+        libboost-date-time1.58.0 \
+        libboost-serialization1.58.0 \
+        libboost-chrono1.58.0 \
+        libboost-atomic1.58.0 \
+        libboost-regex1.58.0 \
+        libgdal1i \
+        libflann1.8 \
+        libpython2.7 \
+        libhdf5-cpp-11 \
+        libpcl-common1.7 \
+        libpcl-features1.7 \
+        libpcl-filters1.7 \
+        libpcl-io1.7 \
+        libpcl-kdtree1.7 \
+        libpcl-keypoints1.7 \
+        libpcl-octree1.7 \
+        libpcl-outofcore1.7 \
+        libpcl-people1.7 \
+        libpcl-recognition1.7 \
+        libpcl-registration1.7 \
+        libpcl-sample-consensus1.7 \
+        libpcl-search1.7 \
+        libpcl-segmentation1.7 \
+        libpcl-surface1.7 \
+        libpcl-tracking1.7 \
+        libpcl-visualization1.7
+
diff --git a/scripts/docker/1.5-maintenance/alpine/10-backtrace-guards.patch b/scripts/docker/1.5-maintenance/alpine/10-backtrace-guards.patch
new file mode 100644
index 0000000..4b737b9
--- /dev/null
+++ b/scripts/docker/1.5-maintenance/alpine/10-backtrace-guards.patch
@@ -0,0 +1,79 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a91cee1..4e38769 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -146,6 +146,8 @@ endif()
+ 
+ set(pdal_defines_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pdal_defines.h.in")
+ set(pdal_defines_h "${CMAKE_CURRENT_BINARY_DIR}/include/pdal/pdal_defines.h")
++include(CheckIncludeFiles)
++check_include_files(execinfo.h PDAL_HAVE_EXECINFO_H)
+ configure_file(${pdal_defines_h_in} ${pdal_defines_h})
+ 
+ #------------------------------------------------------------------------------
+diff --git a/apps/pdal.cpp b/apps/pdal.cpp
+index 3193196..548ea4f 100644
+--- a/apps/pdal.cpp
++++ b/apps/pdal.cpp
+@@ -355,6 +355,7 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
+         log->setLevel(LogLevel::Debug);
+     PluginManager::setLog(log);
+ #ifndef _WIN32
++#ifdef PDAL_HAVE_EXECINFO_H
+     if (m_debug)
+     {
+         signal(SIGSEGV, [](int sig)
+@@ -368,6 +369,7 @@ int App::execute(StringList& cmdArgs, LogPtr& log)
+         });
+     }
+ #endif
++#endif
+ 
+     m_command = Utils::tolower(m_command);
+     if (!m_command.empty())
+diff --git a/pdal/util/Utils.cpp b/pdal/util/Utils.cpp
+index c2a9489..d0675c4 100644
+--- a/pdal/util/Utils.cpp
++++ b/pdal/util/Utils.cpp
+@@ -44,7 +44,9 @@
+ #include <cxxabi.h>
+ #include <sys/ioctl.h>
+ #include <sys/wait.h>  // WIFEXITED, WEXITSTATUS
++#ifdef PDAL_HAVE_EXECINFO_H
+ #include <execinfo.h> // backtrace
++#endif
+ #include <dlfcn.h> // dladdr
+ #endif
+ 
+@@ -605,6 +607,7 @@ std::vector<std::string> Utils::backtrace()
+ {
+     std::vector<std::string> lines;
+ #ifndef WIN32
++#ifdef PDAL_HAVE_EXECINFO_H
+     const int MAX_STACK_SIZE(100);
+     void* buffer[MAX_STACK_SIZE];
+     std::vector<std::string> prefixes;
+@@ -657,6 +660,7 @@ std::vector<std::string> Utils::backtrace()
+         }
+     }
+ #endif
++#endif
+     return lines;
+ }
+ 
+diff --git a/pdal_defines.h.in b/pdal_defines.h.in
+index 77dca12..15e3932 100644
+--- a/pdal_defines.h.in
++++ b/pdal_defines.h.in
+@@ -34,6 +34,11 @@
+ #cmakedefine PDAL_ARBITER_ENABLED
+ 
+ /*
++ * availability of execinfo.h
++ */
++#cmakedefine PDAL_HAVE_EXECINFO_H
++
++/*
+  * Debug or Release build?
+  */
+ #define PDAL_BUILD_TYPE "@PDAL_BUILD_TYPE@"
diff --git a/scripts/docker/1.5-maintenance/alpine/Dockerfile b/scripts/docker/1.5-maintenance/alpine/Dockerfile
new file mode 100644
index 0000000..fd9bd3d
--- /dev/null
+++ b/scripts/docker/1.5-maintenance/alpine/Dockerfile
@@ -0,0 +1,99 @@
+FROM alpine:edge
+
+ADD ./10-backtrace-guards.patch /10-backtrace-guards.patch
+
+RUN \
+    echo "http://dl-cdn.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories; \
+    apk update; \
+    apk add --no-cache --virtual .build-deps \
+        alpine-sdk \
+        unzip \
+        cmake \
+        eigen-dev \
+        hexer-dev \
+        nitro-dev \
+        gdal-dev \
+        geos-dev \
+        laz-perf-dev \
+        libgeotiff-dev \
+        libxml2-dev \
+        python-dev \
+        py-numpy-dev \
+        jsoncpp-dev \
+        hdf5-dev \
+        proj4-dev \
+        cpd-dev \
+        fgt-dev \
+        sqlite-dev \
+        postgresql-dev \
+        curl-dev \
+        linux-headers \
+        laszip-dev \
+        libspatialite-dev \
+    ; \
+    apk add --no-cache \
+        hexer \
+        nitro \
+        gdal \
+        geos \
+        laz-perf \
+        libgeotiff \
+        libxml2 \
+        python \
+        py-numpy \
+        jsoncpp \
+        hdf5 \
+        proj4 \
+        cpd \
+        fgt \
+        sqlite \
+        postgresql \
+        libcurl \
+        laszip \
+        libspatialite \
+    ;\
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/1.5-maintenance.tar.gz; \
+    tar -xf 1.5-maintenance.tar.gz; \
+    rm 1.5-maintenance.tar.gz; \
+    cd /PDAL-1.5-maintenance; \
+    git apply /10-backtrace-guards.patch; \
+    rm /10-backtrace-guards.patch; \
+    mkdir -p _build; \
+    cd _build; \
+    cmake .. \
+        -G "Unix Makefiles" \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_C_COMPILER=gcc \
+        -DCMAKE_CXX_COMPILER=g++ \
+        -DCMAKE_MAKE_PROGRAM=make \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DBUILD_PLUGIN_CPD=ON \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_LAZPERF=ON \
+    ; \
+    make -j2; \
+    make install; \
+    cd /; \
+    rm -rf /PDAL-1.5-maintenance; \
+    apk del .build-deps
+
+CMD ["pdal"]
diff --git a/scripts/docker/1.5-maintenance/ubuntu/Dockerfile b/scripts/docker/1.5-maintenance/ubuntu/Dockerfile
new file mode 100644
index 0000000..cd533dd
--- /dev/null
+++ b/scripts/docker/1.5-maintenance/ubuntu/Dockerfile
@@ -0,0 +1,357 @@
+FROM ubuntu:16.04
+MAINTAINER Howard Butler <howard at hobu.co>
+
+ENV CC gcc
+ENV CXX g++
+ENV JAVA_HOME /usr/lib/jvm/java-8-oracle
+
+RUN \
+    apt-key adv --recv-keys --keyserver hkp://keyserver.ubuntu.com:80 16126D3A3E5C1192; \
+    apt-get update -qq; \
+    apt-get -qq remove postgis; \
+    echo oracle-java8-installer shared/accepted-oracle-license-v1-1 select true | debconf-set-selections; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        software-properties-common \
+    ; \
+    add-apt-repository -y ppa:webupd8team/java; \
+    add-apt-repository ppa:ubuntugis/ubuntugis-unstable -y; \
+    apt-get update; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libsqlite3-mod-spatialite \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        clang-3.6 \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+        libgdal1-dev \
+        gdal-bin \
+        libpcl-dev \
+        time \
+        libhpdf-dev \
+        python-setuptools \
+        libgeos++-dev \
+        libhpdf-dev \
+        unzip \
+        mbsystem \
+        mbsystem-dev \
+        oracle-java8-installer \
+    ; \
+    rm -rf /var/lib/apt/lists/*; \
+    rm -rf /var/cache/oracle-jdk8-installer; \
+    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.6 20; \
+    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-3.6 20; \
+    ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so; \
+    git clone https://github.com/hobu/nitro; \
+    cd nitro; \
+    mkdir build; \
+    cd build; \
+    cmake ..\
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /nitro; \
+    git clone https://github.com/LASzip/LASzip.git laszip; \
+    cd laszip; \
+    git checkout e7065cbc5bdbbe0c6e50c9d93d1cd346e9be6778; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laszip; \
+    git clone https://github.com/hobu/hexer.git; \
+    cd hexer; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /hexer; \
+    git clone  https://github.com/hobu/laz-perf.git; \
+    cd laz-perf; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laz-perf; \
+    wget http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz; \
+    tar -xvf 3.2.7.tar.gz; \
+    cp -R eigen-eigen-b30b87236a1b/Eigen/ /usr/include/Eigen/; \
+    cp -R eigen-eigen-b30b87236a1b/unsupported/ /usr/include/unsupported/; \
+    rm -rf /3.2.7.tar.gz; \
+    rm -rf /eigen-eigen-b30b87236a1b; \
+    svn co -r 2691 https://svn.osgeo.org/metacrs/geotiff/trunk/libgeotiff/; \
+    cd libgeotiff; \
+    ./autogen.sh; \
+    ./configure --prefix=/usr; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /libgeotiff; \
+    git clone --depth 1 --branch v0.4.6 https://github.com/gadomski/fgt.git; \
+    cd fgt; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DBUILD_SHARED_LIBS=ON \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /fgt; \
+    git clone --depth 1 --branch v0.5.0 https://github.com/gadomski/cpd.git; \
+    cd cpd; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DWITH_JSONCPP=OFF \
+        -DWITH_FGT=ON \
+        -DWITH_STRICT_WARNINGS=OFF \
+        -DWITH_DOCS=OFF \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DBUILD_SHARED_LIBS=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /cpd; \
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/1.5-maintenance.tar.gz; \
+    tar -xf 1.5-maintenance.tar.gz; \
+    rm 1.5-maintenance.tar.gz; \
+    cd /PDAL-1.5-maintenance; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DBUILD_PLUGIN_CPD=ON \
+        -DBUILD_PLUGIN_MBIO=ON \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_MRSID=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_OCI=OFF \
+        -DBUILD_PLUGIN_PCL=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DBUILD_PLUGIN_RIVLIB=OFF \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DENABLE_CTEST=OFF \
+        -DWITH_APPS=ON \
+        -DWITH_LAZPERF=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_TESTS=ON \
+        -DWITH_PDAL_JNI=ON \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make -j2; \
+    make install; \
+    cd /; \
+    rm -rf /PDAL; \
+    pip install packaging; \
+    pip install PDAL; \
+    git clone https://github.com/PDAL/PRC.git; \
+    cd PRC; \
+    git checkout master; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DPDAL_DIR=/usr/lib/pdal/cmake \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /PRC; \
+    apt-get purge -y \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        software-properties-common \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+    ; \
+    apt-get autoremove -y; \
+    apt-get update; \
+    apt-get install -y \
+        libexpat1 \
+        libgomp1 \
+        libxml2 \
+        libgeos-c1v5 \
+        libjsoncpp1 \
+        libcurl3 \
+        libarmadillo6 \
+        libwebp5 \
+        libodbc1 \
+        odbcinst1debian2 \
+        libxerces-c3.1 \
+        libjasper1 \
+        netcdf-bin \
+        libhdf4-0-alt \
+        libgif7 \
+        libpq5 \
+        libdapclient6v5 \
+        libspatialite7 \
+        libsqlite3-mod-spatialite \
+        spatialite-bin \
+        libmysqlclient20 \
+        libtiff5 \
+        libboost-system1.58.0 \
+        libboost-filesystem1.58.0 \
+        libboost-thread1.58.0 \
+        libboost-program-options1.58.0 \
+        libboost-iostreams1.58.0 \
+        libboost-date-time1.58.0 \
+        libboost-serialization1.58.0 \
+        libboost-chrono1.58.0 \
+        libboost-atomic1.58.0 \
+        libboost-regex1.58.0 \
+        libgdal1i \
+        libflann1.8 \
+        libpython2.7 \
+        libhdf5-cpp-11 \
+        libpcl-common1.7 \
+        libpcl-features1.7 \
+        libpcl-filters1.7 \
+        libpcl-io1.7 \
+        libpcl-kdtree1.7 \
+        libpcl-keypoints1.7 \
+        libpcl-octree1.7 \
+        libpcl-outofcore1.7 \
+        libpcl-people1.7 \
+        libpcl-recognition1.7 \
+        libpcl-registration1.7 \
+        libpcl-sample-consensus1.7 \
+        libpcl-search1.7 \
+        libpcl-segmentation1.7 \
+        libpcl-surface1.7 \
+        libpcl-tracking1.7 \
+        libpcl-visualization1.7
+
diff --git a/scripts/docker/Dockerfile b/scripts/docker/Dockerfile
index 22c5fa1..9b44078 100644
--- a/scripts/docker/Dockerfile
+++ b/scripts/docker/Dockerfile
@@ -6,12 +6,14 @@ ENV CXX g++
 
 RUN apt-get update && apt-get install -y --fix-missing --no-install-recommends \
         libhpdf-dev \
+        python-all-dev \
+        python-numpy \
     libsqlite3-mod-spatialite \
     && rm -rf /var/lib/apt/lists/*
 
-RUN git clone --depth=1 https://github.com/PDAL/PDAL \
+RUN git clone https://github.com/PDAL/PDAL \
     && cd PDAL \
-    && git checkout 1.5-maintenance \
+    && git checkout master \
     && mkdir build \
     && cd build \
     && cmake \
@@ -77,8 +79,6 @@ RUN apt-get purge -y \
     liblapack-dev \
     libtiff5-dev \
     openssh-client \
-    python-dev \
-    python-numpy \
     python-software-properties \
     software-properties-common \
     wget \
@@ -115,8 +115,7 @@ RUN apt-get purge -y \
     libcurl4-openssl-dev \
     libspatialite-dev \
     libdap-dev\
-    cython \
-    python-pip
+    cython
 
 RUN apt-get autoremove -y
 
@@ -173,5 +172,7 @@ RUN apt-get update && apt-get install -y \
     libpcl-segmentation1.7 \
     libpcl-surface1.7 \
     libpcl-tracking1.7 \
-    libpcl-visualization1.7
+    libpcl-visualization1.7 \
+    python-all-dev \
+    python-pip
 
diff --git a/scripts/docker/dependencies/Dockerfile b/scripts/docker/dependencies/Dockerfile
index 31a7d74..e050a17 100644
--- a/scripts/docker/dependencies/Dockerfile
+++ b/scripts/docker/dependencies/Dockerfile
@@ -73,6 +73,7 @@ RUN apt-get update && apt-get install -y --fix-missing --no-install-recommends \
         libgeos++-dev \
         libhpdf-dev \
         unzip \
+        libopenscenegraph-dev \
     && rm -rf /var/lib/apt/lists/*
 
 RUN update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.6 20 && update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-3.6 20
@@ -144,13 +145,11 @@ RUN git clone https://github.com/hobu/nitro \
 
 RUN git clone https://github.com/LASzip/LASzip.git laszip \
     && cd laszip \
-    && git checkout e7065cbc5bdbbe0c6e50c9d93d1cd346e9be6778 \
-    && mkdir build \
-    && cd build \
+    && git checkout 3.1.1 \
     && cmake \
         -DCMAKE_INSTALL_PREFIX=/usr \
         -DCMAKE_BUILD_TYPE="Release" \
-        .. \
+        . \
     && make \
     && make install \
     && rm -rf /laszip
@@ -271,7 +270,7 @@ RUN git clone --depth 1 --branch v0.4.6 https://github.com/gadomski/fgt.git \
     && make install \
     && rm -rf /fgt
 
-RUN git clone --depth 1 --branch v0.5.0 https://github.com/gadomski/cpd.git \
+RUN git clone --depth 1 --branch v0.5.1 https://github.com/gadomski/cpd.git \
     && cd cpd \
     && cmake . \
         -DWITH_TESTS=OFF \
diff --git a/scripts/docker/master/alpine/Dockerfile b/scripts/docker/master/alpine/Dockerfile
new file mode 100644
index 0000000..991539b
--- /dev/null
+++ b/scripts/docker/master/alpine/Dockerfile
@@ -0,0 +1,100 @@
+FROM alpine:edge
+
+RUN \
+    echo "http://dl-cdn.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories; \
+    apk update; \
+    apk add --no-cache --virtual .build-deps \
+        alpine-sdk \
+        unzip \
+        cmake \
+        eigen-dev \
+        hexer-dev \
+        nitro-dev \
+        gdal-dev \
+        geos-dev \
+        laz-perf-dev \
+        libgeotiff-dev \
+        libxml2-dev \
+        python-dev \
+        py-numpy-dev \
+        jsoncpp-dev \
+        hdf5-dev \
+        proj4-dev \
+        cpd-dev \
+        fgt-dev \
+        sqlite-dev \
+        postgresql-dev \
+        curl-dev \
+        linux-headers \
+        laszip-dev \
+        libspatialite-dev \
+        cython-dev \
+        py-packaging \
+    ; \
+    apk add --no-cache \
+        hexer \
+        nitro \
+        gdal \
+        geos \
+        laz-perf \
+        libgeotiff \
+        libxml2 \
+        python \
+        py-numpy \
+        jsoncpp \
+        hdf5 \
+        proj4 \
+        cpd \
+        fgt \
+        sqlite \
+        postgresql \
+        libcurl \
+        laszip \
+        libspatialite \
+        py-setuptools \
+    ;\
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/master.tar.gz; \
+    tar -xf master.tar.gz; \
+    rm master.tar.gz; \
+    cd /PDAL-master; \
+    mkdir -p _build; \
+    cd _build; \
+    cmake .. \
+        -G "Unix Makefiles" \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_C_COMPILER=gcc \
+        -DCMAKE_CXX_COMPILER=g++ \
+        -DCMAKE_MAKE_PROGRAM=make \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DBUILD_PLUGIN_CPD=ON \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_LAZPERF=ON \
+    ; \
+    make -j2; \
+    make install; \
+    cd ../python; \
+    python setup.py install; \
+    cd /; \
+    rm -rf /PDAL-master; \
+    apk del .build-deps
+
+CMD ["pdal"]
diff --git a/scripts/docker/master/ubuntu/Dockerfile b/scripts/docker/master/ubuntu/Dockerfile
new file mode 100644
index 0000000..560e8eb
--- /dev/null
+++ b/scripts/docker/master/ubuntu/Dockerfile
@@ -0,0 +1,358 @@
+FROM ubuntu:16.04
+MAINTAINER Howard Butler <howard at hobu.co>
+
+ENV CC gcc
+ENV CXX g++
+ENV JAVA_HOME /usr/lib/jvm/java-8-oracle
+
+RUN \
+    apt-key adv --recv-keys --keyserver hkp://keyserver.ubuntu.com:80 16126D3A3E5C1192; \
+    apt-get update -qq; \
+    apt-get -qq remove postgis; \
+    echo oracle-java8-installer shared/accepted-oracle-license-v1-1 select true | debconf-set-selections; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        software-properties-common \
+    ; \
+    add-apt-repository -y ppa:webupd8team/java; \
+    add-apt-repository ppa:ubuntugis/ubuntugis-unstable -y; \
+    apt-get update; \
+    apt-get install -y --fix-missing --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libsqlite3-mod-spatialite \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        clang-3.6 \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+        libgdal1-dev \
+        gdal-bin \
+        libpcl-dev \
+        time \
+        libhpdf-dev \
+        python-setuptools \
+        libgeos++-dev \
+        libhpdf-dev \
+        unzip \
+        mbsystem \
+        mbsystem-dev \
+        oracle-java8-installer \
+    ; \
+    rm -rf /var/lib/apt/lists/*; \
+    rm -rf /var/cache/oracle-jdk8-installer; \
+    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.6 20; \
+    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-3.6 20; \
+    ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so; \
+    git clone https://github.com/hobu/nitro; \
+    cd nitro; \
+    mkdir build; \
+    cd build; \
+    cmake ..\
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /nitro; \
+    git clone https://github.com/LASzip/LASzip.git laszip; \
+    cd laszip; \
+    git checkout e7065cbc5bdbbe0c6e50c9d93d1cd346e9be6778; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laszip; \
+    git clone https://github.com/hobu/hexer.git; \
+    cd hexer; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /hexer; \
+    git clone  https://github.com/hobu/laz-perf.git; \
+    cd laz-perf; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE="Release" \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /laz-perf; \
+    wget http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz; \
+    tar -xvf 3.2.7.tar.gz; \
+    cp -R eigen-eigen-b30b87236a1b/Eigen/ /usr/include/Eigen/; \
+    cp -R eigen-eigen-b30b87236a1b/unsupported/ /usr/include/unsupported/; \
+    rm -rf /3.2.7.tar.gz; \
+    rm -rf /eigen-eigen-b30b87236a1b; \
+    svn co -r 2691 https://svn.osgeo.org/metacrs/geotiff/trunk/libgeotiff/; \
+    cd libgeotiff; \
+    ./autogen.sh; \
+    ./configure --prefix=/usr; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /libgeotiff; \
+    git clone --depth 1 --branch v0.4.6 https://github.com/gadomski/fgt.git; \
+    cd fgt; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DBUILD_SHARED_LIBS=ON \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /fgt; \
+    git clone --depth 1 --branch v0.5.0 https://github.com/gadomski/cpd.git; \
+    cd cpd; \
+    cmake . \
+        -DWITH_TESTS=OFF \
+        -DWITH_JSONCPP=OFF \
+        -DWITH_FGT=ON \
+        -DWITH_STRICT_WARNINGS=OFF \
+        -DWITH_DOCS=OFF \
+        -DEIGEN3_INCLUDE_DIR=/usr/include \
+        -DBUILD_SHARED_LIBS=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /cpd; \
+    mkdir /vdatum; \
+    cd /vdatum; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2012.zip && unzip -j -u usa_geoid2012.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2009.zip && unzip -j -u usa_geoid2009.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid2003.zip && unzip -j -u usa_geoid2003.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/usa_geoid1999.zip && unzip -j -u usa_geoid1999.zip -d /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconc.gtx && mv vertconc.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertcone.gtx && mv vertcone.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/vertcon/vertconw.gtx && mv vertconw.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm96_15/egm96_15.gtx && mv egm96_15.gtx /usr/share/proj; \
+    wget http://download.osgeo.org/proj/vdatum/egm08_25/egm08_25.gtx && mv egm08_25.gtx /usr/share/proj; \
+    cd /; \
+    rm -rf /vdatum; \
+    wget https://github.com/PDAL/PDAL/archive/master.tar.gz; \
+    tar -xf master.tar.gz; \
+    rm master.tar.gz; \
+    cd /PDAL-master; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DBUILD_PLUGIN_CPD=OFF \
+        -DBUILD_PLUGIN_MBIO=ON \
+        -DBUILD_PLUGIN_GREYHOUND=ON \
+        -DBUILD_PLUGIN_HEXBIN=ON \
+        -DBUILD_PLUGIN_ICEBRIDGE=ON \
+        -DBUILD_PLUGIN_MRSID=ON \
+        -DBUILD_PLUGIN_NITF=ON \
+        -DBUILD_PLUGIN_OCI=OFF \
+        -DBUILD_PLUGIN_PCL=ON \
+        -DBUILD_PLUGIN_PGPOINTCLOUD=ON \
+        -DBUILD_PLUGIN_SQLITE=ON \
+        -DBUILD_PLUGIN_RIVLIB=OFF \
+        -DBUILD_PLUGIN_PYTHON=ON \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -DENABLE_CTEST=OFF \
+        -DWITH_APPS=ON \
+        -DWITH_LAZPERF=ON \
+        -DWITH_LASZIP=ON \
+        -DWITH_TESTS=ON \
+        -DWITH_PDAL_JNI=ON \
+        -DCMAKE_BUILD_TYPE=Release \
+    ; \
+    make -j2; \
+    make install; \
+    pip install packaging; \
+    cd ../python; \
+    python setup.py install; \
+    cd /; \
+    rm -rf /PDAL; \
+    git clone https://github.com/PDAL/PRC.git; \
+    cd PRC; \
+    git checkout master; \
+    mkdir build; \
+    cd build; \
+    cmake .. \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DPDAL_DIR=/usr/lib/pdal/cmake \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+    ; \
+    make; \
+    make install; \
+    cd /; \
+    rm -rf /PRC; \
+    apt-get purge -y \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        gfortran \
+        git \
+        libarmadillo-dev \
+        libarpack2-dev \
+        libflann-dev \
+        libhdf5-serial-dev \
+        liblapack-dev \
+        libtiff5-dev \
+        openssh-client \
+        python-dev \
+        python-numpy \
+        python-software-properties \
+        software-properties-common \
+        wget \
+        automake \
+        libtool \
+        libspatialite-dev \
+        libhdf5-dev \
+        subversion \
+        libjsoncpp-dev \
+        libboost-filesystem1.58-dev \
+        libboost-iostreams1.58-dev \
+        libboost-program-options1.58-dev \
+        libboost-system1.58-dev \
+        libboost-thread1.58-dev \
+        subversion \
+        clang \
+        libproj-dev \
+        libc6-dev \
+        libnetcdf-dev \
+        libjasper-dev \
+        libpng-dev \
+        libjpeg-dev \
+        libgif-dev \
+        libwebp-dev \
+        libhdf4-alt-dev \
+        libhdf5-dev \
+        libpq-dev \
+        libxerces-c-dev \
+        unixodbc-dev \
+        libsqlite3-dev \
+        libgeos-dev \
+        libmysqlclient-dev \
+        libltdl-dev \
+        libcurl4-openssl-dev \
+        libspatialite-dev \
+        libdap-dev\
+        cython \
+        python-pip \
+    ; \
+    apt-get autoremove -y; \
+    apt-get update; \
+    apt-get install -y \
+        libexpat1 \
+        libgomp1 \
+        libxml2 \
+        libgeos-c1v5 \
+        libjsoncpp1 \
+        libcurl3 \
+        libarmadillo6 \
+        libwebp5 \
+        libodbc1 \
+        odbcinst1debian2 \
+        libxerces-c3.1 \
+        libjasper1 \
+        netcdf-bin \
+        libhdf4-0-alt \
+        libgif7 \
+        libpq5 \
+        libdapclient6v5 \
+        libspatialite7 \
+        libsqlite3-mod-spatialite \
+        spatialite-bin \
+        libmysqlclient20 \
+        libtiff5 \
+        libboost-system1.58.0 \
+        libboost-filesystem1.58.0 \
+        libboost-thread1.58.0 \
+        libboost-program-options1.58.0 \
+        libboost-iostreams1.58.0 \
+        libboost-date-time1.58.0 \
+        libboost-serialization1.58.0 \
+        libboost-chrono1.58.0 \
+        libboost-atomic1.58.0 \
+        libboost-regex1.58.0 \
+        libgdal1i \
+        libflann1.8 \
+        libpython2.7 \
+        libhdf5-cpp-11 \
+        libpcl-common1.7 \
+        libpcl-features1.7 \
+        libpcl-filters1.7 \
+        libpcl-io1.7 \
+        libpcl-kdtree1.7 \
+        libpcl-keypoints1.7 \
+        libpcl-octree1.7 \
+        libpcl-outofcore1.7 \
+        libpcl-people1.7 \
+        libpcl-recognition1.7 \
+        libpcl-registration1.7 \
+        libpcl-sample-consensus1.7 \
+        libpcl-search1.7 \
+        libpcl-segmentation1.7 \
+        libpcl-surface1.7 \
+        libpcl-tracking1.7 \
+        libpcl-visualization1.7
+
diff --git a/scripts/osgeo4w/config.cmd b/scripts/osgeo4w/config.cmd
new file mode 100644
index 0000000..a132cae
--- /dev/null
+++ b/scripts/osgeo4w/config.cmd
@@ -0,0 +1,71 @@
+ at echo off
+
+:: This configure script is designed for the default Windows world, which means
+:: you have OSGeo4W installed, including Oracle and GDAL and LASzip.
+
+:: This configure script expects to be run from the PDAL root directory.
+
+:: Pick your CMake GENERATOR.  (NMake will pick up architecture (x32, x64) from your environment)
+REM set GENERATOR="Visual Studio 14 2015 Win64"
+set GENERATOR="NMake Makefiles"
+REM set GENERATOR="Ninja"
+REM set GENERATOR="Visual Studio 14 Win64"
+
+
+REM set BUILD_TYPE=Debug
+
+:: Where is your PDAL build tree?
+set PDAL_DIR=%~dp0
+
+:: Where is your OSGeo4W installed (recommended basic way to satisfy dependent libs)
+set OSGEO4W_DIR=C:/OSGeo4W64
+
+
+if EXIST CMakeCache.txt del CMakeCache.txt
+del /s /q CMakeFiles
+del /s /q install
+
+cmake -G %GENERATOR% ^
+    -DBUILD_PLUGIN_CPD=OFF ^
+    -DBUILD_PLUGIN_GREYHOUND=ON ^
+    -DBUILD_PLUGIN_HEXBIN=ON ^
+    -DBUILD_PLUGIN_ICEBRIDGE=OFF ^
+    -DBUILD_PLUGIN_MRSID=OFF ^
+    -DBUILD_PLUGIN_NITF=ON ^
+    -DBUILD_PLUGIN_OCI=ON ^
+    -DBUILD_PLUGIN_PCL=OFF ^
+    -DBUILD_PLUGIN_PGPOINTCLOUD=ON ^
+    -DBUILD_PLUGIN_SQLITE=ON ^
+    -DBUILD_PLUGIN_RIVLIB=OFF ^
+    -DBUILD_PLUGIN_PYTHON=ON ^
+    -DENABLE_CTEST=OFF ^
+    -DWITH_LAZPERF=ON ^
+	-DLazperf_DIR=%OSGEO4W_DIR% ^
+    -DWITH_LASZIP=ON ^
+    -DWITH_TESTS=ON ^
+	-DPDAL_PLUGIN_INSTALL_PATH=C:/OSGeo4W64/bin ^
+	-DGDAL_INCLUDE_DIR=%OSGEO4W_DIR%/include ^
+	-DGDAL_LIBRARY=%OSGEO4W_DIR%/lib/gdal_i.lib ^
+	-DPYTHON_EXECUTABLE=%OSGEO4W_DIR%/apps/python36/python.exe ^
+	-DPYTHON_INCLUDE_DIR=%OSGEO4W_DIR%/apps/python36/include ^
+	-DPYTHON_LIBRARY=%OSGEO4W_DIR%/apps/python36/libs/python36.lib ^
+	-DPYTHON_DEBUG_LIBRARY=%OSGEO4W_DIR%/apps/python36/libs/python36.lib ^
+	-DORACLE_INCLUDE_DIR=%OSGEO4W_DIR%/include ^
+	-DORACLE_LIBRARY=%OSGEO4W_DIR%/lib/oci.lib ^
+	-DCURL_INCLUDE_DIR=%OSGEO4W_DIR%/include ^
+	-DCURL_LIBRARY=%OSGEO4W_DIR%/lib/libcurl.lib ^
+	-DNUMPY_INCLUDE_DIR=%OSGEO4W_DIR%/apps/python36/lib/site-packages/numpy/core/include ^
+	-DNUMPY_VERSION=1.12.0 ^
+    -Dgtest_force_shared_crt=ON ^
+    -DCMAKE_INSTALL_PREFIX=%PDAL_DIR%/install ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_VERBOSE_MAKEFILE=OFF ^
+    .
+
+REM ninja
+REM ninja install
+REM set PATH=%PATH%;%OSGEO4W_DIR%/apps/msys/bin
+REM cd %PDAL_DIR%\install
+REM echo %cd%
+REM %OSGEO4W_DIR%/apps/msys/bin/tar jcvf ../pdal-1.5.0-3.tar.bz2 .
+REM cd %PDAL_DIR%
diff --git a/test/data/autzen/autzen-interpolate.json b/test/data/autzen/autzen-interpolate.json
new file mode 100644
index 0000000..e83ba81
--- /dev/null
+++ b/test/data/autzen/autzen-interpolate.json
@@ -0,0 +1,17 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.pclblock",
+      "filename":"/PDAL/test/data/autzen/autzen-APMF.json"
+    },
+    {
+      "type":"writers.p2g",
+      "filename":"/PDAL/test/data/autzen/autzen-surface.tif",
+      "output_type":"min",
+      "output_format":"tif",
+      "grid_dist_x":1.0,
+      "grid_dist_y":1.0
+    }
+  ]
+}
diff --git a/test/data/autzen/hag.py b/test/data/autzen/hag.py
new file mode 100644
index 0000000..422dafa
--- /dev/null
+++ b/test/data/autzen/hag.py
@@ -0,0 +1,53 @@
+
+from osgeo import gdal
+gdal.UseExceptions()
+
+import struct
+
+objs = {}
+
+def wakeup(filename):
+
+    objs['ds'] = gdal.Open(filename)
+    objs['gt'] = objs['ds'].GetGeoTransform()
+    objs['band'] = objs['ds'].GetRasterBand(1)
+    return objs
+
+
+def read(x, y, objs):
+
+    # stolen from http://stackoverflow.com/questions/24537450/python-struct-error-unpack-requires-a-string-argument-of-length-2
+    gt = objs['gt']
+    ds = objs['ds']
+    band = objs['band']
+
+    px = int((x - gt[0]) / gt[1])
+    py = int((y - gt[3]) / gt[5])
+
+    val = band.ReadRaster(px,py,1,1,buf_type=gdal.GDT_Float32)
+    z = struct.unpack('f' , val)
+    return z[0]
+
+def filter(ins,outs):
+    HAG = ins['HAG']
+    X = ins['X']
+    Y = ins['Y']
+    Z = ins['Z']
+
+    objs = wakeup('/PDAL/test/data/autzen/autzen-surface.tif.min.tif')
+    print (objs)
+    for i in range(len(X)):
+        x = X[i]
+        y = Y[i]
+        z = Z[i]
+        surface_z = read(x, y, objs)
+#        print (x, y, z, surface_z)
+        hag = z - surface_z
+        if (surface_z  != -9999):
+            HAG[i] = hag
+    outs['Z'] = HAG
+    return True
+
+if __name__=='__main__':
+    objs = wakeup('/PDAL/test/data/autzen/autzen-surface.tif.min.tif')
+    print (read(636436,850412, objs))
diff --git a/test/data/filters/ferry.json b/test/data/filters/ferry.json
new file mode 100644
index 0000000..cfa637c
--- /dev/null
+++ b/test/data/filters/ferry.json
@@ -0,0 +1,17 @@
+{
+  "pipeline":[
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference": "EPSG:2993"
+    },
+    {
+      "type": "filters.ferry",
+      "dimensions": "X=StatePlaneX, Y=StatePlaneY"
+    },
+    {
+      "type": "filters.reprojection",
+      "out_srs": "EPSG:4326+4326"
+    },
+    "/PDAL/test/temp/colorized.las"
+  ]
+}
diff --git a/test/data/filters/merge.json b/test/data/filters/merge.json
new file mode 100644
index 0000000..e3d7368
--- /dev/null
+++ b/test/data/filters/merge.json
@@ -0,0 +1,9 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/las/1.2-with-color.las",
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type": "filters.merge"
+    }
+  ]
+}
diff --git a/test/data/filters/merge2.json b/test/data/filters/merge2.json
new file mode 100644
index 0000000..a859a85
--- /dev/null
+++ b/test/data/filters/merge2.json
@@ -0,0 +1,19 @@
+{
+  "pipeline": [
+    {
+        "filename": "/PDAL/test/data/las/1.2-with-color.las",
+        "spatialreference": "EPSG:2027"
+    },
+    {
+        "filename": "/PDAL/test/data/las/1.2-with-color.las",
+        "spatialreference": "EPSG:2027"
+    },
+    {
+      "type": "filters.merge"
+    },
+    {
+      "type": "filters.reprojection",
+      "out_srs": "EPSG:2028"
+    }
+  ]
+}
diff --git a/test/data/filters/merge3.json b/test/data/filters/merge3.json
new file mode 100644
index 0000000..f370f82
--- /dev/null
+++ b/test/data/filters/merge3.json
@@ -0,0 +1,15 @@
+{
+  "pipeline": [
+    {
+        "filename": "/PDAL/test/data/las/1.2-with-color.las",
+        "spatialreference": "EPSG:2027"
+    },
+    {
+        "filename": "/PDAL/test/data/las/1.2-with-color.las",
+        "spatialreference": "EPSG:2028"
+    },
+    {
+      "type": "filters.merge"
+    }
+  ]
+}
diff --git a/test/data/filters/pcl/passthrough.json b/test/data/filters/pcl/passthrough.json
new file mode 100644
index 0000000..b02315f
--- /dev/null
+++ b/test/data/filters/pcl/passthrough.json
@@ -0,0 +1,10 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type": "filters.pclblock",
+      "filename": "/PDAL/test/data/filters/pcl/example_PassThrough_1.json"
+    },
+    "/PDAL/test/temp/foo.las"
+  ]
+}
diff --git a/test/data/filters/sort.json b/test/data/filters/sort.json
new file mode 100644
index 0000000..e52a845
--- /dev/null
+++ b/test/data/filters/sort.json
@@ -0,0 +1,9 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+        "type": "filters.sort",
+        "dimension": "X"
+    }
+  ]
+}
diff --git a/test/data/gdal/grid.txt b/test/data/gdal/grid.txt
index d89febe..69c220c 100644
--- a/test/data/gdal/grid.txt
+++ b/test/data/gdal/grid.txt
@@ -6,17 +6,17 @@ X,Y,Z
 2.5, .5, 3
 3.5, .5, 4
 4.5, .5, 5
-3.5, 1, 4.5
-4.5, 1, 5.5
+3.5, 1, 4.4
+4.5, 1, 5.4
 .5, 1.5, 2
 1.5, 1.5, 3
 2.5, 1.5, 4
-3, 1.5, 4.5
+3, 1.5, 4.4
 3.5, 1.5, 5
-4, 1.5, 5.5
+4, 1.5, 5.4
 4.5, 1.5, 6
-3.5, 2, 5.5
-4.5, 2, 6.5
+3.5, 2, 5.4
+4.5, 2, 6.4
 .5, 2.5, 3
 1.5, 2.5, 4
 2.5, 2.5, 5
@@ -30,5 +30,5 @@ X,Y,Z
 2.5, 4.5, 7
 3.5, 4.5, 8
 4.5, 4.6, 9.1
-4.7, 4.5, 8.9 
-4.3, 4.5, 8.9 
+4.7, 4.5, 8.9
+4.3, 4.5, 8.9
diff --git a/test/data/hole/autzen-dd.las b/test/data/hole/autzen-dd.las
deleted file mode 100644
index 4330b18..0000000
Binary files a/test/data/hole/autzen-dd.las and /dev/null differ
diff --git a/test/data/hole/hole.dbf b/test/data/hole/hole.dbf
deleted file mode 100644
index e30ee08..0000000
Binary files a/test/data/hole/hole.dbf and /dev/null differ
diff --git a/test/data/hole/hole.las b/test/data/hole/hole.las
deleted file mode 100644
index 900d261..0000000
Binary files a/test/data/hole/hole.las and /dev/null differ
diff --git a/test/data/hole/hole.prj b/test/data/hole/hole.prj
deleted file mode 100644
index a30c00a..0000000
--- a/test/data/hole/hole.prj
+++ /dev/null
@@ -1 +0,0 @@
-GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]
\ No newline at end of file
diff --git a/test/data/hole/hole.qpj b/test/data/hole/hole.qpj
deleted file mode 100644
index 5fbc831..0000000
--- a/test/data/hole/hole.qpj
+++ /dev/null
@@ -1 +0,0 @@
-GEOGCS["WGS 84",DATUM["WGS_1984",SPHEROID["WGS 84",6378137,298.257223563,AUTHORITY["EPSG","7030"]],AUTHORITY["EPSG","6326"]],PRIMEM["Greenwich",0,AUTHORITY["EPSG","8901"]],UNIT["degree",0.0174532925199433,AUTHORITY["EPSG","9122"]],AUTHORITY["EPSG","4326"]]
diff --git a/test/data/hole/hole.shp b/test/data/hole/hole.shp
deleted file mode 100644
index e1cf196..0000000
Binary files a/test/data/hole/hole.shp and /dev/null differ
diff --git a/test/data/hole/hole.shx b/test/data/hole/hole.shx
deleted file mode 100644
index 7988335..0000000
Binary files a/test/data/hole/hole.shx and /dev/null differ
diff --git a/test/data/hole/make-spurious.py b/test/data/hole/make-spurious.py
deleted file mode 100644
index 86c2c09..0000000
--- a/test/data/hole/make-spurious.py
+++ /dev/null
@@ -1,29 +0,0 @@
-from laspy.file import File
-import copy
-inFile = File("autzen-dd.las", mode = "r")
-header = inFile.header
-points = copy.deepcopy(inFile.points)
-
-import numpy as np
-
-X = inFile.X
-Y = inFile.Y
-
-minx = np.min(X)
-miny = np.min(Y)
-
-maxx = np.max(X)
-maxy = np.max(Y)
-
-print minx, miny, maxx, maxy
-x = ((maxx - minx)/2.0 + minx) - 1.0/header.scale[0]
-y = (maxy - miny)/2.0 + miny
-
-print x, y
-
-points[0][0][0] = x
-
-print points[0][0][0]
-outfile = File("spurious.las", mode='w', header = header)
-outfile.points = points
-import pdb;pdb.set_trace()
\ No newline at end of file
diff --git a/test/data/icebridge/pipeline.json b/test/data/icebridge/pipeline.json
new file mode 100644
index 0000000..b565fa5
--- /dev/null
+++ b/test/data/icebridge/pipeline.json
@@ -0,0 +1,13 @@
+{
+  "pipeline":[
+    {
+        "type":"readers.icebridge",
+        "filename":"/PDAL/test/data/icebridge/twoPoints.h5"
+    },
+    {
+        "type":"writers.text",
+        "filename":"/PDAL/test/temp/outfile.txt"
+    }
+  ]
+}
+
diff --git a/test/data/las/100-points.las b/test/data/las/100-points.las
new file mode 100644
index 0000000..eb1f6b2
Binary files /dev/null and b/test/data/las/100-points.las differ
diff --git a/test/data/las/autzen_trim_7.las b/test/data/las/autzen_trim_7.las
new file mode 100644
index 0000000..bb0dc6f
Binary files /dev/null and b/test/data/las/autzen_trim_7.las differ
diff --git a/test/data/hole/spurious.las b/test/data/las/spurious.las
similarity index 100%
rename from test/data/hole/spurious.las
rename to test/data/las/spurious.las
diff --git a/test/data/matlab/autzen.mat b/test/data/matlab/autzen.mat
new file mode 100644
index 0000000..a1fd708
Binary files /dev/null and b/test/data/matlab/autzen.mat differ
diff --git a/test/data/pipeline/assign.json b/test/data/pipeline/assign.json
new file mode 100644
index 0000000..dec6f76
--- /dev/null
+++ b/test/data/pipeline/assign.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-dd.las",
+    {
+      "type":"filters.assign",
+      "assignment":"PointSourceId[:]=26"
+    },
+    {
+      "filename":"/PDAL/test/temp/attributed.las",
+      "scale_x":0.0000001,
+      "scale_y":0.0000001
+    }
+  ]
+}
diff --git a/test/data/pipeline/bpf2las.json b/test/data/pipeline/bpf2las.json
new file mode 100644
index 0000000..5e946fe
--- /dev/null
+++ b/test/data/pipeline/bpf2las.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/bpf/utm15.bpf",
+    {
+      "filename":"/PDAL/test/temp/out2.las",
+      "scale_x":0.01,
+      "offset_x":311898.23,
+      "scale_y":0.01,
+      "offset_y":4703909.84,
+      "scale_z":0.01,
+      "offset_z":7.385474
+    }
+  ]
+}
diff --git a/test/data/pipeline/bpf2nitf.json b/test/data/pipeline/bpf2nitf.json
new file mode 100644
index 0000000..8c14093
--- /dev/null
+++ b/test/data/pipeline/bpf2nitf.json
@@ -0,0 +1,20 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/bpf/utm15.bpf",
+    {
+      "filename":"/PDAL/test/temp/output.ntf",
+      "scale_x":0.01,
+      "offset_x":311898.23,
+      "scale_y":0.01,
+      "offset_y":4703909.84,
+      "scale_z":0.01,
+      "offset_z":7.385474,
+      "fsclas":"U",
+      "idatim":"20131206140713",
+      "fscltx":"SIC:0 CH_FO",
+      "ftitle":"output.ntf",
+      "forward":"software_id, creation_doy, creation_year",
+      "system_id":"PDAL2NTF"
+    }
+  ]
+}
diff --git a/test/data/pipeline/chipper.json b/test/data/pipeline/chipper.json
new file mode 100644
index 0000000..278ecb2
--- /dev/null
+++ b/test/data/pipeline/chipper.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-utm.las",
+    {
+      "type":"filters.chipper",
+      "capacity":25
+    },
+    "/PDAL/test/temp/autzen-utm-chipped-25.las"
+  ]
+}
diff --git a/test/data/pipeline/colorize-multi.json b/test/data/pipeline/colorize-multi.json
new file mode 100644
index 0000000..1154300
--- /dev/null
+++ b/test/data/pipeline/colorize-multi.json
@@ -0,0 +1,19 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/autzen/autzen.las",
+      "spatialreference":"EPSG:2993"
+    },
+    {
+      "type":"filters.colorization",
+      "dimensions":"Red1:1:1.0,Green1:2:1.0,Blue1:3:256",
+      "raster":"/PDAL/test/data/autzen/autzen.jpg"
+    },
+    {
+      "type":"filters.colorization",
+      "dimensions":"Red:1:1.0,Green:2:1.0,Blue:3:256",
+      "raster":"/PDAL/test/data/autzen/autzen.jpg"
+    },
+    "/PDAL/test/temp/sometext.txt"
+  ]
+}
diff --git a/test/data/pipeline/colorize.json b/test/data/pipeline/colorize.json
new file mode 100644
index 0000000..d81fa99
--- /dev/null
+++ b/test/data/pipeline/colorize.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.colorization",
+      "dimensions":"Red, Green, Blue::256",
+      "raster":"/PDAL/test/data/autzen/autzen.jpg"
+    },
+    "/PDAL/test/temp/colorized.las"
+  ]
+}
diff --git a/test/data/pipeline/crop-hole.json b/test/data/pipeline/crop-hole.json
new file mode 100644
index 0000000..9b91bf2
--- /dev/null
+++ b/test/data/pipeline/crop-hole.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/spurious.las",
+    {
+      "type":"filters.crop",
+      "polygon":"POLYGON ((-123.070497025496451 44.058766662574463,-123.065624990686828 44.058248360998967,-123.068009177934087 44.057108097532883,-123.066350612892521 44.056486135642295,-123.066661593837807 44.054101948395022,-123.070289704866255 44.054412929340323,-123.070497025496451 44.058766662574463))",
+      "outside":true
+    },
+    {
+      "filename":"/PDAL/test/temp/hole.las",
+      "compression":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/crop-hole.json.in b/test/data/pipeline/crop-hole.json.in
index 25228f2..5229ac2 100644
--- a/test/data/pipeline/crop-hole.json.in
+++ b/test/data/pipeline/crop-hole.json.in
@@ -1,6 +1,6 @@
 {
   "pipeline":[
-    "@CMAKE_SOURCE_DIR@/test/data/hole/spurious.las",
+    "@CMAKE_SOURCE_DIR@/test/data/las/spurious.las",
     {
       "type":"filters.crop",
       "polygon":"POLYGON ((-123.070497025496451 44.058766662574463,-123.065624990686828 44.058248360998967,-123.068009177934087 44.057108097532883,-123.066350612892521 44.056486135642295,-123.066661593837807 44.054101948395022,-123.070289704866255 44.054412929340323,-123.070497025496451 44.058766662574463))",
diff --git a/test/data/pipeline/crop-stats.json b/test/data/pipeline/crop-stats.json
new file mode 100644
index 0000000..b45b6f8
--- /dev/null
+++ b/test/data/pipeline/crop-stats.json
@@ -0,0 +1,18 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.crop",
+      "bounds":"([0,1000000],[0,1000000],[0,1000000])"
+    },
+    {
+      "type":"filters.stats",
+      "dimensions":"readers.las.X, readers.las.Y, readers.las.Z, Classification"
+    },
+    {
+      "filename":"/PDAL/test/temp/pdal-compressed.laz",
+      "compression":true,
+      "format":2
+    }
+  ]
+}
diff --git a/test/data/pipeline/crop.json b/test/data/pipeline/crop.json
new file mode 100644
index 0000000..3e0dacc
--- /dev/null
+++ b/test/data/pipeline/crop.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.crop",
+      "bounds":"([0,1000000],[0,1000000],[0,1000000])"
+    },
+    "/PDAL/test/temp/pdal-compressed.laz"
+  ]
+}
diff --git a/test/data/pipeline/crop_wkt.json b/test/data/pipeline/crop_wkt.json
new file mode 100644
index 0000000..9a6a5da
--- /dev/null
+++ b/test/data/pipeline/crop_wkt.json
@@ -0,0 +1,33 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.crop",
+      "polygon":"POLYGON ((636889.412951239268295 851528.512293258565478
+      422.7001953125,636899.14233423944097 851475.000686757150106
+      422.4697265625,636899.14233423944097 851475.000686757150106
+      422.4697265625,636928.33048324030824 851494.459452757611871
+      422.5400390625,636928.33048324030824 851494.459452757611871
+      422.5400390625,636928.33048324030824 851494.459452757611871
+      422.5400390625,636976.977398241520859 851513.918218758190051
+      424.150390625,636976.977398241520859 851513.918218758190051
+      424.150390625,637069.406536744092591 851475.000686757150106
+      438.7099609375,637132.647526245797053 851445.812537756282836
+      425.9501953125,637132.647526245797053 851445.812537756282836
+      425.9501953125,637336.964569251285866 851411.759697255445644
+      425.8203125,637336.964569251285866 851411.759697255445644
+      425.8203125,637473.175931254867464 851158.795739248627797
+      435.6298828125,637589.928527257987298 850711.244121236610226
+      420.509765625,637244.535430748714134 850511.791769731207751
+      420.7998046875,636758.066280735656619 850667.461897735483944
+      434.609375,636539.155163229792379 851056.63721774588339
+      422.6396484375,636889.412951239268295 851528.512293258565478
+      422.7001953125))",
+      "outside":false
+    },
+    {
+      "filename":"/PDAL/test/temp/crop-wkt.las",
+      "compression":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/crop_wkt_2d.json b/test/data/pipeline/crop_wkt_2d.json
new file mode 100644
index 0000000..d0cb558
--- /dev/null
+++ b/test/data/pipeline/crop_wkt_2d.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.crop",
+      "polygon":"POLYGON ((636889.4129512392682955 851528.5122932585654780, 636899.1423342394409701 851475.0006867571501061, 636899.1423342394409701 851475.0006867571501061, 636928.3304832403082401 851494.4594527576118708, 636928.3304832403082401 851494.4594527576118708, 636928.3304832403082401 851494.4594527576118708, 636976.9773982415208593 851513.9182187581900507, 636976.9773982415208593 851513.9182187581900507, 637069.4065367440925911 851475.0006867571501061, 637132.6475262457970530  [...]
+      "outside":true
+    },
+    {
+      "filename":"/PDAL/test/temp/autzen-colorized-1.2.3-hole.las",
+      "compression":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/crop_wkt_2d_classification.json b/test/data/pipeline/crop_wkt_2d_classification.json
new file mode 100644
index 0000000..3c4525d
--- /dev/null
+++ b/test/data/pipeline/crop_wkt_2d_classification.json
@@ -0,0 +1,20 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.crop",
+      "polygon":"POLYGON ((636889.4129512392682955 851528.5122932585654780, 636899.1423342394409701 851475.0006867571501061, 636899.1423342394409701 851475.0006867571501061, 636928.3304832403082401 851494.4594527576118708, 636928.3304832403082401 851494.4594527576118708, 636928.3304832403082401 851494.4594527576118708, 636976.9773982415208593 851513.9182187581900507, 636976.9773982415208593 851513.9182187581900507, 637069.4065367440925911 851475.0006867571501061, 637132.6475262457970530  [...]
+      "outside":false
+    },
+    {
+      "type":"filters.python",
+      "function":"filter",
+      "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True",
+      "module":"anything"
+    },
+    {
+      "filename":"/PDAL/test/temp/crop-wkt-2d-classification.las",
+      "compression":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/crop_wkt_2d_classification.json.in b/test/data/pipeline/crop_wkt_2d_classification.json.in
index 8e607bd..dee4f23 100644
--- a/test/data/pipeline/crop_wkt_2d_classification.json.in
+++ b/test/data/pipeline/crop_wkt_2d_classification.json.in
@@ -7,7 +7,7 @@
       "outside":false
     },
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "function":"filter",
       "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True",
       "module":"anything"
diff --git a/test/data/pipeline/decimate.json b/test/data/pipeline/decimate.json
new file mode 100644
index 0000000..87a986b
--- /dev/null
+++ b/test/data/pipeline/decimate.json
@@ -0,0 +1,19 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference":"EPSG:2993"
+    },
+    {
+      "type":"filters.decimation",
+      "step":2,
+      "offset":1
+    },
+    {
+      "type":"writers.text",
+      "filename":"/PDAL/test/temp/junk.txt",
+      "delimiter":",",
+      "write_header":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/ferry-reproject.json b/test/data/pipeline/ferry-reproject.json
new file mode 100644
index 0000000..cfa637c
--- /dev/null
+++ b/test/data/pipeline/ferry-reproject.json
@@ -0,0 +1,17 @@
+{
+  "pipeline":[
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference": "EPSG:2993"
+    },
+    {
+      "type": "filters.ferry",
+      "dimensions": "X=StatePlaneX, Y=StatePlaneY"
+    },
+    {
+      "type": "filters.reprojection",
+      "out_srs": "EPSG:4326+4326"
+    },
+    "/PDAL/test/temp/colorized.las"
+  ]
+}
diff --git a/test/data/pipeline/from-module.json b/test/data/pipeline/from-module.json
new file mode 100644
index 0000000..815e6f2
--- /dev/null
+++ b/test/data/pipeline/from-module.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type": "filters.python",
+      "script": "/PDAL/test/data/plang/test1.py",
+      "module": "anything",
+      "function": "fff"
+    }
+  ]
+}
diff --git a/test/data/pipeline/from-module.json.in b/test/data/pipeline/from-module.json.in
index fffbf21..ef2592a 100644
--- a/test/data/pipeline/from-module.json.in
+++ b/test/data/pipeline/from-module.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/las/1.2-with-color.las",
     {
-      "type": "filters.predicate",
+      "type": "filters.python",
       "script": "@CMAKE_SOURCE_DIR@/test/data/plang/test1.py",
       "module": "anything",
       "function": "fff"
diff --git a/test/data/pipeline/glob.json b/test/data/pipeline/glob.json
new file mode 100644
index 0000000..1fe9119
--- /dev/null
+++ b/test/data/pipeline/glob.json
@@ -0,0 +1,7 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/autzen/thin*.las",
+    "/PDAL/test/temp/globbed.las"
+  ]
+}
+
diff --git a/test/data/pipeline/hexbin-info.json b/test/data/pipeline/hexbin-info.json
new file mode 100644
index 0000000..e528d46
--- /dev/null
+++ b/test/data/pipeline/hexbin-info.json
@@ -0,0 +1,12 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.hexbin",
+      "edge_size":0.0,
+      "threshold":10,
+      "sample_size":5000,
+      "precision":4
+    }
+  ]
+}
diff --git a/test/data/pipeline/hexbin.json b/test/data/pipeline/hexbin.json
new file mode 100644
index 0000000..902f5a6
--- /dev/null
+++ b/test/data/pipeline/hexbin.json
@@ -0,0 +1,13 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.hexbin",
+      "edge_size":0.0,
+      "threshold":10,
+      "sample_size":5000,
+      "precision":4
+    },
+    "/PDAL/test/temp/hexbin.las"
+  ]
+}
diff --git a/test/data/pipeline/issue1417.json b/test/data/pipeline/issue1417.json
new file mode 100644
index 0000000..9f7e633
--- /dev/null
+++ b/test/data/pipeline/issue1417.json
@@ -0,0 +1,9 @@
+{
+  "pipeline":[
+    {
+    "filename" : "badfile.reallybad",
+    "type" : "readers.las"
+    },
+    "/PDAL/test/temp/out.las"
+  ]
+}
diff --git a/test/data/pipeline/las2csv.json b/test/data/pipeline/las2csv.json
new file mode 100644
index 0000000..7299be4
--- /dev/null
+++ b/test/data/pipeline/las2csv.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-point-format-3.las",
+    {
+      "type":"writers.text",
+      "filename":"/PDAL/test/temp/autzen-point-format-3.txt",
+      "order":"Red,Green,X,Y,Blue,Z",
+      "keep_unspecified":false
+    }
+  ]
+}
diff --git a/test/data/pipeline/las2geojson.json b/test/data/pipeline/las2geojson.json
new file mode 100644
index 0000000..1a69408
--- /dev/null
+++ b/test/data/pipeline/las2geojson.json
@@ -0,0 +1,13 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-point-format-3.las",
+    {
+      "type":"writers.text",
+      "filename":"/PDAL/test/temp/autzen-point-format-3.txt",
+      "order":"Red,Green,X,Y,Blue,Z",
+      "keep_unspecified":true,
+      "format":"geojson",
+      "jscallback":"pointcloud_callback"
+    }
+  ]
+}
diff --git a/test/data/pipeline/las2nitf-2.json b/test/data/pipeline/las2nitf-2.json
new file mode 100644
index 0000000..02a2187
--- /dev/null
+++ b/test/data/pipeline/las2nitf-2.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "filename":"/PDAL/test/temp/pdal-compressed.ntf",
+      "compression":true,
+      "fsclas":"U",
+      "ophone":5159664628,
+      "oname":"Howard Butler",
+      "idatim":20110516183337,
+      "ftitle":"This is the title"
+    }
+  ]
+}
diff --git a/test/data/pipeline/las2nitf-crop-with-options.json b/test/data/pipeline/las2nitf-crop-with-options.json
new file mode 100644
index 0000000..b8313ac
--- /dev/null
+++ b/test/data/pipeline/las2nitf-crop-with-options.json
@@ -0,0 +1,24 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference":"PROJCS[\"NAD_1983_Oregon_Statewide_Lambert_Feet_Intl\",GEOGCS[\"GCS_North_American_1983\",DATUM[\"D_North_American_1983\",SPHEROID[\"GRS_1980\",6378137.0,298.257222101]],PRIMEM[\"Greenwich\",0.0],UNIT[\"Degree\",0.017453292519943295]],PROJECTION[\"Lambert_Conformal_Conic_2SP\"],PARAMETER[\"False_Easting\",1312335.958005249],PARAMETER[\"False_Northing\",0.0],PARAMETER[\"Central_Meridian\",-120.5],PARAMETER[\"Standard_Parallel_1\",43.0],PARAMETER[\"Standard_Parall [...]
+    },
+    {
+      "type":"filters.crop",
+      "bounds":"([0,1000000],[0,1000000],[0,1000000])"
+    },
+    {
+      "filename":"/PDAL/test/temp/pdal-compressed.ntf",
+      "compression":false,
+      "fsclas":"U",
+      "ophone":5159664628,
+      "oname":"Howard Butler",
+      "idatim":20110516183337,
+      "ftitle":"This is the title",
+      "fsctlh":"N",
+      "aimidb":"COUNTRY:US,ACQUISITION_DATE:Someday,MISSION_IDENTIFICATION:IDENT,LOCATION:Somewhere",
+      "acftb":"AC_MSN_ID:ID"
+    }
+  ]
+}
diff --git a/test/data/pipeline/las2nitf.json b/test/data/pipeline/las2nitf.json
new file mode 100644
index 0000000..c8e9073
--- /dev/null
+++ b/test/data/pipeline/las2nitf.json
@@ -0,0 +1,20 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/utm15.las",
+    {
+      "filename":"/PDAL/test/temp/output.ntf",
+      "scale_x":0.01,
+      "offset_x":311898.23,
+      "scale_y":0.01,
+      "offset_y":4703909.84,
+      "scale_z":0.01,
+      "offset_z":7.385474,
+      "fsclas":"U",
+      "idatim":"20131206140713",
+      "fscltx":"SIC:0 CH_FO",
+      "ftitle":"output.ntf",
+      "forward":"software_id, creation_doy, creation_year",
+      "system_id":"PDAL2NTF"
+    }
+  ]
+}
diff --git a/test/data/pipeline/las2space-delimited.json b/test/data/pipeline/las2space-delimited.json
new file mode 100644
index 0000000..a1fa297
--- /dev/null
+++ b/test/data/pipeline/las2space-delimited.json
@@ -0,0 +1,16 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference":"EPSG:2993"
+    },
+    {
+      "type":"writers.text",
+      "filename":"STDOUT",
+      "delimiter":" ",
+      "write_header":true,
+      "order":"X,Y,Z,Red,Green,Blue",
+      "keep_unspecified":true
+    }
+  ]
+}
diff --git a/test/data/pipeline/merge.json b/test/data/pipeline/merge.json
new file mode 100644
index 0000000..da6cca0
--- /dev/null
+++ b/test/data/pipeline/merge.json
@@ -0,0 +1,16 @@
+{
+  "pipeline": [
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "tag": "A"
+    },
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "tag": "B"
+    },
+    {
+      "type": "filters.merge",
+      "inputs": ["A", "B"]
+    }
+  ]
+}
diff --git a/test/data/pipeline/metadata_reader.json b/test/data/pipeline/metadata_reader.json
new file mode 100644
index 0000000..384b188
--- /dev/null
+++ b/test/data/pipeline/metadata_reader.json
@@ -0,0 +1,5 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/interesting.las"
+  ]
+}
diff --git a/test/data/pipeline/metadata_writer.json b/test/data/pipeline/metadata_writer.json
new file mode 100644
index 0000000..9dcceb3
--- /dev/null
+++ b/test/data/pipeline/metadata_writer.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/interesting.las",
+    {
+      "filename":"/PDAL/test/temp/metadata-output.las",
+      "forward":"software_id, creation_doy, creation_year",
+      "system_id":"SOMEVALUE"
+    }
+  ]
+}
diff --git a/test/data/pipeline/mississippi.json b/test/data/pipeline/mississippi.json
new file mode 100644
index 0000000..9e09672
--- /dev/null
+++ b/test/data/pipeline/mississippi.json
@@ -0,0 +1,6 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/mvk-thin.las",
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/pipeline/mississippi_reverse.json b/test/data/pipeline/mississippi_reverse.json
new file mode 100644
index 0000000..e307327
--- /dev/null
+++ b/test/data/pipeline/mississippi_reverse.json
@@ -0,0 +1,6 @@
+{
+  "pipeline":[
+    "/PDAL/test/temp/out2.las",
+    "/PDAL/test/temp/out3.las"
+  ]
+}
diff --git a/test/data/pipeline/nitf-chipper.json b/test/data/pipeline/nitf-chipper.json
new file mode 100644
index 0000000..d984e1d
--- /dev/null
+++ b/test/data/pipeline/nitf-chipper.json
@@ -0,0 +1,12 @@
+{
+  "pipeline": [
+    {
+      "filename": "/PDAL/test/data/nitf/autzen-utm10.ntf",
+      "spatialreference": "EPSG:32610"
+    },
+    {
+      "type": "filters.chipper",
+      "capacity": 15
+    }
+  ]
+}
diff --git a/test/data/pipeline/nitf2las.json b/test/data/pipeline/nitf2las.json
new file mode 100644
index 0000000..ab3be44
--- /dev/null
+++ b/test/data/pipeline/nitf2las.json
@@ -0,0 +1,6 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/nitf/autzen-utm10.ntf",
+    "/PDAL/test/temp/nitf.las"
+  ]
+}
diff --git a/test/data/pipeline/options.json b/test/data/pipeline/options.json
new file mode 100644
index 0000000..bbaa8da
--- /dev/null
+++ b/test/data/pipeline/options.json
@@ -0,0 +1,16 @@
+{
+  "pipeline":[
+    {
+      "filename" :"/PDAL/test/data/las/1.2-with-color.las",
+      "compression" : "laszip",
+      "tag": "my_reader"
+    },
+    {
+      "type":"filters.assign",
+      "assignment":"Z[:]=25",
+      "tag":"assigner",
+      "inputs":"my_reader"
+    },
+    "/PDAL/test/temp/assigned.las"
+  ]
+}
diff --git a/test/data/pipeline/options.json.in b/test/data/pipeline/options.json.in
index 90cc3c6..f9a7715 100644
--- a/test/data/pipeline/options.json.in
+++ b/test/data/pipeline/options.json.in
@@ -3,12 +3,13 @@
     {
       "filename" :"@CMAKE_SOURCE_DIR@/test/data/las/1.2-with-color.las",
       "compression" : "laszip",
-      "tag": "reader"
+      "tag": "my_reader"
     },
     {
       "type":"filters.assign",
       "assignment":"Z[:]=25",
-      "tag":"assigner"
+      "tag":"assigner",
+      "inputs":"my_reader"
     },
     "@CMAKE_SOURCE_DIR@/test/temp/assigned.las"
   ]
diff --git a/test/data/pipeline/overlay.json b/test/data/pipeline/overlay.json
new file mode 100644
index 0000000..908250e
--- /dev/null
+++ b/test/data/pipeline/overlay.json
@@ -0,0 +1,24 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-dd.las",
+    {
+      "type":"filters.overlay",
+      "dimension":"Intensity",
+      "datasource":"/PDAL/test/data/autzen/attributes.shp",
+      "query":"SELECT CLS FROM attributes where cls!=6",
+      "column":"CLS"
+    },
+    {
+      "type":"filters.overlay",
+      "dimension":"Classification",
+      "datasource":"/PDAL/test/data/autzen/attributes.shp",
+      "layer":"attributes",
+      "column":"CLS"
+    },
+    {
+      "filename":"/PDAL/test/temp/attributed.las",
+      "scale_x":0.0000001,
+      "scale_y":0.0000001
+    }
+  ]
+}
diff --git a/test/data/pipeline/p2g-writer.json b/test/data/pipeline/p2g-writer.json
new file mode 100644
index 0000000..610ab35
--- /dev/null
+++ b/test/data/pipeline/p2g-writer.json
@@ -0,0 +1,21 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference":"/PDAL/test/data/las/1.2-with-color.las.wkt"
+    },
+    {
+      "type":"writers.p2g",
+      "grid_dist_x":6.0,
+      "grid_dist_y":6.0,
+      "radius":8.4852813742385713,
+      "filename":"/PDAL/test/temp/autzen_grid",
+      "output_type":"min",
+      "output_type":"max",
+      "output_type":"mean",
+      "output_type":"idw",
+      "output_type":"den",
+      "output_format":"asc"
+    }
+  ]
+}
diff --git a/test/data/pipeline/predicate-embed.json b/test/data/pipeline/predicate-embed.json
new file mode 100644
index 0000000..92014f3
--- /dev/null
+++ b/test/data/pipeline/predicate-embed.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.python",
+      "module":"anything",
+      "function":"fff",
+      "source":"import numpy as np\ndef fff(ins,outs):\n\tX = ins['X']\n\tResult = np.equal(X, 637501.67)\n\t#print X\n\t#print Mask\n\touts['Mask'] = Result\n\treturn True"
+    }
+  ]
+}
diff --git a/test/data/pipeline/predicate-embed.json.in b/test/data/pipeline/predicate-embed.json.in
index af6299b..8387c18 100644
--- a/test/data/pipeline/predicate-embed.json.in
+++ b/test/data/pipeline/predicate-embed.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/las/1.2-with-color.las",
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "module":"anything",
       "function":"fff",
       "source":"import numpy as np\ndef fff(ins,outs):\n\tX = ins['X']\n\tResult = np.equal(X, 637501.67)\n\t#print X\n\t#print Mask\n\touts['Mask'] = Result\n\treturn True"
diff --git a/test/data/pipeline/predicate-keep-ground-and-unclass.json b/test/data/pipeline/predicate-keep-ground-and-unclass.json
new file mode 100644
index 0000000..297a5ae
--- /dev/null
+++ b/test/data/pipeline/predicate-keep-ground-and-unclass.json
@@ -0,0 +1,12 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.python",
+      "module":"anything",
+      "function":"filter",
+      "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True"
+    },
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/pipeline/predicate-keep-ground-and-unclass.json.in b/test/data/pipeline/predicate-keep-ground-and-unclass.json.in
index 9afa891..ad9c069 100644
--- a/test/data/pipeline/predicate-keep-ground-and-unclass.json.in
+++ b/test/data/pipeline/predicate-keep-ground-and-unclass.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/autzen/autzen.las",
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "module":"anything",
       "function":"filter",
       "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True"
diff --git a/test/data/pipeline/predicate-keep-last-return.json b/test/data/pipeline/predicate-keep-last-return.json
new file mode 100644
index 0000000..2a08aa2
--- /dev/null
+++ b/test/data/pipeline/predicate-keep-last-return.json
@@ -0,0 +1,15 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.stats"
+    },
+    {
+      "type":"filters.python",
+      "module":"anything",
+      "function":"filter",
+      "source":"import numpy as np\n\ndef filter(ins,outs):\n\tret = ins['ReturnNumber']\n\tret_no = ins['NumberOfReturns']\n\n\t# Use the first test for our base array.\n\trets = np.equal(ret, ret_no)\n\n\touts['Mask'] = rets\n\treturn True"
+    },
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/pipeline/predicate-keep-last-return.json.in b/test/data/pipeline/predicate-keep-last-return.json.in
index 548d224..7c599ec 100644
--- a/test/data/pipeline/predicate-keep-last-return.json.in
+++ b/test/data/pipeline/predicate-keep-last-return.json.in
@@ -5,7 +5,7 @@
       "type":"filters.stats"
     },
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "module":"anything",
       "function":"filter",
       "source":"import numpy as np\n\ndef filter(ins,outs):\n\tret = ins['ReturnNumber']\n\tret_no = ins['NumberOfReturns']\n\n\t# Use the first test for our base array.\n\trets = np.equal(ret, ret_no)\n\n\touts['Mask'] = rets\n\treturn True"
diff --git a/test/data/pipeline/predicate-keep-specified-returns.json b/test/data/pipeline/predicate-keep-specified-returns.json
new file mode 100644
index 0000000..0ae3c26
--- /dev/null
+++ b/test/data/pipeline/predicate-keep-specified-returns.json
@@ -0,0 +1,12 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.python",
+      "module":"anything",
+      "function":"filter",
+      "source":"import numpy as np\n\ndef filter(ins,outs):\n\tret = ins['ReturnNumber']\n\n\tkeep_ret = [0, 1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(ret, keep_ret[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1, len(keep_ret)):\n\t\tt = np.equal(ret, keep_ret[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True"
+    },
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/pipeline/predicate-keep-specified-returns.json.in b/test/data/pipeline/predicate-keep-specified-returns.json.in
index b1e8e4d..7b1a3ff 100644
--- a/test/data/pipeline/predicate-keep-specified-returns.json.in
+++ b/test/data/pipeline/predicate-keep-specified-returns.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/autzen/autzen.las",
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "module":"anything",
       "function":"filter",
       "source":"import numpy as np\n\ndef filter(ins,outs):\n\tret = ins['ReturnNumber']\n\n\tkeep_ret = [0, 1,2]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(ret, keep_ret[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1, len(keep_ret)):\n\t\tt = np.equal(ret, keep_ret[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True"
diff --git a/test/data/pipeline/programmable-hag.json b/test/data/pipeline/programmable-hag.json
new file mode 100644
index 0000000..c033581
--- /dev/null
+++ b/test/data/pipeline/programmable-hag.json
@@ -0,0 +1,16 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen.las",
+    {
+      "type":"filters.ferry",
+      "dimensions":"Z=HAG"
+    },
+    {
+      "type":"filters.programmable",
+      "script":"/PDAL/test/data/autzen/hag.py",
+      "function":"filter",
+      "module":"anything"
+    },
+    "/PDAL/test/temp/autzen-hag.las"
+  ]
+}
diff --git a/test/data/pipeline/programmable-update-y-dims.json b/test/data/pipeline/programmable-update-y-dims.json
new file mode 100644
index 0000000..6a5afc9
--- /dev/null
+++ b/test/data/pipeline/programmable-update-y-dims.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-utm.las",
+    {
+      "type":"filters.python",
+      "function":"myfunc",
+      "module":"derive",
+      "source":"import numpy as np\ndef myfunc(ins,outs):\n\tX = ins['Y']\n\tX1 = np.zeros(X.size, dtype=type(X[0])) + 314\n\touts['Y'] = X1\n\treturn True"
+    }
+  ]
+}
diff --git a/test/data/pipeline/programmable-update-y-dims.json.in b/test/data/pipeline/programmable-update-y-dims.json.in
index 17fa74b..018fdb6 100644
--- a/test/data/pipeline/programmable-update-y-dims.json.in
+++ b/test/data/pipeline/programmable-update-y-dims.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/autzen/autzen-utm.las",
     {
-      "type":"filters.programmable",
+      "type":"filters.python",
       "function":"myfunc",
       "module":"derive",
       "source":"import numpy as np\ndef myfunc(ins,outs):\n\tX = ins['Y']\n\tX1 = np.zeros(X.size, dtype=type(X[0])) + 314\n\touts['Y'] = X1\n\treturn True"
diff --git a/test/data/pipeline/qfit2las.json b/test/data/pipeline/qfit2las.json
new file mode 100644
index 0000000..015a295
--- /dev/null
+++ b/test/data/pipeline/qfit2las.json
@@ -0,0 +1,14 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/qfit/14-word.qi",
+      "flip_coordinates":true,
+      "scale_z":0.001,
+      "spatialreference":"EPSG:4269+3855",
+      "log":"stdlog"
+    },
+    {
+      "filename":"/PDAL/test/temp/out2.las"
+    }
+  ]
+}
diff --git a/test/data/pipeline/range_classification.json b/test/data/pipeline/range_classification.json
new file mode 100644
index 0000000..a048a76
--- /dev/null
+++ b/test/data/pipeline/range_classification.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.range",
+      "limits":"Classification[2:2]"
+    },
+    "/PDAL/test/temp/only_class_equals_2.las"
+  ]
+}
diff --git a/test/data/pipeline/range_z.json b/test/data/pipeline/range_z.json
new file mode 100644
index 0000000..cf612a8
--- /dev/null
+++ b/test/data/pipeline/range_z.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.range",
+      "limits":"Z[400:500]"
+    },
+    "/PDAL/test/temp/only_z_400-500.las"
+  ]
+}
diff --git a/test/data/pipeline/range_z_classification.json b/test/data/pipeline/range_z_classification.json
new file mode 100644
index 0000000..5718725
--- /dev/null
+++ b/test/data/pipeline/range_z_classification.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.range",
+      "limits":"Z[400:500], Classification[2:2]"
+    },
+    "/PDAL/test/temp/only_z_400-500_class_equals_2.las"
+  ]
+}
diff --git a/test/data/pipeline/reproject.json b/test/data/pipeline/reproject.json
new file mode 100644
index 0000000..9a175a3
--- /dev/null
+++ b/test/data/pipeline/reproject.json
@@ -0,0 +1,15 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las",
+      "spatialreference":"EPSG:2993"
+    },
+    {
+      "type":"filters.python",
+      "function":"filter",
+      "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True",
+      "module":"anything"
+    },
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/pipeline/reproject.json.in b/test/data/pipeline/reproject.json.in
index 75e3917..64835ec 100644
--- a/test/data/pipeline/reproject.json.in
+++ b/test/data/pipeline/reproject.json.in
@@ -5,7 +5,7 @@
       "spatialreference":"EPSG:2993"
     },
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "function":"filter",
       "source":"import numpy as np\n\ndef filter(ins,outs):\n\tcls = ins['Classification']\n\n\tkeep_classes = [1]\n\n\t# Use the first test for our base array.\n\tkeep = np.equal(cls, keep_classes[0])\n\n\t# For 1:n, test each predicate and join back\n\t# to our existing predicate array\n\tfor k in range(1,len(keep_classes)):\n\t\tt = np.equal(cls, keep_classes[k])\n\t\tkeep = keep + t\n\n\touts['Mask'] = keep\n\treturn True",
       "module":"anything"
diff --git a/test/data/pipeline/sbet2txt.json b/test/data/pipeline/sbet2txt.json
new file mode 100644
index 0000000..aedf571
--- /dev/null
+++ b/test/data/pipeline/sbet2txt.json
@@ -0,0 +1,6 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/sbet/2-points.sbet",
+    "/PDAL/test/temp/outfile.txt"
+  ]
+}
diff --git a/test/data/pipeline/sort.json b/test/data/pipeline/sort.json
new file mode 100644
index 0000000..e52a845
--- /dev/null
+++ b/test/data/pipeline/sort.json
@@ -0,0 +1,9 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+        "type": "filters.sort",
+        "dimension": "X"
+    }
+  ]
+}
diff --git a/test/data/pipeline/sort2.json b/test/data/pipeline/sort2.json
new file mode 100644
index 0000000..0f4ca9b
--- /dev/null
+++ b/test/data/pipeline/sort2.json
@@ -0,0 +1,10 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+        "type": "filters.sort",
+        "dimension": "X"
+    },
+    "/PDAL/test/temp/sorted.las"
+  ]
+}
diff --git a/test/data/pipeline/splitter.json b/test/data/pipeline/splitter.json
new file mode 100644
index 0000000..7fd2b59
--- /dev/null
+++ b/test/data/pipeline/splitter.json
@@ -0,0 +1,10 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.splitter",
+      "length":100
+    },
+    "/PDAL/test/temp/tiled.las"
+  ]
+}
diff --git a/test/data/pipeline/stats.json b/test/data/pipeline/stats.json
new file mode 100644
index 0000000..c8041fa
--- /dev/null
+++ b/test/data/pipeline/stats.json
@@ -0,0 +1,9 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.stats"
+    },
+    "/PDAL/test/temp/pdal-stats.las"
+  ]
+}
diff --git a/test/data/pipeline/tags.json b/test/data/pipeline/tags.json
new file mode 100644
index 0000000..844d31f
--- /dev/null
+++ b/test/data/pipeline/tags.json
@@ -0,0 +1,22 @@
+{
+  "pipeline": [
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "tag": "A"
+    },
+    {
+      "filename": "/PDAL/test/data/las/1.2-with-color.las",
+      "tag": "B"
+    },
+    {
+      "type":"writers.las",
+      "filename": "out1.las",
+      "inputs": ["A", "B"]
+    },
+    {
+      "type":"writers.las",
+      "filename": "out2.las",
+      "inputs": "A"
+    }
+  ]
+}
diff --git a/test/data/pipeline/transformation.json b/test/data/pipeline/transformation.json
new file mode 100644
index 0000000..ca4bb90
--- /dev/null
+++ b/test/data/pipeline/transformation.json
@@ -0,0 +1,12 @@
+{
+  "pipeline":[
+    {
+      "filename":"/PDAL/test/data/las/1.2-with-color.las"
+    },
+    {
+      "type":"filters.transformation",
+      "matrix": "-1 0 0 1 0 1 0 2 0 0 1 3 0 0 0 1"
+    },
+    "/PDAL/test/temp/out2.las"
+  ]
+}
diff --git a/test/data/plang/from-module.json b/test/data/plang/from-module.json
new file mode 100644
index 0000000..815e6f2
--- /dev/null
+++ b/test/data/plang/from-module.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type": "filters.python",
+      "script": "/PDAL/test/data/plang/test1.py",
+      "module": "anything",
+      "function": "fff"
+    }
+  ]
+}
diff --git a/test/data/plang/from-module.json.in b/test/data/plang/from-module.json.in
index fffbf21..ef2592a 100644
--- a/test/data/plang/from-module.json.in
+++ b/test/data/plang/from-module.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/las/1.2-with-color.las",
     {
-      "type": "filters.predicate",
+      "type": "filters.python",
       "script": "@CMAKE_SOURCE_DIR@/test/data/plang/test1.py",
       "module": "anything",
       "function": "fff"
diff --git a/test/data/plang/predicate-embed.json b/test/data/plang/predicate-embed.json
new file mode 100644
index 0000000..92014f3
--- /dev/null
+++ b/test/data/plang/predicate-embed.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/las/1.2-with-color.las",
+    {
+      "type":"filters.python",
+      "module":"anything",
+      "function":"fff",
+      "source":"import numpy as np\ndef fff(ins,outs):\n\tX = ins['X']\n\tResult = np.equal(X, 637501.67)\n\t#print X\n\t#print Mask\n\touts['Mask'] = Result\n\treturn True"
+    }
+  ]
+}
diff --git a/test/data/plang/predicate-embed.json.in b/test/data/plang/predicate-embed.json.in
index af6299b..8387c18 100644
--- a/test/data/plang/predicate-embed.json.in
+++ b/test/data/plang/predicate-embed.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/las/1.2-with-color.las",
     {
-      "type":"filters.predicate",
+      "type":"filters.python",
       "module":"anything",
       "function":"fff",
       "source":"import numpy as np\ndef fff(ins,outs):\n\tX = ins['X']\n\tResult = np.equal(X, 637501.67)\n\t#print X\n\t#print Mask\n\touts['Mask'] = Result\n\treturn True"
diff --git a/test/data/plang/programmable-update-y-dims.json b/test/data/plang/programmable-update-y-dims.json
new file mode 100644
index 0000000..6a5afc9
--- /dev/null
+++ b/test/data/plang/programmable-update-y-dims.json
@@ -0,0 +1,11 @@
+{
+  "pipeline":[
+    "/PDAL/test/data/autzen/autzen-utm.las",
+    {
+      "type":"filters.python",
+      "function":"myfunc",
+      "module":"derive",
+      "source":"import numpy as np\ndef myfunc(ins,outs):\n\tX = ins['Y']\n\tX1 = np.zeros(X.size, dtype=type(X[0])) + 314\n\touts['Y'] = X1\n\treturn True"
+    }
+  ]
+}
diff --git a/test/data/plang/programmable-update-y-dims.json.in b/test/data/plang/programmable-update-y-dims.json.in
index 17fa74b..018fdb6 100644
--- a/test/data/plang/programmable-update-y-dims.json.in
+++ b/test/data/plang/programmable-update-y-dims.json.in
@@ -2,7 +2,7 @@
   "pipeline":[
     "@CMAKE_SOURCE_DIR@/test/data/autzen/autzen-utm.las",
     {
-      "type":"filters.programmable",
+      "type":"filters.python",
       "function":"myfunc",
       "module":"derive",
       "source":"import numpy as np\ndef myfunc(ins,outs):\n\tX = ins['Y']\n\tX1 = np.zeros(X.size, dtype=type(X[0])) + 314\n\touts['Y'] = X1\n\treturn True"
diff --git a/test/data/ply/mesh.ply b/test/data/ply/mesh.ply
new file mode 100644
index 0000000..42c921a
--- /dev/null
+++ b/test/data/ply/mesh.ply
@@ -0,0 +1,16 @@
+ply
+format ascii 1.0
+comment Generated by PDAL
+element vertex 4
+property float64 x
+property float64 y
+property float64 z
+element face 2
+property list uint8 uint32 vertex_indices
+end_header
+1 1 0
+2 1 0
+1 2 0
+2 2 2
+3 0 1 2
+3 1 2 3
diff --git a/test/data/sbet/pipeline.json b/test/data/sbet/pipeline.json
new file mode 100644
index 0000000..aedf571
--- /dev/null
+++ b/test/data/sbet/pipeline.json
@@ -0,0 +1,6 @@
+{
+  "pipeline": [
+    "/PDAL/test/data/sbet/2-points.sbet",
+    "/PDAL/test/temp/outfile.txt"
+  ]
+}
diff --git a/test/data/text/numeric_dim.txt b/test/data/text/numeric_dim.txt
new file mode 100644
index 0000000..a2662fd
--- /dev/null
+++ b/test/data/text/numeric_dim.txt
@@ -0,0 +1,6 @@
+X Y Z Eigenvalue0
+1 1 1 25
+2 2 2 30
+3 3 3 35
+4 4 4 40
+5 5 5 45
diff --git a/test/unit/CMakeLists.txt b/test/unit/CMakeLists.txt
index 5c8989c..08ce03d 100644
--- a/test/unit/CMakeLists.txt
+++ b/test/unit/CMakeLists.txt
@@ -83,6 +83,8 @@ PDAL_ADD_TEST(pdal_io_text_writer_test FILES io/TextWriterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_assign_test FILES filters/AssignFilterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_chipper_test FILES filters/ChipperTest.cpp)
 target_include_directories(pdal_filters_chipper_test PRIVATE ${PDAL_JSONCPP_INCLUDE_DIR})
+PDAL_ADD_TEST(pdal_filters_colorinterp_test FILES
+    filters/ColorinterpFilterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_colorization_test FILES
     filters/ColorizationFilterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_computerange_test FILES filters/ComputeRangeFilterTest.cpp)
diff --git a/test/unit/EigenTest.cpp b/test/unit/EigenTest.cpp
index ec8c969..a32455c 100644
--- a/test/unit/EigenTest.cpp
+++ b/test/unit/EigenTest.cpp
@@ -250,3 +250,12 @@ TEST(EigenTest, Morphological)
     EXPECT_EQ(1, Fv[12]);
     EXPECT_EQ(0, Fv2[12]);
 }
+
+TEST(EigenTest, RoundtripString)
+{
+    Eigen::MatrixXd identity = Eigen::MatrixXd::Identity(4, 4);
+    Eigen::MatrixXd target;
+    Utils::fromString(Utils::toString(identity), target);
+    ASSERT_EQ(identity.size(), target.size());
+    EXPECT_EQ(identity, target);
+}
diff --git a/test/unit/MetadataTest.cpp b/test/unit/MetadataTest.cpp
index dd43792..1e269e9 100644
--- a/test/unit/MetadataTest.cpp
+++ b/test/unit/MetadataTest.cpp
@@ -293,3 +293,19 @@ TEST(MetadataTest, test_float)
     n2 = n.add("test2", 1.12345678);
     EXPECT_DOUBLE_EQ(n2.value<double>(), 1.12345678);
 }
+
+// Test that pointers traverse metadata.
+TEST(MetadataTest, pointer)
+{
+    class foo
+    {};
+
+    foo f;
+
+    MetadataNode n("top");
+    MetadataNode n2 = n.add("test", &f);
+
+    std::istringstream iss;
+    foo *f2 = n2.value<foo *>();
+    EXPECT_EQ(f2, &f);
+}
diff --git a/test/unit/OldPCLBlockTest.cpp b/test/unit/OldPCLBlockTest.cpp
index 4a284f2..d5d382b 100644
--- a/test/unit/OldPCLBlockTest.cpp
+++ b/test/unit/OldPCLBlockTest.cpp
@@ -193,7 +193,7 @@ TEST(OldPCLBlockTests, RadiusOutliers2)
     EXPECT_EQ(3u, view->size());
 }
 
-TEST(OldPCLBlockTests, PMF1)
+TEST(OldPCLBlockTests, PMF)
 {
     StageFactory f;
 
@@ -213,102 +213,8 @@ TEST(OldPCLBlockTests, PMF1)
     assign->setInput(*r);
 
     Options fo;
-    fo.add("max_window_size", 200);
-    fo.add("last", false);
-
-    Stage* outlier(f.createStage("filters.pmf"));
-    EXPECT_TRUE(outlier);
-    outlier->setOptions(fo);
-    outlier->setInput(*assign);
-
-    Options rangeOpts;
-    rangeOpts.add("limits", "Classification[2:2]");
-
-    Stage* range(f.createStage("filters.range"));
-    EXPECT_TRUE(range);
-    range->setOptions(rangeOpts);
-    range->setInput(*outlier);
-
-    PointTable table;
-    range->prepare(table);
-    PointViewSet viewSet = range->execute(table);
-
-    EXPECT_EQ(1u, viewSet.size());
-    PointViewPtr view = *viewSet.begin();
-    EXPECT_EQ(93u, view->size());
-}
-
-TEST(OldPCLBlockTests, PMF2)
-{
-    StageFactory f;
-
-    Options ro;
-    ro.add("filename", Support::datapath("autzen/autzen-point-format-3.las"));
-
-    Stage* r(f.createStage("readers.las"));
-    EXPECT_TRUE(r);
-    r->setOptions(ro);
-
-    Options ao;
-    ao.add("assignment", "Classification[:]=0");
-
-    Stage* assign(f.createStage("filters.assign"));
-    EXPECT_TRUE(assign);
-    assign->setOptions(ao);
-    assign->setInput(*r);
-
-    Options fo;
-    fo.add("max_window_size", 200);
-    fo.add("cell_size", 1.0);
-    fo.add("slope", 1.0);
-    fo.add("initial_distance", 0.05);
-    fo.add("max_distance", 3.0);
-    fo.add("last", false);
-
-    Stage* outlier(f.createStage("filters.pmf"));
-    EXPECT_TRUE(outlier);
-    outlier->setOptions(fo);
-    outlier->setInput(*assign);
-
-    Options rangeOpts;
-    rangeOpts.add("limits", "Classification[2:2]");
-
-    Stage* range(f.createStage("filters.range"));
-    EXPECT_TRUE(range);
-    range->setOptions(rangeOpts);
-    range->setInput(*outlier);
-
-    PointTable table;
-    range->prepare(table);
-    PointViewSet viewSet = range->execute(table);
-
-    EXPECT_EQ(1u, viewSet.size());
-    PointViewPtr view = *viewSet.begin();
-    EXPECT_EQ(94u, view->size());
-}
-
-TEST(OldPCLBlockTests, PMF3)
-{
-    StageFactory f;
-
-    Options ro;
-    ro.add("filename", Support::datapath("autzen/autzen-point-format-3.las"));
-
-    Stage* r(f.createStage("readers.las"));
-    EXPECT_TRUE(r);
-    r->setOptions(ro);
-
-    Options ao;
-    ao.add("assignment", "Classification[:]=0");
-
-    Stage* assign(f.createStage("filters.assign"));
-    EXPECT_TRUE(assign);
-    assign->setOptions(ao);
-    assign->setInput(*r);
-
-    Options fo;
-    fo.add("max_window_size", 33);
-    fo.add("cell_size", 1.0);
+    fo.add("max_window_size", 33.0);
+    fo.add("cell_size", 10.0);
     fo.add("slope", 1.0);
     fo.add("initial_distance", 0.15);
     fo.add("max_distance", 2.5);
@@ -333,40 +239,5 @@ TEST(OldPCLBlockTests, PMF3)
 
     EXPECT_EQ(1u, viewSet.size());
     PointViewPtr view = *viewSet.begin();
-    EXPECT_EQ(106u, view->size());
-}
-
-/*
-// Test these with "autzen/autzen-thin.las"
-TEST(PCLBlockFilterTest, PCLBlockFilterTest_filter_PMF)
-{
-#if RUN_SLOW_TESTS
-    // explicitly with all defaults
-    test_filter("filters/pcl/filter_PMF_1.json", 9223, true);
-
-    // with CellSize=3
-    test_filter("filters/pcl/filter_PMF_2.json", 8298, true);
-
-    // with WindowSize=50
-    test_filter("filters/pcl/filter_PMF_3.json", 7970, true);
-
-    // with Slope=0.25
-    test_filter("filters/pcl/filter_PMF_4.json", 9206, true);
-
-    // with MaxDistance=5
-    test_filter("filters/pcl/filter_PMF_5.json", 9373, true);
-
-    // with InitialDistance=0.25
-    test_filter("filters/pcl/filter_PMF_6.json", 9229, true);
-
-    // with Base=3
-    test_filter("filters/pcl/filter_PMF_7.json", 8298, true);
-
-    // with Exponential=false
-    test_filter("filters/pcl/filter_PMF_8.json", 9138, true);
-
-    // with Negative=true
-    test_filter("filters/pcl/filter_PMF_9.json", 1430, true);
-#endif
+    EXPECT_EQ(79u, view->size());
 }
-*/
diff --git a/test/unit/PointViewTest.cpp b/test/unit/PointViewTest.cpp
index 16b9359..f9b9eb8 100644
--- a/test/unit/PointViewTest.cpp
+++ b/test/unit/PointViewTest.cpp
@@ -161,58 +161,6 @@ TEST(PointViewTest, getFloat)
 }
 
 
-TEST(PointViewTest, copy)
-{
-    PointTable table;
-    PointViewPtr view = makeTestView(table);
-
-    PointView d2(*view);
-
-    // read the view back out
-    {
-        EXPECT_EQ(
-            d2.getFieldAs<uint8_t>(Dimension::Id::Classification, 0),
-            view->getFieldAs<uint8_t>(Dimension::Id::Classification, 0));
-        EXPECT_EQ(d2.getFieldAs<int32_t>(Dimension::Id::X, 0),
-            view->getFieldAs<int32_t>(Dimension::Id::X, 0));
-        EXPECT_FLOAT_EQ(d2.getFieldAs<double>(Dimension::Id::Y, 0),
-            view->getFieldAs<double>(Dimension::Id::Y, 0));
-    }
-
-    for (int i = 1; i < 17; i++)
-    {
-        uint8_t x = d2.getFieldAs<uint8_t>(Dimension::Id::Classification, i);
-        int32_t y = d2.getFieldAs<int32_t>(Dimension::Id::X, i);
-        double z = d2.getFieldAs<double>(Dimension::Id::Y, i);
-
-        EXPECT_EQ(x, i + 1u);
-        EXPECT_EQ(y, i * 10);
-        EXPECT_TRUE(Utils::compare_approx(z, i * 100.0,
-            (std::numeric_limits<double>::min)()));
-    }
-    EXPECT_EQ(view->size(), d2.size());
-
-}
-
-TEST(PointViewTest, copyCtor)
-{
-    PointTable table;
-    PointViewPtr view = makeTestView(table);
-
-    PointView d2(*view);
-    verifyTestView(d2);
-}
-
-TEST(PointViewTest, assignment)
-{
-    PointTable table;
-    PointViewPtr view = makeTestView(table);
-
-    PointView d2 = *view;
-    verifyTestView(d2);
-}
-
-
 TEST(PointViewTest, bigfile)
 {
     PointTable table;
@@ -280,68 +228,6 @@ TEST(PointViewTest, bigfile)
 }
 
 
-//ABELL - Move to KdIndex
-/**
-TEST(PointViewTest, kdindex)
-{
-    LasReader reader(Support::viewpath("1.2-with-color.las"));
-    reader.prepare();
-
-    const Schema& schema = reader.getSchema();
-    uint32_t capacity(1000);
-    PointView view(schema, capacity);
-
-    StageSequentialIterator* iter = reader.createSequentialIterator(view);
-
-    {
-        uint32_t numRead = iter->read(view);
-        EXPECT_EQ(numRead, capacity);
-    }
-
-    EXPECT_EQ(view.getCapacity(), capacity);
-    EXPECT_EQ(view.getSchema(), schema);
-
-
-    IndexedPointView iview(view);
-    EXPECT_EQ(iview.getCapacity(), capacity);
-    EXPECT_EQ(iview.getSchema(), schema);
-
-    iview.build();
-
-    unsigned k = 8;
-
-    // If the query distance is 0, just return the k nearest neighbors
-    std::vector<size_t> ids = idata.neighbors(636199, 849238, 428.05, k);
-    EXPECT_EQ(ids.size(), k);
-    EXPECT_EQ(ids[0], 8u);
-    EXPECT_EQ(ids[1], 7u);
-    EXPECT_EQ(ids[2], 9u);
-    EXPECT_EQ(ids[3], 42u);
-    EXPECT_EQ(ids[4], 40u);
-
-    std::vector<size_t> dist_ids = idata.neighbors(636199, 849238, 428.05, 3);
-
-    EXPECT_EQ(dist_ids.size(), 3u);
-    EXPECT_EQ(dist_ids[0], 8u);
-
-    std::vector<size_t> nids = idata.neighbors(636199, 849238, 428.05, k);
-
-    EXPECT_EQ(nids.size(), k);
-    EXPECT_EQ(nids[0], 8u);
-    EXPECT_EQ(nids[1], 7u);
-    EXPECT_EQ(nids[2], 9u);
-    EXPECT_EQ(nids[3], 42u);
-    EXPECT_EQ(nids[4], 40u);
-
-    std::vector<size_t> rids = iview.radius(637012.24, 849028.31,
-        431.66, 100000);
-    EXPECT_EQ(rids.size(), 11u);
-
-    delete iter;
-}
-**/
-
-
 static void check_bounds(const BOX3D& box,
                          double minx, double maxx,
                          double miny, double maxy,
diff --git a/test/unit/ProgramArgsTest.cpp b/test/unit/ProgramArgsTest.cpp
index 6ca8fbb..4800db6 100644
--- a/test/unit/ProgramArgsTest.cpp
+++ b/test/unit/ProgramArgsTest.cpp
@@ -228,6 +228,23 @@ TEST(ProgramArgsTest, t4)
     HANDLE_EXCEPTION(args.add("", "Foo description", m_foo, "foo"));
 }
 
+TEST(ProgramArgsTest, synonym)
+{
+    ProgramArgs args;
+
+    std::string m_foo;
+
+    args.add("foo,f", "Foo description", m_foo, "foo");
+    args.addSynonym("foo", "bar");
+    StringList s = toStringList("--bar");
+    EXPECT_THROW(args.parse(s), arg_error);
+
+    s = toStringList("--bar=TestFoo");
+    args.reset();
+    args.parse(s);
+    EXPECT_EQ(m_foo, "TestFoo");
+}
+
 TEST(ProgramArgsTest, positional)
 {
     ProgramArgs args;
diff --git a/test/unit/TestConfig.hpp b/test/unit/TestConfig.hpp
new file mode 100644
index 0000000..72e0d95
--- /dev/null
+++ b/test/unit/TestConfig.hpp
@@ -0,0 +1,62 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#ifndef UNITTEST_TESTCONFIG_INCLUDED
+#define UNITTEST_TESTCONFIG_INCLUDED
+
+#define UNITTEST_TESTCONFIG_DATA_PATH "/PDAL/test/data/"
+#define UNITTEST_TESTCONFIG_CONFIGURED_PATH "/PDAL/test/data/"
+#define UNITTEST_TESTCONFIG_BINARY_PATH "/PDAL/bin/"
+#define UNITTEST_TESTCONFIG_OCI_CONNECTION ""
+
+#include <string>
+
+namespace TestConfig 
+{
+
+inline std::string dataPath()
+    { return UNITTEST_TESTCONFIG_DATA_PATH; }
+
+inline std::string configuredPath()
+    { return UNITTEST_TESTCONFIG_CONFIGURED_PATH; }
+
+inline std::string binaryPath()
+    { return UNITTEST_TESTCONFIG_BINARY_PATH; }
+
+inline std::string oracleConnection()
+    { return UNITTEST_TESTCONFIG_OCI_CONNECTION; }
+
+}
+
+#endif
diff --git a/test/unit/UtilsTest.cpp b/test/unit/UtilsTest.cpp
index 611e33d..676663d 100644
--- a/test/unit/UtilsTest.cpp
+++ b/test/unit/UtilsTest.cpp
@@ -379,3 +379,46 @@ TEST(UtilsTest, wordWrap2)
     EXPECT_EQ(output[1], std::string(10, ' '));
     EXPECT_EQ(output[2], std::string(8, ' '));
 }
+
+TEST(UtilsTest, simpleWordexpTest)
+{
+    std::string s;
+    std::vector<std::string> output;
+
+    s = "fo\"o\\n= \"b\\\"   ar\" \"b";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 2u);
+    EXPECT_EQ(output[0], "foo\\n= b\"");
+    EXPECT_EQ(output[1], "ar b");
+
+    s = "\"\\ \\ \"";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 1u);
+    EXPECT_EQ(output[0], "\\ \\ ");
+
+    s = "\\g";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 1u);
+    EXPECT_EQ(output[0], "g");
+
+    s = "foo= \"b\\\" ar\"";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 2u);
+    EXPECT_EQ(output[0], "foo=");
+    EXPECT_EQ(output[1], "b\" ar");
+
+    s = "fo\"o= \"b\\\"   ar\"\"";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 2u);
+    EXPECT_EQ(output[0], "foo= b\"");
+    EXPECT_EQ(output[1], "ar");
+
+    s = "a b   c   def \"ghi jkl\"";
+    output = Utils::simpleWordexp(s);
+    EXPECT_EQ(output.size(), 5u);
+    EXPECT_EQ(output[0], "a");
+    EXPECT_EQ(output[1], "b");
+    EXPECT_EQ(output[2], "c");
+    EXPECT_EQ(output[3], "def");
+    EXPECT_EQ(output[4], "ghi jkl");
+}
diff --git a/test/unit/apps/pc2pcTest.cpp b/test/unit/apps/pc2pcTest.cpp
index c74a61b..fd6ac16 100644
--- a/test/unit/apps/pc2pcTest.cpp
+++ b/test/unit/apps/pc2pcTest.cpp
@@ -85,7 +85,8 @@ static bool fileIsOkay(const std::string& name)
 {
     if (!FileUtils::fileExists(name))
         return false;
-    if (FileUtils::fileSize(name) < 1000)
+    // 375 is the size of the LAS header.
+    if (FileUtils::fileSize(name) < 375)
         return false;
     return true;
 }
diff --git a/test/unit/apps/pcinfoTest.cpp b/test/unit/apps/pcinfoTest.cpp
deleted file mode 100644
index 1a5a050..0000000
--- a/test/unit/apps/pcinfoTest.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-/******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
-*
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following
-* conditions are met:
-*
-*     * Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*     * Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in
-*       the documentation and/or other materials provided
-*       with the distribution.
-*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
-*       names of its contributors may be used to endorse or promote
-*       products derived from this software without specific prior
-*       written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
-* OF SUCH DAMAGE.
-****************************************************************************/
-
-#include "UnitTest.hpp"
-
-#include <pdal/util/FileUtils.hpp>
-#include "Support.hpp"
-
-#include <iostream>
-#include <sstream>
-#include <string>
-
-BOOST_AUTO_TEST_SUITE(pdalinfoTest)
-
-using namespace pdal;
-
-static std::string appName()
-{
-    const std::string app = Support::binpath(Support::exename("pdal info"));
-    return app;
-}
-
-BOOST_AUTO_TEST_CASE(pdalinfoTest_no_input)
-{
-    const std::string cmd = appName();
-
-    std::string output;
-    int stat = pdal::Utils::run_shell_command(cmd, output);
-    BOOST_CHECK_EQUAL(stat, 1);
-
-    const std::string expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-}
-
-BOOST_AUTO_TEST_CASE(test_pipe_file_input)
-{
-    std::string output;
-    std::string outfile = Support::temppath("schemaout.txt");
-    std::string cmd = appName() + " " +
-        Support::datapath("pipeline/pipeline_read.xml") + " --schema > " +
-        outfile;
-
-    int stat = Utils::run_shell_command(cmd, output);
-    BOOST_CHECK_EQUAL(stat, 0);
-    cmd = "grep -c readers.las.X " + outfile;
-    stat = Utils::run_shell_command(cmd, output);
-    BOOST_CHECK_EQUAL(stat, 0);
-    // Strip off newline
-    output = output.substr(0, output.size() - 1);
-    BOOST_CHECK_EQUAL(output, "2");
-    FileUtils::deleteFile(outfile);
-}
-
-BOOST_AUTO_TEST_CASE(pdalinfo_test_common_opts)
-{
-    const std::string cmd = appName();
-
-    std::string output;
-    int stat = pdal::Utils::run_shell_command(cmd + " -h", output);
-    BOOST_CHECK_EQUAL(stat, 0);
-
-    stat = pdal::Utils::run_shell_command(cmd + " --version", output);
-    BOOST_CHECK_EQUAL(stat, 0);
-}
-
-
-BOOST_AUTO_TEST_CASE(pdalinfo_test_switches)
-{
-    const std::string cmd = appName();
-
-    std::string inputLas = Support::datapath("apps/simple.las");
-    std::string inputLaz = Support::datapath("apps/simple.laz");
-
-    std::string output;
-    std::string expected;
-
-    int stat = 0;
-
-    // does the default work?
-    stat = pdal::Utils::run_shell_command(cmd + " " + inputLas, output);
-    BOOST_CHECK_EQUAL(stat, 1);
-    expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-
-    // does --input work?
-    stat = pdal::Utils::run_shell_command(cmd + " --input=" + inputLas, output);
-    BOOST_CHECK_EQUAL(stat, 1);
-    expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-
-    // does -i work?
-    stat = pdal::Utils::run_shell_command(cmd + " -i " + inputLas, output);
-    BOOST_CHECK_EQUAL(stat, 1);
-    expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-
-#ifdef PDAL_HAVE_LASZIP
-    // does it work for .laz?
-    stat = pdal::Utils::run_shell_command(cmd + " " + inputLaz, output);
-    BOOST_CHECK_EQUAL(stat, 1);
-    expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-#endif
-
-    // does -s work?
-    stat = pdal::Utils::run_shell_command(cmd + " -s", output);
-    BOOST_CHECK_EQUAL(stat, 1);
-    expected = "Usage error: no action option specified";
-    BOOST_CHECK_EQUAL(output.substr(0, expected.length()), expected);
-}
-
-
-BOOST_AUTO_TEST_CASE(pdalinfo_test_dumps)
-{
-    const std::string cmd = appName();
-
-    const std::string inputLas = Support::datapath("apps/simple.las");
-    const std::string inputLaz = Support::datapath("apps/simple.laz");
-    bool were_equal(false);
-    std::string output;
-
-    int stat = 0;
-
-    std::ostringstream command;
-
-    // dump a single point to json
-
-    std::string pt_test = Support::temppath("pdalinfo_point.txt");
-    command << cmd + " --point=1 " + inputLas + " > " + pt_test;
-    stat = pdal::Utils::run_shell_command(command.str(), output);
-    BOOST_CHECK_EQUAL(stat, 0);
-    were_equal = Support::compare_text_files(pt_test, Support::datapath("apps/pdalinfo_point.txt"));
-    BOOST_CHECK(were_equal);
-    if (were_equal)
-        pdal::FileUtils::deleteFile(pt_test);
-    else
-        std::cout << command.str() << std::endl;
-
-    // dump summary of all points to json
-    command.str("");
-
-    std::string stats_test = Support::temppath("pdalinfo_stats.txt");
-    command << cmd + " --stats " + inputLas + " --seed 1234 --sample" +" > " + stats_test; 
-    stat = pdal::Utils::run_shell_command(command.str(), output);
-    BOOST_CHECK_EQUAL(stat, 0);
-#if defined(_WIN32)
-    were_equal = Support::compare_text_files(stats_test, Support::datapath("apps/pdalinfo_stats-win32.txt"));
-#else
-    were_equal = Support::compare_text_files(stats_test, Support::datapath("apps/pdalinfo_stats.txt"));
-#endif
-    BOOST_CHECK(were_equal);
-    if (were_equal)
-        pdal::FileUtils::deleteFile(stats_test);
-    else
-        std::cout << command.str() << std::endl;
-
-    // dump schema to json
-    command.str("");
-
-    std::string schema_test = Support::temppath("pdalinfo_schema.txt");
-    command << cmd + " --schema " + inputLas +" > " + schema_test;
-    stat = pdal::Utils::run_shell_command(command.str(), output);
-    BOOST_CHECK_EQUAL(stat, 0);
-    were_equal = Support::compare_text_files(schema_test, Support::datapath("apps/pdalinfo_schema.txt"));
-    BOOST_CHECK(were_equal);
-    if (were_equal)
-        pdal::FileUtils::deleteFile(schema_test);
-    else
-        std::cout << command.str() << std::endl;
-
-    // dump stage info to json
-    command.str("");
-
-//     std::string stage_test = Support::temppath("pdalinfo_stage.txt");
-//     command << cmd + " --stage " + inputLas +" > " + stage_test;
-//     stat = pdal::Utils::run_shell_command(command.str(), output);
-//     BOOST_CHECK_EQUAL(stat, 0);
-// 
-//     unsigned int check = Support::diff_text_files(stage_test, Support::datapath("apps/pdalinfo_stage.txt"), 15);
-//     BOOST_CHECK_EQUAL(check, 0u);
-//
-//     if (check == 0u)
-//         pdal::FileUtils::deleteFile(stage_test);
-//     else
-//         std::cout << command.str() << std::endl;
-}
-
-
-BOOST_AUTO_TEST_SUITE_END()
diff --git a/test/unit/apps/pcpipelineTestJSON.cpp b/test/unit/apps/pcpipelineTestJSON.cpp
index 4e1b933..facd08a 100644
--- a/test/unit/apps/pcpipelineTestJSON.cpp
+++ b/test/unit/apps/pcpipelineTestJSON.cpp
@@ -195,8 +195,10 @@ INSTANTIATE_TEST_CASE_P(plugins, jsonWithNITF,
                         testing::Values(
                             "pipeline/bpf2nitf.json",
                             "pipeline/las2nitf.json",
-                            "pipeline/las2nitf-2.json",
                             "pipeline/las2nitf-crop-with-options.json",
+#if defined PDAL_HAVE_LASZIP || defined PDAL_HAVE_LAZPERF
+                            "pipeline/las2nitf-2.json",
+#endif
                             "pipeline/nitf2las.json"
                         ));
 
diff --git a/test/unit/filters/ColorinterpFilterTest.cpp b/test/unit/filters/ColorinterpFilterTest.cpp
new file mode 100644
index 0000000..e3c6d98
--- /dev/null
+++ b/test/unit/filters/ColorinterpFilterTest.cpp
@@ -0,0 +1,295 @@
+/******************************************************************************
+* Copyright (c) 2011, Michael P. Gerlek (mpg at flaxen.com)
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following
+* conditions are met:
+*
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in
+*       the documentation and/or other materials provided
+*       with the distribution.
+*     * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
+*       names of its contributors may be used to endorse or promote
+*       products derived from this software without specific prior
+*       written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+* OF SUCH DAMAGE.
+****************************************************************************/
+
+#include <pdal/pdal_test_main.hpp>
+
+#include <io/FauxReader.hpp>
+#include <filters/ColorinterpFilter.hpp>
+#include <filters/StreamCallbackFilter.hpp>
+
+#include "Support.hpp"
+
+using namespace pdal;
+
+namespace
+{
+
+std::string makeColor()
+{
+    // Red is specified.  Green and blue are 0.
+    static uint8_t rgb[12] = { 1, 2, 3, 4 };
+
+    std::ostringstream ss;
+    ss << "MEM:::PIXELS=4,LINES=1,BANDS=3,DATAPOINTER=" << &rgb;
+    return ss.str();
+}
+
+} // unnamed namespace
+
+
+TEST(ColorinterpFilterTest, minmax)
+{
+    FauxReader f;
+    Options options;
+
+    options.add("count", 100);
+    options.add("mode", "ramp");
+    options.add("bounds", "([0,99],[0,99],[0,99])");
+
+    f.setOptions(options);
+
+    ColorinterpFilter c;
+    Options coptions;
+
+    coptions.add("minimum", 0);
+    coptions.add("maximum", 99);
+    coptions.add("ramp", makeColor());
+
+    c.setOptions(coptions);
+
+    StreamCallbackFilter s;
+
+    c.setInput(f);
+    s.setInput(c);
+
+    auto cb  = [](PointRef& point)
+    {
+        int z = point.getFieldAs<int>(Dimension::Id::Z);
+        int r = point.getFieldAs<int>(Dimension::Id::Red);
+        int g = point.getFieldAs<int>(Dimension::Id::Green);
+        int b = point.getFieldAs<int>(Dimension::Id::Blue);
+
+        if (z != 99)
+            EXPECT_EQ((int)(z / 25) + 1, r);
+        if (z == 99)
+            EXPECT_EQ(0, r);
+        EXPECT_EQ(0, g);
+        EXPECT_EQ(0, b);
+
+        return true;
+    };
+
+    s.setCallback(cb);
+
+    FixedPointTable t(10);
+    s.prepare(t);
+    s.execute(t);
+
+    PointTable t2;
+
+    s.prepare(t2);
+    s.execute(t2);
+}
+
+TEST(ColorinterpFilterTest, missingz)
+{
+    ColorinterpFilter c;
+    Options coptions;
+
+    coptions.add("minimum", 0);
+    coptions.add("maximum", 0);
+    coptions.add("ramp", makeColor());
+    c.setOptions(coptions);
+
+    PointTable t;
+    EXPECT_THROW(c.prepare(t), pdal_error);
+}
+
+TEST(ColorinterpFilterTest, badramp)
+{
+    FauxReader f;
+    Options options;
+
+    options.add("count", 100);
+    options.add("mode", "ramp");
+    options.add("bounds", "([0,99],[0,99],[0,99])");
+
+    f.setOptions(options);
+
+    ColorinterpFilter c;
+    Options coptions;
+
+    coptions.add("minimum", 0);
+    coptions.add("maximum", 100);
+    coptions.add("ramp", "ramp_that_doesnt_exist");
+    c.setOptions(coptions);
+    c.setInput(f);
+
+    PointTable t;
+    c.prepare(t);
+    EXPECT_THROW(c.execute(t), pdal_error);
+}
+
+TEST(ColorinterpFilterTest, cantstream)
+{
+    FauxReader f;
+    Options options;
+
+    options.add("count", 100);
+    options.add("mode", "ramp");
+    options.add("bounds", "([0,99],[0,99],[0,99])");
+    f.setOptions(options);
+
+    ColorinterpFilter c;
+    Options coptions;
+
+    coptions.add("minimum", 0);
+    coptions.add("ramp", makeColor());
+    c.setOptions(coptions);
+    c.setInput(f);
+
+    FixedPointTable t(10);
+    c.prepare(t);
+    EXPECT_THROW(c.execute(t), pdal_error);
+}
+
+namespace
+{
+
+void standardTest(Options& coptions, std::function<bool(int, int)> test)
+{
+    FauxReader f;
+    Options options;
+
+    options.add("count", 100);
+    options.add("mode", "ramp");
+    options.add("bounds", "([0,99],[0,99],[0,99])");
+
+    f.setOptions(options);
+
+    ColorinterpFilter c;
+
+    c.setOptions(coptions);
+
+    StreamCallbackFilter s;
+
+    c.setInput(f);
+    s.setInput(c);
+
+    auto cb  = [test](PointRef& point)
+    {
+        int z = point.getFieldAs<int>(Dimension::Id::Z);
+        int r = point.getFieldAs<int>(Dimension::Id::Red);
+        int g = point.getFieldAs<int>(Dimension::Id::Green);
+        int b = point.getFieldAs<int>(Dimension::Id::Blue);
+
+        EXPECT_TRUE(test(z, r));
+        EXPECT_EQ(0, g);
+        EXPECT_EQ(0, b);
+        return true;
+    };
+
+    s.setCallback(cb);
+
+    PointTable t;
+
+    s.prepare(t);
+    s.execute(t);
+
+}
+
+} // unnamed namespace
+
+TEST(ColorinterpFilterTest, autorange)
+{
+    Options coptions;
+
+    coptions.add("ramp", makeColor());
+
+    auto test = [](int z, int r)
+    {
+        if (z < 99)
+            return ((int)(z / 25) + 1 == r);
+        else if (z == 99 && r == 0)
+            return true;
+        return false;
+    };
+
+    standardTest(coptions, test);
+}
+
+TEST(ColorinterpFilterTest, k)
+{
+    Options coptions;
+
+    coptions.add("ramp", makeColor());
+    coptions.add("k", 1);
+
+    auto test = [](int z, int r)
+    {
+        if (z < 21 && r == 0)
+            return true;
+        if (z < 36 && r == 1)
+            return true;
+        if (z < 51 && r == 2)
+            return true;
+        if (z < 65 && r == 3)
+            return true;
+        if (z < 80 && r == 4)
+            return true;
+        if (z >= 80 && r == 0)
+            return true;
+        return false;
+    };
+
+    standardTest(coptions, test);
+}
+
+TEST(ColorinterpFilterTest, mad)
+{
+    Options coptions;
+
+    coptions.add("ramp", makeColor());
+    coptions.add("mad", "true");
+    coptions.add("k", 1);
+
+    auto test = [](int z, int r)
+    {
+        if (z < 13 && r == 0)
+            return true;
+        if (z < 32 && r == 1)
+            return true;
+        if (z < 50 && r == 2)
+            return true;
+        if (z < 69 && r == 3)
+            return true;
+        else if (z < 88 && r == 4)
+            return true;
+        else if (z >= 88 && r == 0)
+            return true;
+        return false;
+    };
+    standardTest(coptions, test);
+}
+
diff --git a/test/unit/filters/FerryFilterTest.cpp b/test/unit/filters/FerryFilterTest.cpp
index d6c53c2..67d77bd 100644
--- a/test/unit/filters/FerryFilterTest.cpp
+++ b/test/unit/filters/FerryFilterTest.cpp
@@ -174,4 +174,12 @@ TEST(FerryFilterTest, test_ferry_invalid)
 
     // Make sure we reject bad option format.
     EXPECT_THROW(f4.prepare(table), pdal_error);
+
+    Options op5;
+    op5.add("dimensions", "=Foobar");
+    FerryFilter f5;
+    f5.setInput(reader);
+    f5.setOptions(op5);
+    f5.prepare(table);
+    EXPECT_TRUE(table.layout()->findDim("Foobar") != Dimension::Id::Unknown);
 }
diff --git a/test/unit/filters/RangeFilterTest.cpp b/test/unit/filters/RangeFilterTest.cpp
index 38aef6f..0f7cf3e 100644
--- a/test/unit/filters/RangeFilterTest.cpp
+++ b/test/unit/filters/RangeFilterTest.cpp
@@ -37,9 +37,12 @@
 #include <pdal/PointView.hpp>
 #include <pdal/StageFactory.hpp>
 #include <io/FauxReader.hpp>
+#include <io/TextReader.hpp>
 #include <filters/RangeFilter.hpp>
 #include <filters/StreamCallbackFilter.hpp>
 
+#include "Support.hpp"
+
 using namespace pdal;
 
 TEST(RangeFilterTest, createStage)
@@ -355,6 +358,31 @@ TEST(RangeFilterTest, simple_logic)
     EXPECT_EQ(view->getFieldAs<int>(Dimension::Id::X, 4), 9);
 }
 
+// Make sure that dimension names containing digits works
+TEST(RangeFilterTest, case_1659)
+{
+    TextReader reader;
+
+    Options ops;
+    ops.add("filename", Support::datapath("text/numeric_dim.txt"));
+    reader.setOptions(ops);
+
+    Options rangeOps;
+    rangeOps.add("limits", "Eigenvalue0[:35]");
+
+    RangeFilter filter;
+    filter.setOptions(rangeOps);
+    filter.setInput(reader);
+
+    PointTable table;
+    filter.prepare(table);
+    PointViewSet viewSet = filter.execute(table);
+    PointViewPtr view = *viewSet.begin();
+
+    EXPECT_EQ(1u, viewSet.size());
+    EXPECT_EQ(3u, view->size());
+}
+
 TEST(RangeFilterTest, stream_logic)
 {
     Options ops;
diff --git a/test/unit/filters/SplitterTest.cpp b/test/unit/filters/SplitterTest.cpp
index 6177093..9bc7c5e 100644
--- a/test/unit/filters/SplitterTest.cpp
+++ b/test/unit/filters/SplitterTest.cpp
@@ -113,3 +113,67 @@ TEST(SplitterTest, test_tile_filter)
         EXPECT_EQ(view->size(), counts[i]);
     }
 }
+
+TEST(SplitterTest, test_buffer)
+{
+    Options readerOptions;
+    readerOptions.add("filename", Support::datapath("las/1.2-with-color.las"));
+    LasReader reader;
+    reader.setOptions(readerOptions);
+
+    Options splitterOptions;
+    splitterOptions.add("length", 1000);
+    splitterOptions.add("buffer", 20);
+
+    SplitterFilter splitter;
+    splitter.setOptions(splitterOptions);
+    splitter.setInput(reader);
+
+    PointTable table;
+    PointViewPtr view(new PointView(table));
+    splitter.prepare(table);
+
+    StageWrapper::ready(reader, table);
+    PointViewSet viewSet = StageWrapper::run(reader, view);
+    StageWrapper::done(reader, table);
+    ASSERT_EQ(viewSet.size(), 1u);
+    view = *viewSet.begin();
+
+    StageWrapper::ready(splitter, table);
+    viewSet = StageWrapper::run(splitter, view);
+    StageWrapper::done(splitter, table);
+
+    std::vector<PointViewPtr> views;
+    std::map<PointViewPtr, BOX2D> bounds;
+
+    for (auto it = viewSet.begin(); it != viewSet.end(); ++it)
+    {
+        BOX2D b;
+        PointViewPtr v = *it;
+        v->calculateBounds(b);
+        EXPECT_TRUE(b.maxx - b.minx <= 1040);    
+        EXPECT_TRUE(b.maxy - b.miny <= 1040);
+        bounds[v] = b;
+        views.push_back(v);
+    }
+
+    auto sorter = [&bounds](PointViewPtr p1, PointViewPtr p2)
+    {
+        BOX2D b1 = bounds[p1];
+        BOX2D b2 = bounds[p2];
+
+        return b1.minx < b2.minx ?  true :
+            b1.minx > b2.minx ? false :
+            b1.miny < b2.miny;
+    };
+    std::sort(views.begin(), views.end(), sorter);
+
+    EXPECT_EQ(views.size(), 24u);
+    size_t counts[] = {26, 26, 3, 28, 27, 13, 65, 80, 47, 80, 89, 12, 94,
+        77, 5, 79, 65, 34, 63, 67, 74, 69, 36, 5};
+    for (size_t i = 0; i < views.size(); ++i)
+    {
+        PointViewPtr view = views[i];
+        EXPECT_EQ(view->size(), counts[i]);
+    }
+}
diff --git a/test/unit/io/GDALWriterTest.cpp b/test/unit/io/GDALWriterTest.cpp
index fc19788..86bd251 100644
--- a/test/unit/io/GDALWriterTest.cpp
+++ b/test/unit/io/GDALWriterTest.cpp
@@ -88,11 +88,10 @@ void runGdalWriter(const Options& wo, const std::string& outfile,
     {
         throw pdal_error(raster.errorMsg());
     }
-    std::vector<uint8_t> data;
+    std::vector<double> data;
     raster.readBand(data, 1);
-    double *d = reinterpret_cast<double *>(data.data());
     for (size_t i = 0; i < arr.size(); ++i)
-        EXPECT_NEAR(arr[i], *d++, .001);
+        EXPECT_NEAR(arr[i], data[i], .001);
 }
 
 void runGdalWriter2(const Options& wo, const std::string& outfile,
@@ -152,11 +151,10 @@ void runGdalWriter2(const Options& wo, const std::string& outfile,
     {
         throw pdal_error(raster.errorMsg());
     }
-    std::vector<uint8_t> data;
+    std::vector<double> data;
     raster.readBand(data, 1);
-    double *d = reinterpret_cast<double *>(data.data());
     for (size_t i = 0; i < arr.size(); ++i)
-        EXPECT_NEAR(arr[i], *d++, .001);
+        EXPECT_NEAR(arr[i], data[i], .001);
 }
 
 }
@@ -175,8 +173,8 @@ TEST(GDALWriterTest, min)
     const std::string output =
         "5.000 -9999.000     7.000     8.000     8.900 "
         "4.000 -9999.000     6.000     7.000     8.000 "
-        "3.000     4.000     5.000     5.500     6.500 "
-        "2.000     3.000     4.000     4.500     5.500 "
+        "3.000     4.000     5.000     5.400     6.400 "
+        "2.000     3.000     4.000     4.400     5.400 "
         "1.000     2.000     3.000     4.000     5.000 ";
 
     runGdalWriter(wo, outfile, output);
@@ -201,8 +199,8 @@ TEST(GDALWriterTest, min2)
         "-9999.000 -9999.00 -9999.00 -9999.00 -9999.00 -9999.00 -9999.00 "
         "-9999.000 -9999.00     5.00 -9999.00     7.00     8.00     8.90 "
         "-9999.000 -9999.00     4.00 -9999.00     6.00     7.00     8.00 "
-        "-9999.000 -9999.00     3.00     4.00     5.00     5.50     6.50 "
-        "-9999.000 -9999.00     2.00     3.00     4.00     4.50     5.50 "
+        "-9999.000 -9999.00     3.00     4.00     5.00     5.40     6.40 "
+        "-9999.000 -9999.00     2.00     3.00     4.00     4.40     5.40 "
         "-9999.000 -9999.00     1.00     2.00     3.00     4.00     5.00 "
         "   -1.000    -1.00 -9999.00 -9999.00 -9999.00 -9999.00 -9999.00 "
         "   -1.000    -1.00 -9999.00 -9999.00 -9999.00 -9999.00 -9999.00";
@@ -225,10 +223,10 @@ TEST(GDALWriterTest, minWindow)
     wo.add("window_size", 2);
 
     const std::string output =
-        "5.000     5.464     7.000     8.000     8.900 "
-        "4.000     4.857     6.000     7.000     8.000 "
-        "3.000     4.000     5.000     5.500     6.500 "
-        "2.000     3.000     4.000     4.500     5.500 "
+        "5.000     5.457     7.000     8.000     8.900 "
+        "4.000     4.848     6.000     7.000     8.000 "
+        "3.000     4.000     5.000     5.400     6.400 "
+        "2.000     3.000     4.000     4.400     5.400 "
         "1.000     2.000     3.000     4.000     5.000 ";
 
     runGdalWriter(wo, outfile, output);
@@ -249,8 +247,8 @@ TEST(GDALWriterTest, max)
         "5.000 -9999.000     7.000     8.000     9.100 "
         "4.000 -9999.000     6.000     7.000     8.000 "
         "3.000     4.000     5.000     6.000     7.000 "
-        "2.000     3.000     4.000     5.500     6.500 "
-        "1.000     2.000     3.000     4.500     5.500 ";
+        "2.000     3.000     4.000     5.400     6.400 "
+        "1.000     2.000     3.000     4.400     5.400 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -269,10 +267,10 @@ TEST(GDALWriterTest, maxWindow)
 
     const std::string output =
         "5.000     5.500     7.000     8.000     9.100 "
-        "4.000     4.929     6.000     7.000     8.000 "
+        "4.000     4.924     6.000     7.000     8.000 "
         "3.000     4.000     5.000     6.000     7.000 "
-        "2.000     3.000     4.000     5.500     6.500 "
-        "1.000     2.000     3.000     4.500     5.500 ";
+        "2.000     3.000     4.000     5.400     6.400 "
+        "1.000     2.000     3.000     4.400     5.400 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -291,9 +289,9 @@ TEST(GDALWriterTest, mean)
     const std::string output =
         "5.000 -9999.000     7.000     8.000     8.967 "
         "4.000 -9999.000     6.000     7.000     8.000 "
-        "3.000     4.000     5.000     5.750     6.750 "
-        "2.000     3.000     4.000     4.875     5.875 "
-        "1.000     2.000     3.000     4.250     5.250 ";
+        "3.000     4.000     5.000     5.700     6.700 "
+        "2.000     3.000     4.000     4.800     5.800 "
+        "1.000     2.000     3.000     4.200     5.200 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -311,11 +309,11 @@ TEST(GDALWriterTest, meanWindow)
     wo.add("window_size", 2);
 
     const std::string output =
-        "5.000     5.482     7.000     8.000     8.967 "
-        "4.000     4.887     6.000     7.000     8.000 "
-        "3.000     4.000     5.000     5.750     6.750 "
-        "2.000     3.000     4.000     4.875     5.875 "
-        "1.000     2.000     3.000     4.250     5.250 ";
+        "5.000     5.478     7.000     8.000     8.967 "
+        "4.000     4.881     6.000     7.000     8.000 "
+        "3.000     4.000     5.000     5.700     6.700 "
+        "2.000     3.000     4.000     4.800     5.800 "
+        "1.000     2.000     3.000     4.200     5.200 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -398,9 +396,9 @@ TEST(GDALWriterTest, stdev)
     const std::string output =
         "0.000 -9999.000     0.000     0.000     0.094 "
         "0.000 -9999.000     0.000     0.000     0.000 "
-        "0.000     0.000     0.000     0.250     0.250 "
-        "0.000     0.000     0.000     0.415     0.415 "
-        "0.000     0.000     0.000     0.250     0.250 ";
+        "0.000     0.000     0.000     0.300     0.300 "
+        "0.000     0.000     0.000     0.424     0.424 "
+        "0.000     0.000     0.000     0.200     0.200 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -418,11 +416,11 @@ TEST(GDALWriterTest, stdevWindow)
     wo.add("window_size", 2);
 
     const std::string output =
-        "0.000     0.018     0.000     0.000     0.094 "
-        "0.000     0.032     0.000     0.000     0.000 "
-        "0.000     0.000     0.000     0.250     0.250 "
-        "0.000     0.000     0.000     0.415     0.415 "
-        "0.000     0.000     0.000     0.250     0.250 ";
+        "0.000     0.021     0.000     0.000     0.094 "
+        "0.000     0.034     0.000     0.000     0.000 "
+        "0.000     0.000     0.000     0.300     0.300 "
+        "0.000     0.000     0.000     0.424     0.424 "
+        "0.000     0.000     0.000     0.200     0.200 ";
 
     runGdalWriter(wo, outfile, output);
 }
@@ -466,3 +464,85 @@ TEST(GDALWriterTest, additionalDim)
     PointTable t2;
     EXPECT_THROW(w.prepare(t2), pdal_error);
 }
+
+TEST(GDALWriterTest, btbad)
+{
+    std::string outfile = Support::temppath("tmp.tif");
+
+    Options wo;
+    wo.add("gdaldriver", "BT");
+    wo.add("output_type", "min");
+    wo.add("resolution", 1);
+    wo.add("radius", .7071);
+    wo.add("data_type", "double");
+    wo.add("filename", outfile);
+
+    const std::string output =
+        "5.000 -9999.000     7.000     8.000     8.900 "
+        "4.000 -9999.000     6.000     7.000     8.000 "
+        "3.000     4.000     5.000     5.000     6.000 "
+        "2.000     3.000     4.000     4.000     5.000 "
+        "1.000     2.000     3.000     4.000     5.000 ";
+
+    EXPECT_THROW(runGdalWriter(wo, outfile, output), pdal_error);
+}
+
+TEST(GDALWriterTest, btint)
+{
+    std::string outfile = Support::temppath("tmp.bt");
+    FileUtils::deleteFile(outfile);
+
+    Options ro;
+    ro.add("filename", Support::datapath("gdal/grid.txt"));
+
+    TextReader r;
+    r.setOptions(ro);
+
+    GDALWriter w;
+    Options wo;
+    wo.add("gdaldriver", "BT");
+    wo.add("output_type", "min");
+    wo.add("resolution", 1);
+    wo.add("radius", .7071);
+    wo.add("data_type", "int32");
+    wo.add("filename", outfile);
+    w.setOptions(wo);
+    w.setInput(r);
+
+    PointTable t;
+
+    w.prepare(t);
+    w.execute(t);
+
+    using namespace gdal;
+
+    const std::string values =
+        "5.000 -9999.000     7.000     8.000     9.000 "
+        "4.000 -9999.000     6.000     7.000     8.000 "
+        "3.000     4.000     5.000     5.000     6.000 "
+        "2.000     3.000     4.000     4.000     5.000 "
+        "1.000     2.000     3.000     4.000     5.000 ";
+    std::istringstream iss(values);
+
+    std::vector<double> arr;
+    while (true)
+    {
+        double d;
+        iss >> d;
+        if (!iss)
+            break;
+        arr.push_back(d);
+    }
+
+    registerDrivers();
+    Raster raster(outfile, "BT");
+    if (raster.open() != GDALError::None)
+    {
+        throw pdal_error(raster.errorMsg());
+    }
+    std::vector<int32_t> data;
+    raster.readBand(data, 1);
+    for (size_t i = 0; i < arr.size(); ++i)
+        EXPECT_NEAR(arr[i], data[i], .001);
+}
+
diff --git a/test/unit/io/LasReaderTest.cpp b/test/unit/io/LasReaderTest.cpp
index d3058aa..506f3b0 100644
--- a/test/unit/io/LasReaderTest.cpp
+++ b/test/unit/io/LasReaderTest.cpp
@@ -243,7 +243,9 @@ TEST(LasReaderTest, test_vlr)
         std::string name("vlr_");
         name += std::to_string(i);
         MetadataNode m = root.findChild(name);
-        EXPECT_TRUE(!m.value().empty()) << "No node " << i;
+        EXPECT_TRUE(!m.empty()) << "No node " << i;
+        m = m.findChild("data");
+        EXPECT_TRUE(!m.empty()) << "No value for node " << i;
     }
 }
 
@@ -501,3 +503,31 @@ TEST(LasReaderTest, EmptyGeotiffVlr)
     EXPECT_EQ(43u, view->size());
 
 }
+
+TEST(LasReaderTest, IgnoreVLRs)
+{
+    PointTable table;
+
+    Options readOps;
+    readOps.add("filename", Support::datapath("las/lots_of_vlr.las"));
+    readOps.add("ignore_vlr", "Merrick");
+    LasReader reader;
+    reader.setOptions(readOps);
+
+    reader.prepare(table);
+    PointViewSet viewSet = reader.execute(table);
+
+    // First two VLRs are SRS info, the other 388 would be
+    // Merrick ones that we want to ignore/remove
+    MetadataNode root = reader.getMetadata();
+    for (size_t i = 2; i < 390; ++i)
+    {
+        std::string name("vlr_");
+        name += std::to_string(i);
+        MetadataNode m = root.findChild(name);
+        EXPECT_FALSE(!m.empty()) << "No node " << i;
+        m = m.findChild("data");
+        EXPECT_FALSE(!m.empty()) << "No value for node " << i;
+    }
+
+}
diff --git a/test/unit/io/LasWriterTest.cpp b/test/unit/io/LasWriterTest.cpp
index 1f5a4c1..60d6896 100644
--- a/test/unit/io/LasWriterTest.cpp
+++ b/test/unit/io/LasWriterTest.cpp
@@ -346,7 +346,7 @@ TEST(LasWriterTest, forward)
     EXPECT_EQ(n1.findChild("filesource_id").value<uint8_t>(), 0);
     // Global encoding doesn't match because 4_1.las has a bad value, so we
     // get the default.
-    EXPECT_EQ(n1.findChild("global_encoding").value<uint8_t>(), 0);
+    EXPECT_EQ(n1.findChild("global_encoding").value<uint16_t>(), 0);
     EXPECT_EQ(n1.findChild("project_id").value<Uuid>(), Uuid());
     EXPECT_EQ(n1.findChild("system_id").value(), "");
     EXPECT_EQ(n1.findChild("software_id").value(), "TerraScan");
@@ -584,6 +584,166 @@ TEST(LasWriterTest, lazperf)
 }
 #endif
 
+#if defined(PDAL_HAVE_LASZIP)
+// LAZ files are normally written in chunks of 50,000, so a file of size
+// 110,000 ensures we read some whole chunks and a partial.
+TEST(LasWriterTest, laszip)
+{
+    Options readerOps;
+    readerOps.add("filename", Support::datapath("las/autzen_trim.las"));
+
+    LasReader lazReader;
+    lazReader.setOptions(readerOps);
+
+    std::string testfile(Support::temppath("temp.laz"));
+
+    FileUtils::deleteFile(testfile);
+
+    Options writerOps;
+    writerOps.add("filename", testfile);
+
+    LasWriter lazWriter;
+    lazWriter.setOptions(writerOps);
+    lazWriter.setInput(lazReader);
+
+    PointTable t;
+    lazWriter.prepare(t);
+    lazWriter.execute(t);
+
+    // Now test the points were properly written.  Use laszip.
+    Options ops1;
+    ops1.add("filename", testfile);
+
+    LasReader r1;
+    r1.setOptions(ops1);
+
+    PointTable t1;
+    r1.prepare(t1);
+    PointViewSet set1 = r1.execute(t1);
+    PointViewPtr view1 = *set1.begin();
+
+    Options ops2;
+    ops2.add("filename", Support::datapath("las/autzen_trim.las"));
+
+    LasReader r2;
+    r2.setOptions(ops2);
+
+    PointTable t2;
+    r2.prepare(t2);
+    PointViewSet set2 = r2.execute(t2);
+    PointViewPtr view2 = *set2.begin();
+
+    EXPECT_EQ(view1->size(), view2->size());
+    EXPECT_EQ(view1->size(), (point_count_t)110000);
+
+    DimTypeList dims = view1->dimTypes();
+    size_t pointSize = view1->pointSize();
+    EXPECT_EQ(view1->pointSize(), view2->pointSize());
+
+   // Validate some point data.
+    std::unique_ptr<char> buf1(new char[pointSize]);
+    std::unique_ptr<char> buf2(new char[pointSize]);
+    for (PointId i = 0; i < view1->size(); i += 100)
+    {
+       view1->getPackedPoint(dims, i, buf1.get());
+       view2->getPackedPoint(dims, i, buf2.get());
+       EXPECT_EQ(memcmp(buf1.get(), buf2.get(), pointSize), 0);
+    }
+}
+
+// This is the same test as the above, but for a 1.4-specific point format.
+// LAZ files are normally written in chunks of 50,000, so a file of size
+// 110,000 ensures we read some whole chunks and a partial.
+TEST(LasWriterTest, laszip1_4)
+{
+    Options readerOps;
+    std::string baseFilename = Support::datapath("las/autzen_trim_7.las");
+    readerOps.add("filename", baseFilename);
+
+    LasReader lazReader;
+    lazReader.setOptions(readerOps);
+
+    std::string testfile(Support::temppath("temp.laz"));
+
+    FileUtils::deleteFile(testfile);
+
+    Options writerOps;
+    writerOps.add("filename", testfile);
+    writerOps.add("dataformat_id", 7);
+    writerOps.add("minor_version", 4);
+
+    LasWriter lazWriter;
+    lazWriter.setOptions(writerOps);
+    lazWriter.setInput(lazReader);
+
+    PointTable t;
+    lazWriter.prepare(t);
+    lazWriter.execute(t);
+
+    // Now test the points were properly written.  Use laszip.
+    Options ops1;
+    ops1.add("filename", testfile);
+
+    LasReader r1;
+    r1.setOptions(ops1);
+
+    PointTable t1;
+    r1.prepare(t1);
+    PointViewSet set1 = r1.execute(t1);
+    PointViewPtr view1 = *set1.begin();
+
+    Options ops2;
+    ops2.add("filename", baseFilename);
+
+    LasReader r2;
+    r2.setOptions(ops2);
+
+    PointTable t2;
+    r2.prepare(t2);
+    PointViewSet set2 = r2.execute(t2);
+    PointViewPtr view2 = *set2.begin();
+
+    EXPECT_EQ(view1->size(), view2->size());
+    EXPECT_EQ(view1->size(), (point_count_t)110000);
+
+    DimTypeList dims = view1->dimTypes();
+    size_t pointSize = view1->pointSize();
+    EXPECT_EQ(view1->pointSize(), view2->pointSize());
+
+   // Validate some point data.
+    std::unique_ptr<char> buf1(new char[pointSize]);
+    std::unique_ptr<char> buf2(new char[pointSize]);
+    for (PointId idx = 0; idx < view1->size(); idx++)
+    {
+       view1->getPackedPoint(dims, idx, buf1.get());
+       view2->getPackedPoint(dims, idx, buf2.get());
+       char *b1 = buf1.get();
+       char *b2 = buf2.get();
+       // Uncomment this to figure out the exact byte at which things are
+       // broken.
+       /**
+       for (size_t i = 0; i < pointSize; ++i)
+       {
+           if (*b1++ != *b2++)
+           {
+               {
+                   size_t s = 0;
+                   for (auto di = dims.begin(); di != dims.end(); ++di)
+                   {
+                       std::cerr << "Dim " << view1->dimName(di->m_id) <<
+                           " at " << s << "!\n";
+                       s += Dimension::size(di->m_type);
+                   }
+               }
+               throw pdal_error("Mismatch at byte = " + to_string(i) + "!");
+           }
+       }
+       **/
+       EXPECT_EQ(memcmp(buf1.get(), buf2.get(), pointSize), 0);
+    }
+}
+#endif // PDAL_HAVE_LASZIP
+
 void compareFiles(const std::string& name1, const std::string& name2,
     size_t increment = 100)
 {
diff --git a/test/unit/io/PlyReaderTest.cpp b/test/unit/io/PlyReaderTest.cpp
index 25d6f87..2cbd667 100644
--- a/test/unit/io/PlyReaderTest.cpp
+++ b/test/unit/io/PlyReaderTest.cpp
@@ -32,6 +32,7 @@
 * OF SUCH DAMAGE.
 ****************************************************************************/
 
+#include <pdal/Filter.hpp>
 #include <pdal/pdal_test_main.hpp>
 
 #include <io/PlyReader.hpp>
@@ -129,6 +130,64 @@ TEST(PlyReader, ReadBinary)
 }
 
 
+TEST(PlyReader, ReadBinaryStream)
+{
+    class Checker : public Filter
+    {
+    public:
+        std::string getName() const
+            { return "checker"; }
+    private:
+        bool processOne(PointRef& point)
+        {
+            static int cnt = 0;
+            if (cnt == 0)
+            {
+                EXPECT_DOUBLE_EQ(-1,
+                    point.getFieldAs<double>(Dimension::Id::X));
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::Y));
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::Z));
+            }
+            if (cnt == 1)
+            {
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::X));
+                EXPECT_DOUBLE_EQ(1,
+                    point.getFieldAs<double>(Dimension::Id::Y));
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::Z));
+            }
+            if (cnt == 2)
+            {
+                EXPECT_DOUBLE_EQ(1,
+                    point.getFieldAs<double>(Dimension::Id::X));
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::Y));
+                EXPECT_DOUBLE_EQ(0,
+                    point.getFieldAs<double>(Dimension::Id::Z));
+            }
+            cnt++;
+            return true;
+        }
+    };
+
+    PlyReader reader;
+    Options options;
+    options.add("filename", Support::datapath("ply/simple_binary.ply"));
+    reader.setOptions(options);
+
+    FixedPointTable table(10);
+
+    Checker c;
+    c.setInput(reader);
+
+    c.prepare(table);
+    c.execute(table);
+}
+
+
 TEST(PlyReader, NoVertex)
 {
     PlyReader reader;
diff --git a/test/unit/io/PlyWriterTest.cpp b/test/unit/io/PlyWriterTest.cpp
index 8ed588f..dd4acf2 100644
--- a/test/unit/io/PlyWriterTest.cpp
+++ b/test/unit/io/PlyWriterTest.cpp
@@ -35,6 +35,8 @@
 #include <pdal/pdal_test_main.hpp>
 
 #include <pdal/StageFactory.hpp>
+#include <pdal/util/FileUtils.hpp>
+#include <io/BufferReader.hpp>
 #include <io/FauxReader.hpp>
 #include <io/PlyWriter.hpp>
 #include "Support.hpp"
@@ -73,5 +75,55 @@ TEST(PlyWriter, Write)
     writer.execute(table);
 }
 
+TEST(PlyWriter, mesh)
+{
+    std::string outfile(Support::temppath("out.ply"));
+    std::string testfile(Support::datapath("ply/mesh.ply"));
+
+    FileUtils::deleteFile(outfile);
+
+    PointTable t;
+
+    t.layout()->registerDim(Dimension::Id::X);
+    t.layout()->registerDim(Dimension::Id::Y);
+    t.layout()->registerDim(Dimension::Id::Z);
+
+    PointViewPtr v(new PointView(t));
+    v->setField(Dimension::Id::X, 0, 1);
+    v->setField(Dimension::Id::Y, 0, 1);
+    v->setField(Dimension::Id::Z, 0, 0);
+
+    v->setField(Dimension::Id::X, 1, 2);
+    v->setField(Dimension::Id::Y, 1, 1);
+    v->setField(Dimension::Id::Z, 1, 0);
+
+    v->setField(Dimension::Id::X, 2, 1);
+    v->setField(Dimension::Id::Y, 2, 2);
+    v->setField(Dimension::Id::Z, 2, 0);
+
+    v->setField(Dimension::Id::X, 3, 2);
+    v->setField(Dimension::Id::Y, 3, 2);
+    v->setField(Dimension::Id::Z, 3, 2);
+
+    TriangularMesh *mesh = v->createMesh("foo");
+    mesh->add(0, 1, 2);
+    mesh->add(1, 2, 3);
+
+    BufferReader r;
+    r.addView(v);
+
+    PlyWriter w;
+    Options wo;
+    wo.add("filename", outfile);
+    wo.add("storage_mode", "ascii");
+    wo.add("faces", true);
+    w.setInput(r);
+    w.setOptions(wo);
+
+    w.prepare(t);
+    w.execute(t);
+
+    EXPECT_TRUE(Support::compare_text_files(outfile, testfile));
+}
 
 }
diff --git a/test/unit/io/TextWriterTest.cpp b/test/unit/io/TextWriterTest.cpp
index 3d99416..7d24fc5 100644
--- a/test/unit/io/TextWriterTest.cpp
+++ b/test/unit/io/TextWriterTest.cpp
@@ -36,6 +36,7 @@
 
 #include "Support.hpp"
 
+#include <pdal/util/FileUtils.hpp>
 #include <io/TextReader.hpp>
 #include <io/TextWriter.hpp>
 
diff --git a/tools/lasdump/Dumper.cpp b/tools/lasdump/Dumper.cpp
index d126c2f..8f753db 100644
--- a/tools/lasdump/Dumper.cpp
+++ b/tools/lasdump/Dumper.cpp
@@ -32,19 +32,14 @@
  * OF SUCH DAMAGE.
  ****************************************************************************/
 
-#include <laszip.hpp>
-#include <lasunzipper.hpp>
-
 #include <pdal/util/IStream.hpp>
 
 #include "Dumper.hpp"
 #include "Lasdump.hpp"
 
-using namespace std;
-
 int main(int argc, char *argv[])
 {
-    deque<string> args;
+    std::deque<string> args;
 
     for (int i = 1; i < argc; ++i)
         args.push_back(argv[i]);
@@ -135,7 +130,7 @@ void Dumper::dump()
 
 void Dumper::readPoints(ILeStream& in)
 {
-    vector<char> buf(m_header.pointLen());
+    std::vector<char> buf(m_header.pointLen());
 
     for (uint64_t i = 0; i < m_header.pointCount(); ++i)
     {
@@ -145,35 +140,102 @@ void Dumper::readPoints(ILeStream& in)
 }
 
 
-void Dumper::readCompressedPoints(ILeStream& in)
+namespace {
+void handleLaszip(int result)
 {
-    LASunzipper unzipper;
-    LASzip zip;
+#ifdef PDAL_HAVE_LASZIP
+     if (result)
+     {
+         char *buf;
+         laszip_get_error(m_laszip, &buf);
+         std::cerr << buf;
+         exit(-1);
+     }
+#endif
+}
+} // namespace
 
-    zip.unpack((const unsigned char *)m_zipVlr.data(), m_zipVlr.dataLen());
 
-    // compute the point size
-    unsigned pointSize = 0;
-    for (unsigned int i = 0; i < zip.num_items; i++)
-        pointSize += zip.items[i].size;
+void Dumper::readCompressedPoints(ILeStream& in)
+{
+    laszip_POINTER zip;
+    laszip_BOOL compressed;
+    laszip_point_struct *zipPoint;
 
-    // create the point data
-    unsigned char **point = new unsigned char*[zip.num_items];
-    std::vector<uint8_t> pointData(pointSize);
+    handleLaszip(laszip_create(&zip));
+    handleLaszip(laszip_open_reader_stream(zip, *in.stream(), &compressed));
+    handleLaszip(laszip_get_point_pointer(zip, &zipPoint));
 
-    unsigned offset = 0;
-    for (unsigned i = 0; i < zip.num_items; i++)
+    std::vector<char> buf(m_header.pointLen());
+    for (size_t i = 0; i < m_header.pointCount(); ++i)
     {
-        point[i] = &(pointData[offset]);
-        offset += zip.items[i].size;
+        handleLaszip(laszip_read_point(zip));
+        loadPoint(zipPoint, buf);
+        *m_out << cksum(buf) << "\n";
     }
+}
 
-    unzipper.open(*in.stream(), &zip);
 
-    for (size_t i = 0; i < m_header.pointCount(); ++i)
+void Dumper::loadPoint(const laszip_point_struct *zipPoint, std::vector<char>& buf)
+{
+    const char *in = (const char *)zipPoint;
+    char *out = buf.data();
+    if (m_header.pointFormat() >= 0 && m_header.pointFormat() <= 5)
     {
-        unzipper.read(point);
-        *m_out << cksum(pointData) << "\n";
+        std::copy(in, in + 20, out);
+        out += 20;
+        in += 20;
+        if (m_header.pointFormat() == 1 || m_header.pointFormat() == 3)
+        {
+            in = reinterpret_cast<const char *>(&(zipPoint->gps_time));
+            std::copy(in, in + 8, out);
+            out += 8;
+        }
+        if (m_header.pointFormat() == 2 || m_header.pointFormat() == 3)
+        {
+            in = reinterpret_cast<const char *>(&(zipPoint->rgb));
+            std::copy(in, in + 6, out);
+            out += 6;
+        }
+    }
+    else if (m_header.pointFormat() >= 6 & m_header.pointFormat() <= 10)
+    {
+        std::copy(in, in + 14, out);
+        out += 14;
+        in += 14;
+        *out++ = zipPoint->extended_return_number |
+            (zipPoint->extended_number_of_returns << 4);
+        *out++ = zipPoint->extended_classification_flags |
+            (zipPoint->extended_scanner_channel << 4) |
+            (zipPoint->scan_direction_flag << 6) |
+            (zipPoint->edge_of_flight_line << 7);
+        *out++ = zipPoint->extended_classification;
+        *out++ = zipPoint->user_data;
+
+        in = reinterpret_cast<const char *>(&(zipPoint->extended_scan_angle));
+        std::copy(in, in + 2, out);
+        out += 2;
+
+        in = reinterpret_cast<const char *>(&(zipPoint->point_source_ID));
+        std::copy(in, in + 2, out);
+        out += 2;
+
+        in = reinterpret_cast<const char *>(&(zipPoint->gps_time));
+        std::copy(in, in + 8, out);
+        out += 8;
+
+        if (m_header.pointFormat() == 7)
+        {
+            in = reinterpret_cast<const char *>(&(zipPoint->rgb));
+            std::copy(in, in + 6, out); // RBG
+            out += 6;
+        }
+        if (m_header.pointFormat() == 8)
+        {
+            in = reinterpret_cast<const char *>(&(zipPoint->rgb));
+            std::copy(in, in + 8, out); // RBG, NIR
+            out += 8;
+        }
     }
 }
 
diff --git a/tools/lasdump/Dumper.hpp b/tools/lasdump/Dumper.hpp
index c25bfc7..cd0ebfc 100644
--- a/tools/lasdump/Dumper.hpp
+++ b/tools/lasdump/Dumper.hpp
@@ -39,6 +39,8 @@
 #include "Header.hpp"
 #include "Vlr.hpp"
 
+#include <laszip/laszip_api.h>
+
 namespace pdal
 {
 
@@ -68,6 +70,7 @@ private:
     int processArgs(std::deque<std::string> args);
     void readPoints(ILeStream& in);
     void readCompressedPoints(ILeStream& in);
+    void loadPoint(const laszip_point_struct *zipPoint, std::vector<char>& buf);
 };
 
 } // namespace lasdump
diff --git a/vendor/arbiter/CMakeLists.txt b/vendor/arbiter/CMakeLists.txt
index 576de24..23bbbc6 100644
--- a/vendor/arbiter/CMakeLists.txt
+++ b/vendor/arbiter/CMakeLists.txt
@@ -2,24 +2,27 @@
 # Make sure we don't attempt to add a library more than once
 #
 
-if (NOT PDAL_ARBITER_ENABLED)
+get_property(EXISTS GLOBAL PROPERTY _PDALARBITER_INCLUDED)
+if (NOT PDAL_ARBITER_ENABLED OR EXISTS)
     return()
 endif()
 
-get_property(EXISTS GLOBAL PROPERTY _PDALARBITER_INCLUDED)
-if (EXISTS)
-    return()
+if (CURL_FOUND)
+    add_definitions("-DARBITER_CURL")
 endif()
 
 PDAL_ADD_FREE_LIBRARY(${PDAL_ARBITER_LIB_NAME} STATIC arbiter.cpp)
 target_include_directories(${PDAL_ARBITER_LIB_NAME} PRIVATE
     ${PDAL_VENDOR_DIR}/jsoncpp/dist)
-target_link_libraries(${PDAL_ARBITER_LIB_NAME} )
+target_link_libraries(${PDAL_ARBITER_LIB_NAME})
 #
 # Arbiter is built static but is included in a shared lib.
 #
 if (UNIX)
-target_compile_options(${PDAL_ARBITER_LIB_NAME} PRIVATE "-fPIC")
+    target_compile_options(${PDAL_ARBITER_LIB_NAME} PRIVATE "-fPIC")
+else()
+    target_compile_definitions(${PDAL_ARBITER_LIB_NAME}
+        PUBLIC -DARBITER_DLL_EXPORT -DARBITER_CURL)
 endif()
 
 set_target_properties(${PDAL_ARBITER_LIB_NAME} PROPERTIES
diff --git a/vendor/arbiter/arbiter.cpp b/vendor/arbiter/arbiter.cpp
index 349878c..797358f 100644
--- a/vendor/arbiter/arbiter.cpp
+++ b/vendor/arbiter/arbiter.cpp
@@ -79,7 +79,27 @@ namespace
     const std::size_t httpRetryCount(8);
 #endif
 
-    Json::Value getConfig()
+    // Merge B into A, without overwriting any keys from A.
+    Json::Value merge(const Json::Value& a, const Json::Value& b)
+    {
+        Json::Value out(a);
+
+        if (!b.isNull())
+        {
+            for (const auto& key : b.getMemberNames())
+            {
+                // If A doesn't have this key, then set it to B's value.
+                // If A has the key but it's an object, then recursively merge.
+                // Otherwise A already has a value here that we won't overwrite.
+                if (!out.isMember(key)) out[key] = b[key];
+                else if (out[key].isObject()) merge(out[key], b[key]);
+            }
+        }
+
+        return out;
+    }
+
+    Json::Value getConfig(const Json::Value& in)
     {
         Json::Value config;
         std::string path("~/.arbiter/config.json");
@@ -93,20 +113,22 @@ namespace
             ss >> config;
         }
 
-        return config;
+        return merge(in, config);
     }
 }
 
-Arbiter::Arbiter() : Arbiter(getConfig()) { }
+Arbiter::Arbiter() : Arbiter(Json::nullValue) { }
 
-Arbiter::Arbiter(const Json::Value& json)
+Arbiter::Arbiter(const Json::Value& in)
     : m_drivers()
 #ifdef ARBITER_CURL
-    , m_pool(new http::Pool(concurrentHttpReqs, httpRetryCount, json))
+    , m_pool(new http::Pool(concurrentHttpReqs, httpRetryCount, getConfig(in)))
 #endif
 {
     using namespace drivers;
 
+    const Json::Value json(getConfig(in));
+
     auto fs(Fs::create(json["file"]));
     if (fs) m_drivers[fs->type()] = std::move(fs);
 
@@ -1228,7 +1250,7 @@ std::unique_ptr<std::size_t> Http::tryGetSize(std::string path) const
     std::unique_ptr<std::size_t> size;
 
     auto http(m_pool.acquire());
-    Response res(http.head(path));
+    Response res(http.head(typedPath(path)));
 
     if (res.ok() && res.headers().count("Content-Length"))
     {
@@ -1300,7 +1322,7 @@ bool Http::get(
     bool good(false);
 
     auto http(m_pool.acquire());
-    Response res(http.get(path, headers, query));
+    Response res(http.get(typedPath(path), headers, query));
 
     if (res.ok())
     {
@@ -1319,7 +1341,7 @@ void Http::put(
 {
     auto http(m_pool.acquire());
 
-    if (!http.put(path, data, headers, query).ok())
+    if (!http.put(typedPath(path), data, headers, query).ok())
     {
         throw ArbiterError("Couldn't HTTP PUT to " + path);
     }
@@ -1747,7 +1769,7 @@ S3::AuthFields S3::Auth::fields() const
             m_access = creds["AccessKeyId"].asString();
             m_hidden = creds["SecretAccessKey"].asString();
             m_token = creds["Token"].asString();
-            m_expiration.reset(new Time(creds["Expiration"].asString()));
+            m_expiration.reset(new Time(creds["Expiration"].asString(), arbiter::Time::iso8601));
 
             if (*m_expiration - now < reauthSeconds)
             {
@@ -2619,7 +2641,7 @@ namespace
             PutData* in)
     {
         const std::size_t fullBytes(
-                std::min(
+                (std::min)(
                     size * num,
                     in->data.size() - in->offset));
         std::memcpy(out, in->data.data() + in->offset, fullBytes);
@@ -4022,6 +4044,7 @@ int64_t Time::operator-(const Time& other) const
 #endif
 
 #include <algorithm>
+#include <cctype>
 
 #ifdef ARBITER_CUSTOM_NAMESPACE
 namespace ARBITER_CUSTOM_NAMESPACE
diff --git a/vendor/arbiter/arbiter.hpp b/vendor/arbiter/arbiter.hpp
index bb00983..a67730d 100644
--- a/vendor/arbiter/arbiter.hpp
+++ b/vendor/arbiter/arbiter.hpp
@@ -1,7 +1,7 @@
 /// Arbiter amalgamated header (https://github.com/connormanning/arbiter).
 /// It is intended to be used with #include "arbiter.hpp"
 
-// Git SHA: 5717b5f7b450db996b4a44d4865671f925e2ff50
+// Git SHA: 311b81e3dcb5e8c55b2148f7eba46a12cff66914
 
 // //////////////////////////////////////////////////////////////////////
 // Beginning of content of file: LICENSE
@@ -49,6 +49,43 @@ SOFTWARE.
 #define ARBITER_EXTERNAL_JSON
 
 // //////////////////////////////////////////////////////////////////////
+// Beginning of content of file: arbiter/util/exports.hpp
+// //////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+#if defined(_WIN32) || defined(WIN32) || defined(_MSC_VER)
+#define ARBITER_WINDOWS
+#endif
+
+#ifndef ARBITER_DLL
+#if defined(ARBITER_WINDOWS)
+#if defined(ARBITER_DLL_EXPORT)
+#   define ARBITER_DLL   __declspec(dllexport)
+#elif defined(PDAL_DLL_IMPORT)
+#   define ARBITER_DLL   __declspec(dllimport)
+#else
+#   define ARBITER_DLL
+#endif
+#else
+#  if defined(USE_GCC_VISIBILITY_FLAG)
+#    define ARBITER_DLL     __attribute__ ((visibility("default")))
+#  else
+#    define ARBITER_DLL
+#  endif
+#endif
+#endif
+
+// //////////////////////////////////////////////////////////////////////
+// End of content of file: arbiter/util/exports.hpp
+// //////////////////////////////////////////////////////////////////////
+
+
+
+
+
+
+// //////////////////////////////////////////////////////////////////////
 // Beginning of content of file: arbiter/util/types.hpp
 // //////////////////////////////////////////////////////////////////////
 
@@ -156,6 +193,8 @@ private:
 #ifndef ARBITER_IS_AMALGAMATION
 
 #include <arbiter/util/types.hpp>
+#include <arbiter/util/exports.hpp>
+
 
 #ifndef ARBITER_EXTERNAL_JSON
 #include <arbiter/third/json/json.hpp>
@@ -169,7 +208,11 @@ private:
 #include <json/json.h>
 #endif
 
-class curl_slist;
+#ifdef ARBITER_CURL
+#include <curl/curl.h>
+#endif
+
+struct curl_slist;
 
 #ifdef ARBITER_CUSTOM_NAMESPACE
 namespace ARBITER_CUSTOM_NAMESPACE
@@ -185,7 +228,7 @@ namespace http
 
 class Pool;
 
-class Curl
+class ARBITER_DLL Curl
 {
     friend class Pool;
 
@@ -276,6 +319,7 @@ private:
 
 #include <arbiter/util/curl.hpp>
 #include <arbiter/util/types.hpp>
+#include <arbiter/util/exports.hpp>
 
 #ifndef ARBITER_EXTERNAL_JSON
 #include <arbiter/third/json/json.hpp>
@@ -302,19 +346,19 @@ namespace http
 /** Perform URI percent-encoding, without encoding characters included in
  * @p exclusions.
  */
-std::string sanitize(std::string path, std::string exclusions = "/");
+ARBITER_DLL std::string sanitize(std::string path, std::string exclusions = "/");
 
 /** Build a query string from key-value pairs.  If @p query is empty, the
  * result is an empty string.  Otherwise, the result will start with the
  * '?' character.
  */
-std::string buildQueryString(const http::Query& query);
+ARBITER_DLL std::string buildQueryString(const http::Query& query);
 
 /** @cond arbiter_internal */
 
-class Pool;
+class ARBITER_DLL Pool;
 
-class Resource
+class ARBITER_DLL Resource
 {
 public:
     Resource(Pool& pool, Curl& curl, std::size_t id, std::size_t retry);
@@ -352,7 +396,7 @@ private:
     http::Response exec(std::function<http::Response()> f);
 };
 
-class Pool
+class ARBITER_DLL Pool
 {
     // Only HttpResource may release.
     friend class Resource;
@@ -451,6 +495,12 @@ Contents parse(const std::string& s);
 #include <ctime>
 #include <string>
 
+#ifndef ARBITER_IS_AMALGAMATION
+#include <arbiter/util/exports.hpp>
+#endif
+
+
+
 #ifdef ARBITER_CUSTOM_NAMESPACE
 namespace ARBITER_CUSTOM_NAMESPACE
 {
@@ -459,7 +509,7 @@ namespace ARBITER_CUSTOM_NAMESPACE
 namespace arbiter
 {
 
-class Time
+class ARBITER_DLL Time
 {
 public:
     static const std::string iso8601;
@@ -467,9 +517,9 @@ public:
     static const std::string dateNoSeparators;
 
     Time();
-    Time(const std::string& s, const std::string& format = iso8601);
+    Time(const std::string& s, const std::string& format = "%Y-%m-%dT%H:%M:%SZ");
 
-    std::string str(const std::string& format = iso8601) const;
+    std::string str(const std::string& format = "%Y-%m-%dT%H:%M:%SZ") const;
 
     // Return value is in seconds.
     int64_t operator-(const Time& other) const;
@@ -654,7 +704,9 @@ typedef std::map<std::string, std::unique_ptr<Driver>> DriverMap;
 #endif
 
 
-
+#ifndef ARBITER_IS_AMALGAMATION
+#include <arbiter/util/exports.hpp>
+#endif
 
 #ifdef ARBITER_EXTERNAL_JSON
 #include <json/json.h>
@@ -679,20 +731,20 @@ class Arbiter;
 namespace fs
 {
     /** @brief Returns true if created, false if already existed. */
-    bool mkdirp(std::string dir);
+    ARBITER_DLL bool mkdirp(std::string dir);
 
     /** @brief Returns true if removed, otherwise false. */
-    bool remove(std::string filename);
+    ARBITER_DLL bool remove(std::string filename);
 
     /** @brief Performs tilde expansion to a fully-qualified path, if possible.
      */
-    std::string expandTilde(std::string path);
+    ARBITER_DLL std::string expandTilde(std::string path);
 
     /** @brief Get temporary path from environment. */
-    std::string getTempPath();
+    ARBITER_DLL std::string getTempPath();
 
     /** @brief Resolve a possible wildcard path. */
-    std::vector<std::string> glob(std::string path);
+    ARBITER_DLL std::vector<std::string> glob(std::string path);
 
     /** @brief A scoped local filehandle for a possibly remote path.
      *
@@ -702,7 +754,7 @@ namespace fs
      *
      * See Arbiter::getLocalHandle for details about construction.
      */
-    class LocalHandle
+    class ARBITER_DLL LocalHandle
     {
         friend class arbiter::Arbiter;
 
@@ -746,9 +798,11 @@ namespace drivers
 {
 
 /** @brief Local filesystem driver. */
-class Fs : public Driver
+class ARBITER_DLL Fs : public Driver
 {
 public:
+    Fs() { }
+
     static std::unique_ptr<Fs> create(const Json::Value& json);
 
     virtual std::string type() const override { return "file"; }
@@ -822,7 +876,7 @@ namespace drivers
  *
  * Internal methods for derivers are provided as protected methods.
  */
-class Http : public Driver
+class ARBITER_DLL Http : public Driver
 {
 public:
     Http(http::Pool& pool);
@@ -940,6 +994,11 @@ private:
         return get(path, data, http::Headers(), http::Query());
     }
 
+    std::string typedPath(const std::string& p) const
+    {
+        return type() + "://" + p;
+    }
+
     http::Pool& m_pool;
 };
 
@@ -3824,6 +3883,12 @@ std::string encodeAsHex(const std::string& data);
 #include <string>
 #include <utility>
 #include <vector>
+#include <algorithm>
+
+#ifndef ARBITER_IS_AMALGAMATION
+#include <arbiter/util/exports.hpp>
+#endif
+
 
 #ifdef ARBITER_CUSTOM_NAMESPACE
 namespace ARBITER_CUSTOM_NAMESPACE
@@ -3839,7 +3904,7 @@ namespace util
     /** Returns @p path, less any trailing glob indicators (one or two
      * asterisks) as well as any possible trailing slash.
      */
-    std::string stripPostfixing(std::string path);
+    ARBITER_DLL std::string stripPostfixing(std::string path);
 
     /** Returns the portion of @p fullPath following the last instance of the
      * character `/`, if any instances exist aside from possibly the delimiter
@@ -3851,20 +3916,20 @@ namespace util
      * logic above, thus the innermost directory in the full path will be
      * returned.
      */
-    std::string getBasename(std::string fullPath);
+    ARBITER_DLL std::string getBasename(std::string fullPath);
 
     /** Returns everything besides the basename, as determined by `getBasename`.
      * For file paths, this corresponds to the directory path above the file.
      * For directory paths, this corresponds to all directories above the
      * innermost directory.
      */
-    std::string getNonBasename(std::string fullPath);
+    ARBITER_DLL std::string getNonBasename(std::string fullPath);
 
     /** @cond arbiter_internal */
-    inline bool isSlash(char c) { return c == '/' || c == '\\'; }
+    ARBITER_DLL inline bool isSlash(char c) { return c == '/' || c == '\\'; }
 
     /** Returns true if the last character is an asterisk. */
-    inline bool isGlob(std::string path)
+    ARBITER_DLL inline bool isGlob(std::string path)
     {
         return path.size() && path.back() == '*';
     }
@@ -4631,7 +4696,7 @@ private:
 #endif
 
 #ifndef ARBITER_IS_AMALGAMATION
-
+#include <arbiter/util/exports.hpp>
 #include <arbiter/driver.hpp>
 #include <arbiter/endpoint.hpp>
 #include <arbiter/drivers/fs.hpp>
@@ -4675,7 +4740,7 @@ namespace http { class Pool; }
  *
  * All Arbiter operations are thread-safe except unless otherwise noted.
  */
-class Arbiter
+class ARBITER_DLL Arbiter
 {
 public:
     /** Construct a basic Arbiter with only drivers the don't require
diff --git a/vendor/eigen/Eigen/CMakeLists.txt b/vendor/eigen/Eigen/CMakeLists.txt
index a92dd6f..9eb502b 100644
--- a/vendor/eigen/Eigen/CMakeLists.txt
+++ b/vendor/eigen/Eigen/CMakeLists.txt
@@ -16,4 +16,4 @@ install(FILES
   DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
   )
 
-add_subdirectory(src)
+install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/vendor/eigen/Eigen/Cholesky b/vendor/eigen/Eigen/Cholesky
index f727f5d..369d1f5 100644
--- a/vendor/eigen/Eigen/Cholesky
+++ b/vendor/eigen/Eigen/Cholesky
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_CHOLESKY_MODULE_H
 #define EIGEN_CHOLESKY_MODULE_H
 
@@ -10,20 +17,22 @@
   *
   *
   * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are accessible via the following MatrixBase methods:
-  *  - MatrixBase::llt(),
+  * Those decompositions are also accessible via the following methods:
+  *  - MatrixBase::llt()
   *  - MatrixBase::ldlt()
+  *  - SelfAdjointView::llt()
+  *  - SelfAdjointView::ldlt()
   *
   * \code
   * #include <Eigen/Cholesky>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/Cholesky/LLT.h"
 #include "src/Cholesky/LDLT.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/Cholesky/LLT_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/Cholesky/LLT_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/vendor/eigen/Eigen/CholmodSupport b/vendor/eigen/Eigen/CholmodSupport
index 88c29a6..bed8924 100644
--- a/vendor/eigen/Eigen/CholmodSupport
+++ b/vendor/eigen/Eigen/CholmodSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_CHOLMODSUPPORT_MODULE_H
 #define EIGEN_CHOLMODSUPPORT_MODULE_H
 
@@ -33,12 +40,8 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/CholmodSupport/CholmodSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_CHOLMODSUPPORT_MODULE_H
diff --git a/vendor/eigen/Eigen/Core b/vendor/eigen/Eigen/Core
index 509c529..0f7fa63 100644
--- a/vendor/eigen/Eigen/Core
+++ b/vendor/eigen/Eigen/Core
@@ -14,6 +14,58 @@
 // first thing Eigen does: stop the compiler from committing suicide
 #include "src/Core/util/DisableStupidWarnings.h"
 
+// Handle NVCC/CUDA/SYCL
+#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__)
+  // Do not try asserts on CUDA and SYCL!
+  #ifndef EIGEN_NO_DEBUG
+  #define EIGEN_NO_DEBUG
+  #endif
+
+  #ifdef EIGEN_INTERNAL_DEBUGGING
+  #undef EIGEN_INTERNAL_DEBUGGING
+  #endif
+
+  #ifdef EIGEN_EXCEPTIONS
+  #undef EIGEN_EXCEPTIONS
+  #endif
+
+  // All functions callable from CUDA code must be qualified with __device__
+  #ifdef __CUDACC__
+    // Do not try to vectorize on CUDA and SYCL!
+    #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+    #endif
+
+    #define EIGEN_DEVICE_FUNC __host__ __device__
+    // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro
+    // works properly on the device side
+    #include <math_functions.hpp>
+  #else
+    #define EIGEN_DEVICE_FUNC
+  #endif
+
+#else
+  #define EIGEN_DEVICE_FUNC
+
+#endif
+
+// When compiling CUDA device code with NVCC, pull in math functions from the
+// global namespace.  In host mode, and when device doee with clang, use the
+// std versions.
+#if defined(__CUDA_ARCH__) && defined(__NVCC__)
+  #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
+#else
+  #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
+  #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  #include <new>
+#endif
+
 // then include this file where all our macros are defined. It's really important to do it first because
 // it's where we do all the alignment settings (platform detection and honoring the user's will if he
 // defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
@@ -21,7 +73,7 @@
 
 // Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
 // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
-#if defined(__MINGW32__) && EIGEN_GNUC_AT_LEAST(4,6)
+#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
   #pragma GCC optimize ("-fno-ipa-cp-clone")
 #endif
 
@@ -31,26 +83,26 @@
 // and inclusion of their respective header files
 #include "src/Core/util/MKL_support.h"
 
-// if alignment is disabled, then disable vectorization. Note: EIGEN_ALIGN is the proper check, it takes into
-// account both the user's will (EIGEN_DONT_ALIGN) and our own platform checks
-#if !EIGEN_ALIGN
+// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
+// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
+#if EIGEN_MAX_ALIGN_BYTES==0
   #ifndef EIGEN_DONT_VECTORIZE
     #define EIGEN_DONT_VECTORIZE
   #endif
 #endif
 
-#ifdef _MSC_VER
+#if EIGEN_COMP_MSVC
   #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (_MSC_VER >= 1500) // 2008 or later
+  #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
     // Remember that usage of defined() in a #define is undefined by the standard.
     // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
-    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64
       #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
     #endif
   #endif
 #else
   // Remember that usage of defined() in a #define is undefined by the standard
-  #if (defined __SSE2__) && ( (!defined __GNUC__) || (defined __INTEL_COMPILER) || EIGEN_GNUC_AT_LEAST(4,2) )
+  #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
     #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
   #endif
 #endif
@@ -82,6 +134,28 @@
     #ifdef __SSE4_2__
       #define EIGEN_VECTORIZE_SSE4_2
     #endif
+    #ifdef __AVX__
+      #define EIGEN_VECTORIZE_AVX
+      #define EIGEN_VECTORIZE_SSE3
+      #define EIGEN_VECTORIZE_SSSE3
+      #define EIGEN_VECTORIZE_SSE4_1
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+    #ifdef __AVX2__
+      #define EIGEN_VECTORIZE_AVX2
+    #endif
+    #ifdef __FMA__
+      #define EIGEN_VECTORIZE_FMA
+    #endif
+    #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512)
+      #define EIGEN_VECTORIZE_AVX512
+      #define EIGEN_VECTORIZE_AVX2
+      #define EIGEN_VECTORIZE_AVX
+      #define EIGEN_VECTORIZE_FMA
+      #ifdef __AVX512DQ__
+        #define EIGEN_VECTORIZE_AVX512DQ
+      #endif
+    #endif
 
     // include files
 
@@ -95,9 +169,10 @@
     extern "C" {
       // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
       // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
-      #if defined(__INTEL_COMPILER) && __INTEL_COMPILER >= 1110
+      #if EIGEN_COMP_ICC >= 1110
         #include <immintrin.h>
       #else
+        #include <mmintrin.h>
         #include <emmintrin.h>
         #include <xmmintrin.h>
         #ifdef  EIGEN_VECTORIZE_SSE3
@@ -112,8 +187,20 @@
         #ifdef EIGEN_VECTORIZE_SSE4_2
         #include <nmmintrin.h>
         #endif
+        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
+        #include <immintrin.h>
+        #endif
       #endif
     } // end extern "C"
+  #elif defined __VSX__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_VSX
+    #include <altivec.h>
+    // We need to #undef all these ugly tokens defined in <altivec.h>
+    // => use __vector instead of vector
+    #undef bool
+    #undef vector
+    #undef pixel
   #elif defined __ALTIVEC__
     #define EIGEN_VECTORIZE
     #define EIGEN_VECTORIZE_ALTIVEC
@@ -123,13 +210,35 @@
     #undef bool
     #undef vector
     #undef pixel
-  #elif defined  __ARM_NEON
+  #elif (defined  __ARM_NEON) || (defined __ARM_NEON__)
     #define EIGEN_VECTORIZE
     #define EIGEN_VECTORIZE_NEON
     #include <arm_neon.h>
+  #elif (defined __s390x__ && defined __VEC__)
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_ZVECTOR
+    #include <vecintrin.h>
   #endif
 #endif
 
+#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
+  // We can use the optimized fp16 to float and float to fp16 conversion routines
+  #define EIGEN_HAS_FP16_C
+#endif
+
+#if defined __CUDACC__
+  #define EIGEN_VECTORIZE_CUDA
+  #include <vector_types.h>
+  #if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500
+    #define EIGEN_HAS_CUDA_FP16
+  #endif
+#endif
+
+#if defined EIGEN_HAS_CUDA_FP16
+  #include <host_defines.h>
+  #include <cuda_fp16.h>
+#endif
+
 #if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
   #define EIGEN_HAS_OPENMP
 #endif
@@ -139,7 +248,7 @@
 #endif
 
 // MSVC for windows mobile does not have the errno.h file
-#if !(defined(_MSC_VER) && defined(_WIN32_WCE)) && !defined(__ARMCC_VERSION)
+#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM
 #define EIGEN_HAS_ERRNO
 #endif
 
@@ -159,29 +268,30 @@
 // for min/max:
 #include <algorithm>
 
+// for std::is_nothrow_move_assignable
+#ifdef EIGEN_INCLUDE_TYPE_TRAITS
+#include <type_traits>
+#endif
+
 // for outputting debug info
 #ifdef EIGEN_DEBUG_ASSIGN
 #include <iostream>
 #endif
 
 // required for __cpuid, needs to be included after cmath
-#if defined(_MSC_VER) && (defined(_M_IX86)||defined(_M_X64)) && (!defined(_WIN32_WCE))
+#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
   #include <intrin.h>
 #endif
 
-#if defined(_CPPUNWIND) || defined(__EXCEPTIONS)
-  #define EIGEN_EXCEPTIONS
-#endif
-
-#ifdef EIGEN_EXCEPTIONS
-  #include <new>
-#endif
-
 /** \brief Namespace containing all symbols from the %Eigen library. */
 namespace Eigen {
 
 inline static const char *SimdInstructionSetsInUse(void) {
-#if defined(EIGEN_VECTORIZE_SSE4_2)
+#if defined(EIGEN_VECTORIZE_AVX512)
+  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_AVX)
+  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_2)
   return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
 #elif defined(EIGEN_VECTORIZE_SSE4_1)
   return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
@@ -193,8 +303,12 @@ inline static const char *SimdInstructionSetsInUse(void) {
   return "SSE, SSE2";
 #elif defined(EIGEN_VECTORIZE_ALTIVEC)
   return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_VSX)
+  return "VSX";
 #elif defined(EIGEN_VECTORIZE_NEON)
   return "ARM NEON";
+#elif defined(EIGEN_VECTORIZE_ZVECTOR)
+  return "S390X ZVECTOR";
 #else
   return "None";
 #endif
@@ -202,42 +316,21 @@ 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
+#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
 
-#ifdef EIGEN2_SUPPORT
-#undef minor
-#endif
+namespace Eigen {
 
 // we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
 // ensure QNX/QCC support
 using std::size_t;
-// gcc 4.6.0 wants std:: for ptrdiff_t 
+// gcc 4.6.0 wants std:: for ptrdiff_t
 using std::ptrdiff_t;
 
+}
+
 /** \defgroup Core_Module Core module
   * This is the main module of Eigen providing dense matrix and vector support
   * (both fixed and dynamic size) with all the features corresponding to a BLAS library
@@ -249,8 +342,8 @@ using std::ptrdiff_t;
   */
 
 #include "src/Core/util/Constants.h"
-#include "src/Core/util/ForwardDeclarations.h"
 #include "src/Core/util/Meta.h"
+#include "src/Core/util/ForwardDeclarations.h"
 #include "src/Core/util/StaticAssert.h"
 #include "src/Core/util/XprHelper.h"
 #include "src/Core/util/Memory.h"
@@ -258,41 +351,92 @@ using std::ptrdiff_t;
 #include "src/Core/NumTraits.h"
 #include "src/Core/MathFunctions.h"
 #include "src/Core/GenericPacketMath.h"
+#include "src/Core/MathFunctionsImpl.h"
 
-#if defined EIGEN_VECTORIZE_SSE
+#if defined EIGEN_VECTORIZE_AVX512
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/AVX/PacketMath.h"
+  #include "src/Core/arch/AVX512/PacketMath.h"
+  #include "src/Core/arch/AVX512/MathFunctions.h"
+#elif defined EIGEN_VECTORIZE_AVX
+  // Use AVX for floats and doubles, SSE for integers
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/Complex.h"
+  #include "src/Core/arch/SSE/MathFunctions.h"
+  #include "src/Core/arch/AVX/PacketMath.h"
+  #include "src/Core/arch/AVX/MathFunctions.h"
+  #include "src/Core/arch/AVX/Complex.h"
+  #include "src/Core/arch/AVX/TypeCasting.h"
+#elif defined EIGEN_VECTORIZE_SSE
   #include "src/Core/arch/SSE/PacketMath.h"
   #include "src/Core/arch/SSE/MathFunctions.h"
   #include "src/Core/arch/SSE/Complex.h"
-#elif defined EIGEN_VECTORIZE_ALTIVEC
+  #include "src/Core/arch/SSE/TypeCasting.h"
+#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
   #include "src/Core/arch/AltiVec/PacketMath.h"
+  #include "src/Core/arch/AltiVec/MathFunctions.h"
   #include "src/Core/arch/AltiVec/Complex.h"
 #elif defined EIGEN_VECTORIZE_NEON
   #include "src/Core/arch/NEON/PacketMath.h"
+  #include "src/Core/arch/NEON/MathFunctions.h"
   #include "src/Core/arch/NEON/Complex.h"
+#elif defined EIGEN_VECTORIZE_ZVECTOR
+  #include "src/Core/arch/ZVector/PacketMath.h"
+  #include "src/Core/arch/ZVector/MathFunctions.h"
+  #include "src/Core/arch/ZVector/Complex.h"
+#endif
+
+// Half float support
+#include "src/Core/arch/CUDA/Half.h"
+#include "src/Core/arch/CUDA/PacketMathHalf.h"
+#include "src/Core/arch/CUDA/TypeCasting.h"
+
+#if defined EIGEN_VECTORIZE_CUDA
+  #include "src/Core/arch/CUDA/PacketMath.h"
+  #include "src/Core/arch/CUDA/MathFunctions.h"
 #endif
 
 #include "src/Core/arch/Default/Settings.h"
 
-#include "src/Core/Functors.h"
+#include "src/Core/functors/TernaryFunctors.h"
+#include "src/Core/functors/BinaryFunctors.h"
+#include "src/Core/functors/UnaryFunctors.h"
+#include "src/Core/functors/NullaryFunctors.h"
+#include "src/Core/functors/StlFunctors.h"
+#include "src/Core/functors/AssignmentFunctors.h"
+
+// Specialized functors to enable the processing of complex numbers
+// on CUDA devices
+#include "src/Core/arch/CUDA/Complex.h"
+
+#include "src/Core/IO.h"
 #include "src/Core/DenseCoeffsBase.h"
 #include "src/Core/DenseBase.h"
 #include "src/Core/MatrixBase.h"
 #include "src/Core/EigenBase.h"
 
+#include "src/Core/Product.h"
+#include "src/Core/CoreEvaluators.h"
+#include "src/Core/AssignEvaluator.h"
+
 #ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
                                 // at least confirmed with Doxygen 1.5.5 and 1.5.6
   #include "src/Core/Assign.h"
 #endif
 
+#include "src/Core/ArrayBase.h"
 #include "src/Core/util/BlasUtil.h"
 #include "src/Core/DenseStorage.h"
 #include "src/Core/NestByValue.h"
-#include "src/Core/ForceAlignedAccess.h"
+
+// #include "src/Core/ForceAlignedAccess.h"
+
 #include "src/Core/ReturnByValue.h"
 #include "src/Core/NoAlias.h"
 #include "src/Core/PlainObjectBase.h"
 #include "src/Core/Matrix.h"
 #include "src/Core/Array.h"
+#include "src/Core/CwiseTernaryOp.h"
 #include "src/Core/CwiseBinaryOp.h"
 #include "src/Core/CwiseUnaryOp.h"
 #include "src/Core/CwiseNullaryOp.h"
@@ -300,32 +444,32 @@ using std::ptrdiff_t;
 #include "src/Core/SelfCwiseBinaryOp.h"
 #include "src/Core/Dot.h"
 #include "src/Core/StableNorm.h"
-#include "src/Core/MapBase.h"
 #include "src/Core/Stride.h"
+#include "src/Core/MapBase.h"
 #include "src/Core/Map.h"
+#include "src/Core/Ref.h"
 #include "src/Core/Block.h"
 #include "src/Core/VectorBlock.h"
-#include "src/Core/Ref.h"
 #include "src/Core/Transpose.h"
 #include "src/Core/DiagonalMatrix.h"
 #include "src/Core/Diagonal.h"
 #include "src/Core/DiagonalProduct.h"
-#include "src/Core/PermutationMatrix.h"
-#include "src/Core/Transpositions.h"
 #include "src/Core/Redux.h"
 #include "src/Core/Visitor.h"
 #include "src/Core/Fuzzy.h"
-#include "src/Core/IO.h"
 #include "src/Core/Swap.h"
 #include "src/Core/CommaInitializer.h"
-#include "src/Core/Flagged.h"
-#include "src/Core/ProductBase.h"
 #include "src/Core/GeneralProduct.h"
+#include "src/Core/Solve.h"
+#include "src/Core/Inverse.h"
+#include "src/Core/SolverBase.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
 #include "src/Core/TriangularMatrix.h"
 #include "src/Core/SelfAdjointView.h"
 #include "src/Core/products/GeneralBlockPanelKernel.h"
 #include "src/Core/products/Parallelizer.h"
-#include "src/Core/products/CoeffBasedProduct.h"
+#include "src/Core/ProductEvaluators.h"
 #include "src/Core/products/GeneralMatrixVector.h"
 #include "src/Core/products/GeneralMatrixMatrix.h"
 #include "src/Core/SolveTriangular.h"
@@ -340,6 +484,7 @@ using std::ptrdiff_t;
 #include "src/Core/products/TriangularSolverVector.h"
 #include "src/Core/BandMatrix.h"
 #include "src/Core/CoreIterators.h"
+#include "src/Core/ConditionEstimator.h"
 
 #include "src/Core/BooleanRedux.h"
 #include "src/Core/Select.h"
@@ -347,18 +492,17 @@ using std::ptrdiff_t;
 #include "src/Core/Random.h"
 #include "src/Core/Replicate.h"
 #include "src/Core/Reverse.h"
-#include "src/Core/ArrayBase.h"
 #include "src/Core/ArrayWrapper.h"
 
 #ifdef EIGEN_USE_BLAS
-#include "src/Core/products/GeneralMatrixMatrix_MKL.h"
-#include "src/Core/products/GeneralMatrixVector_MKL.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular_MKL.h"
-#include "src/Core/products/SelfadjointMatrixMatrix_MKL.h"
-#include "src/Core/products/SelfadjointMatrixVector_MKL.h"
-#include "src/Core/products/TriangularMatrixMatrix_MKL.h"
-#include "src/Core/products/TriangularMatrixVector_MKL.h"
-#include "src/Core/products/TriangularSolverMatrix_MKL.h"
+#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
+#include "src/Core/products/GeneralMatrixVector_BLAS.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
+#include "src/Core/products/TriangularMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
 #endif // EIGEN_USE_BLAS
 
 #ifdef EIGEN_USE_MKL_VML
@@ -369,8 +513,4 @@ using std::ptrdiff_t;
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "Eigen2Support"
-#endif
-
 #endif // EIGEN_CORE_H
diff --git a/vendor/eigen/Eigen/Eigen b/vendor/eigen/Eigen/Eigen
index 19b40ea..654c8dc 100644
--- a/vendor/eigen/Eigen/Eigen
+++ b/vendor/eigen/Eigen/Eigen
@@ -1,2 +1,2 @@
 #include "Dense"
-//#include "Sparse"
+#include "Sparse"
diff --git a/vendor/eigen/Eigen/Eigenvalues b/vendor/eigen/Eigen/Eigenvalues
index 53c5a73..009e529 100644
--- a/vendor/eigen/Eigen/Eigenvalues
+++ b/vendor/eigen/Eigen/Eigenvalues
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_EIGENVALUES_MODULE_H
 #define EIGEN_EIGENVALUES_MODULE_H
 
@@ -25,6 +32,7 @@
   * \endcode
   */
 
+#include "src/misc/RealSvd2x2.h"
 #include "src/Eigenvalues/Tridiagonalization.h"
 #include "src/Eigenvalues/RealSchur.h"
 #include "src/Eigenvalues/EigenSolver.h"
@@ -37,9 +45,10 @@
 #include "src/Eigenvalues/GeneralizedEigenSolver.h"
 #include "src/Eigenvalues/MatrixBaseEigenvalues.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/Eigenvalues/RealSchur_MKL.h"
-#include "src/Eigenvalues/ComplexSchur_MKL.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/Eigenvalues/RealSchur_LAPACKE.h"
+#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/vendor/eigen/Eigen/Geometry b/vendor/eigen/Eigen/Geometry
index efd9d45..716d529 100644
--- a/vendor/eigen/Eigen/Geometry
+++ b/vendor/eigen/Eigen/Geometry
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_GEOMETRY_MODULE_H
 #define EIGEN_GEOMETRY_MODULE_H
 
@@ -9,21 +16,17 @@
 #include "LU"
 #include <limits>
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
 /** \defgroup Geometry_Module Geometry module
   *
-  *
-  *
   * This module provides support for:
   *  - fixed-size homogeneous transformations
   *  - translation, scaling, 2D and 3D rotations
-  *  - quaternions
-  *  - \ref MatrixBase::cross() "cross product"
-  *  - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
-  *  - some linear components: parametrized-lines and hyperplanes
+  *  - \link Quaternion quaternions \endlink
+  *  - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
+  *  - orthognal vector generation (\ref MatrixBase::unitOrthogonal)
+  *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
+  *  - \link AlignedBox axis aligned bounding boxes \endlink
+  *  - \link umeyama least-square transformation fitting \endlink
   *
   * \code
   * #include <Eigen/Geometry>
@@ -33,27 +36,23 @@
 #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"
-
-  #if defined EIGEN_VECTORIZE_SSE
-    #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/vendor/eigen/Eigen/Householder b/vendor/eigen/Eigen/Householder
index 6e348db..89cd81b 100644
--- a/vendor/eigen/Eigen/Householder
+++ b/vendor/eigen/Eigen/Householder
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_HOUSEHOLDER_MODULE_H
 #define EIGEN_HOUSEHOLDER_MODULE_H
 
diff --git a/vendor/eigen/Eigen/IterativeLinearSolvers b/vendor/eigen/Eigen/IterativeLinearSolvers
index 0f4159d..957d575 100644
--- a/vendor/eigen/Eigen/IterativeLinearSolvers
+++ b/vendor/eigen/Eigen/IterativeLinearSolvers
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_ITERATIVELINEARSOLVERS_MODULE_H
 #define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
 
@@ -12,28 +19,29 @@
   * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse.
   * Those solvers are accessible via the following classes:
   *  - ConjugateGradient for selfadjoint (hermitian) matrices,
+  *  - LeastSquaresConjugateGradient for rectangular least-square problems,
   *  - BiCGSTAB for general square matrices.
   *
   * These iterative solvers are associated with some preconditioners:
   *  - IdentityPreconditioner - not really useful
-  *  - DiagonalPreconditioner - also called JAcobi preconditioner, work very well on diagonal dominant matrices.
-  *  - IncompleteILUT - incomplete LU factorization with dual thresholding
+  *  - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices.
+  *  - IncompleteLUT - incomplete LU factorization with dual thresholding
   *
   * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport.
   *
-  * \code
-  * #include <Eigen/IterativeLinearSolvers>
-  * \endcode
+    \code
+    #include <Eigen/IterativeLinearSolvers>
+    \endcode
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
+#include "src/IterativeLinearSolvers/SolveWithGuess.h"
 #include "src/IterativeLinearSolvers/IterativeSolverBase.h"
 #include "src/IterativeLinearSolvers/BasicPreconditioners.h"
 #include "src/IterativeLinearSolvers/ConjugateGradient.h"
+#include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h"
 #include "src/IterativeLinearSolvers/BiCGSTAB.h"
 #include "src/IterativeLinearSolvers/IncompleteLUT.h"
+#include "src/IterativeLinearSolvers/IncompleteCholesky.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
diff --git a/vendor/eigen/Eigen/Jacobi b/vendor/eigen/Eigen/Jacobi
index ba8a4dc..17c1d78 100644
--- a/vendor/eigen/Eigen/Jacobi
+++ b/vendor/eigen/Eigen/Jacobi
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_JACOBI_MODULE_H
 #define EIGEN_JACOBI_MODULE_H
 
diff --git a/vendor/eigen/Eigen/LU b/vendor/eigen/Eigen/LU
index db57955..6f6c556 100644
--- a/vendor/eigen/Eigen/LU
+++ b/vendor/eigen/Eigen/LU
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_LU_MODULE_H
 #define EIGEN_LU_MODULE_H
 
@@ -16,25 +23,23 @@
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/misc/Kernel.h"
 #include "src/misc/Image.h"
 #include "src/LU/FullPivLU.h"
 #include "src/LU/PartialPivLU.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/LU/PartialPivLU_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/LU/PartialPivLU_LAPACKE.h"
 #endif
 #include "src/LU/Determinant.h"
-#include "src/LU/Inverse.h"
+#include "src/LU/InverseImpl.h"
 
-#if defined EIGEN_VECTORIZE_SSE
+// 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/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/vendor/eigen/Eigen/MetisSupport b/vendor/eigen/Eigen/MetisSupport
index 6a113f7..85c41bf 100644
--- a/vendor/eigen/Eigen/MetisSupport
+++ b/vendor/eigen/Eigen/MetisSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_METISSUPPORT_MODULE_H
 #define EIGEN_METISSUPPORT_MODULE_H
 
diff --git a/vendor/eigen/Eigen/OrderingMethods b/vendor/eigen/Eigen/OrderingMethods
index 7c0f1ff..d8ea361 100644
--- a/vendor/eigen/Eigen/OrderingMethods
+++ b/vendor/eigen/Eigen/OrderingMethods
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_ORDERINGMETHODS_MODULE_H
 #define EIGEN_ORDERINGMETHODS_MODULE_H
 
diff --git a/vendor/eigen/Eigen/PaStiXSupport b/vendor/eigen/Eigen/PaStiXSupport
index 7c616ee..de3a63b 100644
--- a/vendor/eigen/Eigen/PaStiXSupport
+++ b/vendor/eigen/Eigen/PaStiXSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_PASTIXSUPPORT_MODULE_H
 #define EIGEN_PASTIXSUPPORT_MODULE_H
 
@@ -5,7 +12,6 @@
 
 #include "src/Core/util/DisableStupidWarnings.h"
 
-#include <complex.h>
 extern "C" {
 #include <pastix_nompi.h>
 #include <pastix.h>
@@ -35,12 +41,8 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/PaStiXSupport/PaStiXSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_PASTIXSUPPORT_MODULE_H
diff --git a/vendor/eigen/Eigen/PardisoSupport b/vendor/eigen/Eigen/PardisoSupport
index 99330ce..340edf5 100644
--- a/vendor/eigen/Eigen/PardisoSupport
+++ b/vendor/eigen/Eigen/PardisoSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_PARDISOSUPPORT_MODULE_H
 #define EIGEN_PARDISOSUPPORT_MODULE_H
 
@@ -7,8 +14,6 @@
 
 #include <mkl_pardiso.h>
 
-#include <unsupported/Eigen/SparseExtra>
-
 /** \ingroup Support_modules
   * \defgroup PardisoSupport_Module PardisoSupport module
   *
diff --git a/vendor/eigen/Eigen/QR b/vendor/eigen/Eigen/QR
index ac5b026..80838e3 100644
--- a/vendor/eigen/Eigen/QR
+++ b/vendor/eigen/Eigen/QR
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_QR_MODULE_H
 #define EIGEN_QR_MODULE_H
 
@@ -15,31 +22,26 @@
   *
   * This module provides various QR decompositions
   * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::qr(),
+  *  - MatrixBase::householderQr()
+  *  - MatrixBase::colPivHouseholderQr()
+  *  - MatrixBase::fullPivHouseholderQr()
   *
   * \code
   * #include <Eigen/QR>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/QR/HouseholderQR.h"
 #include "src/QR/FullPivHouseholderQR.h"
 #include "src/QR/ColPivHouseholderQR.h"
+#include "src/QR/CompleteOrthogonalDecomposition.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/QR/HouseholderQR_MKL.h"
-#include "src/QR/ColPivHouseholderQR_MKL.h"
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/QR.h"
+#include "src/misc/lapacke.h"
+#include "src/QR/HouseholderQR_LAPACKE.h"
+#include "src/QR/ColPivHouseholderQR_LAPACKE.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/vendor/eigen/Eigen/QtAlignedMalloc b/vendor/eigen/Eigen/QtAlignedMalloc
index 46f7d83..c6571f1 100644
--- a/vendor/eigen/Eigen/QtAlignedMalloc
+++ b/vendor/eigen/Eigen/QtAlignedMalloc
@@ -1,3 +1,9 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_QTMALLOC_MODULE_H
 #define EIGEN_QTMALLOC_MODULE_H
@@ -8,7 +14,7 @@
 
 #include "src/Core/util/DisableStupidWarnings.h"
 
-void *qMalloc(size_t size)
+void *qMalloc(std::size_t size)
 {
   return Eigen::internal::aligned_malloc(size);
 }
@@ -18,7 +24,7 @@ void qFree(void *ptr)
   Eigen::internal::aligned_free(ptr);
 }
 
-void *qRealloc(void *ptr, size_t size)
+void *qRealloc(void *ptr, std::size_t size)
 {
   void* newPtr = Eigen::internal::aligned_malloc(size);
   memcpy(newPtr, ptr, size);
diff --git a/vendor/eigen/Eigen/SPQRSupport b/vendor/eigen/Eigen/SPQRSupport
index 7f1eb47..f70390c 100644
--- a/vendor/eigen/Eigen/SPQRSupport
+++ b/vendor/eigen/Eigen/SPQRSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SPQRSUPPORT_MODULE_H
 #define EIGEN_SPQRSUPPORT_MODULE_H
 
@@ -21,8 +28,6 @@
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
 #include "src/CholmodSupport/CholmodSupport.h"
 #include "src/SPQRSupport/SuiteSparseQRSupport.h"
 
diff --git a/vendor/eigen/Eigen/SVD b/vendor/eigen/Eigen/SVD
index fd31001..86143c2 100644
--- a/vendor/eigen/Eigen/SVD
+++ b/vendor/eigen/Eigen/SVD
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SVD_MODULE_H
 #define EIGEN_SVD_MODULE_H
 
@@ -12,23 +19,26 @@
   *
   *
   * This module provides SVD decomposition for matrices (both real and complex).
-  * This decomposition is accessible via the following MatrixBase method:
+  * Two decomposition algorithms are provided:
+  *  - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones.
+  *  - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems.
+  * These decompositions are accessible via the respective classes and following MatrixBase methods:
   *  - MatrixBase::jacobiSvd()
+  *  - MatrixBase::bdcSvd()
   *
   * \code
   * #include <Eigen/SVD>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
+#include "src/misc/RealSvd2x2.h"
+#include "src/SVD/UpperBidiagonalization.h"
+#include "src/SVD/SVDBase.h"
 #include "src/SVD/JacobiSVD.h"
+#include "src/SVD/BDCSVD.h"
 #if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
-#include "src/SVD/JacobiSVD_MKL.h"
-#endif
-#include "src/SVD/UpperBidiagonalization.h"
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/SVD.h"
+#include "src/misc/lapacke.h"
+#include "src/SVD/JacobiSVD_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/vendor/eigen/Eigen/Sparse b/vendor/eigen/Eigen/Sparse
index 7cc9c09..136e681 100644
--- a/vendor/eigen/Eigen/Sparse
+++ b/vendor/eigen/Eigen/Sparse
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SPARSE_MODULE_H
 #define EIGEN_SPARSE_MODULE_H
 
@@ -11,14 +18,16 @@
   * - \ref SparseQR_Module
   * - \ref IterativeLinearSolvers_Module
   *
-  * \code
-  * #include <Eigen/Sparse>
-  * \endcode
+    \code
+    #include <Eigen/Sparse>
+    \endcode
   */
 
 #include "SparseCore"
 #include "OrderingMethods"
+#ifndef EIGEN_MPL2_ONLY
 #include "SparseCholesky"
+#endif
 #include "SparseLU"
 #include "SparseQR"
 #include "IterativeLinearSolvers"
diff --git a/vendor/eigen/Eigen/SparseCholesky b/vendor/eigen/Eigen/SparseCholesky
index 9f5056a..b6a320c 100644
--- a/vendor/eigen/Eigen/SparseCholesky
+++ b/vendor/eigen/Eigen/SparseCholesky
@@ -34,8 +34,6 @@
 #error The SparseCholesky module has nothing to offer in MPL2 only mode
 #endif
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
 #include "src/SparseCholesky/SimplicialCholesky.h"
 
 #ifndef EIGEN_MPL2_ONLY
diff --git a/vendor/eigen/Eigen/SparseCore b/vendor/eigen/Eigen/SparseCore
index 24bcf01..76966c4 100644
--- a/vendor/eigen/Eigen/SparseCore
+++ b/vendor/eigen/Eigen/SparseCore
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SPARSECORE_MODULE_H
 #define EIGEN_SPARSECORE_MODULE_H
 
@@ -26,37 +33,35 @@
   * This module depends on: Core.
   */
 
-namespace Eigen {
-
-/** The type used to identify a general sparse storage. */
-struct Sparse {};
-
-}
-
 #include "src/SparseCore/SparseUtil.h"
 #include "src/SparseCore/SparseMatrixBase.h"
+#include "src/SparseCore/SparseAssign.h"
 #include "src/SparseCore/CompressedStorage.h"
 #include "src/SparseCore/AmbiVector.h"
+#include "src/SparseCore/SparseCompressedBase.h"
 #include "src/SparseCore/SparseMatrix.h"
+#include "src/SparseCore/SparseMap.h"
 #include "src/SparseCore/MappedSparseMatrix.h"
 #include "src/SparseCore/SparseVector.h"
-#include "src/SparseCore/SparseBlock.h"
-#include "src/SparseCore/SparseTranspose.h"
+#include "src/SparseCore/SparseRef.h"
 #include "src/SparseCore/SparseCwiseUnaryOp.h"
 #include "src/SparseCore/SparseCwiseBinaryOp.h"
+#include "src/SparseCore/SparseTranspose.h"
+#include "src/SparseCore/SparseBlock.h"
 #include "src/SparseCore/SparseDot.h"
-#include "src/SparseCore/SparsePermutation.h"
 #include "src/SparseCore/SparseRedux.h"
-#include "src/SparseCore/SparseFuzzy.h"
+#include "src/SparseCore/SparseView.h"
+#include "src/SparseCore/SparseDiagonalProduct.h"
 #include "src/SparseCore/ConservativeSparseSparseProduct.h"
 #include "src/SparseCore/SparseSparseProductWithPruning.h"
 #include "src/SparseCore/SparseProduct.h"
 #include "src/SparseCore/SparseDenseProduct.h"
-#include "src/SparseCore/SparseDiagonalProduct.h"
-#include "src/SparseCore/SparseTriangularView.h"
 #include "src/SparseCore/SparseSelfAdjointView.h"
+#include "src/SparseCore/SparseTriangularView.h"
 #include "src/SparseCore/TriangularSolver.h"
-#include "src/SparseCore/SparseView.h"
+#include "src/SparseCore/SparsePermutation.h"
+#include "src/SparseCore/SparseFuzzy.h"
+#include "src/SparseCore/SparseSolverBase.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
diff --git a/vendor/eigen/Eigen/SparseLU b/vendor/eigen/Eigen/SparseLU
index 8527a49..38b38b5 100644
--- a/vendor/eigen/Eigen/SparseLU
+++ b/vendor/eigen/Eigen/SparseLU
@@ -20,9 +20,6 @@
   * Please, see the documentation of the SparseLU class for more details.
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 // Ordering interface
 #include "OrderingMethods"
 
diff --git a/vendor/eigen/Eigen/SparseQR b/vendor/eigen/Eigen/SparseQR
index 4ee4206..a6f3b7f 100644
--- a/vendor/eigen/Eigen/SparseQR
+++ b/vendor/eigen/Eigen/SparseQR
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SPARSEQR_MODULE_H
 #define EIGEN_SPARSEQR_MODULE_H
 
@@ -21,9 +28,6 @@
   * 
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "OrderingMethods"
 #include "src/SparseCore/SparseColEtree.h"
 #include "src/SparseQR/SparseQR.h"
diff --git a/vendor/eigen/Eigen/StdDeque b/vendor/eigen/Eigen/StdDeque
index f272347..bc68397 100644
--- a/vendor/eigen/Eigen/StdDeque
+++ b/vendor/eigen/Eigen/StdDeque
@@ -14,7 +14,7 @@
 #include "Core"
 #include <deque>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
 
 #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
 
diff --git a/vendor/eigen/Eigen/StdList b/vendor/eigen/Eigen/StdList
index 225c1e1..4c6262c 100644
--- a/vendor/eigen/Eigen/StdList
+++ b/vendor/eigen/Eigen/StdList
@@ -13,7 +13,7 @@
 #include "Core"
 #include <list>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */    
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
 
 #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
 
diff --git a/vendor/eigen/Eigen/StdVector b/vendor/eigen/Eigen/StdVector
index 6b22627..0c4697a 100644
--- a/vendor/eigen/Eigen/StdVector
+++ b/vendor/eigen/Eigen/StdVector
@@ -14,7 +14,7 @@
 #include "Core"
 #include <vector>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
 
 #define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
 
diff --git a/vendor/eigen/Eigen/SuperLUSupport b/vendor/eigen/Eigen/SuperLUSupport
index 575e14f..59312a8 100644
--- a/vendor/eigen/Eigen/SuperLUSupport
+++ b/vendor/eigen/Eigen/SuperLUSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_SUPERLUSUPPORT_MODULE_H
 #define EIGEN_SUPERLUSUPPORT_MODULE_H
 
@@ -36,6 +43,8 @@ namespace Eigen { struct SluMatrix; }
   * - class SuperLU: a supernodal sequential LU factorization.
   * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods).
   *
+  * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported.
+  *
   * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting.
   *
   * \code
@@ -48,12 +57,8 @@ namespace Eigen { struct SluMatrix; }
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/SuperLUSupport/SuperLUSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SUPERLUSUPPORT_MODULE_H
diff --git a/vendor/eigen/Eigen/UmfPackSupport b/vendor/eigen/Eigen/UmfPackSupport
index 7b1b660..00eec80 100644
--- a/vendor/eigen/Eigen/UmfPackSupport
+++ b/vendor/eigen/Eigen/UmfPackSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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_UMFPACKSUPPORT_MODULE_H
 #define EIGEN_UMFPACKSUPPORT_MODULE_H
 
@@ -26,9 +33,6 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/UmfPackSupport/UmfPackSupport.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/vendor/eigen/Eigen/src/Cholesky/LDLT.h b/vendor/eigen/Eigen/src/Cholesky/LDLT.h
index abd30bd..fcee7b2 100644
--- a/vendor/eigen/Eigen/src/Cholesky/LDLT.h
+++ b/vendor/eigen/Eigen/src/Cholesky/LDLT.h
@@ -13,7 +13,7 @@
 #ifndef EIGEN_LDLT_H
 #define EIGEN_LDLT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
   template<typename MatrixType, int UpLo> struct LDLT_Traits;
@@ -28,8 +28,8 @@ namespace internal {
   *
   * \brief Robust Cholesky decomposition of a matrix with pivoting
   *
-  * \param MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
-  * \param UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+  * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
+  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
   *             The other triangular part won't be read.
   *
   * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
@@ -43,7 +43,9 @@ namespace internal {
   * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
   * decomposition to determine whether a system of equations has a solution.
   *
-  * \sa MatrixBase::ldlt(), class LLT
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
+  * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT
   */
 template<typename _MatrixType, int _UpLo> class LDLT
 {
@@ -52,15 +54,15 @@ template<typename _MatrixType, int _UpLo> class LDLT
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options & ~RowMajorBit, // these are the options for the TmpMatrixType, we need a ColMajor matrix here!
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
       UpLo = _UpLo
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Scalar, RowsAtCompileTime, 1, Options, MaxRowsAtCompileTime, 1> TmpMatrixType;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1, 0, MaxRowsAtCompileTime, 1> TmpMatrixType;
 
     typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
@@ -72,11 +74,11 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * The default constructor is useful in cases in which the user intends to
       * perform decompositions via LDLT::compute(const MatrixType&).
       */
-    LDLT() 
-      : m_matrix(), 
-        m_transpositions(), 
+    LDLT()
+      : m_matrix(),
+        m_transpositions(),
         m_sign(internal::ZeroSign),
-        m_isInitialized(false) 
+        m_isInitialized(false)
     {}
 
     /** \brief Default Constructor with memory preallocation
@@ -85,7 +87,7 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * according to the specified problem \a size.
       * \sa LDLT()
       */
-    LDLT(Index size)
+    explicit LDLT(Index size)
       : m_matrix(size, size),
         m_transpositions(size),
         m_temporary(size),
@@ -96,16 +98,35 @@ template<typename _MatrixType, int _UpLo> class LDLT
     /** \brief Constructor with decomposition
       *
       * This calculates the decomposition for the input \a matrix.
+      *
       * \sa LDLT(Index size)
       */
-    LDLT(const MatrixType& matrix)
+    template<typename InputType>
+    explicit LDLT(const EigenBase<InputType>& matrix)
       : m_matrix(matrix.rows(), matrix.cols()),
         m_transpositions(matrix.rows()),
         m_temporary(matrix.rows()),
         m_sign(internal::ZeroSign),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a LDLT factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa LDLT(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit LDLT(EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
+        m_transpositions(matrix.rows()),
+        m_temporary(matrix.rows()),
+        m_sign(internal::ZeroSign),
+        m_isInitialized(false)
+    {
+      compute(matrix.derived());
     }
 
     /** Clear any existing decomposition
@@ -151,13 +172,6 @@ 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
@@ -173,37 +187,38 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * \note_about_checking_solutions
       *
       * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
-      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, 
+      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$,
       * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
       * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
       * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
       * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
       *
-      * \sa MatrixBase::ldlt()
+      * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<LDLT, Rhs>
+    inline const Solve<LDLT, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
       eigen_assert(m_matrix.rows()==b.rows()
                 && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<LDLT, Rhs>(*this, b.derived());
+      return Solve<LDLT, Rhs>(*this, b.derived());
     }
 
-    #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;
 
-    LDLT& compute(const MatrixType& matrix);
+    template<typename InputType>
+    LDLT& compute(const EigenBase<InputType>& matrix);
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of
+     *  which \c *this is the LDLT decomposition.
+     */
+    RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
+    }
 
     template <typename Derived>
     LDLT& rankUpdate(const MatrixBase<Derived>& w, const RealScalar& alpha=1);
@@ -220,6 +235,13 @@ template<typename _MatrixType, int _UpLo> class LDLT
 
     MatrixType reconstructedMatrix() const;
 
+    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+      *
+      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+      * \code x = decomposition.adjoint().solve(b) \endcode
+      */
+    const LDLT& adjoint() const { return *this; };
+
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
 
@@ -231,11 +253,17 @@ template<typename _MatrixType, int _UpLo> class LDLT
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return Success;
+      return m_info;
     }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
@@ -248,10 +276,12 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * is not stored), and the diagonal entries correspond to D.
       */
     MatrixType m_matrix;
+    RealScalar m_l1_norm;
     TranspositionType m_transpositions;
     TmpMatrixType m_temporary;
     internal::SignMatrix m_sign;
     bool m_isInitialized;
+    ComputationInfo m_info;
 };
 
 namespace internal {
@@ -266,15 +296,17 @@ template<> struct ldlt_inplace<Lower>
     using std::abs;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename TranspositionType::StorageIndex IndexType;
     eigen_assert(mat.rows()==mat.cols());
     const Index size = mat.rows();
+    bool found_zero_pivot = false;
+    bool ret = true;
 
     if (size <= 1)
     {
       transpositions.setIdentity();
-      if (numext::real(mat.coeff(0,0)) > 0) sign = PositiveSemiDef;
-      else if (numext::real(mat.coeff(0,0)) < 0) sign = NegativeSemiDef;
+      if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
+      else if (numext::real(mat.coeff(0,0)) < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
       else sign = ZeroSign;
       return true;
     }
@@ -286,7 +318,7 @@ template<> struct ldlt_inplace<Lower>
       mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
       index_of_biggest_in_corner += k;
 
-      transpositions.coeffRef(k) = index_of_biggest_in_corner;
+      transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner);
       if(k != index_of_biggest_in_corner)
       {
         // apply the transposition while taking care to consider only
@@ -295,7 +327,7 @@ template<> struct ldlt_inplace<Lower>
         mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
         mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
         std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
-        for(int i=k+1;i<index_of_biggest_in_corner;++i)
+        for(Index i=k+1;i<index_of_biggest_in_corner;++i)
         {
           Scalar tmp = mat.coeffRef(i,k);
           mat.coeffRef(i,k) = numext::conj(mat.coeffRef(index_of_biggest_in_corner,i));
@@ -321,26 +353,44 @@ template<> struct ldlt_inplace<Lower>
         if(rs>0)
           A21.noalias() -= A20 * temp.head(k);
       }
-      
+
       // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot
-      // was smaller than the cutoff value. However, soince LDLT is not rank-revealing
-      // we should only make sure we do not introduce INF or NaN values.
-      // LAPACK also uses 0 as the cutoff value.
+      // was smaller than the cutoff value. However, since LDLT is not rank-revealing
+      // we should only make sure that we do not introduce INF or NaN values.
+      // Remark that LAPACK also uses 0 as the cutoff value.
       RealScalar realAkk = numext::real(mat.coeffRef(k,k));
-      if((rs>0) && (abs(realAkk) > RealScalar(0)))
+      bool pivot_is_valid = (abs(realAkk) > RealScalar(0));
+
+      if(k==0 && !pivot_is_valid)
+      {
+        // The entire diagonal is zero, there is nothing more to do
+        // except filling the transpositions, and checking whether the matrix is zero.
+        sign = ZeroSign;
+        for(Index j = 0; j<size; ++j)
+        {
+          transpositions.coeffRef(j) = IndexType(j);
+          ret = ret && (mat.col(j).tail(size-j-1).array()==Scalar(0)).all();
+        }
+        return ret;
+      }
+
+      if((rs>0) && pivot_is_valid)
         A21 /= realAkk;
 
+      if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed
+      else if(!pivot_is_valid) found_zero_pivot = true;
+
       if (sign == PositiveSemiDef) {
-        if (realAkk < 0) sign = Indefinite;
+        if (realAkk < static_cast<RealScalar>(0)) sign = Indefinite;
       } else if (sign == NegativeSemiDef) {
-        if (realAkk > 0) sign = Indefinite;
+        if (realAkk > static_cast<RealScalar>(0)) sign = Indefinite;
       } else if (sign == ZeroSign) {
-        if (realAkk > 0) sign = PositiveSemiDef;
-        else if (realAkk < 0) sign = NegativeSemiDef;
+        if (realAkk > static_cast<RealScalar>(0)) sign = PositiveSemiDef;
+        else if (realAkk < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
       }
     }
 
-    return true;
+    return ret;
   }
 
   // Reference for the algorithm: Davis and Hager, "Multiple Rank
@@ -356,7 +406,6 @@ template<> struct ldlt_inplace<Lower>
     using numext::isfinite;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
 
     const Index size = mat.rows();
     eigen_assert(mat.cols() == size && w.size()==size);
@@ -420,16 +469,16 @@ template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
 {
   typedef const TriangularView<const MatrixType, UnitLower> MatrixL;
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
 {
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
   typedef const TriangularView<const MatrixType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m.adjoint(); }
-  static inline MatrixU getU(const MatrixType& m) { return m; }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
 };
 
 } // end namespace internal
@@ -437,21 +486,35 @@ template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
 /** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
   */
 template<typename MatrixType, int _UpLo>
-LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+template<typename InputType>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
 {
   check_template_parameters();
-  
+
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
 
-  m_matrix = a;
+  m_matrix = a.derived();
+
+  // Compute matrix L1 norm = max abs column sum.
+  m_l1_norm = RealScalar(0);
+  // TODO move this code to SelfAdjointView
+  for (Index col = 0; col < size; ++col) {
+    RealScalar abs_col_sum;
+    if (_UpLo == Lower)
+      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+    else
+      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+    if (abs_col_sum > m_l1_norm)
+      m_l1_norm = abs_col_sum;
+  }
 
   m_transpositions.resize(size);
   m_isInitialized = false;
   m_temporary.resize(size);
   m_sign = internal::ZeroSign;
 
-  internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign);
+  m_info = internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue;
 
   m_isInitialized = true;
   return *this;
@@ -466,18 +529,19 @@ template<typename MatrixType, int _UpLo>
 template<typename Derived>
 LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Derived>& w, const typename LDLT<MatrixType,_UpLo>::RealScalar& sigma)
 {
+  typedef typename TranspositionType::StorageIndex IndexType;
   const Index size = w.rows();
   if (m_isInitialized)
   {
     eigen_assert(m_matrix.rows()==size);
   }
   else
-  {    
+  {
     m_matrix.resize(size,size);
     m_matrix.setZero();
     m_transpositions.resize(size);
     for (Index i = 0; i < size; i++)
-      m_transpositions.coeffRef(i) = i;
+      m_transpositions.coeffRef(i) = IndexType(i);
     m_temporary.resize(size);
     m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef;
     m_isInitialized = true;
@@ -488,53 +552,45 @@ LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Deri
   return *this;
 }
 
-namespace internal {
-template<typename _MatrixType, int _UpLo, typename Rhs>
-struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
-  : solve_retval_base<LDLT<_MatrixType,_UpLo>, Rhs>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType, int _UpLo>
+template<typename RhsType, typename DstType>
+void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  typedef LDLT<_MatrixType,_UpLo> LDLTType;
-  EIGEN_MAKE_SOLVE_HELPERS(LDLTType,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
+  eigen_assert(rhs.rows() == rows());
+  // dst = P b
+  dst = m_transpositions * rhs;
+
+  // dst = L^-1 (P b)
+  matrixL().solveInPlace(dst);
+
+  // dst = D^-1 (L^-1 P b)
+  // more precisely, use pseudo-inverse of D (see bug 241)
+  using std::abs;
+  const typename Diagonal<const MatrixType>::RealReturnType vecD(vectorD());
+  // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
+  // as motivated by LAPACK's xGELSS:
+  // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
+  // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
+  // diagonal element is not well justified and leads to numerical issues in some cases.
+  // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
+  RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
+
+  for (Index i = 0; i < vecD.size(); ++i)
   {
-    eigen_assert(rhs().rows() == dec().matrixLDLT().rows());
-    // dst = P b
-    dst = dec().transpositionsP() * rhs();
-
-    // dst = L^-1 (P b)
-    dec().matrixL().solveInPlace(dst);
-
-    // dst = D^-1 (L^-1 P b)
-    // more precisely, use pseudo-inverse of D (see bug 241)
-    using std::abs;
-    using std::max;
-    typedef typename LDLTType::MatrixType MatrixType;
-    typedef typename LDLTType::RealScalar RealScalar;
-    const typename Diagonal<const MatrixType>::RealReturnType vectorD(dec().vectorD());
-    // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
-    // as motivated by LAPACK's xGELSS:
-    // RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() *NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
-    // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
-    // diagonal element is not well justified and to numerical issues in some cases.
-    // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
-    RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
-    
-    for (Index i = 0; i < vectorD.size(); ++i) {
-      if(abs(vectorD(i)) > tolerance)
-        dst.row(i) /= vectorD(i);
-      else
-        dst.row(i).setZero();
-    }
+    if(abs(vecD(i)) > tolerance)
+      dst.row(i) /= vecD(i);
+    else
+      dst.row(i).setZero();
+  }
 
-    // dst = L^-T (D^-1 L^-1 P b)
-    dec().matrixU().solveInPlace(dst);
+  // dst = L^-T (D^-1 L^-1 P b)
+  matrixU().solveInPlace(dst);
 
-    // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
-    dst = dec().transpositionsP().transpose() * dst;
-  }
-};
+  // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+  dst = m_transpositions.transpose() * dst;
 }
+#endif
 
 /** \internal use x = ldlt_object.solve(x);
   *
@@ -588,6 +644,7 @@ MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
 
 /** \cholesky_module
   * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  * \sa MatrixBase::ldlt()
   */
 template<typename MatrixType, unsigned int UpLo>
 inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
@@ -598,6 +655,7 @@ SelfAdjointView<MatrixType, UpLo>::ldlt() const
 
 /** \cholesky_module
   * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  * \sa SelfAdjointView::ldlt()
   */
 template<typename Derived>
 inline const LDLT<typename MatrixBase<Derived>::PlainObject>
diff --git a/vendor/eigen/Eigen/src/Cholesky/LLT.h b/vendor/eigen/Eigen/src/Cholesky/LLT.h
index 7c11a2d..87ca8d4 100644
--- a/vendor/eigen/Eigen/src/Cholesky/LLT.h
+++ b/vendor/eigen/Eigen/src/Cholesky/LLT.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_LLT_H
 #define EIGEN_LLT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal{
 template<typename MatrixType, int UpLo> struct LLT_Traits;
@@ -22,8 +22,8 @@ template<typename MatrixType, int UpLo> struct LLT_Traits;
   *
   * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
-  * \param UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+  * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
+  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
   *             The other triangular part won't be read.
   *
   * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
@@ -40,8 +40,10 @@ template<typename MatrixType, int UpLo> struct LLT_Traits;
   *
   * Example: \include LLT_example.cpp
   * Output: \verbinclude LLT_example.out
-  *    
-  * \sa MatrixBase::llt(), class LDLT
+  *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  *
+  * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT
   */
  /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
   * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
@@ -54,12 +56,12 @@ template<typename _MatrixType, int _UpLo> class LLT
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename MatrixType::StorageIndex StorageIndex;
 
     enum {
       PacketSize = internal::packet_traits<Scalar>::size,
@@ -83,14 +85,30 @@ template<typename _MatrixType, int _UpLo> class LLT
       * according to the specified problem \a size.
       * \sa LLT()
       */
-    LLT(Index size) : m_matrix(size, size),
+    explicit LLT(Index size) : m_matrix(size, size),
                     m_isInitialized(false) {}
 
-    LLT(const MatrixType& matrix)
+    template<typename InputType>
+    explicit LLT(const EigenBase<InputType>& matrix)
       : m_matrix(matrix.rows(), matrix.cols()),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a LDLT factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+      * \c MatrixType is a Eigen::Ref.
+      *
+      * \sa LLT(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit LLT(EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
+        m_isInitialized(false)
+    {
+      compute(matrix.derived());
     }
 
     /** \returns a view of the upper triangular matrix U */
@@ -115,33 +133,33 @@ template<typename _MatrixType, int _UpLo> class LLT
       * Example: \include LLT_solve.cpp
       * Output: \verbinclude LLT_solve.out
       *
-      * \sa solveInPlace(), MatrixBase::llt()
+      * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<LLT, Rhs>
+    inline const Solve<LLT, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LLT is not initialized.");
       eigen_assert(m_matrix.rows()==b.rows()
                 && "LLT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<LLT, Rhs>(*this, b.derived());
+      return Solve<LLT, Rhs>(*this, b.derived());
     }
 
-    #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;
 
-    LLT& compute(const MatrixType& matrix);
+    template<typename InputType>
+    LLT& compute(const EigenBase<InputType>& matrix);
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of
+      *  which \c *this is the Cholesky decomposition.
+      */
+    RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
+    }
 
     /** \returns the LLT decomposition matrix
       *
@@ -167,24 +185,38 @@ template<typename _MatrixType, int _UpLo> class LLT
       return m_info;
     }
 
+    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+      *
+      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+      * \code x = decomposition.adjoint().solve(b) \endcode
+      */
+    const LLT& adjoint() const { return *this; };
+
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
 
     template<typename VectorType>
     LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
     /** \internal
       * Used to compute and store L
       * The strict upper part is not used and even not initialized.
       */
     MatrixType m_matrix;
+    RealScalar m_l1_norm;
     bool m_isInitialized;
     ComputationInfo m_info;
 };
@@ -194,12 +226,11 @@ namespace internal {
 template<typename Scalar, int UpLo> struct llt_inplace;
 
 template<typename MatrixType, typename VectorType>
-static typename MatrixType::Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
+static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
 {
   using std::sqrt;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::ColXpr ColXpr;
   typedef typename internal::remove_all<ColXpr>::type ColXprCleaned;
   typedef typename ColXprCleaned::SegmentReturnType ColXprSegment;
@@ -268,11 +299,10 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
   template<typename MatrixType>
-  static typename MatrixType::Index unblocked(MatrixType& mat)
+  static Index unblocked(MatrixType& mat)
   {
     using std::sqrt;
-    typedef typename MatrixType::Index Index;
-    
+
     eigen_assert(mat.rows()==mat.cols());
     const Index size = mat.rows();
     for(Index k = 0; k < size; ++k)
@@ -295,9 +325,8 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
   }
 
   template<typename MatrixType>
-  static typename MatrixType::Index blocked(MatrixType& m)
+  static Index blocked(MatrixType& m)
   {
-    typedef typename MatrixType::Index Index;
     eigen_assert(m.rows()==m.cols());
     Index size = m.rows();
     if(size<32)
@@ -322,36 +351,36 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
       Index ret;
       if((ret=unblocked(A11))>=0) return k+ret;
       if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
-      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,-1); // bottleneck
+      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,typename NumTraits<RealScalar>::Literal(-1)); // bottleneck
     }
     return -1;
   }
 
   template<typename MatrixType, typename VectorType>
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
   {
     return Eigen::internal::llt_rank_update_lower(mat, vec, sigma);
   }
 };
-  
+
 template<typename Scalar> struct llt_inplace<Scalar, Upper>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
 
   template<typename MatrixType>
-  static EIGEN_STRONG_INLINE typename MatrixType::Index unblocked(MatrixType& mat)
+  static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::unblocked(matt);
   }
   template<typename MatrixType>
-  static EIGEN_STRONG_INLINE typename MatrixType::Index blocked(MatrixType& mat)
+  static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::blocked(matt);
   }
   template<typename MatrixType, typename VectorType>
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::rankUpdate(matt, vec.conjugate(), sigma);
@@ -362,8 +391,8 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
 {
   typedef const TriangularView<const MatrixType, Lower> MatrixL;
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
   static bool inplace_decomposition(MatrixType& m)
   { return llt_inplace<typename MatrixType::Scalar, Lower>::blocked(m)==-1; }
 };
@@ -372,8 +401,8 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
 {
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, Lower> MatrixL;
   typedef const TriangularView<const MatrixType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m.adjoint(); }
-  static inline MatrixU getU(const MatrixType& m) { return m; }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
   static bool inplace_decomposition(MatrixType& m)
   { return llt_inplace<typename MatrixType::Scalar, Upper>::blocked(m)==-1; }
 };
@@ -388,14 +417,28 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
   * Output: \verbinclude TutorialLinAlgComputeTwice.out
   */
 template<typename MatrixType, int _UpLo>
-LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+template<typename InputType>
+LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
 {
   check_template_parameters();
-  
+
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
   m_matrix.resize(size, size);
-  m_matrix = a;
+  m_matrix = a.derived();
+
+  // Compute matrix L1 norm = max abs column sum.
+  m_l1_norm = RealScalar(0);
+  // TODO move this code to SelfAdjointView
+  for (Index col = 0; col < size; ++col) {
+    RealScalar abs_col_sum;
+    if (_UpLo == Lower)
+      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+    else
+      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+    if (abs_col_sum > m_l1_norm)
+      m_l1_norm = abs_col_sum;
+  }
 
   m_isInitialized = true;
   bool ok = Traits::inplace_decomposition(m_matrix);
@@ -423,33 +466,24 @@ LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, c
 
   return *this;
 }
-    
-namespace internal {
-template<typename _MatrixType, int UpLo, typename Rhs>
-struct solve_retval<LLT<_MatrixType, UpLo>, Rhs>
-  : solve_retval_base<LLT<_MatrixType, UpLo>, Rhs>
-{
-  typedef LLT<_MatrixType,UpLo> LLTType;
-  EIGEN_MAKE_SOLVE_HELPERS(LLTType,Rhs)
 
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dst = rhs();
-    dec().solveInPlace(dst);
-  }
-};
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType,int _UpLo>
+template<typename RhsType, typename DstType>
+void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  dst = rhs;
+  solveInPlace(dst);
 }
+#endif
 
 /** \internal use x = llt_object.solve(x);
-  * 
+  *
   * This is the \em in-place version of solve().
   *
   * \param bAndX represents both the right-hand side matrix b and result x.
   *
-  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
-  *
-  * This version avoids a copy when the right hand side matrix b is not
-  * needed anymore.
+  * This version avoids a copy when the right hand side matrix b is not needed anymore.
   *
   * \sa LLT::solve(), MatrixBase::llt()
   */
@@ -475,6 +509,7 @@ MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
 
 /** \cholesky_module
   * \returns the LLT decomposition of \c *this
+  * \sa SelfAdjointView::llt()
   */
 template<typename Derived>
 inline const LLT<typename MatrixBase<Derived>::PlainObject>
@@ -485,6 +520,7 @@ MatrixBase<Derived>::llt() const
 
 /** \cholesky_module
   * \returns the LLT decomposition of \c *this
+  * \sa SelfAdjointView::llt()
   */
 template<typename MatrixType, unsigned int UpLo>
 inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
diff --git a/vendor/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h b/vendor/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h
new file mode 100644
index 0000000..bc6489e
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h
@@ -0,0 +1,99 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *     LLt decomposition based on LAPACKE_?potrf function.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_LLT_LAPACKE_H
+#define EIGEN_LLT_LAPACKE_H
+
+namespace Eigen { 
+
+namespace internal {
+
+template<typename Scalar> struct lapacke_llt;
+
+#define EIGEN_LAPACKE_LLT(EIGTYPE, BLASTYPE, LAPACKE_PREFIX) \
+template<> struct lapacke_llt<EIGTYPE> \
+{ \
+  template<typename MatrixType> \
+  static inline Index potrf(MatrixType& m, char uplo) \
+  { \
+    lapack_int matrix_order; \
+    lapack_int size, lda, info, StorageOrder; \
+    EIGTYPE* a; \
+    eigen_assert(m.rows()==m.cols()); \
+    /* Set up parameters for ?potrf */ \
+    size = convert_index<lapack_int>(m.rows()); \
+    StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \
+    matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
+    a = &(m.coeffRef(0,0)); \
+    lda = convert_index<lapack_int>(m.outerStride()); \
+\
+    info = LAPACKE_##LAPACKE_PREFIX##potrf( matrix_order, uplo, size, (BLASTYPE*)a, lda ); \
+    info = (info==0) ? -1 : info>0 ? info-1 : size; \
+    return info; \
+  } \
+}; \
+template<> struct llt_inplace<EIGTYPE, Lower> \
+{ \
+  template<typename MatrixType> \
+  static Index blocked(MatrixType& m) \
+  { \
+    return lapacke_llt<EIGTYPE>::potrf(m, 'L'); \
+  } \
+  template<typename MatrixType, typename VectorType> \
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
+  { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \
+}; \
+template<> struct llt_inplace<EIGTYPE, Upper> \
+{ \
+  template<typename MatrixType> \
+  static Index blocked(MatrixType& m) \
+  { \
+    return lapacke_llt<EIGTYPE>::potrf(m, 'U'); \
+  } \
+  template<typename MatrixType, typename VectorType> \
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
+  { \
+    Transpose<MatrixType> matt(mat); \
+    return llt_inplace<EIGTYPE, Lower>::rankUpdate(matt, vec.conjugate(), sigma); \
+  } \
+};
+
+EIGEN_LAPACKE_LLT(double, double, d)
+EIGEN_LAPACKE_LLT(float, float, s)
+EIGEN_LAPACKE_LLT(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_LLT(scomplex, lapack_complex_float, c)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_LLT_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/CholmodSupport/CholmodSupport.h b/vendor/eigen/Eigen/src/CholmodSupport/CholmodSupport.h
index 99dbe17..5719720 100644
--- a/vendor/eigen/Eigen/src/CholmodSupport/CholmodSupport.h
+++ b/vendor/eigen/Eigen/src/CholmodSupport/CholmodSupport.h
@@ -14,46 +14,52 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Scalar, typename CholmodType>
-void cholmod_configure_matrix(CholmodType& mat)
-{
-  if (internal::is_same<Scalar,float>::value)
-  {
-    mat.xtype = CHOLMOD_REAL;
-    mat.dtype = CHOLMOD_SINGLE;
-  }
-  else if (internal::is_same<Scalar,double>::value)
-  {
+template<typename Scalar> struct cholmod_configure_matrix;
+
+template<> struct cholmod_configure_matrix<double> {
+  template<typename CholmodType>
+  static void run(CholmodType& mat) {
     mat.xtype = CHOLMOD_REAL;
     mat.dtype = CHOLMOD_DOUBLE;
   }
-  else if (internal::is_same<Scalar,std::complex<float> >::value)
-  {
-    mat.xtype = CHOLMOD_COMPLEX;
-    mat.dtype = CHOLMOD_SINGLE;
-  }
-  else if (internal::is_same<Scalar,std::complex<double> >::value)
-  {
+};
+
+template<> struct cholmod_configure_matrix<std::complex<double> > {
+  template<typename CholmodType>
+  static void run(CholmodType& mat) {
     mat.xtype = CHOLMOD_COMPLEX;
     mat.dtype = CHOLMOD_DOUBLE;
   }
-  else
-  {
-    eigen_assert(false && "Scalar type not supported by CHOLMOD");
-  }
-}
+};
+
+// Other scalar types are not yet suppotred by Cholmod
+// template<> struct cholmod_configure_matrix<float> {
+//   template<typename CholmodType>
+//   static void run(CholmodType& mat) {
+//     mat.xtype = CHOLMOD_REAL;
+//     mat.dtype = CHOLMOD_SINGLE;
+//   }
+// };
+//
+// template<> struct cholmod_configure_matrix<std::complex<float> > {
+//   template<typename CholmodType>
+//   static void run(CholmodType& mat) {
+//     mat.xtype = CHOLMOD_COMPLEX;
+//     mat.dtype = CHOLMOD_SINGLE;
+//   }
+// };
 
 } // namespace internal
 
 /** Wraps the Eigen sparse matrix \a mat into a Cholmod sparse matrix object.
   * Note that the data are shared.
   */
-template<typename _Scalar, int _Options, typename _Index>
-cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+cholmod_sparse viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_StorageIndex> > mat)
 {
   cholmod_sparse res;
   res.nzmax   = mat.nonZeros();
-  res.nrow    = mat.rows();;
+  res.nrow    = mat.rows();
   res.ncol    = mat.cols();
   res.p       = mat.outerIndexPtr();
   res.i       = mat.innerIndexPtr();
@@ -74,11 +80,11 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
   res.dtype   = 0;
   res.stype   = -1;
   
-  if (internal::is_same<_Index,int>::value)
+  if (internal::is_same<_StorageIndex,int>::value)
   {
     res.itype = CHOLMOD_INT;
   }
-  else if (internal::is_same<_Index,SuiteSparse_long>::value)
+  else if (internal::is_same<_StorageIndex,long>::value)
   {
     res.itype = CHOLMOD_LONG;
   }
@@ -88,7 +94,7 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
   }
 
   // setup res.xtype
-  internal::cholmod_configure_matrix<_Scalar>(res);
+  internal::cholmod_configure_matrix<_Scalar>::run(res);
   
   res.stype = 0;
   
@@ -98,16 +104,23 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
 template<typename _Scalar, int _Options, typename _Index>
 const cholmod_sparse viewAsCholmod(const SparseMatrix<_Scalar,_Options,_Index>& mat)
 {
-  cholmod_sparse res = viewAsCholmod(mat.const_cast_derived());
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
+  return res;
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+const cholmod_sparse viewAsCholmod(const SparseVector<_Scalar,_Options,_Index>& mat)
+{
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
   return res;
 }
 
 /** Returns a view of the Eigen sparse matrix \a mat as Cholmod sparse matrix.
   * The data are not copied but shared. */
 template<typename _Scalar, int _Options, typename _Index, unsigned int UpLo>
-cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
+cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<const SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
 {
-  cholmod_sparse res = viewAsCholmod(mat.matrix().const_cast_derived());
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.matrix().const_cast_derived()));
   
   if(UpLo==Upper) res.stype =  1;
   if(UpLo==Lower) res.stype = -1;
@@ -131,19 +144,19 @@ cholmod_dense viewAsCholmod(MatrixBase<Derived>& mat)
   res.x      = (void*)(mat.derived().data());
   res.z      = 0;
 
-  internal::cholmod_configure_matrix<Scalar>(res);
+  internal::cholmod_configure_matrix<Scalar>::run(res);
 
   return res;
 }
 
 /** Returns a view of the Cholmod sparse matrix \a cm as an Eigen sparse matrix.
   * The data are not copied but shared. */
-template<typename Scalar, int Flags, typename Index>
-MappedSparseMatrix<Scalar,Flags,Index> viewAsEigen(cholmod_sparse& cm)
+template<typename Scalar, int Flags, typename StorageIndex>
+MappedSparseMatrix<Scalar,Flags,StorageIndex> viewAsEigen(cholmod_sparse& cm)
 {
-  return MappedSparseMatrix<Scalar,Flags,Index>
-         (cm.nrow, cm.ncol, static_cast<Index*>(cm.p)[cm.ncol],
-          static_cast<Index*>(cm.p), static_cast<Index*>(cm.i),static_cast<Scalar*>(cm.x) );
+  return MappedSparseMatrix<Scalar,Flags,StorageIndex>
+         (cm.nrow, cm.ncol, static_cast<StorageIndex*>(cm.p)[cm.ncol],
+          static_cast<StorageIndex*>(cm.p), static_cast<StorageIndex*>(cm.i),static_cast<Scalar*>(cm.x) );
 }
 
 enum CholmodMode {
@@ -157,29 +170,39 @@ enum CholmodMode {
   * \sa class CholmodSupernodalLLT, class CholmodSimplicialLDLT, class CholmodSimplicialLLT
   */
 template<typename _MatrixType, int _UpLo, typename Derived>
-class CholmodBase : internal::noncopyable
+class CholmodBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
     typedef _MatrixType MatrixType;
     enum { UpLo = _UpLo };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
     typedef MatrixType CholMatrixType;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
     CholmodBase()
-      : m_cholmodFactor(0), m_info(Success), m_isInitialized(false)
+      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
     {
-      m_shiftOffset[0] = m_shiftOffset[1] = RealScalar(0.0);
+      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
+      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
       cholmod_start(&m_cholmod);
     }
 
-    CholmodBase(const MatrixType& matrix)
-      : m_cholmodFactor(0), m_info(Success), m_isInitialized(false)
+    explicit CholmodBase(const MatrixType& matrix)
+      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
     {
-      m_shiftOffset[0] = m_shiftOffset[1] = RealScalar(0.0);
+      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
+      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
       cholmod_start(&m_cholmod);
       compute(matrix);
     }
@@ -191,11 +214,8 @@ class CholmodBase : internal::noncopyable
       cholmod_finish(&m_cholmod);
     }
     
-    inline Index cols() const { return m_cholmodFactor->n; }
-    inline Index rows() const { return m_cholmodFactor->n; }
-    
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline StorageIndex cols() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
+    inline StorageIndex rows() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
     
     /** \brief Reports whether previous computation was successful.
       *
@@ -216,34 +236,6 @@ class CholmodBase : internal::noncopyable
       return derived();
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<CholmodBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "CholmodDecomposition::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<CholmodBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<CholmodBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "CholmodDecomposition::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<CholmodBase, Rhs>(*this, b.derived());
-    }
-    
     /** Performs a symbolic decomposition on the sparsity pattern of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
@@ -277,7 +269,7 @@ class CholmodBase : internal::noncopyable
       eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
       cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView<UpLo>());
       cholmod_factorize_p(&A, m_shiftOffset, 0, 0, m_cholmodFactor, &m_cholmod);
-      
+
       // If the factorization failed, minor is the column at which it did. On success minor == n.
       this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue);
       m_factorizationIsOk = true;
@@ -290,20 +282,22 @@ class CholmodBase : internal::noncopyable
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       const Index size = m_cholmodFactor->n;
       EIGEN_UNUSED_VARIABLE(size);
       eigen_assert(size==b.rows());
+      
+      // Cholmod needs column-major stoarge without inner-stride, which corresponds to the default behavior of Ref.
+      Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b.derived());
 
-      // note: cd stands for Cholmod Dense
-      Rhs& b_ref(b.const_cast_derived());
       cholmod_dense b_cd = viewAsCholmod(b_ref);
       cholmod_dense* x_cd = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &b_cd, &m_cholmod);
       if(!x_cd)
       {
         this->m_info = NumericalIssue;
+        return;
       }
       // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
       dest = Matrix<Scalar,Dest::RowsAtCompileTime,Dest::ColsAtCompileTime>::Map(reinterpret_cast<Scalar*>(x_cd->x),b.rows(),b.cols());
@@ -311,8 +305,8 @@ class CholmodBase : internal::noncopyable
     }
     
     /** \internal */
-    template<typename RhsScalar, int RhsOptions, typename RhsIndex, typename DestScalar, int DestOptions, typename DestIndex>
-    void _solve(const SparseMatrix<RhsScalar,RhsOptions,RhsIndex> &b, SparseMatrix<DestScalar,DestOptions,DestIndex> &dest) const
+    template<typename RhsDerived, typename DestDerived>
+    void _solve_impl(const SparseMatrixBase<RhsDerived> &b, SparseMatrixBase<DestDerived> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       const Index size = m_cholmodFactor->n;
@@ -320,14 +314,16 @@ class CholmodBase : internal::noncopyable
       eigen_assert(size==b.rows());
 
       // note: cs stands for Cholmod Sparse
-      cholmod_sparse b_cs = viewAsCholmod(b);
+      Ref<SparseMatrix<typename RhsDerived::Scalar,ColMajor,typename RhsDerived::StorageIndex> > b_ref(b.const_cast_derived());
+      cholmod_sparse b_cs = viewAsCholmod(b_ref);
       cholmod_sparse* x_cs = cholmod_spsolve(CHOLMOD_A, m_cholmodFactor, &b_cs, &m_cholmod);
       if(!x_cs)
       {
         this->m_info = NumericalIssue;
+        return;
       }
       // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
-      dest = viewAsEigen<DestScalar,DestOptions,DestIndex>(*x_cs);
+      dest.derived() = viewAsEigen<typename DestDerived::Scalar,ColMajor,typename DestDerived::StorageIndex>(*x_cs);
       cholmod_free_sparse(&x_cs, &m_cholmod);
     }
     #endif // EIGEN_PARSED_BY_DOXYGEN
@@ -344,10 +340,61 @@ class CholmodBase : internal::noncopyable
       */
     Derived& setShift(const RealScalar& offset)
     {
-      m_shiftOffset[0] = offset;
+      m_shiftOffset[0] = double(offset);
       return derived();
     }
     
+    /** \returns the determinant of the underlying matrix from the current factorization */
+    Scalar determinant() const
+    {
+      using std::exp;
+      return exp(logDeterminant());
+    }
+
+    /** \returns the log determinant of the underlying matrix from the current factorization */
+    Scalar logDeterminant() const
+    {
+      using std::log;
+      using numext::real;
+      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
+
+      RealScalar logDet = 0;
+      Scalar *x = static_cast<Scalar*>(m_cholmodFactor->x);
+      if (m_cholmodFactor->is_super)
+      {
+        // Supernodal factorization stored as a packed list of dense column-major blocs,
+        // as described by the following structure:
+
+        // super[k] == index of the first column of the j-th super node
+        StorageIndex *super = static_cast<StorageIndex*>(m_cholmodFactor->super);
+        // pi[k] == offset to the description of row indices
+        StorageIndex *pi = static_cast<StorageIndex*>(m_cholmodFactor->pi);
+        // px[k] == offset to the respective dense block
+        StorageIndex *px = static_cast<StorageIndex*>(m_cholmodFactor->px);
+
+        Index nb_super_nodes = m_cholmodFactor->nsuper;
+        for (Index k=0; k < nb_super_nodes; ++k)
+        {
+          StorageIndex ncols = super[k + 1] - super[k];
+          StorageIndex nrows = pi[k + 1] - pi[k];
+
+          Map<const Array<Scalar,1,Dynamic>, 0, InnerStride<> > sk(x + px[k], ncols, InnerStride<>(nrows+1));
+          logDet += sk.real().log().sum();
+        }
+      }
+      else
+      {
+        // Simplicial factorization stored as standard CSC matrix.
+        StorageIndex *p = static_cast<StorageIndex*>(m_cholmodFactor->p);
+        Index size = m_cholmodFactor->n;
+        for (Index k=0; k<size; ++k)
+          logDet += log(real( x[p[k]] ));
+      }
+      if (m_cholmodFactor->is_ll)
+        logDet *= 2.0;
+      return logDet;
+    };
+
     template<typename Stream>
     void dumpMemory(Stream& /*s*/)
     {}
@@ -355,9 +402,8 @@ class CholmodBase : internal::noncopyable
   protected:
     mutable cholmod_common m_cholmod;
     cholmod_factor* m_cholmodFactor;
-    RealScalar m_shiftOffset[2];
+    double m_shiftOffset[2];
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
 };
@@ -376,9 +422,13 @@ class CholmodBase : internal::noncopyable
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers, class CholmodSupernodalLLT, class SimplicialLLT
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLLT
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT<_MatrixType, _UpLo> >
@@ -395,7 +445,7 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl
     CholmodSimplicialLLT(const MatrixType& matrix) : Base()
     {
       init();
-      Base::compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSimplicialLLT() {}
@@ -423,9 +473,13 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers, class CholmodSupernodalLLT, class SimplicialLDLT
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLDLT
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT<_MatrixType, _UpLo> >
@@ -442,7 +496,7 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp
     CholmodSimplicialLDLT(const MatrixType& matrix) : Base()
     {
       init();
-      Base::compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSimplicialLDLT() {}
@@ -468,9 +522,13 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT<_MatrixType, _UpLo> >
@@ -487,7 +545,7 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper
     CholmodSupernodalLLT(const MatrixType& matrix) : Base()
     {
       init();
-      Base::compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSupernodalLLT() {}
@@ -515,9 +573,13 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecomposition<_MatrixType, _UpLo> >
@@ -534,7 +596,7 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
     CholmodDecomposition(const MatrixType& matrix) : Base()
     {
       init();
-      Base::compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodDecomposition() {}
@@ -572,36 +634,6 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
     }
 };
 
-namespace internal {
-  
-template<typename _MatrixType, int _UpLo, typename Derived, typename Rhs>
-struct solve_retval<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-  : solve_retval_base<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-{
-  typedef CholmodBase<_MatrixType,_UpLo,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, int _UpLo, typename Derived, typename Rhs>
-struct sparse_solve_retval<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-  : sparse_solve_retval_base<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-{
-  typedef CholmodBase<_MatrixType,_UpLo,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_CHOLMODSUPPORT_H
diff --git a/vendor/eigen/Eigen/src/Core/Array.h b/vendor/eigen/Eigen/src/Core/Array.h
index 0b9c38c..e10020d 100644
--- a/vendor/eigen/Eigen/src/Core/Array.h
+++ b/vendor/eigen/Eigen/src/Core/Array.h
@@ -12,7 +12,16 @@
 
 namespace Eigen {
 
-/** \class Array 
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef ArrayXpr XprKind;
+  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
+};
+}
+
+/** \class Array
   * \ingroup Core_Module
   *
   * \brief General-purpose arrays with easy API for coefficient-wise operations
@@ -24,20 +33,14 @@ namespace Eigen {
   * API for the %Matrix class provides easy access to linear-algebra
   * operations.
   *
+  * See documentation of class Matrix for detailed information on the template parameters
+  * storage layout.
+  *
   * 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_ARRAY_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
   *
-  * \sa \ref TutorialArrayClass, \ref TopicClassHierarchy
+  * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy
   */
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef ArrayXpr XprKind;
-  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
-};
-}
-
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 class Array
   : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
@@ -69,11 +72,27 @@ class Array
       * the usage of 'using'. This should be done only for operator=.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
     {
       return Base::operator=(other);
     }
 
+    /** Set all the entries to \a value.
+      * \sa DenseBase::setConstant(), DenseBase::fill()
+      */
+    /* This overload is needed because the usage of
+      *   using Base::operator=;
+      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+      * the usage of 'using'. This should be done only for operator=.
+      */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array& operator=(const Scalar &value)
+    {
+      Base::setConstant(value);
+      return *this;
+    }
+
     /** Copies the value of the expression \a other into \c *this with automatic resizing.
       *
       * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
@@ -84,7 +103,8 @@ class Array
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array& operator=(const ArrayBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array& operator=(const DenseBase<OtherDerived>& other)
     {
       return Base::_set(other);
     }
@@ -92,11 +112,12 @@ class Array
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array& operator=(const Array& other)
     {
       return Base::_set(other);
     }
-
+    
     /** Default constructor.
       *
       * For fixed-size matrices, does nothing.
@@ -107,6 +128,7 @@ class Array
       *
       * \sa resize(Index,Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array() : Base()
     {
       Base::_check_template_params();
@@ -116,6 +138,7 @@ class Array
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     // FIXME is it still needed ??
     /** \internal */
+    EIGEN_DEVICE_FUNC
     Array(internal::constructor_without_unaligned_array_assert)
       : Base(internal::constructor_without_unaligned_array_assert())
     {
@@ -124,56 +147,64 @@ class Array
     }
 #endif
 
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    Array(Array&& other)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
       : Base(std::move(other))
     {
       Base::_check_template_params();
       if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
         Base::_set_noalias(other);
     }
-    Array& operator=(Array&& other)
+    EIGEN_DEVICE_FUNC
+    Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
     {
       other.swap(*this);
       return *this;
     }
 #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.
-      */
-    EIGEN_STRONG_INLINE explicit Array(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    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)
     {
       Base::_check_template_params();
       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
+      *
+      * 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 matrices. For fixed-size matrices,
+      * 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);
     #endif
 
     /** constructs an initialized 3D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2)
     {
       Base::_check_template_params();
@@ -183,6 +214,7 @@ class Array
       m_storage.data()[2] = val2;
     }
     /** constructs an initialized 4D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3)
     {
       Base::_check_template_params();
@@ -193,51 +225,27 @@ class Array
       m_storage.data()[3] = val3;
     }
 
-    explicit Array(const Scalar *data);
-
-    /** Constructor copying the value of the expression \a other */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array(const ArrayBase<OtherDerived>& other)
-             : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
     /** Copy constructor */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Array& other)
-            : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
-    /** Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array(const ReturnByValue<OtherDerived>& other)
-    {
-      Base::_check_template_params();
-      Base::resize(other.rows(), other.cols());
-      other.evalTo(*this);
-    }
+            : Base(other)
+    { }
 
-    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other)
-      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      Base::_check_template_params();
-      Base::_resize_to_match(other);
-      *this = other;
-    }
+  private:
+    struct PrivateType {};
+  public:
 
-    /** Override MatrixBase::swap() since for dynamic-sized matrices of same type it is enough to swap the
-      * data pointers.
-      */
+    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
     template<typename OtherDerived>
-    void swap(ArrayBase<OtherDerived> const & other)
-    { this->_swap(other.derived()); }
-
-    inline Index innerStride() const { return 1; }
-    inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other,
+                              typename internal::enable_if<internal::is_convertible<typename OtherDerived::Scalar,Scalar>::value,
+                                                           PrivateType>::type = PrivateType())
+      : Base(other.derived())
+    { }
+
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
 
     #ifdef EIGEN_ARRAY_PLUGIN
     #include EIGEN_ARRAY_PLUGIN
diff --git a/vendor/eigen/Eigen/src/Core/ArrayBase.h b/vendor/eigen/Eigen/src/Core/ArrayBase.h
index 33ff553..3dbc708 100644
--- a/vendor/eigen/Eigen/src/Core/ArrayBase.h
+++ b/vendor/eigen/Eigen/src/Core/ArrayBase.h
@@ -32,7 +32,7 @@ template<typename ExpressionType> class MatrixWrapper;
   * \tparam Derived is the derived type, e.g., an array or an expression type.
   *
   * 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_ARRAYBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
   *
   * \sa class MatrixBase, \ref TopicClassHierarchy
   */
@@ -47,13 +47,11 @@ template<typename Derived> class ArrayBase
     typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
     typedef DenseBase<Derived> Base;
-    using Base::operator*;
     using Base::RowsAtCompileTime;
     using Base::ColsAtCompileTime;
     using Base::SizeAtCompileTime;
@@ -62,8 +60,7 @@ template<typename Derived> class ArrayBase
     using Base::MaxSizeAtCompileTime;
     using Base::IsVectorAtCompileTime;
     using Base::Flags;
-    using Base::CoeffReadCost;
-
+    
     using Base::derived;
     using Base::const_cast_derived;
     using Base::rows;
@@ -83,25 +80,14 @@ template<typename Derived> class ArrayBase
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
-      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
-      * reference to a matrix, not a matrix! It is however guaranteed that the return type of eval() is either
-      * PlainObject or const PlainObject&.
-      */
-    typedef Array<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainObject;
-
+    typedef typename Base::PlainObject PlainObject;
 
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
 #   include "../plugins/ArrayCwiseUnaryOps.h"
@@ -112,44 +98,62 @@ template<typename Derived> class ArrayBase
 #     include EIGEN_ARRAYBASE_PLUGIN
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const ArrayBase& other)
     {
-      return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+      internal::call_assignment(derived(), other.derived());
+      return derived();
     }
-
-    Derived& operator+=(const Scalar& scalar)
-    { return *this = derived() + scalar; }
-    Derived& operator-=(const Scalar& scalar)
-    { return *this = derived() - scalar; }
+    
+    /** Set all the entries to \a value.
+      * \sa DenseBase::setConstant(), DenseBase::fill() */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator=(const Scalar &value)
+    { Base::setConstant(value); return derived(); }
+
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator+=(const Scalar& scalar);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator-=(const Scalar& scalar);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator+=(const ArrayBase<OtherDerived>& other);
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator-=(const ArrayBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator*=(const ArrayBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator/=(const ArrayBase<OtherDerived>& other);
 
   public:
+    EIGEN_DEVICE_FUNC
     ArrayBase<Derived>& array() { return *this; }
+    EIGEN_DEVICE_FUNC
     const ArrayBase<Derived>& array() const { return *this; }
 
     /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array
       * \sa MatrixBase::array() */
-    MatrixWrapper<Derived> matrix() { return derived(); }
-    const MatrixWrapper<const Derived> matrix() const { return derived(); }
+    EIGEN_DEVICE_FUNC
+    MatrixWrapper<Derived> matrix() { return MatrixWrapper<Derived>(derived()); }
+    EIGEN_DEVICE_FUNC
+    const MatrixWrapper<const Derived> matrix() const { return MatrixWrapper<const Derived>(derived()); }
 
 //     template<typename Dest>
 //     inline void evalTo(Dest& dst) const { dst = matrix(); }
 
   protected:
+    EIGEN_DEVICE_FUNC
     ArrayBase() : Base() {}
 
   private:
@@ -171,11 +175,10 @@ template<typename Derived> class ArrayBase
   */
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
 {
-  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -185,11 +188,10 @@ ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
   */
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -199,11 +201,10 @@ ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
   */
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -213,11 +214,10 @@ ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
   */
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/ArrayWrapper.h b/vendor/eigen/Eigen/src/Core/ArrayWrapper.h
index b4641e2..688aadd 100644
--- a/vendor/eigen/Eigen/src/Core/ArrayWrapper.h
+++ b/vendor/eigen/Eigen/src/Core/ArrayWrapper.h
@@ -32,7 +32,8 @@ struct traits<ArrayWrapper<ExpressionType> >
   // Let's remove NestByRefBit
   enum {
     Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
-    Flags = Flags0 & ~NestByRefBit
+    LvalueBitFlag = is_lvalue<ExpressionType>::value ? LvalueBit : 0,
+    Flags = (Flags0 & ~(NestByRefBit | LvalueBit)) | LvalueBitFlag
   };
 };
 }
@@ -44,6 +45,7 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
     typedef ArrayBase<ArrayWrapper> Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
+    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
 
     typedef typename internal::conditional<
                        internal::is_lvalue<ExpressionType>::value,
@@ -51,76 +53,45 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
 
-    inline ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+    using Base::coeffRef;
 
+    EIGEN_DEVICE_FUNC
+    explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.const_cast_derived().data(); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return m_expression.data(); }
 
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return m_expression.coeff(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
+      return m_expression.coeffRef(rowId, colId);
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_expression.template packet<LoadMode>(rowId, colId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(rowId, colId, val);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, val);
+      return m_expression.coeffRef(index);
     }
 
     template<typename Dest>
+    EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const { dst = m_expression; }
 
     const typename internal::remove_all<NestedExpressionType>::type& 
+    EIGEN_DEVICE_FUNC
     nestedExpression() const 
     {
       return m_expression;
@@ -128,10 +99,12 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
 
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index)  */
-    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index newSize) { m_expression.resize(newSize); }
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index,Index)*/
-    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
 
   protected:
     NestedExpressionType m_expression;
@@ -157,7 +130,8 @@ struct traits<MatrixWrapper<ExpressionType> >
   // Let's remove NestByRefBit
   enum {
     Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
-    Flags = Flags0 & ~NestByRefBit
+    LvalueBitFlag = is_lvalue<ExpressionType>::value ? LvalueBit : 0,
+    Flags = (Flags0 & ~(NestByRefBit | LvalueBit)) | LvalueBitFlag
   };
 };
 }
@@ -169,6 +143,7 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
     typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
+    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
 
     typedef typename internal::conditional<
                        internal::is_lvalue<ExpressionType>::value,
@@ -176,72 +151,40 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
 
-    inline MatrixWrapper(ExpressionType& a_matrix) : m_expression(a_matrix) {}
+    using Base::coeffRef;
 
+    EIGEN_DEVICE_FUNC
+    explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.const_cast_derived().data(); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return m_expression.data(); }
 
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return m_expression.coeff(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return m_expression.derived().coeffRef(rowId, colId);
     }
 
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_expression.template packet<LoadMode>(rowId, colId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(rowId, colId, val);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, val);
+      return m_expression.coeffRef(index);
     }
 
+    EIGEN_DEVICE_FUNC
     const typename internal::remove_all<NestedExpressionType>::type& 
     nestedExpression() const 
     {
@@ -250,10 +193,12 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
 
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index)  */
-    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index newSize) { m_expression.resize(newSize); }
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index,Index)*/
-    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
 
   protected:
     NestedExpressionType m_expression;
diff --git a/vendor/eigen/Eigen/src/Core/Assign.h b/vendor/eigen/Eigen/src/Core/Assign.h
index f481731..53806ba 100644
--- a/vendor/eigen/Eigen/src/Core/Assign.h
+++ b/vendor/eigen/Eigen/src/Core/Assign.h
@@ -14,478 +14,6 @@
 
 namespace Eigen {
 
-namespace internal {
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for traversal and unrolling       *
-***************************************************************************/
-
-template <typename Derived, typename OtherDerived>
-struct assign_traits
-{
-public:
-  enum {
-    DstIsAligned = Derived::Flags & AlignedBit,
-    DstHasDirectAccess = Derived::Flags & DirectAccessBit,
-    SrcIsAligned = OtherDerived::Flags & AlignedBit,
-    JointAlignment = bool(DstIsAligned) && bool(SrcIsAligned) ? Aligned : Unaligned
-  };
-
-private:
-  enum {
-    InnerSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::SizeAtCompileTime)
-              : int(Derived::Flags)&RowMajorBit ? int(Derived::ColsAtCompileTime)
-              : int(Derived::RowsAtCompileTime),
-    InnerMaxSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::MaxSizeAtCompileTime)
-              : int(Derived::Flags)&RowMajorBit ? int(Derived::MaxColsAtCompileTime)
-              : int(Derived::MaxRowsAtCompileTime),
-    MaxSizeAtCompileTime = Derived::SizeAtCompileTime,
-    PacketSize = packet_traits<typename Derived::Scalar>::size
-  };
-
-  enum {
-    StorageOrdersAgree = (int(Derived::IsRowMajor) == int(OtherDerived::IsRowMajor)),
-    MightVectorize = StorageOrdersAgree
-                  && (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit),
-    MayInnerVectorize  = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0
-                       && int(DstIsAligned) && int(SrcIsAligned),
-    MayLinearize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit),
-    MayLinearVectorize = MightVectorize && MayLinearize && DstHasDirectAccess
-                       && (DstIsAligned || MaxSizeAtCompileTime == Dynamic),
-      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
-         so it's only good for large enough sizes. */
-    MaySliceVectorize  = MightVectorize && DstHasDirectAccess
-                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=3*PacketSize)
-      /* slice vectorization can be slow, so we only want it if the slices are big, which is
-         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
-         in a fixed-size matrix */
-  };
-
-public:
-  enum {
-    Traversal = int(MayInnerVectorize)  ? int(InnerVectorizedTraversal)
-              : int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
-              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
-              : int(MayLinearize)       ? int(LinearTraversal)
-                                        : int(DefaultTraversal),
-    Vectorized = int(Traversal) == InnerVectorizedTraversal
-              || int(Traversal) == LinearVectorizedTraversal
-              || int(Traversal) == SliceVectorizedTraversal
-  };
-
-private:
-  enum {
-    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * (Vectorized ? int(PacketSize) : 1),
-    MayUnrollCompletely = int(Derived::SizeAtCompileTime) != Dynamic
-                       && int(OtherDerived::CoeffReadCost) != Dynamic
-                       && int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit),
-    MayUnrollInner      = int(InnerSize) != Dynamic
-                       && int(OtherDerived::CoeffReadCost) != Dynamic
-                       && int(InnerSize) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit)
-  };
-
-public:
-  enum {
-    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
-                ? (
-                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
-                  : int(MayUnrollInner)      ? int(InnerUnrolling)
-                                             : int(NoUnrolling)
-                  )
-              : int(Traversal) == int(LinearVectorizedTraversal)
-                ? ( bool(MayUnrollCompletely) && bool(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
-              : int(Traversal) == int(LinearTraversal)
-                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) )
-              : int(NoUnrolling)
-  };
-
-#ifdef EIGEN_DEBUG_ASSIGN
-  static void debug()
-  {
-    EIGEN_DEBUG_VAR(DstIsAligned)
-    EIGEN_DEBUG_VAR(SrcIsAligned)
-    EIGEN_DEBUG_VAR(JointAlignment)
-    EIGEN_DEBUG_VAR(InnerSize)
-    EIGEN_DEBUG_VAR(InnerMaxSize)
-    EIGEN_DEBUG_VAR(PacketSize)
-    EIGEN_DEBUG_VAR(StorageOrdersAgree)
-    EIGEN_DEBUG_VAR(MightVectorize)
-    EIGEN_DEBUG_VAR(MayLinearize)
-    EIGEN_DEBUG_VAR(MayInnerVectorize)
-    EIGEN_DEBUG_VAR(MayLinearVectorize)
-    EIGEN_DEBUG_VAR(MaySliceVectorize)
-    EIGEN_DEBUG_VAR(Traversal)
-    EIGEN_DEBUG_VAR(UnrollingLimit)
-    EIGEN_DEBUG_VAR(MayUnrollCompletely)
-    EIGEN_DEBUG_VAR(MayUnrollInner)
-    EIGEN_DEBUG_VAR(Unrolling)
-  }
-#endif
-};
-
-/***************************************************************************
-* Part 2 : meta-unrollers
-***************************************************************************/
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_DefaultTraversal_CompleteUnrolling
-{
-  enum {
-    outer = Index / Derived1::InnerSizeAtCompileTime,
-    inner = Index % Derived1::InnerSizeAtCompileTime
-  };
-
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.copyCoeffByOuterInner(outer, inner, src);
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_DefaultTraversal_InnerUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer)
-  {
-    dst.copyCoeffByOuterInner(outer, Index, src);
-    assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, outer);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {}
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_LinearTraversal_CompleteUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.copyCoeff(Index, src);
-    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_innervec_CompleteUnrolling
-{
-  enum {
-    outer = Index / Derived1::InnerSizeAtCompileTime,
-    inner = Index % Derived1::InnerSizeAtCompileTime,
-    JointAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-  };
-
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.template copyPacketByOuterInner<Derived2, Aligned, JointAlignment>(outer, inner, src);
-    assign_innervec_CompleteUnrolling<Derived1, Derived2,
-      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_innervec_InnerUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer)
-  {
-    dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, Index, src);
-    assign_innervec_InnerUnrolling<Derived1, Derived2,
-      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, outer);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {}
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Derived1, typename Derived2,
-         int Traversal = assign_traits<Derived1, Derived2>::Traversal,
-         int Unrolling = assign_traits<Derived1, Derived2>::Unrolling,
-         int Version = Specialized>
-struct assign_impl;
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Derived1, typename Derived2, int Unrolling, int Version>
-struct assign_impl<Derived1, Derived2, InvalidTraversal, Unrolling, Version>
-{
-  static inline void run(Derived1 &, const Derived2 &) { }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      for(Index inner = 0; inner < innerSize; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, InnerUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
-        ::run(dst, src, outer);
-  }
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index size = dst.size();
-    for(Index i = 0; i < size; ++i)
-      dst.copyCoeff(i, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    const Index packetSize = packet_traits<typename Derived1::Scalar>::size;
-    for(Index outer = 0; outer < outerSize; ++outer)
-      for(Index inner = 0; inner < innerSize; inner+=packetSize)
-        dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, inner, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, InnerUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      assign_innervec_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
-        ::run(dst, src, outer);
-  }
-};
-
-/***************************
-*** Linear vectorization ***
-***************************/
-
-template <bool IsAligned = false>
-struct unaligned_assign_impl
-{
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_STRONG_INLINE void run(const Derived&, OtherDerived&, typename Derived::Index, typename Derived::Index) {}
-};
-
-template <>
-struct unaligned_assign_impl<false>
-{
-  // MSVC must not inline this functions. If it does, it fails to optimize the
-  // packet access path.
-#ifdef _MSC_VER
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_DONT_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
-#else
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_STRONG_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
-#endif
-  {
-    for (typename Derived::Index index = start; index < end; ++index)
-      dst.copyCoeff(index, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index size = dst.size();
-    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
-    enum {
-      packetSize = PacketTraits::size,
-      dstAlignment = PacketTraits::AlignedOnScalar ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
-      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-    };
-    const Index alignedStart = assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-                             : internal::first_aligned(&dst.coeffRef(0), size);
-    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-
-    unaligned_assign_impl<assign_traits<Derived1,Derived2>::DstIsAligned!=0>::run(src,dst,0,alignedStart);
-
-    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
-    {
-      dst.template copyPacket<Derived2, dstAlignment, srcAlignment>(index, src);
-    }
-
-    unaligned_assign_impl<>::run(src,dst,alignedEnd,size);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, CompleteUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    enum { size = Derived1::SizeAtCompileTime,
-           packetSize = packet_traits<typename Derived1::Scalar>::size,
-           alignedSize = (size/packetSize)*packetSize };
-
-    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src);
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src);
-  }
-};
-
-/**************************
-*** Slice vectorization ***
-***************************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    typedef typename Derived1::Scalar Scalar;
-    typedef packet_traits<Scalar> PacketTraits;
-    enum {
-      packetSize = PacketTraits::size,
-      alignable = PacketTraits::AlignedOnScalar,
-      dstIsAligned = assign_traits<Derived1,Derived2>::DstIsAligned,
-      dstAlignment = alignable ? Aligned : int(dstIsAligned),
-      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-    };
-    const Scalar *dst_ptr = &dst.coeffRef(0,0);
-    if((!bool(dstIsAligned)) && (size_t(dst_ptr) % sizeof(Scalar))>0)
-    {
-      // the pointer is not aligend-on scalar, so alignment is not possible
-      return assign_impl<Derived1,Derived2,DefaultTraversal,NoUnrolling>::run(dst, src);
-    }
-    const Index packetAlignedMask = packetSize - 1;
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0;
-    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize);
-
-    for(Index outer = 0; outer < outerSize; ++outer)
-    {
-      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
-      // do the non-vectorizable part of the assignment
-      for(Index inner = 0; inner<alignedStart ; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-
-      // do the vectorizable part of the assignment
-      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
-        dst.template copyPacketByOuterInner<Derived2, dstAlignment, Unaligned>(outer, inner, src);
-
-      // do the non-vectorizable part of the assignment
-      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-
-      alignedStart = std::min<Index>((alignedStart+alignedStep)%packetSize, innerSize);
-    }
-  }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Part 4 : implementation of DenseBase methods
-***************************************************************************/
-
 template<typename Derived>
 template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
@@ -499,90 +27,62 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
   EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
   EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
 
-#ifdef EIGEN_DEBUG_ASSIGN
-  internal::assign_traits<Derived, OtherDerived>::debug();
-#endif
   eigen_assert(rows() == other.rows() && cols() == other.cols());
-  internal::assign_impl<Derived, OtherDerived, int(SameType) ? int(internal::assign_traits<Derived, OtherDerived>::Traversal)
-                                                       : int(InvalidTraversal)>::run(derived(),other.derived());
-#ifndef EIGEN_NO_DEBUG
-  checkTransposeAliasing(other.derived());
-#endif
+  internal::call_assignment_no_alias(derived(),other.derived());
+  
   return derived();
 }
 
-namespace internal {
-
-template<typename Derived, typename OtherDerived,
-         bool EvalBeforeAssigning = (int(internal::traits<OtherDerived>::Flags) & EvalBeforeAssigningBit) != 0,
-         bool NeedToTranspose = ((int(Derived::RowsAtCompileTime) == 1 && int(OtherDerived::ColsAtCompileTime) == 1)
-                              |   // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
-                                  // revert to || as soon as not needed anymore.
-                                  (int(Derived::ColsAtCompileTime) == 1 && int(OtherDerived::RowsAtCompileTime) == 1))
-                              && int(Derived::SizeAtCompileTime) != 1>
-struct assign_selector;
-
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,false,false> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); }
-  template<typename ActualDerived, typename ActualOtherDerived>
-  static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { other.evalTo(dst); return dst; }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,true,false> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,false,true> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); }
-  template<typename ActualDerived, typename ActualOtherDerived>
-  static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { Transpose<ActualDerived> dstTrans(dst); other.evalTo(dstTrans); return dst; }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,true,true> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); }
-};
-
-} // end namespace internal
-
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
 {
-  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
 {
-  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived());
+  other.derived().evalTo(derived());
+  return derived();
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/AssignEvaluator.h b/vendor/eigen/Eigen/src/Core/AssignEvaluator.h
new file mode 100644
index 0000000..b0ec7b7
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/AssignEvaluator.h
@@ -0,0 +1,935 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse at maths.leeds.ac.uk>
+//
+// 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_ASSIGN_EVALUATOR_H
+#define EIGEN_ASSIGN_EVALUATOR_H
+
+namespace Eigen {
+
+// This implementation is based on Assign.h
+
+namespace internal {
+  
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for traversal and unrolling       *
+***************************************************************************/
+
+// copy_using_evaluator_traits is based on assign_traits
+
+template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc>
+struct copy_using_evaluator_traits
+{
+  typedef typename DstEvaluator::XprType Dst;
+  typedef typename Dst::Scalar DstScalar;
+  
+  enum {
+    DstFlags = DstEvaluator::Flags,
+    SrcFlags = SrcEvaluator::Flags
+  };
+  
+public:
+  enum {
+    DstAlignment = DstEvaluator::Alignment,
+    SrcAlignment = SrcEvaluator::Alignment,
+    DstHasDirectAccess = DstFlags & DirectAccessBit,
+    JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment)
+  };
+
+private:
+  enum {
+    InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
+              : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
+              : int(Dst::RowsAtCompileTime),
+    InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
+              : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
+              : int(Dst::MaxRowsAtCompileTime),
+    OuterStride = int(outer_stride_at_compile_time<Dst>::ret),
+    MaxSizeAtCompileTime = Dst::SizeAtCompileTime
+  };
+
+  // TODO distinguish between linear traversal and inner-traversals
+  typedef typename find_best_packet<DstScalar,Dst::SizeAtCompileTime>::type LinearPacketType;
+  typedef typename find_best_packet<DstScalar,InnerSize>::type InnerPacketType;
+
+  enum {
+    LinearPacketSize = unpacket_traits<LinearPacketType>::size,
+    InnerPacketSize = unpacket_traits<InnerPacketType>::size
+  };
+
+public:
+  enum {
+    LinearRequiredAlignment = unpacket_traits<LinearPacketType>::alignment,
+    InnerRequiredAlignment = unpacket_traits<InnerPacketType>::alignment
+  };
+
+private:
+  enum {
+    DstIsRowMajor = DstFlags&RowMajorBit,
+    SrcIsRowMajor = SrcFlags&RowMajorBit,
+    StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)),
+    MightVectorize = bool(StorageOrdersAgree)
+                  && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit)
+                  && bool(functor_traits<AssignFunc>::PacketAccess),
+    MayInnerVectorize  = MightVectorize
+                       && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0
+                       && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0
+                       && (EIGEN_UNALIGNED_VECTORIZE  || int(JointAlignment)>=int(InnerRequiredAlignment)),
+    MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit),
+    MayLinearVectorize = bool(MightVectorize) && MayLinearize && DstHasDirectAccess
+                       && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic),
+      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
+         so it's only good for large enough sizes. */
+    MaySliceVectorize  = bool(MightVectorize) && bool(DstHasDirectAccess)
+                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize)))
+      /* slice vectorization can be slow, so we only want it if the slices are big, which is
+         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
+         in a fixed-size matrix
+         However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */
+  };
+
+public:
+  enum {
+    Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal)
+              : int(MayInnerVectorize)   ? int(InnerVectorizedTraversal)
+              : int(MayLinearVectorize)  ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)   ? int(SliceVectorizedTraversal)
+              : int(MayLinearize)        ? int(LinearTraversal)
+                                         : int(DefaultTraversal),
+    Vectorized = int(Traversal) == InnerVectorizedTraversal
+              || int(Traversal) == LinearVectorizedTraversal
+              || int(Traversal) == SliceVectorizedTraversal
+  };
+
+  typedef typename conditional<int(Traversal)==LinearVectorizedTraversal, LinearPacketType, InnerPacketType>::type PacketType;
+
+private:
+  enum {
+    ActualPacketSize    = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize
+                        : Vectorized ? InnerPacketSize
+                        : 1,
+    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * ActualPacketSize,
+    MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic
+                       && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit),
+    MayUnrollInner      = int(InnerSize) != Dynamic
+                       && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit)
+  };
+
+public:
+  enum {
+    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
+                ? (
+                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
+                  : int(MayUnrollInner)      ? int(InnerUnrolling)
+                                             : int(NoUnrolling)
+                  )
+              : int(Traversal) == int(LinearVectorizedTraversal)
+                ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)))
+                          ? int(CompleteUnrolling)
+                          : int(NoUnrolling) )
+              : int(Traversal) == int(LinearTraversal)
+                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) 
+                                              : int(NoUnrolling) )
+#if EIGEN_UNALIGNED_VECTORIZE
+              : int(Traversal) == int(SliceVectorizedTraversal)
+                ? ( bool(MayUnrollInner) ? int(InnerUnrolling)
+                                         : int(NoUnrolling) )
+#endif
+              : int(NoUnrolling)
+  };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl;
+    std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl;
+    std::cerr.setf(std::ios::hex, std::ios::basefield);
+    std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl;
+    std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl;
+    std::cerr.unsetf(std::ios::hex);
+    EIGEN_DEBUG_VAR(DstAlignment)
+    EIGEN_DEBUG_VAR(SrcAlignment)
+    EIGEN_DEBUG_VAR(LinearRequiredAlignment)
+    EIGEN_DEBUG_VAR(InnerRequiredAlignment)
+    EIGEN_DEBUG_VAR(JointAlignment)
+    EIGEN_DEBUG_VAR(InnerSize)
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(LinearPacketSize)
+    EIGEN_DEBUG_VAR(InnerPacketSize)
+    EIGEN_DEBUG_VAR(ActualPacketSize)
+    EIGEN_DEBUG_VAR(StorageOrdersAgree)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearize)
+    EIGEN_DEBUG_VAR(MayInnerVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
+    EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(MayUnrollCompletely)
+    EIGEN_DEBUG_VAR(MayUnrollInner)
+    std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl;
+    std::cerr << std::endl;
+  }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : meta-unrollers
+***************************************************************************/
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  
+  enum {
+    outer = Index / DstXprType::InnerSizeAtCompileTime,
+    inner = Index % DstXprType::InnerSizeAtCompileTime
+  };
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    kernel.assignCoeffByOuterInner(outer, inner);
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+  {
+    kernel.assignCoeffByOuterInner(outer, Index_);
+    copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Index_+1, Stop>::run(kernel, outer);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel)
+  {
+    kernel.assignCoeff(Index);
+    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  typedef typename Kernel::PacketType PacketType;
+  
+  enum {
+    outer = Index / DstXprType::InnerSizeAtCompileTime,
+    inner = Index % DstXprType::InnerSizeAtCompileTime,
+    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+    DstAlignment = Kernel::AssignmentTraits::DstAlignment
+  };
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+    enum { NextIndex = Index + unpacket_traits<PacketType>::size };
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling
+{
+  typedef typename Kernel::PacketType PacketType;
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+  {
+    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, Index_);
+    enum { NextIndex = Index_ + unpacket_traits<PacketType>::size };
+    copy_using_evaluator_innervec_InnerUnrolling<Kernel, NextIndex, Stop, SrcAlignment, DstAlignment>::run(kernel, outer);
+  }
+};
+
+template<typename Kernel, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling<Kernel, Stop, Stop, SrcAlignment, DstAlignment>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+// dense_assignment_loop is based on assign_impl
+
+template<typename Kernel,
+         int Traversal = Kernel::AssignmentTraits::Traversal,
+         int Unrolling = Kernel::AssignmentTraits::Unrolling>
+struct dense_assignment_loop;
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel)
+  {
+    for(Index outer = 0; outer < kernel.outerSize(); ++outer) {
+      for(Index inner = 0; inner < kernel.innerSize(); ++inner) {
+        kernel.assignCoeffByOuterInner(outer, inner);
+      }
+    }
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+
+    const Index outerSize = kernel.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime>::run(kernel, outer);
+  }
+};
+
+/***************************
+*** Linear vectorization ***
+***************************/
+
+
+// The goal of unaligned_dense_assignment_loop is simply to factorize the handling
+// of the non vectorizable beginning and ending parts
+
+template <bool IsAligned = false>
+struct unaligned_dense_assignment_loop
+{
+  // if IsAligned = true, then do nothing
+  template <typename Kernel>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {}
+};
+
+template <>
+struct unaligned_dense_assignment_loop<false>
+{
+  // MSVC must not inline this functions. If it does, it fails to optimize the
+  // packet access path.
+  // FIXME check which version exhibits this issue
+#if EIGEN_COMP_MSVC
+  template <typename Kernel>
+  static EIGEN_DONT_INLINE void run(Kernel &kernel,
+                                    Index start,
+                                    Index end)
+#else
+  template <typename Kernel>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel,
+                                      Index start,
+                                      Index end)
+#endif
+  {
+    for (Index index = start; index < end; ++index)
+      kernel.assignCoeff(index);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index size = kernel.size();
+    typedef typename Kernel::Scalar Scalar;
+    typedef typename Kernel::PacketType PacketType;
+    enum {
+      requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment,
+      packetSize = unpacket_traits<PacketType>::size,
+      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+      dstAlignment = packet_traits<Scalar>::AlignedOnScalar ? int(requestedAlignment)
+                                                            : int(Kernel::AssignmentTraits::DstAlignment),
+      srcAlignment = Kernel::AssignmentTraits::JointAlignment
+    };
+    const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned<requestedAlignment>(kernel.dstDataPtr(), size);
+    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+    unaligned_dense_assignment_loop<dstIsAligned!=0>::run(kernel, 0, alignedStart);
+
+    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
+      kernel.template assignPacket<dstAlignment, srcAlignment, PacketType>(index);
+
+    unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::PacketType PacketType;
+    
+    enum { size = DstXprType::SizeAtCompileTime,
+           packetSize =unpacket_traits<PacketType>::size,
+           alignedSize = (size/packetSize)*packetSize };
+
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
+  }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Kernel::PacketType PacketType;
+  enum {
+    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+    DstAlignment = Kernel::AssignmentTraits::DstAlignment
+  };
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index innerSize = kernel.innerSize();
+    const Index outerSize = kernel.outerSize();
+    const Index packetSize = unpacket_traits<PacketType>::size;
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; inner+=packetSize)
+        kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::AssignmentTraits Traits;
+    const Index outerSize = kernel.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime,
+                                                   Traits::SrcAlignment, Traits::DstAlignment>::run(kernel, outer);
+  }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index size = kernel.size();
+    for(Index i = 0; i < size; ++i)
+      kernel.assignCoeff(i);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+/**************************
+*** Slice vectorization ***
+***************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::Scalar Scalar;
+    typedef typename Kernel::PacketType PacketType;
+    enum {
+      packetSize = unpacket_traits<PacketType>::size,
+      requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
+      alignable = packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar),
+      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+      dstAlignment = alignable ? int(requestedAlignment)
+                               : int(Kernel::AssignmentTraits::DstAlignment)
+    };
+    const Scalar *dst_ptr = kernel.dstDataPtr();
+    if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0)
+    {
+      // the pointer is not aligend-on scalar, so alignment is not possible
+      return dense_assignment_loop<Kernel,DefaultTraversal,NoUnrolling>::run(kernel);
+    }
+    const Index packetAlignedMask = packetSize - 1;
+    const Index innerSize = kernel.innerSize();
+    const Index outerSize = kernel.outerSize();
+    const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
+    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
+
+    for(Index outer = 0; outer < outerSize; ++outer)
+    {
+      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
+      // do the non-vectorizable part of the assignment
+      for(Index inner = 0; inner<alignedStart ; ++inner)
+        kernel.assignCoeffByOuterInner(outer, inner);
+
+      // do the vectorizable part of the assignment
+      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
+        kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
+
+      // do the non-vectorizable part of the assignment
+      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
+        kernel.assignCoeffByOuterInner(outer, inner);
+
+      alignedStart = numext::mini((alignedStart+alignedStep)%packetSize, innerSize);
+    }
+  }
+};
+
+#if EIGEN_UNALIGNED_VECTORIZE
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::PacketType PacketType;
+
+    enum { size = DstXprType::InnerSizeAtCompileTime,
+           packetSize =unpacket_traits<PacketType>::size,
+           vectorizableSize = (size/packetSize)*packetSize };
+
+    for(Index outer = 0; outer < kernel.outerSize(); ++outer)
+    {
+      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, vectorizableSize, 0, 0>::run(kernel, outer);
+      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, size>::run(kernel, outer);
+    }
+  }
+};
+#endif
+
+
+/***************************************************************************
+* Part 4 : Generic dense assignment kernel
+***************************************************************************/
+
+// This class generalize the assignment of a coefficient (or packet) from one dense evaluator
+// to another dense writable evaluator.
+// It is parametrized by the two evaluators, and the actual assignment functor.
+// This abstraction level permits to keep the evaluation loops as simple and as generic as possible.
+// One can customize the assignment using this generic dense_assignment_kernel with different
+// functors, or by completely overloading it, by-passing a functor.
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class generic_dense_assignment_kernel
+{
+protected:
+  typedef typename DstEvaluatorTypeT::XprType DstXprType;
+  typedef typename SrcEvaluatorTypeT::XprType SrcXprType;
+public:
+  
+  typedef DstEvaluatorTypeT DstEvaluatorType;
+  typedef SrcEvaluatorTypeT SrcEvaluatorType;
+  typedef typename DstEvaluatorType::Scalar Scalar;
+  typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
+  typedef typename AssignmentTraits::PacketType PacketType;
+  
+  
+  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr)
+  {
+    #ifdef EIGEN_DEBUG_ASSIGN
+    AssignmentTraits::debug();
+    #endif
+  }
+  
+  EIGEN_DEVICE_FUNC Index size() const        { return m_dstExpr.size(); }
+  EIGEN_DEVICE_FUNC Index innerSize() const   { return m_dstExpr.innerSize(); }
+  EIGEN_DEVICE_FUNC Index outerSize() const   { return m_dstExpr.outerSize(); }
+  EIGEN_DEVICE_FUNC Index rows() const        { return m_dstExpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const        { return m_dstExpr.cols(); }
+  EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); }
+  
+  EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; }
+  EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; }
+  
+  /// Assign src(row,col) to dst(row,col) through the assignment functor.
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col)
+  {
+    m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col));
+  }
+  
+  /// \sa assignCoeff(Index,Index)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index)
+  {
+    m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
+  }
+  
+  /// \sa assignCoeff(Index,Index)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner)
+  {
+    Index row = rowIndexByOuterInner(outer, inner); 
+    Index col = colIndexByOuterInner(outer, inner); 
+    assignCoeff(row, col);
+  }
+  
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
+  {
+    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(row,col), m_src.template packet<LoadMode,PacketType>(row,col));
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index)
+  {
+    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(index), m_src.template packet<LoadMode,PacketType>(index));
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
+  {
+    Index row = rowIndexByOuterInner(outer, inner); 
+    Index col = colIndexByOuterInner(outer, inner);
+    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+  }
+  
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner)
+  {
+    typedef typename DstEvaluatorType::ExpressionTraits Traits;
+    return int(Traits::RowsAtCompileTime) == 1 ? 0
+      : int(Traits::ColsAtCompileTime) == 1 ? inner
+      : int(DstEvaluatorType::Flags)&RowMajorBit ? outer
+      : inner;
+  }
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner)
+  {
+    typedef typename DstEvaluatorType::ExpressionTraits Traits;
+    return int(Traits::ColsAtCompileTime) == 1 ? 0
+      : int(Traits::RowsAtCompileTime) == 1 ? inner
+      : int(DstEvaluatorType::Flags)&RowMajorBit ? inner
+      : outer;
+  }
+
+  EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const
+  {
+    return m_dstExpr.data();
+  }
+  
+protected:
+  DstEvaluatorType& m_dst;
+  const SrcEvaluatorType& m_src;
+  const Functor &m_functor;
+  // TODO find a way to avoid the needs of the original expression
+  DstXprType& m_dstExpr;
+};
+
+/***************************************************************************
+* Part 5 : Entry point for dense rectangular assignment
+***************************************************************************/
+
+template<typename DstXprType,typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const Functor &/*func*/)
+{
+  EIGEN_ONLY_USED_FOR_DEBUG(dst);
+  EIGEN_ONLY_USED_FOR_DEBUG(src);
+  eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+}
+
+template<typename DstXprType,typename SrcXprType, typename T1, typename T2>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const internal::assign_op<T1,T2> &/*func*/)
+{
+  Index dstRows = src.rows();
+  Index dstCols = src.cols();
+  if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols)))
+    dst.resize(dstRows, dstCols);
+  eigen_assert(dst.rows() == dstRows && dst.cols() == dstCols);
+}
+
+template<typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+  typedef evaluator<DstXprType> DstEvaluatorType;
+  typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  // NOTE To properly handle A = (A*A.transpose())/s with A rectangular,
+  // we need to resize the destination after the source evaluator has been created.
+  resize_if_allowed(dst, src, func);
+
+  DstEvaluatorType dstEvaluator(dst);
+    
+  typedef generic_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+
+  dense_assignment_loop<Kernel>::run(kernel);
+}
+
+template<typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+  call_dense_assignment_loop(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+/***************************************************************************
+* Part 6 : Generic assignment
+***************************************************************************/
+
+// Based on the respective shapes of the destination and source,
+// the class AssignmentKind determine the kind of assignment mechanism.
+// AssignmentKind must define a Kind typedef.
+template<typename DstShape, typename SrcShape> struct AssignmentKind;
+
+// Assignement kind defined in this file:
+struct Dense2Dense {};
+struct EigenBase2EigenBase {};
+
+template<typename,typename> struct AssignmentKind { typedef EigenBase2EigenBase Kind; };
+template<> struct AssignmentKind<DenseShape,DenseShape> { typedef Dense2Dense Kind; };
+    
+// This is the main assignment class
+template< typename DstXprType, typename SrcXprType, typename Functor,
+          typename Kind = typename AssignmentKind< typename evaluator_traits<DstXprType>::Shape , typename evaluator_traits<SrcXprType>::Shape >::Kind,
+          typename EnableIf = void>
+struct Assignment;
+
+
+// The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition.
+// Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated.
+// So this intermediate function removes everything related to "assume-aliasing" such that Assignment
+// does not has to bother about these annoying details.
+
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src)
+{
+  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(const Dst& dst, const Src& src)
+{
+  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+                     
+// Deal with "assume-aliasing"
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+  typename plain_matrix_type<Src>::type tmp(src);
+  call_assignment_no_alias(dst, tmp, func);
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if<!evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+  call_assignment_no_alias(dst, src, func);
+}
+
+// by-pass "assume-aliasing"
+// When there is no aliasing, we require that 'dst' has been properly resized
+template<typename Dst, template <typename> class StorageBase, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(NoAlias<Dst,StorageBase>& dst, const Src& src, const Func& func)
+{
+  call_assignment_no_alias(dst.expression(), src, func);
+}
+
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
+{
+  enum {
+    NeedToTranspose = (    (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1)
+                        || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1)
+                      ) && int(Dst::SizeAtCompileTime) != 1
+  };
+
+  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst>::type ActualDstTypeCleaned;
+  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst&>::type ActualDstType;
+  ActualDstType actualDst(dst);
+  
+  // TODO check whether this is the right place to perform these checks:
+  EIGEN_STATIC_ASSERT_LVALUE(Dst)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
+  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
+  
+  Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src)
+{
+  call_assignment_no_alias(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func)
+{
+  // TODO check whether this is the right place to perform these checks:
+  EIGEN_STATIC_ASSERT_LVALUE(Dst)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src)
+  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar);
+
+  Assignment<Dst,Src,Func>::run(dst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src)
+{
+  call_assignment_no_alias_no_transpose(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+// forward declaration
+template<typename Dst, typename Src> void check_for_aliasing(const Dst &dst, const Src &src);
+
+// Generic Dense to Dense assignment
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak>
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+#ifndef EIGEN_NO_DEBUG
+    internal::check_for_aliasing(dst, src);
+#endif
+    
+    call_dense_assignment_loop(dst, src, func);
+  }
+};
+
+// Generic assignment through evalTo.
+// TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism.
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, EigenBase2EigenBase, Weak>
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.evalTo(dst);
+  }
+
+  // NOTE The following two functions are templated to avoid their instanciation if not needed
+  //      This is needed because some expressions supports evalTo only and/or have 'void' as scalar type.
+  template<typename SrcScalarType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.addTo(dst);
+  }
+
+  template<typename SrcScalarType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.subTo(dst);
+  }
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_ASSIGN_EVALUATOR_H
diff --git a/vendor/eigen/Eigen/src/Core/Assign_MKL.h b/vendor/eigen/Eigen/src/Core/Assign_MKL.h
index 7772951..6c2ab92 100644
--- a/vendor/eigen/Eigen/src/Core/Assign_MKL.h
+++ b/vendor/eigen/Eigen/src/Core/Assign_MKL.h
@@ -1,6 +1,7 @@
 /*
  Copyright (c) 2011, Intel Corporation. All rights reserved.
-
+ Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at inria.fr>
+ 
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
 
@@ -37,17 +38,13 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Op> struct vml_call
-{ enum { IsSupported = 0 }; };
-
-template<typename Dst, typename Src, typename UnaryOp>
+template<typename Dst, typename Src>
 class vml_assign_traits
 {
   private:
     enum {
       DstHasDirectAccess = Dst::Flags & DirectAccessBit,
       SrcHasDirectAccess = Src::Flags & DirectAccessBit,
-
       StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)),
       InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
                 : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
@@ -57,165 +54,120 @@ class vml_assign_traits
                     : int(Dst::MaxRowsAtCompileTime),
       MaxSizeAtCompileTime = Dst::SizeAtCompileTime,
 
-      MightEnableVml =  vml_call<UnaryOp>::IsSupported && StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess
-                     && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
+      MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
       MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit),
       VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize,
-      LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD,
-      MayEnableVml = MightEnableVml && LargeEnough,
-      MayLinearize = MayEnableVml && MightLinearize
+      LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD
     };
   public:
     enum {
-      Traversal = MayLinearize ? LinearVectorizedTraversal
-                : MayEnableVml ? InnerVectorizedTraversal
-                : DefaultTraversal
+      EnableVml = MightEnableVml && LargeEnough,
+      Traversal = MightLinearize ? LinearTraversal : DefaultTraversal
     };
 };
 
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling,
-         int VmlTraversal = vml_assign_traits<Derived1, Derived2, UnaryOp>::Traversal >
-struct vml_assign_impl
-  : assign_impl<Derived1, Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>
-{
-};
-
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling>
-struct vml_assign_impl<Derived1, Derived2, UnaryOp, Traversal, Unrolling, InnerVectorizedTraversal>
-{
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1& dst, const CwiseUnaryOp<UnaryOp, Derived2>& src)
-  {
-    // in case we want to (or have to) skip VML at runtime we can call:
-    // assign_impl<Derived1,Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>::run(dst,src);
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer) {
-      const Scalar *src_ptr = src.IsRowMajor ?  &(src.nestedExpression().coeffRef(outer,0)) :
-                                                &(src.nestedExpression().coeffRef(0, outer));
-      Scalar *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));
-      vml_call<UnaryOp>::run(src.functor(), innerSize, src_ptr, dst_ptr );
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling>
-struct vml_assign_impl<Derived1, Derived2, UnaryOp, Traversal, Unrolling, LinearVectorizedTraversal>
-{
-  static inline void run(Derived1& dst, const CwiseUnaryOp<UnaryOp, Derived2>& src)
-  {
-    // in case we want to (or have to) skip VML at runtime we can call:
-    // assign_impl<Derived1,Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>::run(dst,src);
-    vml_call<UnaryOp>::run(src.functor(), dst.size(), src.nestedExpression().data(), dst.data() );
-  }
-};
-
-// Macroses
-
-#define EIGEN_MKL_VML_SPECIALIZE_ASSIGN(TRAVERSAL,UNROLLING) \
-  template<typename Derived1, typename Derived2, typename UnaryOp> \
-  struct assign_impl<Derived1, Eigen::CwiseUnaryOp<UnaryOp, Derived2>, TRAVERSAL, UNROLLING, Specialized>  {  \
-    static inline void run(Derived1 &dst, const Eigen::CwiseUnaryOp<UnaryOp, Derived2> &src) { \
-      vml_assign_impl<Derived1,Derived2,UnaryOp,TRAVERSAL,UNROLLING>::run(dst, src); \
-    } \
-  };
-
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,InnerUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,InnerUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearVectorizedTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearVectorizedTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(SliceVectorizedTraversal,NoUnrolling)
-
-
+#define EIGEN_PP_EXPAND(ARG) ARG
 #if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
-#define  EIGEN_MKL_VML_MODE VML_HA
+#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
 #else
-#define  EIGEN_MKL_VML_MODE VML_LA
+#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
 #endif
 
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)     \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& /*func*/,        \
-                            int size, const EIGENTYPE* src, EIGENTYPE* dst) {    \
-      VMLOP(size, (const VMLTYPE*)src, (VMLTYPE*)dst);                           \
-    }                                                                            \
+#define EIGEN_VMLMODE_EXPAND__ 
+
+#define EIGEN_VMLMODE_PREFIX_LA vm
+#define EIGEN_VMLMODE_PREFIX__  v
+#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
+  template< typename DstXprType, typename SrcXprNested>                                                                         \
+  struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>,   \
+                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {              \
+    typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType;                                            \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                   \
+      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                       \
+      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) {                                              \
+        VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(),                                                        \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                           \
+      } else {                                                                                                                  \
+        const Index outerSize = dst.outerSize();                                                                                \
+        for(Index outer = 0; outer < outerSize; ++outer) {                                                                      \
+          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) :                             \
+                                                      &(src.nestedExpression().coeffRef(0, outer));                             \
+          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                           \
+          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr,                                                                      \
+                (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                             \
+        }                                                                                                                       \
+      }                                                                                                                         \
+    }                                                                                                                           \
+  };                                                                                                                            \
+
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                         \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE)           \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)                                                         \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE)
+  
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE)                                                              \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                               \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)
+
+  
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin,   Sin,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin,  Asin,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh,  Sinh,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos,   Cos,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos,  Acos,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh,  Cosh,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan,   Tan,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan,  Atan,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh,  Tanh,  LA)
+// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs,   Abs,    _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp,   Exp,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log,   Ln,    LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt,  Sqrt,  _)
+
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr,   _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg,      _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round,  _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor,  _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil,  Ceil,   _)
+
+#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
+  template< typename DstXprType, typename SrcXprNested, typename Plain>                                                       \
+  struct Assignment<DstXprType, CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                       \
+                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> >, assign_op<EIGENTYPE,EIGENTYPE>,    \
+                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {            \
+    typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                                           \
+                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType;                         \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                 \
+      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                     \
+      VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other);                                       \
+      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal)                                              \
+      {                                                                                                                       \
+        VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent,                                                        \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                         \
+      } else {                                                                                                                \
+        const Index outerSize = dst.outerSize();                                                                              \
+        for(Index outer = 0; outer < outerSize; ++outer) {                                                                    \
+          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) :                                        \
+                                                      &(src.lhs().coeffRef(0, outer));                                        \
+          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                         \
+          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent,                                                          \
+                 (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                          \
+        }                                                                                                                     \
+      }                                                                                                                       \
+    }                                                                                                                         \
   };
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)  \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& /*func*/,        \
-                            int size, const EIGENTYPE* src, EIGENTYPE* dst) {    \
-      MKL_INT64 vmlMode = EIGEN_MKL_VML_MODE;                                    \
-      VMLOP(size, (const VMLTYPE*)src, (VMLTYPE*)dst, vmlMode);                  \
-    }                                                                            \
-  };
-
-#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)       \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& func,        \
-                          int size, const EIGENTYPE* src, EIGENTYPE* dst) {      \
-      EIGENTYPE exponent = func.m_exponent;                                      \
-      MKL_INT64 vmlMode = EIGEN_MKL_VML_MODE;                                    \
-      VMLOP(&size, (const VMLTYPE*)src, (const VMLTYPE*)&exponent,               \
-                        (VMLTYPE*)dst, &vmlMode);                                \
-    }                                                                            \
-  };
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP)                   \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vs##VMLOP, float, float)             \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vd##VMLOP, double, double)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX(EIGENOP, VMLOP)                \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vc##VMLOP, scomplex, MKL_Complex8)   \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vz##VMLOP, dcomplex, MKL_Complex16)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP)                        \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP)                         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX(EIGENOP, VMLOP)
-
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL_LA(EIGENOP, VMLOP)                \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vms##VMLOP, float, float)         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmd##VMLOP, double, double)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX_LA(EIGENOP, VMLOP)             \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmc##VMLOP, scomplex, MKL_Complex8)  \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmz##VMLOP, dcomplex, MKL_Complex16)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(EIGENOP, VMLOP)                     \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL_LA(EIGENOP, VMLOP)                      \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX_LA(EIGENOP, VMLOP)
-
-
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(sin,  Sin)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(asin, Asin)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(cos,  Cos)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(acos, Acos)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(tan,  Tan)
-//EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs,  Abs)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(exp,  Exp)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(log,  Ln)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(sqrt, Sqrt)
-
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr)
-
-// The vm*powx functions are not avaibale in the windows version of MKL.
-#ifndef _WIN32
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmspowx_, float, float)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdpowx_, double, double)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcpowx_, scomplex, MKL_Complex8)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzpowx_, dcomplex, MKL_Complex16)
-#endif
+  
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float,    float,         LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double,   double,        LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8,  LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA)
 
 } // end namespace internal
 
diff --git a/vendor/eigen/Eigen/src/Core/BandMatrix.h b/vendor/eigen/Eigen/src/Core/BandMatrix.h
index ffd7fe8..4978c91 100644
--- a/vendor/eigen/Eigen/src/Core/BandMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/BandMatrix.h
@@ -32,7 +32,7 @@ class BandMatrixBase : public EigenBase<Derived>
     };
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
-    typedef typename DenseMatrixType::Index Index;
+    typedef typename DenseMatrixType::StorageIndex StorageIndex;
     typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
     typedef EigenBase<Derived> Base;
 
@@ -161,15 +161,15 @@ class BandMatrixBase : public EigenBase<Derived>
   *
   * \brief Represents a rectangular matrix with a banded storage
   *
-  * \param _Scalar Numeric type, i.e. float, double, int
-  * \param Rows Number of rows, or \b Dynamic
-  * \param Cols Number of columns, or \b Dynamic
-  * \param Supers Number of super diagonal
-  * \param Subs Number of sub diagonal
-  * \param _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
-  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to
-  *                 column-major. The latter controls whether the matrix represents a selfadjoint 
-  *                 matrix in which case either Supers of Subs have to be null.
+  * \tparam _Scalar Numeric type, i.e. float, double, int
+  * \tparam _Rows Number of rows, or \b Dynamic
+  * \tparam _Cols Number of columns, or \b Dynamic
+  * \tparam _Supers Number of super diagonal
+  * \tparam _Subs Number of sub diagonal
+  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
+  *                  The former controls \ref TopicStorageOrders "storage order", and defaults to
+  *                  column-major. The latter controls whether the matrix represents a selfadjoint
+  *                  matrix in which case either Supers of Subs have to be null.
   *
   * \sa class TridiagonalMatrix
   */
@@ -179,7 +179,7 @@ struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
 {
   typedef _Scalar Scalar;
   typedef Dense StorageKind;
-  typedef DenseIndex Index;
+  typedef Eigen::Index StorageIndex;
   enum {
     CoeffReadCost = NumTraits<Scalar>::ReadCost,
     RowsAtCompileTime = _Rows,
@@ -201,10 +201,10 @@ class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Sub
   public:
 
     typedef typename internal::traits<BandMatrix>::Scalar Scalar;
-    typedef typename internal::traits<BandMatrix>::Index Index;
+    typedef typename internal::traits<BandMatrix>::StorageIndex StorageIndex;
     typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
 
-    inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
+    explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
       : m_coeffs(1+supers+subs,cols),
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
@@ -241,7 +241,7 @@ struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Opt
 {
   typedef typename _CoefficientsType::Scalar Scalar;
   typedef typename _CoefficientsType::StorageKind StorageKind;
-  typedef typename _CoefficientsType::Index Index;
+  typedef typename _CoefficientsType::StorageIndex StorageIndex;
   enum {
     CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
     RowsAtCompileTime = _Rows,
@@ -264,9 +264,9 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
 
     typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
     typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
-    typedef typename internal::traits<BandMatrixWrapper>::Index Index;
+    typedef typename internal::traits<BandMatrixWrapper>::StorageIndex StorageIndex;
 
-    inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
+    explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
       : m_coeffs(coeffs),
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
@@ -302,9 +302,9 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
   *
   * \brief Represents a tridiagonal matrix with a compact banded storage
   *
-  * \param _Scalar Numeric type, i.e. float, double, int
-  * \param Size Number of rows and cols, or \b Dynamic
-  * \param _Options Can be 0 or \b SelfAdjoint
+  * \tparam Scalar Numeric type, i.e. float, double, int
+  * \tparam Size Number of rows and cols, or \b Dynamic
+  * \tparam Options Can be 0 or \b SelfAdjoint
   *
   * \sa class BandMatrix
   */
@@ -312,9 +312,9 @@ template<typename Scalar, int Size, int Options>
 class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
 {
     typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
   public:
-    TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
+    explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
 
     inline typename Base::template DiagonalIntReturnType<1>::Type super()
     { return Base::template diagonal<1>(); }
@@ -327,6 +327,25 @@ class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint
   protected:
 };
 
+
+struct BandShape {};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct evaluator_traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+  : public evaluator_traits_base<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef BandShape Shape;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct evaluator_traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+  : public evaluator_traits_base<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef BandShape Shape;
+};
+
+template<> struct AssignmentKind<DenseShape,BandShape> { typedef EigenBase2EigenBase Kind; };
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Block.h b/vendor/eigen/Eigen/src/Core/Block.h
index 8278944..11de45c 100644
--- a/vendor/eigen/Eigen/src/Core/Block.h
+++ b/vendor/eigen/Eigen/src/Core/Block.h
@@ -13,38 +13,6 @@
 
 namespace Eigen { 
 
-/** \class Block
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a fixed-size or dynamic-size block
-  *
-  * \param XprType the type of the expression in which we are taking a block
-  * \param BlockRows the number of rows of the block we are taking at compile time (optional)
-  * \param BlockCols the number of columns of the block we are taking at compile time (optional)
-  *
-  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
-  * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
-  * most of the time this is the only way it is used.
-  *
-  * However, if you want to directly maniputate block expressions,
-  * for instance if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * Here is an example illustrating the dynamic case:
-  * \include class_Block.cpp
-  * Output: \verbinclude class_Block.out
-  *
-  * \note Even though this expression has dynamic size, in the case where \a XprType
-  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
-  * it does not cause a dynamic memory allocation.
-  *
-  * Here is an example illustrating the fixed-size case:
-  * \include class_FixedBlock.cpp
-  * Output: \verbinclude class_FixedBlock.out
-  *
-  * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
-  */
-
 namespace internal {
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
 struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprType>
@@ -52,7 +20,7 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
   typedef typename traits<XprType>::Scalar Scalar;
   typedef typename traits<XprType>::StorageKind StorageKind;
   typedef typename traits<XprType>::XprKind XprKind;
-  typedef typename nested<XprType>::type XprTypeNested;
+  typedef typename ref_selector<XprType>::type XprTypeNested;
   typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
   enum{
     MatrixRows = traits<XprType>::RowsAtCompileTime,
@@ -65,10 +33,10 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
     MaxColsAtCompileTime = BlockCols==0 ? 0
                          : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
                          : int(traits<XprType>::MaxColsAtCompileTime),
+
     XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
-    IsDense = is_same<StorageKind,Dense>::value,
-    IsRowMajor = (IsDense&&MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-               : (IsDense&&MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
                : XprTypeIsRowMajor,
     HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
     InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
@@ -78,18 +46,16 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
     OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
                              ? int(outer_stride_at_compile_time<XprType>::ret)
                              : int(inner_stride_at_compile_time<XprType>::ret),
-    MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
-                       && (InnerStrideAtCompileTime == 1)
-                        ? PacketAccessBit : 0,
-    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % 16) == 0)) ? AlignedBit : 0,
-    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (traits<XprType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,
+
+    // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further
     FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
     FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
-    Flags0 = traits<XprType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
-                                        DirectAccessBit |
-                                        MaskPacketAccessBit |
-                                        MaskAlignedBit),
-    Flags = Flags0 | FlagsLinearAccessBit | FlagsLvalueBit | FlagsRowMajorBit
+    Flags = (traits<XprType>::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit,
+    // FIXME DirectAccessBit should not be handled by expressions
+    // 
+    // Alignment is needed by MapBase's assertions
+    // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator
+    Alignment = 0
   };
 };
 
@@ -100,6 +66,40 @@ template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool In
 
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
 
+/** \class Block
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size block
+  *
+  * \tparam XprType the type of the expression in which we are taking a block
+  * \tparam BlockRows the number of rows of the block we are taking at compile time (optional)
+  * \tparam BlockCols the number of columns of the block we are taking at compile time (optional)
+  * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or
+  *         to set of columns of a column major matrix (optional). The parameter allows to determine
+  *         at compile time whether aligned access is possible on the block expression.
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
+  * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
+  * most of the time this is the only way it is used.
+  *
+  * However, if you want to directly maniputate block expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_Block.cpp
+  * Output: \verbinclude class_Block.out
+  *
+  * \note Even though this expression has dynamic size, in the case where \a XprType
+  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+  * it does not cause a dynamic memory allocation.
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedBlock.cpp
+  * Output: \verbinclude class_FixedBlock.out
+  *
+  * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
+  */
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
   : public BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind>
 {
@@ -109,9 +109,12 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
     typedef Impl Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+    
+    typedef typename internal::remove_all<XprType>::type NestedExpression;
   
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline Block(XprType& xpr, Index i) : Impl(xpr,i)
     {
       eigen_assert( (i>=0) && (
@@ -121,25 +124,27 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
 
     /** Fixed-size constructor
       */
-    inline Block(XprType& xpr, Index a_startRow, Index a_startCol)
-      : Impl(xpr, a_startRow, a_startCol)
+    EIGEN_DEVICE_FUNC
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : Impl(xpr, startRow, startCol)
     {
       EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
-      eigen_assert(a_startRow >= 0 && BlockRows >= 1 && a_startRow + BlockRows <= xpr.rows()
-             && a_startCol >= 0 && BlockCols >= 1 && a_startCol + BlockCols <= xpr.cols());
+      eigen_assert(startRow >= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols());
     }
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline Block(XprType& xpr,
-          Index a_startRow, Index a_startCol,
+          Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : Impl(xpr, a_startRow, a_startCol, blockRows, blockCols)
+      : Impl(xpr, startRow, startCol, blockRows, blockCols)
     {
       eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
           && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      eigen_assert(a_startRow >= 0 && blockRows >= 0 && a_startRow  <= xpr.rows() - blockRows
-          && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols);
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow  <= xpr.rows() - blockRows
+          && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols);
     }
 };
          
@@ -150,14 +155,15 @@ class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
   : public internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel>
 {
     typedef internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel> Impl;
-    typedef typename XprType::Index Index;
+    typedef typename XprType::StorageIndex StorageIndex;
   public:
     typedef Impl Base;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-    inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
-    inline BlockImpl(XprType& xpr, Index a_startRow, Index a_startCol) : Impl(xpr, a_startRow, a_startCol) {}
-    inline BlockImpl(XprType& xpr, Index a_startRow, Index a_startCol, Index blockRows, Index blockCols)
-      : Impl(xpr, a_startRow, a_startCol, blockRows, blockCols) {}
+    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
+    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
+    EIGEN_DEVICE_FUNC
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : Impl(xpr, startRow, startCol, blockRows, blockCols) {}
 };
 
 namespace internal {
@@ -167,16 +173,18 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
   : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel> >::type
 {
     typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
   public:
 
     typedef typename internal::dense_xpr_base<BlockType>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
 
-    class InnerIterator;
+    // class InnerIterator; // FIXME apparently never used
 
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index i)
       : m_xpr(xpr),
         // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
@@ -191,75 +199,76 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
 
     /** Fixed-size constructor
       */
-    inline BlockImpl_dense(XprType& xpr, Index a_startRow, Index a_startCol)
-      : m_xpr(xpr), m_startRow(a_startRow), m_startCol(a_startCol),
+    EIGEN_DEVICE_FUNC
+    inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
                     m_blockRows(BlockRows), m_blockCols(BlockCols)
     {}
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr,
-          Index a_startRow, Index a_startCol,
+          Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : m_xpr(xpr), m_startRow(a_startRow), m_startCol(a_startCol),
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
                     m_blockRows(blockRows), m_blockCols(blockCols)
     {}
 
-    inline Index rows() const { return m_blockRows.value(); }
-    inline Index cols() const { return m_blockCols.value(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index rowId, Index colId)
     {
       EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.const_cast_derived()
-               .coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
-      return m_xpr.derived()
-               .coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const
     {
       return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index index)
     {
       EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_xpr.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
+    EIGEN_DEVICE_FUNC
     inline const CoeffReturnType coeff(Index index) const
     {
-      return m_xpr
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                         m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
     template<int LoadMode>
     inline PacketScalar packet(Index rowId, Index colId) const
     {
-      return m_xpr.template packet<Unaligned>
-              (rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.template packet<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
     template<int LoadMode>
     inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
     {
-      m_xpr.const_cast_derived().template writePacket<Unaligned>
-              (rowId + m_startRow.value(), colId + m_startCol.value(), val);
+      m_xpr.template writePacket<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value(), val);
     }
 
     template<int LoadMode>
@@ -273,40 +282,46 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
     template<int LoadMode>
     inline void writePacket(Index index, const PacketScalar& val)
     {
-      m_xpr.const_cast_derived().template writePacket<Unaligned>
+      m_xpr.template writePacket<Unaligned>
          (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
           m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val);
     }
 
     #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \sa MapBase::data() */
-    inline const Scalar* data() const;
-    inline Index innerStride() const;
-    inline Index outerStride() const;
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const;
+    EIGEN_DEVICE_FUNC inline Index innerStride() const;
+    EIGEN_DEVICE_FUNC inline Index outerStride() const;
     #endif
 
-    const typename internal::remove_all<typename XprType::Nested>::type& nestedExpression() const 
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
     { 
       return m_xpr; 
     }
+
+    EIGEN_DEVICE_FUNC
+    XprType& nestedExpression() { return m_xpr; }
       
-    Index startRow() const 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startRow() const
     { 
       return m_startRow.value(); 
     }
       
-    Index startCol() const 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startCol() const
     { 
       return m_startCol.value(); 
     }
 
   protected:
 
-    const typename XprType::Nested m_xpr;
-    const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
-    const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
-    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
-    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
+    XprTypeNested m_xpr;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+    const internal::variable_if_dynamic<StorageIndex, RowsAtCompileTime> m_blockRows;
+    const internal::variable_if_dynamic<StorageIndex, ColsAtCompileTime> m_blockCols;
 };
 
 /** \internal Internal implementation of dense Blocks in the direct access case.*/
@@ -315,6 +330,10 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
   : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel> >
 {
     typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
+    enum {
+      XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0
+    };
   public:
 
     typedef MapBase<BlockType> Base;
@@ -323,42 +342,52 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index i)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(
-              (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0,
-              (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)),
+      : Base(xpr.data() + i * (    ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) 
+                                || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()),
              BlockRows==1 ? 1 : xpr.rows(),
              BlockCols==1 ? 1 : xpr.cols()),
-        m_xpr(xpr)
+        m_xpr(xpr),
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)
     {
       init();
     }
 
     /** Fixed-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol))), m_xpr(xpr)
+      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)),
+        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
     {
       init();
     }
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr,
           Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol)), blockRows, blockCols),
-        m_xpr(xpr)
+      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols),
+        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
     {
       init();
     }
 
-    const typename internal::remove_all<typename XprType::Nested>::type& nestedExpression() const 
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
     { 
       return m_xpr; 
     }
+
+    EIGEN_DEVICE_FUNC
+    XprType& nestedExpression() { return m_xpr; }
       
     /** \sa MapBase::innerStride() */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return internal::traits<BlockType>::HasSameStorageOrderAsXprType
@@ -367,11 +396,24 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     }
 
     /** \sa MapBase::outerStride() */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return m_outerStride;
     }
 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startRow() const
+    {
+      return m_startRow.value();
+    }
+
+    EIGEN_DEVICE_FUNC
+    StorageIndex startCol() const
+    {
+      return m_startCol.value();
+    }
+
   #ifndef __SUNPRO_CC
   // FIXME sunstudio is not friendly with the above friend...
   // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
@@ -380,6 +422,7 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal used by allowAligned() */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
       : Base(data, blockRows, blockCols), m_xpr(xpr)
     {
@@ -388,6 +431,7 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     #endif
 
   protected:
+    EIGEN_DEVICE_FUNC
     void init()
     {
       m_outerStride = internal::traits<BlockType>::HasSameStorageOrderAsXprType
@@ -395,7 +439,9 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
                     : m_xpr.innerStride();
     }
 
-    typename XprType::Nested m_xpr;
+    XprTypeNested m_xpr;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
     Index m_outerStride;
 };
 
diff --git a/vendor/eigen/Eigen/src/Core/BooleanRedux.h b/vendor/eigen/Eigen/src/Core/BooleanRedux.h
index be9f48a..8409d87 100644
--- a/vendor/eigen/Eigen/src/Core/BooleanRedux.h
+++ b/vendor/eigen/Eigen/src/Core/BooleanRedux.h
@@ -17,9 +17,10 @@ namespace internal {
 template<typename Derived, int UnrollCount>
 struct all_unroller
 {
+  typedef typename Derived::ExpressionTraits Traits;
   enum {
-    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+    row = (UnrollCount-1) % Traits::RowsAtCompileTime
   };
 
   static inline bool run(const Derived &mat)
@@ -43,11 +44,12 @@ struct all_unroller<Derived, Dynamic>
 template<typename Derived, int UnrollCount>
 struct any_unroller
 {
+  typedef typename Derived::ExpressionTraits Traits;
   enum {
-    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+    row = (UnrollCount-1) % Traits::RowsAtCompileTime
   };
-
+  
   static inline bool run(const Derived &mat)
   {
     return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
@@ -78,19 +80,19 @@ struct any_unroller<Derived, Dynamic>
 template<typename Derived>
 inline bool DenseBase<Derived>::all() const
 {
+  typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && CoeffReadCost != Dynamic
-          && NumTraits<Scalar>::AddCost != Dynamic
-          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
   };
+  Evaluator evaluator(derived());
   if(unroll)
-    return internal::all_unroller<Derived, unroll ? int(SizeAtCompileTime) : Dynamic>::run(derived());
+    return internal::all_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
   else
   {
     for(Index j = 0; j < cols(); ++j)
       for(Index i = 0; i < rows(); ++i)
-        if (!coeff(i, j)) return false;
+        if (!evaluator.coeff(i, j)) return false;
     return true;
   }
 }
@@ -102,19 +104,19 @@ inline bool DenseBase<Derived>::all() const
 template<typename Derived>
 inline bool DenseBase<Derived>::any() const
 {
+  typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && CoeffReadCost != Dynamic
-          && NumTraits<Scalar>::AddCost != Dynamic
-          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
   };
+  Evaluator evaluator(derived());
   if(unroll)
-    return internal::any_unroller<Derived, unroll ? int(SizeAtCompileTime) : Dynamic>::run(derived());
+    return internal::any_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
   else
   {
     for(Index j = 0; j < cols(); ++j)
       for(Index i = 0; i < rows(); ++i)
-        if (coeff(i, j)) return true;
+        if (evaluator.coeff(i, j)) return true;
     return false;
   }
 }
@@ -124,7 +126,7 @@ inline bool DenseBase<Derived>::any() const
   * \sa all(), any()
   */
 template<typename Derived>
-inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
+inline Eigen::Index DenseBase<Derived>::count() const
 {
   return derived().template cast<bool>().template cast<Index>().sum();
 }
@@ -136,7 +138,11 @@ inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
 template<typename Derived>
 inline bool DenseBase<Derived>::hasNaN() const
 {
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+  return derived().array().isNaN().any();
+#else
   return !((derived().array()==derived().array()).all());
+#endif
 }
 
 /** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values.
@@ -146,7 +152,11 @@ inline bool DenseBase<Derived>::hasNaN() const
 template<typename Derived>
 inline bool DenseBase<Derived>::allFinite() const
 {
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+  return derived().array().isFinite().all();
+#else
   return !((derived()-derived()).hasNaN());
+#endif
 }
     
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/CommaInitializer.h b/vendor/eigen/Eigen/src/Core/CommaInitializer.h
index a036d8c..d218e98 100644
--- a/vendor/eigen/Eigen/src/Core/CommaInitializer.h
+++ b/vendor/eigen/Eigen/src/Core/CommaInitializer.h
@@ -22,14 +22,14 @@ namespace Eigen {
   * the return type of MatrixBase::operator<<, and most of the time this is the only
   * way it is used.
   *
-  * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
+  * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
   */
 template<typename XprType>
 struct CommaInitializer
 {
   typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::Index Index;
 
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(XprType& xpr, const Scalar& s)
     : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
   {
@@ -37,6 +37,7 @@ struct CommaInitializer
   }
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
     : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
   {
@@ -46,6 +47,7 @@ struct CommaInitializer
   /* Copy/Move constructor which transfers ownership. This is crucial in 
    * absence of return value optimization to avoid assertions during destruction. */
   // FIXME in C++11 mode this could be replaced by a proper RValue constructor
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(const CommaInitializer& o)
   : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) {
     // Mark original object as finished. In absence of R-value references we need to const_cast:
@@ -55,6 +57,7 @@ struct CommaInitializer
   }
 
   /* inserts a scalar value in the target matrix */
+  EIGEN_DEVICE_FUNC
   CommaInitializer& operator,(const Scalar& s)
   {
     if (m_col==m_xpr.cols())
@@ -74,11 +77,10 @@ struct CommaInitializer
 
   /* inserts a matrix expression in the target matrix */
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
   {
-    if(other.cols()==0 || other.rows()==0)
-      return *this;
-    if (m_col==m_xpr.cols())
+    if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows))
     {
       m_row+=m_currentBlockRows;
       m_col = 0;
@@ -86,24 +88,22 @@ struct CommaInitializer
       eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
         && "Too many rows passed to comma initializer (operator<<)");
     }
-    eigen_assert(m_col<m_xpr.cols()
+    eigen_assert((m_col + other.cols() <= m_xpr.cols())
       && "Too many coefficients passed to comma initializer (operator<<)");
     eigen_assert(m_currentBlockRows==other.rows());
-    if (OtherDerived::SizeAtCompileTime != Dynamic)
-      m_xpr.template block<OtherDerived::RowsAtCompileTime != Dynamic ? OtherDerived::RowsAtCompileTime : 1,
-                              OtherDerived::ColsAtCompileTime != Dynamic ? OtherDerived::ColsAtCompileTime : 1>
-                    (m_row, m_col) = other;
-    else
-      m_xpr.block(m_row, m_col, other.rows(), other.cols()) = other;
+    m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
+                    (m_row, m_col, other.rows(), other.cols()) = other;
     m_col += other.cols();
     return *this;
   }
 
+  EIGEN_DEVICE_FUNC
   inline ~CommaInitializer()
+#if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS
+  EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception)
+#endif
   {
-    eigen_assert((m_row+m_currentBlockRows) == m_xpr.rows()
-         && m_col == m_xpr.cols()
-         && "Too few coefficients passed to comma initializer (operator<<)");
+      finished();
   }
 
   /** \returns the built matrix once all its coefficients have been set.
@@ -113,9 +113,15 @@ struct CommaInitializer
     * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
     * \endcode
     */
-  inline XprType& finished() { return m_xpr; }
+  EIGEN_DEVICE_FUNC
+  inline XprType& finished() {
+      eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0)
+           && m_col == m_xpr.cols()
+           && "Too few coefficients passed to comma initializer (operator<<)");
+      return m_xpr;
+  }
 
-  XprType& m_xpr;   // target expression
+  XprType& m_xpr;           // target expression
   Index m_row;              // current row id
   Index m_col;              // current col id
   Index m_currentBlockRows; // current block height
diff --git a/vendor/eigen/Eigen/src/Core/ConditionEstimator.h b/vendor/eigen/Eigen/src/Core/ConditionEstimator.h
new file mode 100644
index 0000000..aa7efdc
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/ConditionEstimator.h
@@ -0,0 +1,175 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen at google.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_CONDITIONESTIMATOR_H
+#define EIGEN_CONDITIONESTIMATOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Vector, typename RealVector, bool IsComplex>
+struct rcond_compute_sign {
+  static inline Vector run(const Vector& v) {
+    const RealVector v_abs = v.cwiseAbs();
+    return (v_abs.array() == static_cast<typename Vector::RealScalar>(0))
+            .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs));
+  }
+};
+
+// Partial specialization to avoid elementwise division for real vectors.
+template <typename Vector>
+struct rcond_compute_sign<Vector, Vector, false> {
+  static inline Vector run(const Vector& v) {
+    return (v.array() < static_cast<typename Vector::RealScalar>(0))
+           .select(-Vector::Ones(v.size()), Vector::Ones(v.size()));
+  }
+};
+
+/**
+  * \returns an estimate of ||inv(matrix)||_1 given a decomposition of
+  * \a matrix that implements .solve() and .adjoint().solve() methods.
+  *
+  * This function implements Algorithms 4.1 and 5.1 from
+  *   http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf
+  * which also forms the basis for the condition number estimators in
+  * LAPACK. Since at most 10 calls to the solve method of dec are
+  * performed, the total cost is O(dims^2), as opposed to O(dims^3)
+  * needed to compute the inverse matrix explicitly.
+  *
+  * The most common usage is in estimating the condition number
+  * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be
+  * computed directly in O(n^2) operations.
+  *
+  * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and
+  * LLT.
+  *
+  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+  */
+template <typename Decomposition>
+typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec)
+{
+  typedef typename Decomposition::MatrixType MatrixType;
+  typedef typename Decomposition::Scalar Scalar;
+  typedef typename Decomposition::RealScalar RealScalar;
+  typedef typename internal::plain_col_type<MatrixType>::type Vector;
+  typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVector;
+  const bool is_complex = (NumTraits<Scalar>::IsComplex != 0);
+
+  eigen_assert(dec.rows() == dec.cols());
+  const Index n = dec.rows();
+  if (n == 0)
+    return 0;
+
+  // Disable Index to float conversion warning
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  Vector v = dec.solve(Vector::Ones(n) / Scalar(n));
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
+
+  // lower_bound is a lower bound on
+  //   ||inv(matrix)||_1  = sup_v ||inv(matrix) v||_1 / ||v||_1
+  // and is the objective maximized by the ("super-") gradient ascent
+  // algorithm below.
+  RealScalar lower_bound = v.template lpNorm<1>();
+  if (n == 1)
+    return lower_bound;
+
+  // Gradient ascent algorithm follows: We know that the optimum is achieved at
+  // one of the simplices v = e_i, so in each iteration we follow a
+  // super-gradient to move towards the optimal one.
+  RealScalar old_lower_bound = lower_bound;
+  Vector sign_vector(n);
+  Vector old_sign_vector;
+  Index v_max_abs_index = -1;
+  Index old_v_max_abs_index = v_max_abs_index;
+  for (int k = 0; k < 4; ++k)
+  {
+    sign_vector = internal::rcond_compute_sign<Vector, RealVector, is_complex>::run(v);
+    if (k > 0 && !is_complex && sign_vector == old_sign_vector) {
+      // Break if the solution stagnated.
+      break;
+    }
+    // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )|
+    v = dec.adjoint().solve(sign_vector);
+    v.real().cwiseAbs().maxCoeff(&v_max_abs_index);
+    if (v_max_abs_index == old_v_max_abs_index) {
+      // Break if the solution stagnated.
+      break;
+    }
+    // Move to the new simplex e_j, where j = v_max_abs_index.
+    v = dec.solve(Vector::Unit(n, v_max_abs_index));  // v = inv(matrix) * e_j.
+    lower_bound = v.template lpNorm<1>();
+    if (lower_bound <= old_lower_bound) {
+      // Break if the gradient step did not increase the lower_bound.
+      break;
+    }
+    if (!is_complex) {
+      old_sign_vector = sign_vector;
+    }
+    old_v_max_abs_index = v_max_abs_index;
+    old_lower_bound = lower_bound;
+  }
+  // The following calculates an independent estimate of ||matrix||_1 by
+  // multiplying matrix by a vector with entries of slowly increasing
+  // magnitude and alternating sign:
+  //   v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1.
+  // This improvement to Hager's algorithm above is due to Higham. It was
+  // added to make the algorithm more robust in certain corner cases where
+  // large elements in the matrix might otherwise escape detection due to
+  // exact cancellation (especially when op and op_adjoint correspond to a
+  // sequence of backsubstitutions and permutations), which could cause
+  // Hager's algorithm to vastly underestimate ||matrix||_1.
+  Scalar alternating_sign(RealScalar(1));
+  for (Index i = 0; i < n; ++i) {
+    // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates
+    v[i] = alternating_sign * static_cast<RealScalar>(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1))));
+    alternating_sign = -alternating_sign;
+  }
+  v = dec.solve(v);
+  const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n));
+  return numext::maxi(lower_bound, alternate_lower_bound);
+}
+
+/** \brief Reciprocal condition number estimator.
+  *
+  * Computing a decomposition of a dense matrix takes O(n^3) operations, while
+  * this method estimates the condition number quickly and reliably in O(n^2)
+  * operations.
+  *
+  * \returns an estimate of the reciprocal condition number
+  * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and
+  * its decomposition. Supports the following decompositions: FullPivLU,
+  * PartialPivLU, LDLT, and LLT.
+  *
+  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+  */
+template <typename Decomposition>
+typename Decomposition::RealScalar
+rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec)
+{
+  typedef typename Decomposition::RealScalar RealScalar;
+  eigen_assert(dec.rows() == dec.cols());
+  if (dec.rows() == 0)              return RealScalar(1);
+  if (matrix_norm == RealScalar(0)) return RealScalar(0);
+  if (dec.rows() == 1)              return RealScalar(1);
+  const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec);
+  return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0)
+                                               : (RealScalar(1) / inverse_matrix_norm) / matrix_norm);
+}
+
+}  // namespace internal
+
+}  // namespace Eigen
+
+#endif
diff --git a/vendor/eigen/Eigen/src/Core/CoreEvaluators.h b/vendor/eigen/Eigen/src/Core/CoreEvaluators.h
new file mode 100644
index 0000000..f7c1eff
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/CoreEvaluators.h
@@ -0,0 +1,1671 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse at maths.leeds.ac.uk>
+//
+// 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_COREEVALUATORS_H
+#define EIGEN_COREEVALUATORS_H
+
+namespace Eigen {
+  
+namespace internal {
+
+// This class returns the evaluator kind from the expression storage kind.
+// Default assumes index based accessors
+template<typename StorageKind>
+struct storage_kind_to_evaluator_kind {
+  typedef IndexBased Kind;
+};
+
+// This class returns the evaluator shape from the expression storage kind.
+// It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc.
+template<typename StorageKind> struct storage_kind_to_shape;
+
+template<> struct storage_kind_to_shape<Dense>                  { typedef DenseShape Shape;           };
+template<> struct storage_kind_to_shape<SolverStorage>          { typedef SolverShape Shape;           };
+template<> struct storage_kind_to_shape<PermutationStorage>     { typedef PermutationShape Shape;     };
+template<> struct storage_kind_to_shape<TranspositionsStorage>  { typedef TranspositionsShape Shape;  };
+
+// Evaluators have to be specialized with respect to various criteria such as:
+//  - storage/structure/shape
+//  - scalar type
+//  - etc.
+// Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators.
+// We currently distinguish the following kind of evaluators:
+// - unary_evaluator    for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate)
+// - binary_evaluator   for expression taking two arguments (CwiseBinaryOp)
+// - ternary_evaluator   for expression taking three arguments (CwiseTernaryOp)
+// - product_evaluator  for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching.
+// - mapbase_evaluator  for Map, Block, Ref
+// - block_evaluator    for Block (special dispatching to a mapbase_evaluator or unary_evaluator)
+
+template< typename T,
+          typename Arg1Kind   = typename evaluator_traits<typename T::Arg1>::Kind,
+          typename Arg2Kind   = typename evaluator_traits<typename T::Arg2>::Kind,
+          typename Arg3Kind   = typename evaluator_traits<typename T::Arg3>::Kind,
+          typename Arg1Scalar = typename traits<typename T::Arg1>::Scalar,
+          typename Arg2Scalar = typename traits<typename T::Arg2>::Scalar,
+          typename Arg3Scalar = typename traits<typename T::Arg3>::Scalar> struct ternary_evaluator;
+
+template< typename T,
+          typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
+          typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
+          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+          typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct binary_evaluator;
+
+template< typename T,
+          typename Kind   = typename evaluator_traits<typename T::NestedExpression>::Kind,
+          typename Scalar = typename T::Scalar> struct unary_evaluator;
+          
+// evaluator_traits<T> contains traits for evaluator<T> 
+
+template<typename T>
+struct evaluator_traits_base
+{
+  // by default, get evaluator kind and shape from storage
+  typedef typename storage_kind_to_evaluator_kind<typename traits<T>::StorageKind>::Kind Kind;
+  typedef typename storage_kind_to_shape<typename traits<T>::StorageKind>::Shape Shape;
+};
+
+// Default evaluator traits
+template<typename T>
+struct evaluator_traits : public evaluator_traits_base<T>
+{
+};
+
+template<typename T, typename Shape = typename evaluator_traits<T>::Shape >
+struct evaluator_assume_aliasing {
+  static const bool value = false;
+};
+
+// By default, we assume a unary expression:
+template<typename T>
+struct evaluator : public unary_evaluator<T>
+{
+  typedef unary_evaluator<T> Base;
+  EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {}
+};
+
+
+// TODO: Think about const-correctness
+template<typename T>
+struct evaluator<const T>
+  : evaluator<T>
+{
+  EIGEN_DEVICE_FUNC
+  explicit evaluator(const T& xpr) : evaluator<T>(xpr) {}
+};
+
+// ---------- base class for all evaluators ----------
+
+template<typename ExpressionType>
+struct evaluator_base : public noncopyable
+{
+  // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices.
+  typedef traits<ExpressionType> ExpressionTraits;
+  
+  enum {
+    Alignment = 0
+  };
+};
+
+// -------------------- Matrix and Array --------------------
+//
+// evaluator<PlainObjectBase> is a common base class for the
+// Matrix and Array evaluators.
+// Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense,
+// so no need for more sophisticated dispatching.
+
+template<typename Derived>
+struct evaluator<PlainObjectBase<Derived> >
+  : evaluator_base<Derived>
+{
+  typedef PlainObjectBase<Derived> PlainObjectType;
+  typedef typename PlainObjectType::Scalar Scalar;
+  typedef typename PlainObjectType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    IsRowMajor = PlainObjectType::IsRowMajor,
+    IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime,
+    RowsAtCompileTime = PlainObjectType::RowsAtCompileTime,
+    ColsAtCompileTime = PlainObjectType::ColsAtCompileTime,
+    
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = traits<Derived>::EvaluatorFlags,
+    Alignment = traits<Derived>::Alignment
+  };
+  
+  EIGEN_DEVICE_FUNC evaluator()
+    : m_data(0),
+      m_outerStride(IsVectorAtCompileTime  ? 0 
+                                           : int(IsRowMajor) ? ColsAtCompileTime 
+                                           : RowsAtCompileTime)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m)
+    : m_data(m.data()), m_outerStride(IsVectorAtCompileTime ? 0 : m.outerStride()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    if (IsRowMajor)
+      return m_data[row * m_outerStride.value() + col];
+    else
+      return m_data[row + col * m_outerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_data[index];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    if (IsRowMajor)
+      return const_cast<Scalar*>(m_data)[row * m_outerStride.value() + col];
+    else
+      return const_cast<Scalar*>(m_data)[row + col * m_outerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return const_cast<Scalar*>(m_data)[index];
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    if (IsRowMajor)
+      return ploadt<PacketType, LoadMode>(m_data + row * m_outerStride.value() + col);
+    else
+      return ploadt<PacketType, LoadMode>(m_data + row + col * m_outerStride.value());
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return ploadt<PacketType, LoadMode>(m_data + index);
+  }
+
+  template<int StoreMode,typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    if (IsRowMajor)
+      return pstoret<Scalar, PacketType, StoreMode>
+	            (const_cast<Scalar*>(m_data) + row * m_outerStride.value() + col, x);
+    else
+      return pstoret<Scalar, PacketType, StoreMode>
+                    (const_cast<Scalar*>(m_data) + row + col * m_outerStride.value(), x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    return pstoret<Scalar, PacketType, StoreMode>(const_cast<Scalar*>(m_data) + index, x);
+  }
+
+protected:
+  const Scalar *m_data;
+
+  // We do not need to know the outer stride for vectors
+  variable_if_dynamic<Index, IsVectorAtCompileTime  ? 0 
+                                                    : int(IsRowMajor) ? ColsAtCompileTime 
+                                                    : RowsAtCompileTime> m_outerStride;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+  : evaluator<PlainObjectBase<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+  typedef Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+  
+  EIGEN_DEVICE_FUNC evaluator() {}
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m) 
+  { }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+  : evaluator<PlainObjectBase<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+
+  EIGEN_DEVICE_FUNC evaluator() {}
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m) 
+  { }
+};
+
+// -------------------- Transpose --------------------
+
+template<typename ArgType>
+struct unary_evaluator<Transpose<ArgType>, IndexBased>
+  : evaluator_base<Transpose<ArgType> >
+{
+  typedef Transpose<ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,    
+    Flags = evaluator<ArgType>::Flags ^ RowMajorBit,
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
+
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(col, row);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(col, row);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  typename XprType::Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(col, row);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(index);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode,PacketType>(col, row, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode,PacketType>(index, x);
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseNullaryOp --------------------
+// Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator.
+// Likewise, there is not need to more sophisticated dispatching here.
+
+template<typename Scalar,typename NullaryOp,
+         bool has_nullary = has_nullary_operator<NullaryOp>::value,
+         bool has_unary   = has_unary_operator<NullaryOp>::value,
+         bool has_binary  = has_binary_operator<NullaryOp>::value>
+struct nullary_wrapper
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); }
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp<T>(i,j); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,false,false>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp<T>(); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,true>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp<T>(i,j); }
+};
+
+// We need the following specialization for vector-only functors assigned to a runtime vector,
+// for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd.
+// In this case, i==0 and j is used for the actual iteration.
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,true,false>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+    eigen_assert(i==0 || j==0);
+    return op(i+j);
+  }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+    eigen_assert(i==0 || j==0);
+    return op.template packetOp<T>(i+j);
+  }
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,false> {};
+
+#if 0 && EIGEN_COMP_MSVC>0
+// Disable this ugly workaround. This is now handled in traits<Ref>::match,
+// but this piece of code might still become handly if some other weird compilation
+// erros pop up again.
+
+// MSVC exhibits a weird compilation error when
+// compiling:
+//    Eigen::MatrixXf A = MatrixXf::Random(3,3);
+//    Ref<const MatrixXf> R = 2.f*A;
+// and that has_*ary_operator<scalar_constant_op<float>> have not been instantiated yet.
+// The "problem" is that evaluator<2.f*A> is instantiated by traits<Ref>::match<2.f*A>
+// and at that time has_*ary_operator<T> returns true regardless of T.
+// Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>.
+// The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(),
+// and packet() are really instantiated as implemented below:
+
+// This is a simple wrapper around Index to enforce the re-instantiation of
+// has_*ary_operator when needed.
+template<typename T> struct nullary_wrapper_workaround_msvc {
+  nullary_wrapper_workaround_msvc(const T&);
+  operator T()const;
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,true,true>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i,j);
+  }
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i);
+  }
+
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i,j);
+  }
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i);
+  }
+};
+#endif // MSVC workaround
+
+template<typename NullaryOp, typename PlainObjectType>
+struct evaluator<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+  : evaluator_base<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+{
+  typedef CwiseNullaryOp<NullaryOp,PlainObjectType> XprType;
+  typedef typename internal::remove_all<PlainObjectType>::type PlainObjectTypeCleaned;
+  
+  enum {
+    CoeffReadCost = internal::functor_traits<NullaryOp>::Cost,
+    
+    Flags = (evaluator<PlainObjectTypeCleaned>::Flags
+          &  (  HereditaryBits
+              | (functor_has_linear_access<NullaryOp>::ret  ? LinearAccessBit : 0)
+              | (functor_traits<NullaryOp>::PacketAccess    ? PacketAccessBit : 0)))
+          | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
+    Alignment = AlignedMax
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n)
+    : m_functor(n.functor()), m_wrapper()
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(IndexType row, IndexType col) const
+  {
+    return m_wrapper(m_functor, row, col);
+  }
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(IndexType index) const
+  {
+    return m_wrapper(m_functor,index);
+  }
+
+  template<int LoadMode, typename PacketType, typename IndexType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(IndexType row, IndexType col) const
+  {
+    return m_wrapper.template packetOp<PacketType>(m_functor, row, col);
+  }
+
+  template<int LoadMode, typename PacketType, typename IndexType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(IndexType index) const
+  {
+    return m_wrapper.template packetOp<PacketType>(m_functor, index);
+  }
+
+protected:
+  const NullaryOp m_functor;
+  const internal::nullary_wrapper<CoeffReturnType,NullaryOp> m_wrapper;
+};
+
+// -------------------- CwiseUnaryOp --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
+  : evaluator_base<CwiseUnaryOp<UnaryOp, ArgType> >
+{
+  typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+    
+    Flags = evaluator<ArgType>::Flags
+          & (HereditaryBits | LinearAccessBit | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& op)
+    : m_functor(op.functor()), 
+      m_argImpl(op.nestedExpression()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_argImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_argImpl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index));
+  }
+
+protected:
+  const UnaryOp m_functor;
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseTernaryOp --------------------
+
+// this is a ternary expression
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+  : public ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+  typedef ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased, IndexBased>
+  : evaluator_base<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<Arg1>::CoeffReadCost + evaluator<Arg2>::CoeffReadCost + evaluator<Arg3>::CoeffReadCost + functor_traits<TernaryOp>::Cost,
+    
+    Arg1Flags = evaluator<Arg1>::Flags,
+    Arg2Flags = evaluator<Arg2>::Flags,
+    Arg3Flags = evaluator<Arg3>::Flags,
+    SameType = is_same<typename Arg1::Scalar,typename Arg2::Scalar>::value && is_same<typename Arg1::Scalar,typename Arg3::Scalar>::value,
+    StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit),
+    Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & (
+        HereditaryBits
+        | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) &
+           ( (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<TernaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit),
+    Alignment = EIGEN_PLAIN_ENUM_MIN(
+        EIGEN_PLAIN_ENUM_MIN(evaluator<Arg1>::Alignment, evaluator<Arg2>::Alignment),
+        evaluator<Arg3>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_arg1Impl(xpr.arg1()), 
+      m_arg2Impl(xpr.arg2()), 
+      m_arg3Impl(xpr.arg3())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<TernaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_arg1Impl.coeff(row, col), m_arg2Impl.coeff(row, col), m_arg3Impl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(row, col),
+                              m_arg2Impl.template packet<LoadMode,PacketType>(row, col),
+                              m_arg3Impl.template packet<LoadMode,PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(index),
+                              m_arg2Impl.template packet<LoadMode,PacketType>(index),
+                              m_arg3Impl.template packet<LoadMode,PacketType>(index));
+  }
+
+protected:
+  const TernaryOp m_functor;
+  evaluator<Arg1> m_arg1Impl;
+  evaluator<Arg2> m_arg2Impl;
+  evaluator<Arg3> m_arg3Impl;
+};
+
+// -------------------- CwiseBinaryOp --------------------
+
+// this is a binary expression
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+  : public binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    
+    LhsFlags = evaluator<Lhs>::Flags,
+    RhsFlags = evaluator<Rhs>::Flags,
+    SameType = is_same<typename Lhs::Scalar,typename Rhs::Scalar>::value,
+    StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit),
+    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
+        HereditaryBits
+      | (int(LhsFlags) & int(RhsFlags) &
+           ( (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<Lhs>::Alignment,evaluator<Rhs>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_lhsImpl.coeff(row, col), m_rhsImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_lhsImpl.coeff(index), m_rhsImpl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(row, col),
+                              m_rhsImpl.template packet<LoadMode,PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index),
+                              m_rhsImpl.template packet<LoadMode,PacketType>(index));
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+};
+
+// -------------------- CwiseUnaryView --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
+  : evaluator_base<CwiseUnaryView<UnaryOp, ArgType> >
+{
+  typedef CwiseUnaryView<UnaryOp, ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+    
+    Flags = (evaluator<ArgType>::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)),
+    
+    Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost...
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
+    : m_unaryOp(op.functor()), 
+      m_argImpl(op.nestedExpression()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_unaryOp(m_argImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_unaryOp(m_argImpl.coeff(index));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_unaryOp(m_argImpl.coeffRef(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_unaryOp(m_argImpl.coeffRef(index));
+  }
+
+protected:
+  const UnaryOp m_unaryOp;
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- Map --------------------
+
+// FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ?
+// but that might complicate template specialization
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator;
+
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator : evaluator_base<Derived>
+{
+  typedef Derived  XprType;
+  typedef typename XprType::PointerType PointerType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  
+  enum {
+    IsRowMajor = XprType::RowsAtCompileTime,
+    ColsAtCompileTime = XprType::ColsAtCompileTime,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost
+  };
+
+  EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map)
+    : m_data(const_cast<PointerType>(map.data())),
+      m_innerStride(map.innerStride()),
+      m_outerStride(map.outerStride())
+  {
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator<Derived>::Flags&PacketAccessBit, internal::inner_stride_at_compile_time<Derived>::ret==1),
+                        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_data[col * colStride() + row * rowStride()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_data[index * m_innerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_data[col * colStride() + row * rowStride()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_data[index * m_innerStride.value()];
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    PointerType ptr = m_data + row * rowStride() + col * colStride();
+    return internal::ploadt<PacketType, LoadMode>(ptr);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return internal::ploadt<PacketType, LoadMode>(m_data + index * m_innerStride.value());
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    PointerType ptr = m_data + row * rowStride() + col * colStride();
+    return internal::pstoret<Scalar, PacketType, StoreMode>(ptr, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    internal::pstoret<Scalar, PacketType, StoreMode>(m_data + index * m_innerStride.value(), x);
+  }
+protected:
+  EIGEN_DEVICE_FUNC
+  inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); }
+  EIGEN_DEVICE_FUNC
+  inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); }
+
+  PointerType m_data;
+  const internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_innerStride;
+  const internal::variable_if_dynamic<Index, XprType::OuterStrideAtCompileTime> m_outerStride;
+};
+
+template<typename PlainObjectType, int MapOptions, typename StrideType> 
+struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
+  : public mapbase_evaluator<Map<PlainObjectType, MapOptions, StrideType>, PlainObjectType>
+{
+  typedef Map<PlainObjectType, MapOptions, StrideType> XprType;
+  typedef typename XprType::Scalar Scalar;
+  // TODO: should check for smaller packet types once we can handle multi-sized packet types
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    HasNoInnerStride = InnerStrideAtCompileTime == 1,
+    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
+    HasNoStride = HasNoInnerStride && HasNoOuterStride,
+    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
+    
+    PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit),
+    LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit),
+    Flags = int( evaluator<PlainObjectType>::Flags) & (LinearAccessMask&PacketAccessMask),
+    
+    Alignment = int(MapOptions)&int(AlignedMask)
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map)
+    : mapbase_evaluator<XprType, PlainObjectType>(map) 
+  { }
+};
+
+// -------------------- Ref --------------------
+
+template<typename PlainObjectType, int RefOptions, typename StrideType> 
+struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
+  : public mapbase_evaluator<Ref<PlainObjectType, RefOptions, StrideType>, PlainObjectType>
+{
+  typedef Ref<PlainObjectType, RefOptions, StrideType> XprType;
+  
+  enum {
+    Flags = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Flags,
+    Alignment = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref)
+    : mapbase_evaluator<XprType, PlainObjectType>(ref) 
+  { }
+};
+
+// -------------------- Block --------------------
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel,
+         bool HasDirectAccess = internal::has_direct_access<ArgType>::ret> struct block_evaluator;
+         
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+  : block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel>
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+  typedef typename XprType::Scalar Scalar;
+  // TODO: should check for smaller packet types once we can handle multi-sized packet types
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
+    
+    ArgTypeIsRowMajor = (int(evaluator<ArgType>::Flags)&RowMajorBit) != 0,
+    IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+               : ArgTypeIsRowMajor,
+    HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor),
+    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsArgType
+                             ? int(inner_stride_at_compile_time<ArgType>::ret)
+                             : int(outer_stride_at_compile_time<ArgType>::ret),
+    OuterStrideAtCompileTime = HasSameStorageOrderAsArgType
+                             ? int(outer_stride_at_compile_time<ArgType>::ret)
+                             : int(inner_stride_at_compile_time<ArgType>::ret),
+    MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0,
+    
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,    
+    FlagsRowMajorBit = XprType::Flags&RowMajorBit,
+    Flags0 = evaluator<ArgType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
+                                           DirectAccessBit |
+                                           MaskPacketAccessBit),
+    Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit,
+    
+    PacketAlignment = unpacket_traits<PacketScalar>::alignment,
+    Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ArgType>::Alignment, Alignment0)
+  };
+  typedef block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel> block_evaluator_type;
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+};
+
+// no direct-access => dispatch to a unary evaluator
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /*HasDirectAccess*/ false>
+  : unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+    : unary_evaluator<XprType>(block) 
+  {}
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>, IndexBased>
+  : evaluator_base<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block)
+    : m_argImpl(block.nestedExpression()), 
+      m_startRow(block.startRow()), 
+      m_startCol(block.startCol()) 
+  { }
+ 
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    RowsAtCompileTime = XprType::RowsAtCompileTime
+  };
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  { 
+    return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  { 
+    return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  { 
+    return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  { 
+    return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+ 
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const 
+  { 
+    return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const 
+  { 
+    return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                       RowsAtCompileTime == 1 ? index : 0);
+  }
+  
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x) 
+  {
+    return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x); 
+  }
+  
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x) 
+  {
+    return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                             RowsAtCompileTime == 1 ? index : 0,
+                                             x);
+  }
+ 
+protected:
+  evaluator<ArgType> m_argImpl;
+  const variable_if_dynamic<Index, (ArgType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+  const variable_if_dynamic<Index, (ArgType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+};
+
+// TODO: This evaluator does not actually use the child evaluator; 
+// all action is via the data() as returned by the Block expression.
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAccess */ true>
+  : mapbase_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>,
+                      typename Block<ArgType, BlockRows, BlockCols, InnerPanel>::PlainObject>
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+  typedef typename XprType::Scalar Scalar;
+
+  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+    : mapbase_evaluator<XprType, typename XprType::PlainObject>(block) 
+  {
+    // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
+    eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
+  }
+};
+
+
+// -------------------- Select --------------------
+// NOTE shall we introduce a ternary_evaluator?
+
+// TODO enable vectorization for Select
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+  : evaluator_base<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+{
+  typedef Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> XprType;
+  enum {
+    CoeffReadCost = evaluator<ConditionMatrixType>::CoeffReadCost
+                  + EIGEN_PLAIN_ENUM_MAX(evaluator<ThenMatrixType>::CoeffReadCost,
+                                         evaluator<ElseMatrixType>::CoeffReadCost),
+
+    Flags = (unsigned int)evaluator<ThenMatrixType>::Flags & evaluator<ElseMatrixType>::Flags & HereditaryBits,
+    
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ThenMatrixType>::Alignment, evaluator<ElseMatrixType>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select)
+    : m_conditionImpl(select.conditionMatrix()),
+      m_thenImpl(select.thenMatrix()),
+      m_elseImpl(select.elseMatrix())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+ 
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    if (m_conditionImpl.coeff(row, col))
+      return m_thenImpl.coeff(row, col);
+    else
+      return m_elseImpl.coeff(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    if (m_conditionImpl.coeff(index))
+      return m_thenImpl.coeff(index);
+    else
+      return m_elseImpl.coeff(index);
+  }
+ 
+protected:
+  evaluator<ConditionMatrixType> m_conditionImpl;
+  evaluator<ThenMatrixType> m_thenImpl;
+  evaluator<ElseMatrixType> m_elseImpl;
+};
+
+
+// -------------------- Replicate --------------------
+
+template<typename ArgType, int RowFactor, int ColFactor> 
+struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
+  : evaluator_base<Replicate<ArgType, RowFactor, ColFactor> >
+{
+  typedef Replicate<ArgType, RowFactor, ColFactor> XprType;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  enum {
+    Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
+  };
+  typedef typename internal::nested_eval<ArgType,Factor>::type ArgTypeNested;
+  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgTypeNestedCleaned>::CoeffReadCost,
+    LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0,
+    Flags = (evaluator<ArgTypeNestedCleaned>::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits<XprType>::Flags & RowMajorBit),
+    
+    Alignment = evaluator<ArgTypeNestedCleaned>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate)
+    : m_arg(replicate.nestedExpression()),
+      m_argImpl(m_arg),
+      m_rows(replicate.nestedExpression().rows()),
+      m_cols(replicate.nestedExpression().cols())
+  {}
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    // try to avoid using modulo; this is a pure optimization strategy
+    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+                           : RowFactor==1 ? row
+                           : row % m_rows.value();
+    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+                           : ColFactor==1 ? col
+                           : col % m_cols.value();
+    
+    return m_argImpl.coeff(actual_row, actual_col);
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    // try to avoid using modulo; this is a pure optimization strategy
+    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+                                  ? (ColFactor==1 ?  index : index%m_cols.value())
+                                  : (RowFactor==1 ?  index : index%m_rows.value());
+    
+    return m_argImpl.coeff(actual_index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+                           : RowFactor==1 ? row
+                           : row % m_rows.value();
+    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+                           : ColFactor==1 ? col
+                           : col % m_cols.value();
+
+    return m_argImpl.template packet<LoadMode,PacketType>(actual_row, actual_col);
+  }
+  
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+                                  ? (ColFactor==1 ?  index : index%m_cols.value())
+                                  : (RowFactor==1 ?  index : index%m_rows.value());
+
+    return m_argImpl.template packet<LoadMode,PacketType>(actual_index);
+  }
+ 
+protected:
+  const ArgTypeNested m_arg;
+  evaluator<ArgTypeNestedCleaned> m_argImpl;
+  const variable_if_dynamic<Index, ArgType::RowsAtCompileTime> m_rows;
+  const variable_if_dynamic<Index, ArgType::ColsAtCompileTime> m_cols;
+};
+
+
+// -------------------- PartialReduxExpr --------------------
+
+template< typename ArgType, typename MemberOp, int Direction>
+struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
+  : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
+{
+  typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
+  typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
+  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+  typedef typename ArgType::Scalar InputScalar;
+  typedef typename XprType::Scalar Scalar;
+  enum {
+    TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) :  int(ArgType::ColsAtCompileTime)
+  };
+  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+  enum {
+    CoeffReadCost = TraversalSize==Dynamic ? HugeCost
+                  : TraversalSize * evaluator<ArgType>::CoeffReadCost + int(CostOpType::value),
+    
+    Flags = (traits<XprType>::Flags&RowMajorBit) | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit,
+    
+    Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
+    : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value));
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index i, Index j) const
+  {
+    if (Direction==Vertical)
+      return m_functor(m_arg.col(j));
+    else
+      return m_functor(m_arg.row(i));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index index) const
+  {
+    if (Direction==Vertical)
+      return m_functor(m_arg.col(index));
+    else
+      return m_functor(m_arg.row(index));
+  }
+
+protected:
+  typename internal::add_const_on_value_type<ArgTypeNested>::type m_arg;
+  const MemberOp m_functor;
+};
+
+
+// -------------------- MatrixWrapper and ArrayWrapper --------------------
+//
+// evaluator_wrapper_base<T> is a common base class for the
+// MatrixWrapper and ArrayWrapper evaluators.
+
+template<typename XprType>
+struct evaluator_wrapper_base
+  : evaluator_base<XprType>
+{
+  typedef typename remove_all<typename XprType::NestedExpressionType>::type ArgType;
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    Flags = evaluator<ArgType>::Flags,
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
+
+  typedef typename ArgType::Scalar Scalar;
+  typedef typename ArgType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(row, col);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(index);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode>(row, col, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode>(index, x);
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+};
+
+template<typename TArgType>
+struct unary_evaluator<MatrixWrapper<TArgType> >
+  : evaluator_wrapper_base<MatrixWrapper<TArgType> >
+{
+  typedef MatrixWrapper<TArgType> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+    : evaluator_wrapper_base<MatrixWrapper<TArgType> >(wrapper.nestedExpression())
+  { }
+};
+
+template<typename TArgType>
+struct unary_evaluator<ArrayWrapper<TArgType> >
+  : evaluator_wrapper_base<ArrayWrapper<TArgType> >
+{
+  typedef ArrayWrapper<TArgType> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+    : evaluator_wrapper_base<ArrayWrapper<TArgType> >(wrapper.nestedExpression())
+  { }
+};
+
+
+// -------------------- Reverse --------------------
+
+// defined in Reverse.h:
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond;
+
+template<typename ArgType, int Direction>
+struct unary_evaluator<Reverse<ArgType, Direction> >
+  : evaluator_base<Reverse<ArgType, Direction> >
+{
+  typedef Reverse<ArgType, Direction> XprType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    IsRowMajor = XprType::IsRowMajor,
+    IsColMajor = !IsRowMajor,
+    ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
+    ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+    ReversePacket = (Direction == BothDirections)
+                    || ((Direction == Vertical)   && IsColMajor)
+                    || ((Direction == Horizontal) && IsRowMajor),
+                    
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    // let's enable LinearAccess only with vectorization because of the product overhead
+    // FIXME enable DirectAccess with negative strides?
+    Flags0 = evaluator<ArgType>::Flags,
+    LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) )
+                  || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1))
+                 ? LinearAccessBit : 0,
+
+    Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess),
+    
+    Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f.
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse)
+    : m_argImpl(reverse.nestedExpression()),
+      m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1),
+      m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1)
+  { }
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row,
+                           ReverseCol ? m_cols.value() - col - 1 : col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row,
+                              ReverseCol ? m_cols.value() - col - 1 : col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
+    };
+    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+    return reverse_packet::run(m_argImpl.template packet<LoadMode,PacketType>(
+                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
+                                  ReverseCol ? m_cols.value() - col - OffsetCol : col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    enum { PacketSize = unpacket_traits<PacketType>::size };
+    return preverse(m_argImpl.template packet<LoadMode,PacketType>(m_rows.value() * m_cols.value() - index - PacketSize));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    // FIXME we could factorize some code with packet(i,j)
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
+    };
+    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+    m_argImpl.template writePacket<LoadMode>(
+                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
+                                  ReverseCol ? m_cols.value() - col - OffsetCol : col,
+                                  reverse_packet::run(x));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    enum { PacketSize = unpacket_traits<PacketType>::size };
+    m_argImpl.template writePacket<LoadMode>
+      (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x));
+  }
+ 
+protected:
+  evaluator<ArgType> m_argImpl;
+
+  // If we do not reverse rows, then we do not need to know the number of rows; same for columns
+  // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors.
+  const variable_if_dynamic<Index, ReverseRow ? ArgType::RowsAtCompileTime : 1> m_rows;
+  const variable_if_dynamic<Index, ReverseCol ? ArgType::ColsAtCompileTime : 1> m_cols;
+};
+
+
+// -------------------- Diagonal --------------------
+
+template<typename ArgType, int DiagIndex>
+struct evaluator<Diagonal<ArgType, DiagIndex> >
+  : evaluator_base<Diagonal<ArgType, DiagIndex> >
+{
+  typedef Diagonal<ArgType, DiagIndex> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    Flags = (unsigned int)(evaluator<ArgType>::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit,
+    
+    Alignment = 0
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal)
+    : m_argImpl(diagonal.nestedExpression()),
+      m_index(diagonal.index())
+  { }
+ 
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index) const
+  {
+    return m_argImpl.coeff(row + rowOffset(), row + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index + rowOffset(), index + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index)
+  {
+    return m_argImpl.coeffRef(row + rowOffset(), row + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index + rowOffset(), index + colOffset());
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+  const internal::variable_if_dynamicindex<Index, XprType::DiagIndex> m_index;
+
+private:
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
+};
+
+
+//----------------------------------------------------------------------
+// deprecated code
+//----------------------------------------------------------------------
+
+// -------------------- EvalToTemp --------------------
+
+// expression class for evaluating nested expression to a temporary
+
+template<typename ArgType> class EvalToTemp;
+
+template<typename ArgType>
+struct traits<EvalToTemp<ArgType> >
+  : public traits<ArgType>
+{ };
+
+template<typename ArgType>
+class EvalToTemp
+  : public dense_xpr_base<EvalToTemp<ArgType> >::type
+{
+ public:
+ 
+  typedef typename dense_xpr_base<EvalToTemp>::type Base;
+  EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp)
+ 
+  explicit EvalToTemp(const ArgType& arg)
+    : m_arg(arg)
+  { }
+ 
+  const ArgType& arg() const
+  {
+    return m_arg;
+  }
+
+  Index rows() const 
+  {
+    return m_arg.rows();
+  }
+
+  Index cols() const 
+  {
+    return m_arg.cols();
+  }
+
+ private:
+  const ArgType& m_arg;
+};
+ 
+template<typename ArgType>
+struct evaluator<EvalToTemp<ArgType> >
+  : public evaluator<typename ArgType::PlainObject>
+{
+  typedef EvalToTemp<ArgType>                   XprType;
+  typedef typename ArgType::PlainObject         PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : m_result(xpr.arg())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+  }
+
+  // This constructor is used when nesting an EvalTo evaluator in another evaluator
+  EIGEN_DEVICE_FUNC evaluator(const ArgType& arg)
+    : m_result(arg)
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COREEVALUATORS_H
diff --git a/vendor/eigen/Eigen/src/Core/CoreIterators.h b/vendor/eigen/Eigen/src/Core/CoreIterators.h
index 6da4683..4eb42b9 100644
--- a/vendor/eigen/Eigen/src/Core/CoreIterators.h
+++ b/vendor/eigen/Eigen/src/Core/CoreIterators.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -15,47 +15,113 @@ namespace Eigen {
 /* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core
  */
 
-/** \ingroup SparseCore_Module
-  * \class InnerIterator
-  * \brief An InnerIterator allows to loop over the element of a sparse (or dense) matrix or expression
-  *
-  * todo
+namespace internal {
+
+template<typename XprType, typename EvaluatorKind>
+class inner_iterator_selector;
+
+}
+
+/** \class InnerIterator
+  * \brief An InnerIterator allows to loop over the element of any matrix expression.
+  * 
+  * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed.
+  * 
+  * TODO: add a usage example
   */
+template<typename XprType>
+class InnerIterator
+{
+protected:
+  typedef internal::inner_iterator_selector<XprType, typename internal::evaluator_traits<XprType>::Kind> IteratorType;
+  typedef internal::evaluator<XprType> EvaluatorType;
+  typedef typename internal::traits<XprType>::Scalar Scalar;
+public:
+  /** Construct an iterator over the \a outerId -th row or column of \a xpr */
+  InnerIterator(const XprType &xpr, const Index &outerId)
+    : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize())
+  {}
+  
+  /// \returns the value of the current coefficient.
+  EIGEN_STRONG_INLINE Scalar value() const          { return m_iter.value(); }
+  /** Increment the iterator \c *this to the next non-zero coefficient.
+    * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView
+    */
+  EIGEN_STRONG_INLINE InnerIterator& operator++()   { m_iter.operator++(); return *this; }
+  /// \returns the column or row index of the current coefficient.
+  EIGEN_STRONG_INLINE Index index() const           { return m_iter.index(); }
+  /// \returns the row index of the current coefficient.
+  EIGEN_STRONG_INLINE Index row() const             { return m_iter.row(); }
+  /// \returns the column index of the current coefficient.
+  EIGEN_STRONG_INLINE Index col() const             { return m_iter.col(); }
+  /// \returns \c true if the iterator \c *this still references a valid coefficient.
+  EIGEN_STRONG_INLINE operator bool() const         { return m_iter; }
+  
+protected:
+  EvaluatorType m_eval;
+  IteratorType m_iter;
+private:
+  // If you get here, then you're not using the right InnerIterator type, e.g.:
+  //   SparseMatrix<double,RowMajor> A;
+  //   SparseMatrix<double>::InnerIterator it(A,0);
+  template<typename T> InnerIterator(const EigenBase<T>&,Index outer);
+};
+
+namespace internal {
 
-// generic version for dense matrix and expressions
-template<typename Derived> class DenseBase<Derived>::InnerIterator
+// Generic inner iterator implementation for dense objects
+template<typename XprType>
+class inner_iterator_selector<XprType, IndexBased>
 {
-  protected:
-    typedef typename Derived::Scalar Scalar;
-    typedef typename Derived::Index Index;
-
-    enum { IsRowMajor = (Derived::Flags&RowMajorBit)==RowMajorBit };
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const Derived& expr, Index outer)
-      : m_expression(expr), m_inner(0), m_outer(outer), m_end(expr.innerSize())
-    {}
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    {
-      return (IsRowMajor) ? m_expression.coeff(m_outer, m_inner)
-                          : m_expression.coeff(m_inner, m_outer);
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++() { m_inner++; return *this; }
-
-    EIGEN_STRONG_INLINE Index index() const { return m_inner; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
-
-  protected:
-    const Derived& m_expression;
-    Index m_inner;
-    const Index m_outer;
-    const Index m_end;
+protected:
+  typedef evaluator<XprType> EvaluatorType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
+  
+public:
+  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize)
+    : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize)
+  {}
+
+  EIGEN_STRONG_INLINE Scalar value() const
+  {
+    return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner)
+                        : m_eval.coeff(m_inner, m_outer);
+  }
+
+  EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; }
+
+  EIGEN_STRONG_INLINE Index index() const { return m_inner; }
+  inline Index row() const { return IsRowMajor ? m_outer : index(); }
+  inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+  EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+protected:
+  const EvaluatorType& m_eval;
+  Index m_inner;
+  const Index m_outer;
+  const Index m_end;
 };
 
+// For iterator-based evaluator, inner-iterator is already implemented as
+// evaluator<>::InnerIterator
+template<typename XprType>
+class inner_iterator_selector<XprType, IteratorBased>
+ : public evaluator<XprType>::InnerIterator
+{
+protected:
+  typedef typename evaluator<XprType>::InnerIterator Base;
+  typedef evaluator<XprType> EvaluatorType;
+  
+public:
+  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/)
+    : Base(eval, outerId)
+  {}  
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_COREITERATORS_H
diff --git a/vendor/eigen/Eigen/src/Core/CwiseBinaryOp.h b/vendor/eigen/Eigen/src/Core/CwiseBinaryOp.h
index 519a866..a36765e 100644
--- a/vendor/eigen/Eigen/src/Core/CwiseBinaryOp.h
+++ b/vendor/eigen/Eigen/src/Core/CwiseBinaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -13,26 +13,6 @@
 
 namespace Eigen {
 
-/** \class CwiseBinaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
-  *
-  * \param BinaryOp template functor implementing the operator
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  *
-  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
-  * It is the return type of binary operators, by which we mean only those binary operators where
-  * both the left-hand side and the right-hand side are Eigen expressions.
-  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically don't have to name
-  * CwiseBinaryOp types explicitly.
-  *
-  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
-  */
-
 namespace internal {
 template<typename BinaryOp, typename Lhs, typename Rhs>
 struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
@@ -52,77 +32,75 @@ struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
   // we still want to handle the case when the result type is different.
   typedef typename result_of<
                      BinaryOp(
-                       typename Lhs::Scalar,
-                       typename Rhs::Scalar
+                       const typename Lhs::Scalar&,
+                       const typename Rhs::Scalar&
                      )
                    >::type Scalar;
-  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
-                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind,
+                                              typename traits<Rhs>::StorageKind,
+                                              BinaryOp>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
+                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
   typedef typename Lhs::Nested LhsNested;
   typedef typename Rhs::Nested RhsNested;
   typedef typename remove_reference<LhsNested>::type _LhsNested;
   typedef typename remove_reference<RhsNested>::type _RhsNested;
   enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-    SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
-    StorageOrdersAgree = (int(Lhs::Flags)&RowMajorBit)==(int(Rhs::Flags)&RowMajorBit),
-    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
-        HereditaryBits
-      | (int(LhsFlags) & int(RhsFlags) &
-           ( AlignedBit
-           | (StorageOrdersAgree ? LinearAccessBit : 0)
-           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
-           )
-        )
-     ),
-    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
-    Cost0 = EIGEN_ADD_COST(LhsCoeffReadCost,RhsCoeffReadCost),
-    CoeffReadCost = EIGEN_ADD_COST(Cost0,functor_traits<BinaryOp>::Cost)
+    Flags = cwise_promote_storage_order<typename traits<Lhs>::StorageKind,typename traits<Rhs>::StorageKind,_LhsNested::Flags & RowMajorBit,_RhsNested::Flags & RowMajorBit>::value
   };
 };
 } // end namespace internal
 
-// we require Lhs and Rhs to have the same scalar type. Currently there is no example of a binary functor
-// that would take two operands of different types. If there were such an example, then this check should be
-// moved to the BinaryOp functors, on a per-case basis. This would however require a change in the BinaryOp functors, as
-// currently they take only one typename Scalar template parameter.
-// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
-// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
-// add together a float matrix and a double matrix.
-#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
-  EIGEN_STATIC_ASSERT((internal::functor_is_product_like<BINOP>::ret \
-                        ? int(internal::scalar_product_traits<LHS, RHS>::Defined) \
-                        : int(internal::is_same<LHS, RHS>::value)), \
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
 template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
 class CwiseBinaryOpImpl;
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOp : internal::no_assignment_operator,
+/** \class CwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
+  *
+  * \tparam BinaryOp template functor implementing the operator
+  * \tparam LhsType the type of the left-hand side
+  * \tparam RhsType the type of the right-hand side
+  *
+  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
+  * It is the return type of binary operators, by which we mean only those binary operators where
+  * both the left-hand side and the right-hand side are Eigen expressions.
+  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseBinaryOp types explicitly.
+  *
+  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
+  */
+template<typename BinaryOp, typename LhsType, typename RhsType>
+class CwiseBinaryOp : 
   public CwiseBinaryOpImpl<
-          BinaryOp, Lhs, Rhs,
-          typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
-                                           typename internal::traits<Rhs>::StorageKind>::ret>
+          BinaryOp, LhsType, RhsType,
+          typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+                                                        typename internal::traits<RhsType>::StorageKind,
+                                                        BinaryOp>::ret>,
+  internal::no_assignment_operator
 {
   public:
+    
+    typedef typename internal::remove_all<BinaryOp>::type Functor;
+    typedef typename internal::remove_all<LhsType>::type Lhs;
+    typedef typename internal::remove_all<RhsType>::type Rhs;
 
     typedef typename CwiseBinaryOpImpl<
-        BinaryOp, Lhs, Rhs,
-        typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
-                                         typename internal::traits<Rhs>::StorageKind>::ret>::Base Base;
+        BinaryOp, LhsType, RhsType,
+        typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+                                                      typename internal::traits<Rhs>::StorageKind,
+                                                      BinaryOp>::ret>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
 
-    typedef typename internal::nested<Lhs>::type LhsNested;
-    typedef typename internal::nested<Rhs>::type RhsNested;
+    typedef typename internal::ref_selector<LhsType>::type LhsNested;
+    typedef typename internal::ref_selector<RhsType>::type RhsNested;
     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
     typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
       : m_lhs(aLhs), m_rhs(aRhs), m_functor(func)
     {
@@ -132,6 +110,7 @@ class CwiseBinaryOp : internal::no_assignment_operator,
       eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const {
       // return the fixed size type if available to enable compile time optimizations
       if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
@@ -139,6 +118,7 @@ class CwiseBinaryOp : internal::no_assignment_operator,
       else
         return m_lhs.rows();
     }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const {
       // return the fixed size type if available to enable compile time optimizations
       if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
@@ -148,10 +128,13 @@ class CwiseBinaryOp : internal::no_assignment_operator,
     }
 
     /** \returns the left hand side nested expression */
+    EIGEN_DEVICE_FUNC
     const _LhsNested& lhs() const { return m_lhs; }
     /** \returns the right hand side nested expression */
+    EIGEN_DEVICE_FUNC
     const _RhsNested& rhs() const { return m_rhs; }
     /** \returns the functor representing the binary operation */
+    EIGEN_DEVICE_FUNC
     const BinaryOp& functor() const { return m_functor; }
 
   protected:
@@ -160,41 +143,13 @@ class CwiseBinaryOp : internal::no_assignment_operator,
     const BinaryOp m_functor;
 };
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Dense>
-  : public internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+// Generic API dispatcher
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl
+  : public internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
 {
-    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
-  public:
-
-    typedef typename internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE( Derived )
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return derived().functor()(derived().lhs().coeff(rowId, colId),
-                                 derived().rhs().coeff(rowId, colId));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(rowId, colId),
-                                          derived().rhs().template packet<LoadMode>(rowId, colId));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return derived().functor()(derived().lhs().coeff(index),
-                                 derived().rhs().coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(index),
-                                          derived().rhs().template packet<LoadMode>(index));
-    }
+public:
+  typedef typename internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
 };
 
 /** replaces \c *this by \c *this - \a other.
@@ -206,8 +161,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
 {
-  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -220,11 +174,11 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
 } // end namespace Eigen
 
 #endif // EIGEN_CWISE_BINARY_OP_H
+
diff --git a/vendor/eigen/Eigen/src/Core/CwiseNullaryOp.h b/vendor/eigen/Eigen/src/Core/CwiseNullaryOp.h
index a93bab2..ddd607e 100644
--- a/vendor/eigen/Eigen/src/Core/CwiseNullaryOp.h
+++ b/vendor/eigen/Eigen/src/Core/CwiseNullaryOp.h
@@ -12,13 +12,24 @@
 
 namespace Eigen {
 
+namespace internal {
+template<typename NullaryOp, typename PlainObjectType>
+struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
+{
+  enum {
+    Flags = traits<PlainObjectType>::Flags & RowMajorBit
+  };
+};
+
+} // namespace internal
+
 /** \class CwiseNullaryOp
   * \ingroup Core_Module
   *
   * \brief Generic expression of a matrix where all coefficients are defined by a functor
   *
-  * \param NullaryOp template functor implementing the operator
-  * \param PlainObjectType the underlying plain matrix/array type
+  * \tparam NullaryOp template functor implementing the operator
+  * \tparam PlainObjectType the underlying plain matrix/array type
   *
   * This class represents an expression of a generic nullary operator.
   * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
@@ -27,68 +38,49 @@ namespace Eigen {
   * However, if you want to write a function returning such an expression, you
   * will need to use this class.
   *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr()
+  * The functor NullaryOp must expose one of the following method:
+    <table class="manual">
+    <tr            ><td>\c operator()() </td><td>if the procedural generation does not depend on the coefficient entries (e.g., random numbers)</td></tr>
+    <tr class="alt"><td>\c operator()(Index i)</td><td>if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace) </td></tr>
+    <tr            ><td>\c operator()(Index i,Index j)</td><td>if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)</td></tr>
+    </table>
+  * It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors.
+  *
+  * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding
+  * C++11 random number generators.
+  *
+  * A nullary expression can also be used to implement custom sophisticated matrix manipulations
+  * that cannot be covered by the existing set of natively supported matrix manipulations.
+  * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations
+  * on the behavior of CwiseNullaryOp.
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr
   */
-
-namespace internal {
 template<typename NullaryOp, typename PlainObjectType>
-struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
-{
-  enum {
-    Flags = (traits<PlainObjectType>::Flags
-      & (  HereditaryBits
-         | (functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
-         | (functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
-      | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
-    CoeffReadCost = functor_traits<NullaryOp>::Cost
-  };
-};
-}
-
-template<typename NullaryOp, typename PlainObjectType>
-class CwiseNullaryOp : internal::no_assignment_operator,
-  public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type
+class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
 
-    CwiseNullaryOp(Index nbRows, Index nbCols, const NullaryOp& func = NullaryOp())
-      : m_rows(nbRows), m_cols(nbCols), m_functor(func)
+    EIGEN_DEVICE_FUNC
+    CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
+      : m_rows(rows), m_cols(cols), m_functor(func)
     {
-      eigen_assert(nbRows >= 0
-            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == nbRows)
-            &&  nbCols >= 0
-            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == nbCols));
+      eigen_assert(rows >= 0
+            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+            &&  cols >= 0
+            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return m_functor(rowId, colId);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_functor.packetOp(rowId, colId);
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return m_functor(index);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return m_functor.packetOp(index);
-    }
-
     /** \returns the functor representing the nullary operation */
+    EIGEN_DEVICE_FUNC
     const NullaryOp& functor() const { return m_functor; }
 
   protected:
@@ -113,10 +105,10 @@ class CwiseNullaryOp : internal::no_assignment_operator,
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
 {
-  return CwiseNullaryOp<CustomNullaryOp, Derived>(rows, cols, func);
+  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(rows, cols, func);
 }
 
 /** \returns an expression of a matrix defined by a custom functor \a func
@@ -132,16 +124,19 @@ DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& f
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
   *
+  * Here is an example with C++11 random generators: \include random_cpp11.cpp
+  * Output: \verbinclude random_cpp11.out
+  * 
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
-  else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
+  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, PlainObject>(1, size, func);
+  else return CwiseNullaryOp<CustomNullaryOp, PlainObject>(size, 1, func);
 }
 
 /** \returns an expression of a matrix defined by a custom functor \a func
@@ -155,19 +150,19 @@ DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
 {
-  return CwiseNullaryOp<CustomNullaryOp, Derived>(RowsAtCompileTime, ColsAtCompileTime, func);
+  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(RowsAtCompileTime, ColsAtCompileTime, func);
 }
 
 /** \returns an expression of a constant matrix of value \a value
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this DenseBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a nbRows and \a nbCols as arguments, so Zero() should be used
+  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
   * instead.
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -176,9 +171,9 @@ DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Constant(Index nbRows, Index nbCols, const Scalar& value)
+DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
 {
-  return DenseBase<Derived>::NullaryExpr(nbRows, nbCols, internal::scalar_constant_op<Scalar>(value));
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
 }
 
 /** \returns an expression of a constant matrix of value \a value
@@ -197,7 +192,7 @@ DenseBase<Derived>::Constant(Index nbRows, Index nbCols, const Scalar& value)
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Constant(Index size, const Scalar& value)
 {
   return DenseBase<Derived>::NullaryExpr(size, internal::scalar_constant_op<Scalar>(value));
@@ -213,53 +208,40 @@ DenseBase<Derived>::Constant(Index size, const Scalar& value)
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Constant(const Scalar& value)
 {
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
   return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
 }
 
-/**
-  * \brief Sets a linearly space vector.
-  *
-  * The function generates 'size' equally spaced values in the closed interval [low,high].
-  * This particular version of LinSpaced() uses sequential access, i.e. vector access is
-  * assumed to be a(0), a(1), ..., a(size). This assumption allows for better vectorization
-  * and yields faster code than the random access version.
-  *
-  * When size is set to 1, a vector of length 1 containing 'high' is returned.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include DenseBase_LinSpaced_seq.cpp
-  * Output: \verbinclude DenseBase_LinSpaced_seq.out
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
   *
-  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Index,Scalar,Scalar), CwiseNullaryOp
+  * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
 }
 
-/**
-  * \copydoc DenseBase::LinSpaced(Sequential_t, Index, const Scalar&, const Scalar&)
-  * Special version for fixed size types which does not require the size parameter.
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
+  *
+  * \sa LinSpaced(Scalar,Scalar)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,false>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
   * The function generates 'size' equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
@@ -269,14 +251,24 @@ DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& hig
   * Example: \include DenseBase_LinSpaced.cpp
   * Output: \verbinclude DenseBase_LinSpaced.out
   *
-  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Sequential_t,Index,const Scalar&,const Scalar&,Index), CwiseNullaryOp
+  * For integer scalar types, an even spacing is possible if and only if the length of the range,
+  * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the
+  * number of values \c high-low+1 (meaning each value can be repeated the same number of time).
+  * If one of these two considions is not satisfied, then \c high is lowered to the largest value
+  * satisfying one of this constraint.
+  * Here are some examples:
+  *
+  * Example: \include DenseBase_LinSpacedInt.cpp
+  * Output: \verbinclude DenseBase_LinSpacedInt.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,true>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
 }
 
 /**
@@ -284,22 +276,23 @@ DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
   * Special version for fixed size types which does not require the size parameter.
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,true>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */
 template<typename Derived>
-bool DenseBase<Derived>::isApproxToConstant
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isApproxToConstant
 (const Scalar& val, const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
     for(Index i = 0; i < rows(); ++i)
-      if(!internal::isApprox(this->coeff(i, j), val, prec))
+      if(!internal::isApprox(self.coeff(i, j), val, prec))
         return false;
   return true;
 }
@@ -308,7 +301,7 @@ bool DenseBase<Derived>::isApproxToConstant
   *
   * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
 template<typename Derived>
-bool DenseBase<Derived>::isConstant
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isConstant
 (const Scalar& val, const RealScalar& prec) const
 {
   return isApproxToConstant(val, prec);
@@ -319,22 +312,22 @@ bool DenseBase<Derived>::isConstant
   * \sa setConstant(), Constant(), class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& val)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& val)
 {
   setConstant(val);
 }
 
-/** Sets all coefficients in this expression to \a value.
+/** Sets all coefficients in this expression to value \a val.
   *
   * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
 {
   return derived() = Constant(rows(), cols(), val);
 }
 
-/** Resizes to the given \a size, and sets all coefficients in this expression to the given \a value.
+/** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val.
   *
   * \only_for_vectors
   *
@@ -344,17 +337,17 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
   * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
 PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
 {
   resize(size);
   return setConstant(val);
 }
 
-/** Resizes to the given size, and sets all coefficients in this expression to the given \a value.
+/** Resizes to the given size, and sets all coefficients in this expression to the given value \a val.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   * \param val the value to which all coefficients are set
   *
   * Example: \include Matrix_setConstant_int_int.cpp
@@ -363,15 +356,15 @@ PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
   * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setConstant(Index nbRows, Index nbCols, const Scalar& val)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& val)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(val);
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
   * The function generates 'size' equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
@@ -381,27 +374,33 @@ PlainObjectBase<Derived>::setConstant(Index nbRows, Index nbCols, const Scalar&
   * Example: \include DenseBase_setLinSpaced.cpp
   * Output: \verbinclude DenseBase_setLinSpaced.out
   *
-  * \sa CwiseNullaryOp
+  * For integer scalar types, do not miss the explanations on the definition
+  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+  *
+  * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,false>(low,high,newSize));
+  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,PacketScalar>(low,high,newSize));
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
-  * The function fill *this with equally spaced values in the closed interval [low,high].
+  * The function fills \c *this with equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
   *
   * \only_for_vectors
   *
-  * \sa setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
+  * For integer scalar types, do not miss the explanations on the definition
+  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+  *
+  * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low, const Scalar& high)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return setLinSpaced(size(), low, high);
@@ -424,10 +423,10 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low,
   * \sa Zero(), Zero(Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Zero(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index rows, Index cols)
 {
-  return Constant(nbRows, nbCols, Scalar(0));
+  return Constant(rows, cols, Scalar(0));
 }
 
 /** \returns an expression of a zero vector.
@@ -447,7 +446,7 @@ DenseBase<Derived>::Zero(Index nbRows, Index nbCols)
   * \sa Zero(), Zero(Index,Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Zero(Index size)
 {
   return Constant(size, Scalar(0));
@@ -464,7 +463,7 @@ DenseBase<Derived>::Zero(Index size)
   * \sa Zero(Index), Zero(Index,Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Zero()
 {
   return Constant(Scalar(0));
@@ -479,11 +478,12 @@ DenseBase<Derived>::Zero()
   * \sa class CwiseNullaryOp, Zero()
   */
 template<typename Derived>
-bool DenseBase<Derived>::isZero(const RealScalar& prec) const
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isZero(const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
     for(Index i = 0; i < rows(); ++i)
-      if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<Scalar>(1), prec))
+      if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<Scalar>(1), prec))
         return false;
   return true;
 }
@@ -496,7 +496,7 @@ bool DenseBase<Derived>::isZero(const RealScalar& prec) const
   * \sa class CwiseNullaryOp, Zero()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
 {
   return setConstant(Scalar(0));
 }
@@ -511,7 +511,7 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
   * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
 PlainObjectBase<Derived>::setZero(Index newSize)
 {
   resize(newSize);
@@ -520,8 +520,8 @@ PlainObjectBase<Derived>::setZero(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to zero.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setZero_int_int.cpp
   * Output: \verbinclude Matrix_setZero_int_int.out
@@ -529,10 +529,10 @@ PlainObjectBase<Derived>::setZero(Index newSize)
   * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(Scalar(0));
 }
 
@@ -540,7 +540,7 @@ PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
 
 /** \returns an expression of a matrix where all coefficients equal one.
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
@@ -553,10 +553,10 @@ PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
   * \sa Ones(), Ones(Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Ones(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index rows, Index cols)
 {
-  return Constant(nbRows, nbCols, Scalar(1));
+  return Constant(rows, cols, Scalar(1));
 }
 
 /** \returns an expression of a vector where all coefficients equal one.
@@ -576,7 +576,7 @@ DenseBase<Derived>::Ones(Index nbRows, Index nbCols)
   * \sa Ones(), Ones(Index,Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Ones(Index newSize)
 {
   return Constant(newSize, Scalar(1));
@@ -593,7 +593,7 @@ DenseBase<Derived>::Ones(Index newSize)
   * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
 DenseBase<Derived>::Ones()
 {
   return Constant(Scalar(1));
@@ -608,7 +608,7 @@ DenseBase<Derived>::Ones()
   * \sa class CwiseNullaryOp, Ones()
   */
 template<typename Derived>
-bool DenseBase<Derived>::isOnes
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isOnes
 (const RealScalar& prec) const
 {
   return isApproxToConstant(Scalar(1), prec);
@@ -622,7 +622,7 @@ bool DenseBase<Derived>::isOnes
   * \sa class CwiseNullaryOp, Ones()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
 {
   return setConstant(Scalar(1));
 }
@@ -637,7 +637,7 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
   * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
 PlainObjectBase<Derived>::setOnes(Index newSize)
 {
   resize(newSize);
@@ -646,8 +646,8 @@ PlainObjectBase<Derived>::setOnes(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to one.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setOnes_int_int.cpp
   * Output: \verbinclude Matrix_setOnes_int_int.out
@@ -655,10 +655,10 @@ PlainObjectBase<Derived>::setOnes(Index newSize)
   * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(Scalar(1));
 }
 
@@ -666,7 +666,7 @@ PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
 
 /** \returns an expression of the identity matrix (not necessarily square).
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
@@ -679,10 +679,10 @@ PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
   * \sa Identity(), setIdentity(), isIdentity()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
-MatrixBase<Derived>::Identity(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+MatrixBase<Derived>::Identity(Index rows, Index cols)
 {
-  return DenseBase<Derived>::NullaryExpr(nbRows, nbCols, internal::scalar_identity_op<Scalar>());
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
 }
 
 /** \returns an expression of the identity matrix (not necessarily square).
@@ -696,7 +696,7 @@ MatrixBase<Derived>::Identity(Index nbRows, Index nbCols)
   * \sa Identity(Index,Index), setIdentity(), isIdentity()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
 MatrixBase<Derived>::Identity()
 {
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
@@ -716,18 +716,19 @@ template<typename Derived>
 bool MatrixBase<Derived>::isIdentity
 (const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
   {
     for(Index i = 0; i < rows(); ++i)
     {
       if(i == j)
       {
-        if(!internal::isApprox(this->coeff(i, j), static_cast<Scalar>(1), prec))
+        if(!internal::isApprox(self.coeff(i, j), static_cast<Scalar>(1), prec))
           return false;
       }
       else
       {
-        if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<RealScalar>(1), prec))
+        if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<RealScalar>(1), prec))
           return false;
       }
     }
@@ -740,6 +741,7 @@ namespace internal {
 template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
 struct setIdentity_impl
 {
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
     return m = Derived::Identity(m.rows(), m.cols());
@@ -749,11 +751,11 @@ struct setIdentity_impl
 template<typename Derived>
 struct setIdentity_impl<Derived, true>
 {
-  typedef typename Derived::Index Index;
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
     m.setZero();
-    const Index size = (std::min)(m.rows(), m.cols());
+    const Index size = numext::mini(m.rows(), m.cols());
     for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
     return m;
   }
@@ -769,15 +771,15 @@ struct setIdentity_impl<Derived, true>
   * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
 {
   return internal::setIdentity_impl<Derived>::run(derived());
 }
 
 /** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setIdentity_int_int.cpp
   * Output: \verbinclude Matrix_setIdentity_int_int.out
@@ -785,9 +787,9 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
   * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index nbRows, Index nbCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
 {
-  derived().resize(nbRows, nbCols);
+  derived().resize(rows, cols);
   return setIdentity();
 }
 
@@ -798,7 +800,7 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index nbRows, Inde
   * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index newSize, Index i)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index newSize, Index i)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return BasisReturnType(SquareMatrixType::Identity(newSize,newSize), i);
@@ -813,7 +815,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return BasisReturnType(SquareMatrixType::Identity(),i);
@@ -826,7 +828,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
 { return Derived::Unit(0); }
 
 /** \returns an expression of the Y axis unit vector (0,1{,0}^*)
@@ -836,7 +838,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
 { return Derived::Unit(1); }
 
 /** \returns an expression of the Z axis unit vector (0,0,1{,0}^*)
@@ -846,7 +848,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
 { return Derived::Unit(2); }
 
 /** \returns an expression of the W axis unit vector (0,0,0,1)
@@ -856,7 +858,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
 { return Derived::Unit(3); }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/CwiseTernaryOp.h b/vendor/eigen/Eigen/src/Core/CwiseTernaryOp.h
new file mode 100644
index 0000000..9f3576f
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/CwiseTernaryOp.h
@@ -0,0 +1,197 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo at 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_TERNARY_OP_H
+#define EIGEN_CWISE_TERNARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct traits<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > {
+  // we must not inherit from traits<Arg1> since it has
+  // the potential to cause problems with MSVC
+  typedef typename remove_all<Arg1>::type Ancestor;
+  typedef typename traits<Ancestor>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+  };
+
+  // even though we require Arg1, Arg2, and Arg3 to have the same scalar type
+  // (see CwiseTernaryOp constructor),
+  // we still want to handle the case when the result type is different.
+  typedef typename result_of<TernaryOp(
+      const typename Arg1::Scalar&, const typename Arg2::Scalar&,
+      const typename Arg3::Scalar&)>::type Scalar;
+
+  typedef typename internal::traits<Arg1>::StorageKind StorageKind;
+  typedef typename internal::traits<Arg1>::StorageIndex StorageIndex;
+
+  typedef typename Arg1::Nested Arg1Nested;
+  typedef typename Arg2::Nested Arg2Nested;
+  typedef typename Arg3::Nested Arg3Nested;
+  typedef typename remove_reference<Arg1Nested>::type _Arg1Nested;
+  typedef typename remove_reference<Arg2Nested>::type _Arg2Nested;
+  typedef typename remove_reference<Arg3Nested>::type _Arg3Nested;
+  enum { Flags = _Arg1Nested::Flags & RowMajorBit };
+};
+}  // end namespace internal
+
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+          typename StorageKind>
+class CwiseTernaryOpImpl;
+
+/** \class CwiseTernaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise ternary operator is
+ * applied to two expressions
+  *
+  * \tparam TernaryOp template functor implementing the operator
+  * \tparam Arg1Type the type of the first argument
+  * \tparam Arg2Type the type of the second argument
+  * \tparam Arg3Type the type of the third argument
+  *
+  * This class represents an expression where a coefficient-wise ternary
+ * operator is applied to three expressions.
+  * It is the return type of ternary operators, by which we mean only those
+ * ternary operators where
+  * all three arguments are Eigen expressions.
+  * For example, the return type of betainc(matrix1, matrix2, matrix3) is a
+ * CwiseTernaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically
+ * don't have to name
+  * CwiseTernaryOp types explicitly.
+  *
+  * \sa MatrixBase::ternaryExpr(const MatrixBase<Argument2> &, const
+ * MatrixBase<Argument3> &, const CustomTernaryOp &) const, class CwiseBinaryOp,
+ * class CwiseUnaryOp, class CwiseNullaryOp
+  */
+template <typename TernaryOp, typename Arg1Type, typename Arg2Type,
+          typename Arg3Type>
+class CwiseTernaryOp : public CwiseTernaryOpImpl<
+                           TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+                           typename internal::traits<Arg1Type>::StorageKind>,
+                       internal::no_assignment_operator
+{
+ public:
+  typedef typename internal::remove_all<Arg1Type>::type Arg1;
+  typedef typename internal::remove_all<Arg2Type>::type Arg2;
+  typedef typename internal::remove_all<Arg3Type>::type Arg3;
+
+  typedef typename CwiseTernaryOpImpl<
+      TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+      typename internal::traits<Arg1Type>::StorageKind>::Base Base;
+  EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp)
+
+  typedef typename internal::ref_selector<Arg1Type>::type Arg1Nested;
+  typedef typename internal::ref_selector<Arg2Type>::type Arg2Nested;
+  typedef typename internal::ref_selector<Arg3Type>::type Arg3Nested;
+  typedef typename internal::remove_reference<Arg1Nested>::type _Arg1Nested;
+  typedef typename internal::remove_reference<Arg2Nested>::type _Arg2Nested;
+  typedef typename internal::remove_reference<Arg3Nested>::type _Arg3Nested;
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2,
+                                     const Arg3& a3,
+                                     const TernaryOp& func = TernaryOp())
+      : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) {
+    // require the sizes to match
+    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2)
+    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3)
+
+    // The index types should match
+    EIGEN_STATIC_ASSERT((internal::is_same<
+                         typename internal::traits<Arg1Type>::StorageKind,
+                         typename internal::traits<Arg2Type>::StorageKind>::value),
+                        STORAGE_KIND_MUST_MATCH)
+    EIGEN_STATIC_ASSERT((internal::is_same<
+                         typename internal::traits<Arg1Type>::StorageKind,
+                         typename internal::traits<Arg3Type>::StorageKind>::value),
+                        STORAGE_KIND_MUST_MATCH)
+
+    eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() &&
+                 a1.rows() == a3.rows() && a1.cols() == a3.cols());
+  }
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE Index rows() const {
+    // return the fixed size type if available to enable compile time
+    // optimizations
+    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                RowsAtCompileTime == Dynamic &&
+        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+                RowsAtCompileTime == Dynamic)
+      return m_arg3.rows();
+    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                     RowsAtCompileTime == Dynamic &&
+             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+                     RowsAtCompileTime == Dynamic)
+      return m_arg2.rows();
+    else
+      return m_arg1.rows();
+  }
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE Index cols() const {
+    // return the fixed size type if available to enable compile time
+    // optimizations
+    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                ColsAtCompileTime == Dynamic &&
+        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+                ColsAtCompileTime == Dynamic)
+      return m_arg3.cols();
+    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                     ColsAtCompileTime == Dynamic &&
+             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+                     ColsAtCompileTime == Dynamic)
+      return m_arg2.cols();
+    else
+      return m_arg1.cols();
+  }
+
+  /** \returns the first argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg1Nested& arg1() const { return m_arg1; }
+  /** \returns the first argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg2Nested& arg2() const { return m_arg2; }
+  /** \returns the third argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg3Nested& arg3() const { return m_arg3; }
+  /** \returns the functor representing the ternary operation */
+  EIGEN_DEVICE_FUNC
+  const TernaryOp& functor() const { return m_functor; }
+
+ protected:
+  Arg1Nested m_arg1;
+  Arg2Nested m_arg2;
+  Arg3Nested m_arg3;
+  const TernaryOp m_functor;
+};
+
+// Generic API dispatcher
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+          typename StorageKind>
+class CwiseTernaryOpImpl
+    : public internal::generic_xpr_base<
+          CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type {
+ public:
+  typedef typename internal::generic_xpr_base<
+      CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type Base;
+};
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_CWISE_TERNARY_OP_H
diff --git a/vendor/eigen/Eigen/src/Core/CwiseUnaryOp.h b/vendor/eigen/Eigen/src/Core/CwiseUnaryOp.h
index f7ee60e..1d2dd19 100644
--- a/vendor/eigen/Eigen/src/Core/CwiseUnaryOp.h
+++ b/vendor/eigen/Eigen/src/Core/CwiseUnaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -13,41 +13,18 @@
 
 namespace Eigen { 
 
-/** \class CwiseUnaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
-  *
-  * \param UnaryOp template functor implementing the operator
-  * \param XprType the type of the expression to which we are applying the unary operator
-  *
-  * This class represents an expression where a unary operator is applied to an expression.
-  * It is the return type of all operations taking exactly 1 input expression, regardless of the
-  * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
-  * is considered unary, because only the right-hand side is an expression, and its
-  * return type is a specialization of CwiseUnaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically don't have to name
-  * CwiseUnaryOp types explicitly.
-  *
-  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
-  */
-
 namespace internal {
 template<typename UnaryOp, typename XprType>
 struct traits<CwiseUnaryOp<UnaryOp, XprType> >
  : traits<XprType>
 {
   typedef typename result_of<
-                     UnaryOp(typename XprType::Scalar)
+                     UnaryOp(const typename XprType::Scalar&)
                    >::type Scalar;
   typedef typename XprType::Nested XprTypeNested;
   typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
   enum {
-    Flags = _XprTypeNested::Flags & (
-      HereditaryBits | LinearAccessBit | AlignedBit
-      | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
-    CoeffReadCost = EIGEN_ADD_COST(_XprTypeNested::CoeffReadCost, functor_traits<UnaryOp>::Cost)
+    Flags = _XprTypeNested::Flags & RowMajorBit 
   };
 };
 }
@@ -55,70 +32,70 @@ struct traits<CwiseUnaryOp<UnaryOp, XprType> >
 template<typename UnaryOp, typename XprType, typename StorageKind>
 class CwiseUnaryOpImpl;
 
+/** \class CwiseUnaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
+  *
+  * \tparam UnaryOp template functor implementing the operator
+  * \tparam XprType the type of the expression to which we are applying the unary operator
+  *
+  * This class represents an expression where a unary operator is applied to an expression.
+  * It is the return type of all operations taking exactly 1 input expression, regardless of the
+  * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
+  * is considered unary, because only the right-hand side is an expression, and its
+  * return type is a specialization of CwiseUnaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseUnaryOp types explicitly.
+  *
+  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
+  */
 template<typename UnaryOp, typename XprType>
-class CwiseUnaryOp : internal::no_assignment_operator,
-  public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>
+class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
 {
   public:
 
     typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
+    typedef typename internal::ref_selector<XprType>::type XprTypeNested;
+    typedef typename internal::remove_all<XprType>::type NestedExpression;
 
-    inline CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
       : m_xpr(xpr), m_functor(func) {}
 
-    EIGEN_STRONG_INLINE Index rows() const { return m_xpr.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_xpr.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index rows() const { return m_xpr.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index cols() const { return m_xpr.cols(); }
 
     /** \returns the functor representing the unary operation */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const UnaryOp& functor() const { return m_functor; }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename XprType::Nested>::type&
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const typename internal::remove_all<XprTypeNested>::type&
     nestedExpression() const { return m_xpr; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename XprType::Nested>::type&
-    nestedExpression() { return m_xpr.const_cast_derived(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    typename internal::remove_all<XprTypeNested>::type&
+    nestedExpression() { return m_xpr; }
 
   protected:
-    typename XprType::Nested m_xpr;
+    XprTypeNested m_xpr;
     const UnaryOp m_functor;
 };
 
-// This is the generic implementation for dense storage.
-// It can be used for any expression types implementing the dense concept.
-template<typename UnaryOp, typename XprType>
-class CwiseUnaryOpImpl<UnaryOp,XprType,Dense>
-  : public internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
+// Generic API dispatcher
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl
+  : public internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
 {
-  public:
-
-    typedef CwiseUnaryOp<UnaryOp, XprType> Derived;
-    typedef typename internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(rowId, colId));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(rowId, colId));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(index));
-    }
+public:
+  typedef typename internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/CwiseUnaryView.h b/vendor/eigen/Eigen/src/Core/CwiseUnaryView.h
index f3b2ffe..2710330 100644
--- a/vendor/eigen/Eigen/src/Core/CwiseUnaryView.h
+++ b/vendor/eigen/Eigen/src/Core/CwiseUnaryView.h
@@ -12,33 +12,19 @@
 
 namespace Eigen {
 
-/** \class CwiseUnaryView
-  * \ingroup Core_Module
-  *
-  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
-  *
-  * \param ViewOp template functor implementing the view
-  * \param MatrixType the type of the matrix we are applying the unary operator
-  *
-  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
-  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
-  */
-
 namespace internal {
 template<typename ViewOp, typename MatrixType>
 struct traits<CwiseUnaryView<ViewOp, MatrixType> >
  : traits<MatrixType>
 {
   typedef typename result_of<
-                     ViewOp(typename traits<MatrixType>::Scalar)
+                     ViewOp(const typename traits<MatrixType>::Scalar&)
                    >::type Scalar;
   typedef typename MatrixType::Nested MatrixTypeNested;
   typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
-    Flags = (traits<_MatrixTypeNested>::Flags & (HereditaryBits | LvalueBit | LinearAccessBit | DirectAccessBit)),
-    CoeffReadCost = EIGEN_ADD_COST(traits<_MatrixTypeNested>::CoeffReadCost, functor_traits<ViewOp>::Cost),
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions
     MatrixTypeInnerStride =  inner_stride_at_compile_time<MatrixType>::ret,
     // need to cast the sizeof's from size_t to int explicitly, otherwise:
     // "error: no integral type can represent all of the enumerator values
@@ -55,6 +41,19 @@ struct traits<CwiseUnaryView<ViewOp, MatrixType> >
 template<typename ViewOp, typename MatrixType, typename StorageKind>
 class CwiseUnaryViewImpl;
 
+/** \class CwiseUnaryView
+  * \ingroup Core_Module
+  *
+  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
+  *
+  * \tparam ViewOp template functor implementing the view
+  * \tparam MatrixType the type of the matrix we are applying the unary operator
+  *
+  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
+  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
+  */
 template<typename ViewOp, typename MatrixType>
 class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
 {
@@ -62,8 +61,10 @@ class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename in
 
     typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-    inline CwiseUnaryView(const MatrixType& mat, const ViewOp& func = ViewOp())
+    explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp())
       : m_matrix(mat), m_functor(func) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
@@ -75,19 +76,27 @@ class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename in
     const ViewOp& functor() const { return m_functor; }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename MatrixType::Nested>::type&
+    typename internal::remove_reference<MatrixTypeNested>::type&
     nestedExpression() { return m_matrix.const_cast_derived(); }
 
   protected:
-    // FIXME changed from MatrixType::Nested because of a weird compilation error with sun CC
-    typename internal::nested<MatrixType>::type m_matrix;
+    MatrixTypeNested m_matrix;
     ViewOp m_functor;
 };
 
+// Generic API dispatcher
+template<typename ViewOp, typename XprType, typename StorageKind>
+class CwiseUnaryViewImpl
+  : public internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type Base;
+};
+
 template<typename ViewOp, typename MatrixType>
 class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
   : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
@@ -100,38 +109,18 @@ class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
     EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl)
     
-    inline Scalar* data() { return &coeffRef(0); }
-    inline const Scalar* data() const { return &coeff(0); }
+    EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); }
 
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC inline Index innerStride() const
     {
       return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
 
-    inline Index outerStride() const
+    EIGEN_DEVICE_FUNC inline Index outerStride() const
     {
       return derived().nestedExpression().outerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
-
-    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(row, col));
-    }
-
-    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(index));
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
-    {
-      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(row, col));
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(index));
-    }
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/DenseBase.h b/vendor/eigen/Eigen/src/Core/DenseBase.h
index 4b371b0..90066ae 100644
--- a/vendor/eigen/Eigen/src/Core/DenseBase.h
+++ b/vendor/eigen/Eigen/src/Core/DenseBase.h
@@ -34,37 +34,45 @@ static inline void check_DenseIndex_is_signed() {
   * \tparam Derived is the derived type, e.g., a matrix type or an expression.
   *
   * 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_DENSEBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> class DenseBase
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-  : public internal::special_scalar_op_base<Derived, typename internal::traits<Derived>::Scalar,
-                                            typename NumTraits<typename internal::traits<Derived>::Scalar>::Real,
-                                            DenseCoeffsBase<Derived> >
-#else
   : public DenseCoeffsBase<Derived>
+#else
+  : public DenseCoeffsBase<Derived,DirectWriteAccessors>
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 {
   public:
 
-    class InnerIterator;
+    /** Inner iterator type to iterate over the coefficients of a row or column.
+      * \sa class InnerIterator
+      */
+    typedef Eigen::InnerIterator<Derived> InnerIterator;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
 
-    /** \brief The type of indices 
-      * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
-      * \sa \ref TopicPreprocessorDirectives.
-      */
-    typedef typename internal::traits<Derived>::Index Index; 
+    /**
+      * \brief The type used to store indices
+      * \details This typedef is relevant for types that store multiple indices such as
+      *          PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index
+      * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase.
+     */
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
 
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc. */
     typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
+      *
+      * It is an alias for the Scalar type */
+    typedef Scalar value_type;
+    
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef internal::special_scalar_op_base<Derived,Scalar,RealScalar, DenseCoeffsBase<Derived> > Base;
+    typedef DenseCoeffsBase<Derived> Base;
 
-    using Base::operator*;
     using Base::derived;
     using Base::const_cast_derived;
     using Base::rows;
@@ -74,16 +82,6 @@ template<typename Derived> class DenseBase
     using Base::colIndexByOuterInner;
     using Base::coeff;
     using Base::coeffByOuterInner;
-    using Base::packet;
-    using Base::packetByOuterInner;
-    using Base::writePacket;
-    using Base::writePacketByOuterInner;
-    using Base::coeffRef;
-    using Base::coeffRefByOuterInner;
-    using Base::copyCoeff;
-    using Base::copyCoeffByOuterInner;
-    using Base::copyPacket;
-    using Base::copyPacketByOuterInner;
     using Base::operator();
     using Base::operator[];
     using Base::x;
@@ -169,19 +167,46 @@ template<typename Derived> class DenseBase
       InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
                              : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
 
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-          * this expression.
-          */
-
       InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
       OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
     };
+    
+    typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
 
-    enum { ThisConstantIsPrivateInPlainObjectBase };
+    enum { IsPlainObjectBase = 0 };
+    
+    /** The plain matrix type corresponding to this expression.
+      * \sa PlainObject */
+    typedef Matrix<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainMatrix;
+    
+    /** The plain array type corresponding to this expression.
+      * \sa PlainObject */
+    typedef Array<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainArray;
+
+    /** \brief The plain matrix or array type corresponding to this expression.
+      *
+      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
+      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
+      * that the return type of eval() is either PlainObject or const PlainObject&.
+      */
+    typedef typename internal::conditional<internal::is_same<typename internal::traits<Derived>::XprKind,MatrixXpr >::value,
+                                 PlainMatrix, PlainArray>::type PlainObject;
 
     /** \returns the number of nonzero coefficients which is in practice the number
       * of stored coefficients. */
+    EIGEN_DEVICE_FUNC
     inline Index nonZeros() const { return size(); }
 
     /** \returns the outer size.
@@ -189,6 +214,7 @@ template<typename Derived> class DenseBase
       * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
       * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
       * column-major matrix, and the number of rows for a row-major matrix. */
+    EIGEN_DEVICE_FUNC
     Index outerSize() const
     {
       return IsVectorAtCompileTime ? 1
@@ -200,6 +226,7 @@ template<typename Derived> class DenseBase
       * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
       * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a 
       * column-major matrix, and the number of columns for a row-major matrix. */
+    EIGEN_DEVICE_FUNC
     Index innerSize() const
     {
       return IsVectorAtCompileTime ? this->size()
@@ -210,6 +237,7 @@ template<typename Derived> class DenseBase
       * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
       * nothing else.
       */
+    EIGEN_DEVICE_FUNC
     void resize(Index newSize)
     {
       EIGEN_ONLY_USED_FOR_DEBUG(newSize);
@@ -220,22 +248,22 @@ template<typename Derived> class DenseBase
       * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
       * nothing else.
       */
-    void resize(Index nbRows, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols)
     {
-      EIGEN_ONLY_USED_FOR_DEBUG(nbRows);
-      EIGEN_ONLY_USED_FOR_DEBUG(nbCols);
-      eigen_assert(nbRows == this->rows() && nbCols == this->cols()
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
                 && "DenseBase::resize() does not actually allow to resize.");
     }
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
-    /** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
+    /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> SequentialLinSpacedReturnType;
     /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> RandomAccessLinSpacedReturnType;
     /** \internal the return type of MatrixBase::eigenvalues() */
     typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
 
@@ -243,120 +271,133 @@ template<typename Derived> class DenseBase
 
     /** Copies \a other into *this. \returns a reference to *this. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase<OtherDerived>& other);
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator+=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator-=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const ReturnByValue<OtherDerived>& func);
 
-    /** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */
+    /** \internal
+      * Copies \a other into *this without evaluating other. \returns a reference to *this.
+      * \deprecated */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& lazyAssign(const DenseBase<OtherDerived>& other);
 
-    /** \internal Evaluates \a other into *this. \returns a reference to *this. */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const ReturnByValue<OtherDerived>& other);
-
+    EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const Scalar& s);
 
+    /** \deprecated it now returns \c *this */
     template<unsigned int Added,unsigned int Removed>
-    const Flagged<Derived, Added, Removed> flagged() const;
+    EIGEN_DEPRECATED
+    const Derived& flagged() const
+    { return derived(); }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
 
-    Eigen::Transpose<Derived> transpose();
-	typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    typedef Transpose<Derived> TransposeReturnType;
+    EIGEN_DEVICE_FUNC
+    TransposeReturnType transpose();
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    EIGEN_DEVICE_FUNC
     ConstTransposeReturnType transpose() const;
+    EIGEN_DEVICE_FUNC
     void transposeInPlace();
-#ifndef EIGEN_NO_DEBUG
-  protected:
-    template<typename OtherDerived>
-    void checkTransposeAliasing(const OtherDerived& other) const;
-  public:
-#endif
-
 
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(Index rows, Index cols, const Scalar& value);
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(Index size, const Scalar& value);
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(const Scalar& value);
 
-    static const SequentialLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
     LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
-    static const RandomAccessLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(Index size, const Scalar& low, const Scalar& high);
-    static const SequentialLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
     LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
-    static const RandomAccessLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(const Scalar& low, const Scalar& high);
 
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(Index size, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(const CustomNullaryOp& func);
 
-    static const ConstantReturnType Zero(Index rows, Index cols);
-    static const ConstantReturnType Zero(Index size);
-    static const ConstantReturnType Zero();
-    static const ConstantReturnType Ones(Index rows, Index cols);
-    static const ConstantReturnType Ones(Index size);
-    static const ConstantReturnType Ones();
-
-    void fill(const Scalar& value);
-    Derived& setConstant(const Scalar& value);
-    Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
-    Derived& setLinSpaced(const Scalar& low, const Scalar& high);
-    Derived& setZero();
-    Derived& setOnes();
-    Derived& setRandom();
-
-    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero();
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones();
+
+    EIGEN_DEVICE_FUNC void fill(const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
+    EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high);
+    EIGEN_DEVICE_FUNC Derived& setZero();
+    EIGEN_DEVICE_FUNC Derived& setOnes();
+    EIGEN_DEVICE_FUNC Derived& setRandom();
+
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC
     bool isApprox(const DenseBase<OtherDerived>& other,
                   const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC 
     bool isMuchSmallerThan(const RealScalar& other,
                            const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    template<typename OtherDerived>
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC
     bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
                            const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
 
-    bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
     
     inline bool hasNaN() const;
     inline bool allFinite() const;
 
-    inline Derived& operator*=(const Scalar& other);
-    inline Derived& operator/=(const Scalar& other);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator*=(const Scalar& other);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator/=(const Scalar& other);
 
     typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
     /** \returns the matrix or vector obtained by evaluating this expression.
       *
       * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
       * a const reference, in order to avoid a useless copy.
+      * 
+      * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE EvalReturnType eval() const
     {
       // Even though MSVC does not honor strong inlining when the return type
@@ -364,61 +405,78 @@ template<typename Derived> class DenseBase
       // size types on MSVC.
       return typename internal::eval<Derived>::type(derived());
     }
-
+    
     /** swaps *this with the expression \a other.
       *
       */
     template<typename OtherDerived>
-    void swap(const DenseBase<OtherDerived>& other,
-              int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
+    EIGEN_DEVICE_FUNC
+    void swap(const DenseBase<OtherDerived>& other)
     {
-      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+      EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      eigen_assert(rows()==other.rows() && cols()==other.cols());
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
     }
 
     /** swaps *this with the matrix or array \a other.
       *
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void swap(PlainObjectBase<OtherDerived>& other)
     {
-      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+      eigen_assert(rows()==other.rows() && cols()==other.cols());
+      call_assignment(derived(), other.derived(), internal::swap_assign_op<Scalar>());
     }
 
+    EIGEN_DEVICE_FUNC inline const NestByValue<Derived> nestByValue() const;
+    EIGEN_DEVICE_FUNC inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    EIGEN_DEVICE_FUNC inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> EIGEN_DEVICE_FUNC
+    inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
+    template<bool Enable> EIGEN_DEVICE_FUNC
+    inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
 
-    inline const NestByValue<Derived> nestByValue() const;
-    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
-    inline ForceAlignedAccess<Derived> forceAlignedAccess();
-    template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
-    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
-
-    Scalar sum() const;
-    Scalar mean() const;
-    Scalar trace() const;
+    EIGEN_DEVICE_FUNC Scalar sum() const;
+    EIGEN_DEVICE_FUNC Scalar mean() const;
+    EIGEN_DEVICE_FUNC Scalar trace() const;
 
-    Scalar prod() const;
+    EIGEN_DEVICE_FUNC Scalar prod() const;
 
-    typename internal::traits<Derived>::Scalar minCoeff() const;
-    typename internal::traits<Derived>::Scalar maxCoeff() const;
+    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar minCoeff() const;
+    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar maxCoeff() const;
 
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
 
     template<typename BinaryOp>
-    typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
-    redux(const BinaryOp& func) const;
+    EIGEN_DEVICE_FUNC
+    Scalar redux(const BinaryOp& func) const;
 
     template<typename Visitor>
+    EIGEN_DEVICE_FUNC
     void visit(Visitor& func) const;
 
-    inline const WithFormat<Derived> format(const IOFormat& fmt) const;
+    /** \returns a WithFormat proxy object allowing to print a matrix the with given
+      * format \a fmt.
+      *
+      * See class IOFormat for some examples.
+      *
+      * \sa class IOFormat, class WithFormat
+      */
+    inline const WithFormat<Derived> format(const IOFormat& fmt) const
+    {
+      return WithFormat<Derived>(derived(), fmt);
+    }
 
     /** \returns the unique coefficient of a 1x1 expression */
+    EIGEN_DEVICE_FUNC
     CoeffReturnType value() const
     {
       EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
@@ -426,23 +484,44 @@ template<typename Derived> class DenseBase
       return derived().coeff(0,0);
     }
 
-    bool all(void) const;
-    bool any(void) const;
-    Index count() const;
+    EIGEN_DEVICE_FUNC bool all() const;
+    EIGEN_DEVICE_FUNC bool any() const;
+    EIGEN_DEVICE_FUNC Index count() const;
 
     typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
     typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
     typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
     typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
 
-    ConstRowwiseReturnType rowwise() const;
-    RowwiseReturnType rowwise();
-    ConstColwiseReturnType colwise() const;
-    ColwiseReturnType colwise();
+    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    *
+    * Example: \include MatrixBase_rowwise.cpp
+    * Output: \verbinclude MatrixBase_rowwise.out
+    *
+    * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+    */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const {
+      return ConstRowwiseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC RowwiseReturnType rowwise();
+
+    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    *
+    * Example: \include MatrixBase_colwise.cpp
+    * Output: \verbinclude MatrixBase_colwise.out
+    *
+    * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+    */
+    EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const {
+      return ConstColwiseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC ColwiseReturnType colwise();
 
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
+    typedef CwiseNullaryOp<internal::scalar_random_op<Scalar>,PlainObject> RandomReturnType;
+    static const RandomReturnType Random(Index rows, Index cols);
+    static const RandomReturnType Random(Index size);
+    static const RandomReturnType Random();
 
     template<typename ThenDerived,typename ElseDerived>
     const Select<Derived,ThenDerived,ElseDerived>
@@ -460,45 +539,56 @@ template<typename Derived> class DenseBase
     template<int p> RealScalar lpNorm() const;
 
     template<int RowFactor, int ColFactor>
-    inline const Replicate<Derived,RowFactor,ColFactor> replicate() const;
-    
-    typedef Replicate<Derived,Dynamic,Dynamic> ReplicateReturnType;
-    inline const ReplicateReturnType replicate(Index rowFacor,Index colFactor) const;
+    EIGEN_DEVICE_FUNC
+    const Replicate<Derived,RowFactor,ColFactor> replicate() const;
+    /**
+    * \return an expression of the replication of \c *this
+    *
+    * Example: \include MatrixBase_replicate_int_int.cpp
+    * Output: \verbinclude MatrixBase_replicate_int_int.out
+    *
+    * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
+    */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC
+    const Replicate<Derived, Dynamic, Dynamic> replicate(Index rowFactor, Index colFactor) const
+    {
+      return Replicate<Derived, Dynamic, Dynamic>(derived(), rowFactor, colFactor);
+    }
 
     typedef Reverse<Derived, BothDirections> ReverseReturnType;
     typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
-    ReverseReturnType reverse();
-    ConstReverseReturnType reverse() const;
-    void reverseInPlace();
+    EIGEN_DEVICE_FUNC ReverseReturnType reverse();
+    /** This is the const version of reverse(). */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const
+    {
+      return ConstReverseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC void reverseInPlace();
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
 #   include "../plugins/BlockMethods.h"
 #   ifdef EIGEN_DENSEBASE_PLUGIN
 #     include EIGEN_DENSEBASE_PLUGIN
 #   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
-
+#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
 
     // disable the use of evalTo for dense objects with a nice compilation error
-    template<typename Dest> inline void evalTo(Dest& ) const
+    template<typename Dest>
+    EIGEN_DEVICE_FUNC
+    inline void evalTo(Dest& ) const
     {
       EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
     }
 
   protected:
     /** Default constructor. Do nothing. */
-    DenseBase()
+    EIGEN_DEVICE_FUNC DenseBase()
     {
       /* Just checks for self-consistency of the flags.
        * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
@@ -511,9 +601,9 @@ template<typename Derived> class DenseBase
     }
 
   private:
-    explicit DenseBase(int);
-    DenseBase(int,int);
-    template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
+    EIGEN_DEVICE_FUNC explicit DenseBase(int);
+    EIGEN_DEVICE_FUNC DenseBase(int,int);
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase<OtherDerived>&);
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/DenseCoeffsBase.h b/vendor/eigen/Eigen/src/Core/DenseCoeffsBase.h
index 3c890f2..c4af48a 100644
--- a/vendor/eigen/Eigen/src/Core/DenseCoeffsBase.h
+++ b/vendor/eigen/Eigen/src/Core/DenseCoeffsBase.h
@@ -35,7 +35,6 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
 {
   public:
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
 
@@ -61,6 +60,7 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     using Base::size;
     using Base::derived;
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
     {
       return int(Derived::RowsAtCompileTime) == 1 ? 0
@@ -69,6 +69,7 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
           : inner;
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
     {
       return int(Derived::ColsAtCompileTime) == 1 ? 0
@@ -91,13 +92,15 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       *
       * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
     {
       eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      return derived().coeff(row, col);
+                         && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).coeff(row,col);
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
     {
       return coeff(rowIndexByOuterInner(outer, inner),
@@ -108,11 +111,12 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       *
       * \sa operator()(Index,Index), operator[](Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
     {
       eigen_assert(row >= 0 && row < rows()
           && col >= 0 && col < cols());
-      return derived().coeff(row, col);
+      return coeff(row, col);
     }
 
     /** Short version: don't use this function, use
@@ -130,11 +134,14 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     coeff(Index index) const
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().coeff(index);
+      return internal::evaluator<Derived>(derived()).coeff(index);
     }
 
 
@@ -146,15 +153,14 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * z() const, w() const
       */
 
+    EIGEN_DEVICE_FUNC
     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 derived().coeff(index);
+      return coeff(index);
     }
 
     /** \returns the coefficient at given index.
@@ -167,32 +173,49 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * z() const, w() const
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     operator()(Index index) const
     {
       eigen_assert(index >= 0 && index < size());
-      return derived().coeff(index);
+      return coeff(index);
     }
 
     /** equivalent to operator[](0).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     x() const { return (*this)[0]; }
 
     /** equivalent to operator[](1).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    y() const { return (*this)[1]; }
+    y() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+      return (*this)[1];
+    }
 
     /** equivalent to operator[](2).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    z() const { return (*this)[2]; }
+    z() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+      return (*this)[2];
+    }
 
     /** equivalent to operator[](3).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    w() const { return (*this)[3]; }
+    w() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+      return (*this)[3];
+    }
 
     /** \internal
       * \returns the packet of coefficients starting at the given row and column. It is your responsibility
@@ -207,9 +230,9 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     template<int LoadMode>
     EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
     {
-      eigen_internal_assert(row >= 0 && row < rows()
-                      && col >= 0 && col < cols());
-      return derived().template packet<LoadMode>(row,col);
+      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
+      eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(row,col);
     }
 
 
@@ -234,8 +257,11 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     template<int LoadMode>
     EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
+      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().template packet<LoadMode>(index);
+      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(index);
     }
 
   protected:
@@ -278,7 +304,6 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
     typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -311,13 +336,15 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       *
       * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
     {
       eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      return derived().coeffRef(row, col);
+                         && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).coeffRef(row,col);
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     coeffRefByOuterInner(Index outer, Index inner)
     {
@@ -330,12 +357,13 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index)
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     operator()(Index row, Index col)
     {
       eigen_assert(row >= 0 && row < rows()
           && col >= 0 && col < cols());
-      return derived().coeffRef(row, col);
+      return coeffRef(row, col);
     }
 
 
@@ -354,11 +382,14 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     coeffRef(Index index)
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().coeffRef(index);
+      return internal::evaluator<Derived>(derived()).coeffRef(index);
     }
 
     /** \returns a reference to the coefficient at given index.
@@ -368,15 +399,14 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
       */
 
+    EIGEN_DEVICE_FUNC
     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 derived().coeffRef(index);
+      return coeffRef(index);
     }
 
     /** \returns a reference to the coefficient at given index.
@@ -388,167 +418,49 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     operator()(Index index)
     {
       eigen_assert(index >= 0 && index < size());
-      return derived().coeffRef(index);
+      return coeffRef(index);
     }
 
     /** equivalent to operator[](0).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     x() { return (*this)[0]; }
 
     /** equivalent to operator[](1).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
-    y() { return (*this)[1]; }
-
-    /** equivalent to operator[](2).  */
-
-    EIGEN_STRONG_INLINE Scalar&
-    z() { return (*this)[2]; }
-
-    /** equivalent to operator[](3).  */
-
-    EIGEN_STRONG_INLINE Scalar&
-    w() { return (*this)[3]; }
-
-    /** \internal
-      * Stores the given packet of coefficients, at the given row and column of this expression. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket
-    (Index row, Index col, const typename internal::packet_traits<Scalar>::type& val)
+    y()
     {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().template writePacket<StoreMode>(row,col,val);
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+      return (*this)[1];
     }
 
+    /** equivalent to operator[](2).  */
 
-    /** \internal */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacketByOuterInner
-    (Index outer, Index inner, const typename internal::packet_traits<Scalar>::type& val)
-    {
-      writePacket<StoreMode>(rowIndexByOuterInner(outer, inner),
-                            colIndexByOuterInner(outer, inner),
-                            val);
-    }
-
-    /** \internal
-      * Stores the given packet of coefficients, at the given index in this expression. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit and the LinearAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket
-    (Index index, const typename internal::packet_traits<Scalar>::type& val)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().template writePacket<StoreMode>(index,val);
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-    /** \internal Copies the coefficient at position (row,col) of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().coeffRef(row, col) = other.derived().coeff(row, col);
-    }
-
-    /** \internal Copies the coefficient at the given index of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().coeffRef(index) = other.derived().coeff(index);
-    }
-
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeffByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
-    {
-      const Index row = rowIndexByOuterInner(outer,inner);
-      const Index col = colIndexByOuterInner(outer,inner);
-      // derived() is important here: copyCoeff() may be reimplemented in Derived!
-      derived().copyCoeff(row, col, other);
-    }
-
-    /** \internal Copies the packet at position (row,col) of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Scalar&
+    z()
     {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().template writePacket<StoreMode>(row, col,
-        other.derived().template packet<LoadMode>(row, col));
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+      return (*this)[2];
     }
 
-    /** \internal Copies the packet at the given index of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().template writePacket<StoreMode>(index,
-        other.derived().template packet<LoadMode>(index));
-    }
+    /** equivalent to operator[](3).  */
 
-    /** \internal */
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacketByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Scalar&
+    w()
     {
-      const Index row = rowIndexByOuterInner(outer,inner);
-      const Index col = colIndexByOuterInner(outer,inner);
-      // derived() is important here: copyCoeff() may be reimplemented in Derived!
-      derived().template copyPacket< OtherDerived, StoreMode, LoadMode>(row, col, other);
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+      return (*this)[3];
     }
-#endif
-
 };
 
 /** \brief Base class providing direct read-only coefficient access to matrices and arrays.
@@ -560,7 +472,7 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
   * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
   * \c operator() .
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived>
 class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
@@ -568,7 +480,6 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
   public:
 
     typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
@@ -581,6 +492,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa outerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return derived().innerStride();
@@ -591,6 +503,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return derived().outerStride();
@@ -606,6 +519,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index rowStride() const
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
@@ -615,6 +529,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index colStride() const
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
@@ -630,7 +545,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
   * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
   * \c operator().
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived>
 class DenseCoeffsBase<Derived, DirectWriteAccessors>
@@ -639,7 +554,6 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
   public:
 
     typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
@@ -652,6 +566,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa outerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return derived().innerStride();
@@ -662,6 +577,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return derived().outerStride();
@@ -677,6 +593,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index rowStride() const
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
@@ -686,6 +603,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index colStride() const
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
@@ -694,33 +612,42 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
 
 namespace internal {
 
-template<typename Derived, bool JustReturnZero>
+template<int Alignment, typename Derived, bool JustReturnZero>
 struct first_aligned_impl
 {
-  static inline typename Derived::Index run(const Derived&)
+  static inline Index run(const Derived&)
   { return 0; }
 };
 
-template<typename Derived>
-struct first_aligned_impl<Derived, false>
+template<int Alignment, typename Derived>
+struct first_aligned_impl<Alignment, Derived, false>
 {
-  static inline typename Derived::Index run(const Derived& m)
+  static inline Index run(const Derived& m)
   {
-    return internal::first_aligned(&m.const_cast_derived().coeffRef(0,0), m.size());
+    return internal::first_aligned<Alignment>(m.data(), m.size());
   }
 };
 
-/** \internal \returns the index of the first element of the array that is well aligned for vectorization.
+/** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization.
+  *
+  * \tparam Alignment requested alignment in Bytes.
   *
   * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
   * documentation.
   */
+template<int Alignment, typename Derived>
+static inline Index first_aligned(const DenseBase<Derived>& m)
+{
+  enum { ReturnZero = (int(evaluator<Derived>::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) };
+  return first_aligned_impl<Alignment, Derived, ReturnZero>::run(m.derived());
+}
+
 template<typename Derived>
-static inline typename Derived::Index first_aligned(const Derived& m)
+static inline Index first_default_aligned(const DenseBase<Derived>& m)
 {
-  return first_aligned_impl
-          <Derived, (Derived::Flags & AlignedBit) || !(Derived::Flags & DirectAccessBit)>
-          ::run(m);
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type DefaultPacketType;
+  return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
 }
 
 template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
diff --git a/vendor/eigen/Eigen/src/Core/DenseStorage.h b/vendor/eigen/Eigen/src/Core/DenseStorage.h
index 568493c..7958fee 100644
--- a/vendor/eigen/Eigen/src/Core/DenseStorage.h
+++ b/vendor/eigen/Eigen/src/Core/DenseStorage.h
@@ -3,7 +3,7 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1 at gmail.com>
-// Copyright (C) 2010 Hauke Heibel <hauke.heibel at gmail.com>
+// Copyright (C) 2010-2013 Hauke Heibel <hauke.heibel at 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
@@ -13,9 +13,9 @@
 #define EIGEN_MATRIXSTORAGE_H
 
 #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X) X; EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
 #else
-  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X)
 #endif
 
 namespace Eigen {
@@ -24,7 +24,9 @@ namespace internal {
 
 struct constructor_without_unaligned_array_assert {};
 
-template<typename T, int Size> void check_static_allocation_size()
+template<typename T, int Size>
+EIGEN_DEVICE_FUNC
+void check_static_allocation_size()
 {
   // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit
   #if EIGEN_STACK_ALLOCATION_LIMIT
@@ -38,18 +40,19 @@ template<typename T, int Size> void check_static_allocation_size()
   */
 template <typename T, int Size, int MatrixOrArrayOptions,
           int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
-                        : (((Size*sizeof(T))%16)==0) ? 16
-                        : 0 >
+                        : compute_default_alignment<T,Size>::value >
 struct plain_array
 {
   T array[Size];
 
-  plain_array() 
+  EIGEN_DEVICE_FUNC
+  plain_array()
   { 
     check_static_allocation_size<T,Size>();
   }
 
-  plain_array(constructor_without_unaligned_array_assert) 
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert)
   { 
     check_static_allocation_size<T,Size>();
   }
@@ -64,29 +67,88 @@ struct plain_array
   template<typename PtrType>
   EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; }
   #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & sizemask) == 0 \
+    eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \
               && "this assertion is explained here: " \
               "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
               " **** READ THIS WEB PAGE !!! ****");
 #else
   #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((reinterpret_cast<size_t>(array) & sizemask) == 0 \
+    eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \
               && "this assertion is explained here: " \
               "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
               " **** READ THIS WEB PAGE !!! ****");
 #endif
 
 template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 8>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  {
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
 struct plain_array<T, Size, MatrixOrArrayOptions, 16>
 {
-  EIGEN_USER_ALIGN16 T array[Size];
+  EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size];
 
+  EIGEN_DEVICE_FUNC
   plain_array() 
   { 
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(0xf);
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15);
     check_static_allocation_size<T,Size>();
   }
 
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 32>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  {
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 64>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  { 
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
   plain_array(constructor_without_unaligned_array_assert) 
   { 
     check_static_allocation_size<T,Size>();
@@ -96,9 +158,9 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 16>
 template <typename T, int MatrixOrArrayOptions, int Alignment>
 struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
 {
-  EIGEN_USER_ALIGN16 T array[1];
-  plain_array() {}
-  plain_array(constructor_without_unaligned_array_assert) {}
+  T array[1];
+  EIGEN_DEVICE_FUNC plain_array() {}
+  EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {}
 };
 
 } // end namespace internal
@@ -122,41 +184,54 @@ template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseSt
 {
     internal::plain_array<T,Size,_Options> m_data;
   public:
-    DenseStorage() {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
+    }
+    EIGEN_DEVICE_FUNC
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()) {}
-    DenseStorage(const DenseStorage& other) : m_data(other.m_data) {}
+    EIGEN_DEVICE_FUNC 
+    DenseStorage(const DenseStorage& other) : m_data(other.m_data) {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
+    }
+    EIGEN_DEVICE_FUNC 
     DenseStorage& operator=(const DenseStorage& other)
-    {
+    { 
       if (this != &other) m_data = other.m_data;
-      return *this;
+      return *this; 
     }
-    DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
-    void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
-    static DenseIndex rows(void) {return _Rows;}
-    static DenseIndex cols(void) {return _Cols;}
-    void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
-    void resize(DenseIndex,DenseIndex,DenseIndex) {}
-    const T *data() const { return m_data.array; }
-    T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+      eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols);
+      EIGEN_UNUSED_VARIABLE(size);
+      EIGEN_UNUSED_VARIABLE(rows);
+      EIGEN_UNUSED_VARIABLE(cols);
+    }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // null matrix
 template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
 {
   public:
-    DenseStorage() {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert) {}
-    DenseStorage(const DenseStorage&) {}
-    DenseStorage& operator=(const DenseStorage&) { return *this; }
-    DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
-    void swap(DenseStorage& ) {}
-    static DenseIndex rows(void) {return _Rows;}
-    static DenseIndex cols(void) {return _Cols;}
-    void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
-    void resize(DenseIndex,DenseIndex,DenseIndex) {}
-    const T *data() const { return 0; }
-    T *data() { return 0; }
+    EIGEN_DEVICE_FUNC DenseStorage() {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {}
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; }
+    EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {}
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC const T *data() const { return 0; }
+    EIGEN_DEVICE_FUNC T *data() { return 0; }
 };
 
 // more specializations for null matrices; these are necessary to resolve ambiguities
@@ -173,74 +248,74 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic,
 template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_rows;
-    DenseIndex m_cols;
+    Index m_rows;
+    Index m_cols;
   public:
-    DenseStorage() : m_rows(0), m_cols(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
-    DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
-    DenseStorage& operator=(const DenseStorage& other)
-    {
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
+    { 
       if (this != &other)
       {
         m_data = other.m_data;
         m_rows = other.m_rows;
         m_cols = other.m_cols;
       }
-      return *this;
+      return *this; 
     }
-    DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) : m_rows(nbRows), m_cols(nbCols) {}
-    void swap(DenseStorage& other)
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
     { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    DenseIndex rows() const {return m_rows;}
-    DenseIndex cols() const {return m_cols;}
-    void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) { m_rows = nbRows; m_cols = nbCols; }
-    void resize(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) { m_rows = nbRows; m_cols = nbCols; }
-    const T *data() const { return m_data.array; }
-    T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC Index rows() const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols() const {return m_cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // dynamic-size matrix with fixed-size storage and fixed width
 template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_rows;
+    Index m_rows;
   public:
-    DenseStorage() : m_rows(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
-    DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
-    DenseStorage& operator=(const DenseStorage& other)
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
     {
       if (this != &other)
       {
         m_data = other.m_data;
         m_rows = other.m_rows;
       }
-      return *this;
+      return *this; 
     }
-    DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex) : m_rows(nbRows) {}
-    void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    DenseIndex rows(void) const {return m_rows;}
-    DenseIndex cols(void) const {return _Cols;}
-    void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; }
-    void resize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; }
-    const T *data() const { return m_data.array; }
-    T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; }
+    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // dynamic-size matrix with fixed-size storage and fixed height
 template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_cols;
+    Index m_cols;
   public:
-    DenseStorage() : m_cols(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
-    DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
-    DenseStorage& operator=(const DenseStorage& other)
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
     {
       if (this != &other)
       {
@@ -249,38 +324,62 @@ template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Si
       }
       return *this;
     }
-    DenseStorage(DenseIndex, DenseIndex, DenseIndex nbCols) : m_cols(nbCols) {}
-    void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    DenseIndex rows(void) const {return _Rows;}
-    DenseIndex cols(void) const {return m_cols;}
-    void conservativeResize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; }
-    void resize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; }
-    const T *data() const { return m_data.array; }
-    T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
+    void resize(Index, Index, Index cols) { m_cols = cols; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // purely dynamic matrix.
 template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
 {
     T *m_data;
-    DenseIndex m_rows;
-    DenseIndex m_cols;
+    Index m_rows;
+    Index m_cols;
   public:
-    DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
        : m_data(0), m_rows(0), m_cols(0) {}
-    DenseStorage(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(nbRows), m_cols(nbCols)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    DenseStorage(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+      eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*other.m_cols))
+      , m_rows(other.m_rows)
+      , m_cols(other.m_cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*m_cols)
+      internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
       : m_data(std::move(other.m_data))
       , m_rows(std::move(other.m_rows))
       , m_cols(std::move(other.m_cols))
     {
       other.m_data = nullptr;
+      other.m_rows = 0;
+      other.m_cols = 0;
     }
-    DenseStorage& operator=(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
       using std::swap;
       swap(m_data, other.m_data);
@@ -289,18 +388,18 @@ template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynam
       return *this;
     }
 #endif
-    ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
-    void swap(DenseStorage& other)
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
     { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    DenseIndex rows(void) const {return m_rows;}
-    DenseIndex cols(void) const {return m_cols;}
-    void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    void conservativeResize(Index size, Index rows, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
-      m_rows = nbRows;
-      m_cols = nbCols;
+      m_rows = rows;
+      m_cols = cols;
     }
-    void resize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols)
     {
       if(size != m_rows*m_cols)
       {
@@ -309,36 +408,56 @@ template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynam
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
       }
-      m_rows = nbRows;
-      m_cols = nbCols;
+      m_rows = rows;
+      m_cols = cols;
     }
-    const T *data() const { return m_data; }
-    T *data() { return m_data; }
-  private:
-    DenseStorage(const DenseStorage&);
-    DenseStorage& operator=(const DenseStorage&);
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 // matrix with dynamic width and fixed height (so that matrix has dynamic size).
 template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
 {
     T *m_data;
-    DenseIndex m_cols;
+    Index m_cols;
   public:
-    DenseStorage() : m_data(0), m_cols(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
-    DenseStorage(DenseIndex size, DenseIndex, DenseIndex nbCols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(nbCols)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    DenseStorage(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {}
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+      eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0);
+      EIGEN_UNUSED_VARIABLE(rows);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(_Rows*other.m_cols))
+      , m_cols(other.m_cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_cols*_Rows)
+      internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }    
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
       : m_data(std::move(other.m_data))
       , m_cols(std::move(other.m_cols))
     {
       other.m_data = nullptr;
+      other.m_cols = 0;
     }
-    DenseStorage& operator=(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
       using std::swap;
       swap(m_data, other.m_data);
@@ -346,16 +465,16 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
       return *this;
     }
 #endif
-    ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
-    void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    static DenseIndex rows(void) {return _Rows;}
-    DenseIndex cols(void) const {return m_cols;}
-    void conservativeResize(DenseIndex size, DenseIndex, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
-      m_cols = nbCols;
+      m_cols = cols;
     }
-    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols)
     {
       if(size != _Rows*m_cols)
       {
@@ -364,35 +483,55 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
       }
-      m_cols = nbCols;
+      m_cols = cols;
     }
-    const T *data() const { return m_data; }
-    T *data() { return m_data; }
-  private:
-    DenseStorage(const DenseStorage&);
-    DenseStorage& operator=(const DenseStorage&);
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 // matrix with dynamic height and fixed width (so that matrix has dynamic size).
 template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
 {
     T *m_data;
-    DenseIndex m_rows;
+    Index m_rows;
   public:
-    DenseStorage() : m_data(0), m_rows(0) {}
-    DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
-    DenseStorage(DenseIndex size, DenseIndex nbRows, DenseIndex) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(nbRows)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    DenseStorage(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {}
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+      eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols);
+      EIGEN_UNUSED_VARIABLE(cols);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*_Cols))
+      , m_rows(other.m_rows)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*_Cols)
+      internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }    
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
       : m_data(std::move(other.m_data))
       , m_rows(std::move(other.m_rows))
     {
       other.m_data = nullptr;
+      other.m_rows = 0;
     }
-    DenseStorage& operator=(DenseStorage&& other)
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
       using std::swap;
       swap(m_data, other.m_data);
@@ -400,16 +539,16 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
       return *this;
     }
 #endif
-    ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
-    void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    DenseIndex rows(void) const {return m_rows;}
-    static DenseIndex cols(void) {return _Cols;}
-    void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex)
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    void conservativeResize(Index size, Index rows, Index)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
-      m_rows = nbRows;
+      m_rows = rows;
     }
-    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex nbRows, DenseIndex)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index)
     {
       if(size != m_rows*_Cols)
       {
@@ -418,15 +557,12 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
       }
-      m_rows = nbRows;
+      m_rows = rows;
     }
-    const T *data() const { return m_data; }
-    T *data() { return m_data; }
-  private:
-    DenseStorage(const DenseStorage&);
-    DenseStorage& operator=(const DenseStorage&);
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Diagonal.h b/vendor/eigen/Eigen/src/Core/Diagonal.h
index 68cf6d4..49e7112 100644
--- a/vendor/eigen/Eigen/src/Core/Diagonal.h
+++ b/vendor/eigen/Eigen/src/Core/Diagonal.h
@@ -21,7 +21,7 @@ namespace Eigen {
   * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal
   * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal.
   *              A positive value means a superdiagonal, a negative value means a subdiagonal.
-  *              You can also use Dynamic so the index can be set at runtime.
+  *              You can also use DynamicIndex so the index can be set at runtime.
   *
   * The matrix is not required to be square.
   *
@@ -37,7 +37,7 @@ template<typename MatrixType, int DiagIndex>
 struct traits<Diagonal<MatrixType,DiagIndex> >
  : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   typedef typename MatrixType::StorageKind StorageKind;
   enum {
@@ -52,8 +52,7 @@ struct traits<Diagonal<MatrixType,DiagIndex> >
                                                  MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
     MaxColsAtCompileTime = 1,
     MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost,
+    Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions
     MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
     InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
     OuterStrideAtCompileTime = 0
@@ -70,20 +69,28 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
     typedef typename internal::dense_xpr_base<Diagonal>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
 
-    inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const
-    { return m_index.value()<0 ? (std::min<Index>)(m_matrix.cols(),m_matrix.rows()+m_index.value()) : (std::min<Index>)(m_matrix.rows(),m_matrix.cols()-m_index.value()); }
+    {
+      return m_index.value()<0 ? numext::mini<Index>(m_matrix.cols(),m_matrix.rows()+m_index.value())
+                               : numext::mini<Index>(m_matrix.rows(),m_matrix.cols()-m_index.value());
+    }
 
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return 1; }
 
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return m_matrix.outerStride() + 1;
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return 0;
@@ -95,62 +102,75 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.const_cast_derived().coeffRef(rowOffset(), colOffset())); }
-    inline const Scalar* data() const { return &(m_matrix.const_cast_derived().coeffRef(rowOffset(), colOffset())); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
+    EIGEN_DEVICE_FUNC
+    inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index)
     {
       EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index row, Index) const
     {
-      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline CoeffReturnType coeff(Index row, Index) const
     {
       return m_matrix.coeff(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index idx)
     {
       EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().coeffRef(idx+rowOffset(), idx+colOffset());
+      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index idx) const
     {
-      return m_matrix.const_cast_derived().coeffRef(idx+rowOffset(), idx+colOffset());
+      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline CoeffReturnType coeff(Index idx) const
     {
       return m_matrix.coeff(idx+rowOffset(), idx+colOffset());
     }
 
-    const typename internal::remove_all<typename MatrixType::Nested>::type& 
+    EIGEN_DEVICE_FUNC
+    inline const typename internal::remove_all<typename MatrixType::Nested>::type& 
     nestedExpression() const 
     {
       return m_matrix;
     }
 
-    int index() const
+    EIGEN_DEVICE_FUNC
+    inline Index index() const
     {
       return m_index.value();
     }
 
   protected:
-    typename MatrixType::Nested m_matrix;
+    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
     const internal::variable_if_dynamicindex<Index, DiagIndex> m_index;
 
   private:
     // some compilers may fail to optimize std::max etc in case of compile-time constants...
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
-    // triger a compile time error is someone try to call packet
+    // trigger a compile-time error if someone try to call packet
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
 };
@@ -167,7 +187,7 @@ template<typename Derived>
 inline typename MatrixBase<Derived>::DiagonalReturnType
 MatrixBase<Derived>::diagonal()
 {
-  return derived();
+  return DiagonalReturnType(derived());
 }
 
 /** This is the const version of diagonal(). */
@@ -216,20 +236,20 @@ MatrixBase<Derived>::diagonal(Index index) const
   *
   * \sa MatrixBase::diagonal(), class Diagonal */
 template<typename Derived>
-template<int Index>
-inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index>::Type
+template<int Index_>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index_>::Type
 MatrixBase<Derived>::diagonal()
 {
-  return derived();
+  return typename DiagonalIndexReturnType<Index_>::Type(derived());
 }
 
 /** This is the const version of diagonal<int>(). */
 template<typename Derived>
-template<int Index>
-inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index>::Type
+template<int Index_>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index_>::Type
 MatrixBase<Derived>::diagonal() const
 {
-  return derived();
+  return typename ConstDiagonalIndexReturnType<Index_>::Type(derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/DiagonalMatrix.h b/vendor/eigen/Eigen/src/Core/DiagonalMatrix.h
index e6c220f..ecfdce8 100644
--- a/vendor/eigen/Eigen/src/Core/DiagonalMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/DiagonalMatrix.h
@@ -22,7 +22,7 @@ class DiagonalBase : public EigenBase<Derived>
     typedef typename DiagonalVectorType::Scalar Scalar;
     typedef typename DiagonalVectorType::RealScalar RealScalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
 
     enum {
       RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
@@ -30,79 +30,61 @@ class DiagonalBase : public EigenBase<Derived>
       MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
       MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
       IsVectorAtCompileTime = 0,
-      Flags = 0
+      Flags = NoPreferredStorageOrderBit
     };
 
     typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
     typedef DenseMatrixType DenseType;
     typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
 
+    EIGEN_DEVICE_FUNC
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC
     inline Derived& derived() { return *static_cast<Derived*>(this); }
 
+    EIGEN_DEVICE_FUNC
     DenseMatrixType toDenseMatrix() const { return derived(); }
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived> &other) const;
-    template<typename DenseDerived>
-    void addTo(MatrixBase<DenseDerived> &other) const
-    { other.diagonal() += diagonal(); }
-    template<typename DenseDerived>
-    void subTo(MatrixBase<DenseDerived> &other) const
-    { other.diagonal() -= diagonal(); }
-
+    
+    EIGEN_DEVICE_FUNC
     inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
+    EIGEN_DEVICE_FUNC
     inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return diagonal().size(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return diagonal().size(); }
 
-    /** \returns the diagonal matrix product of \c *this by the matrix \a matrix.
-      */
     template<typename MatrixDerived>
-    const DiagonalProduct<MatrixDerived, Derived, OnTheLeft>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,MatrixDerived,LazyProduct>
     operator*(const MatrixBase<MatrixDerived> &matrix) const
     {
-      return DiagonalProduct<MatrixDerived, Derived, OnTheLeft>(matrix.derived(), derived());
+      return Product<Derived, MatrixDerived, LazyProduct>(derived(),matrix.derived());
     }
 
-    inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> >
+    typedef DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> > InverseReturnType;
+    EIGEN_DEVICE_FUNC
+    inline const InverseReturnType
     inverse() const
     {
-      return diagonal().cwiseInverse();
+      return InverseReturnType(diagonal().cwiseInverse());
     }
     
-    inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    EIGEN_DEVICE_FUNC
+    inline const DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >
     operator*(const Scalar& scalar) const
     {
-      return diagonal() * scalar;
+      return DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >(diagonal() * scalar);
     }
-    friend inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    EIGEN_DEVICE_FUNC
+    friend inline const DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >
     operator*(const Scalar& scalar, const DiagonalBase& other)
     {
-      return other.diagonal() * scalar;
-    }
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return diagonal().isApprox(other.diagonal(), precision);
+      return DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >(scalar * other.diagonal());
     }
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return toDenseMatrix().isApprox(other, precision);
-    }
-    #endif
 };
 
-template<typename Derived>
-template<typename DenseDerived>
-void DiagonalBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
-{
-  other.setZero();
-  other.diagonal() = diagonal();
-}
 #endif
 
 /** \class DiagonalMatrix
@@ -124,10 +106,9 @@ struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
  : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
 {
   typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
-  typedef Dense StorageKind;
-  typedef DenseIndex Index;
+  typedef DiagonalShape StorageKind;
   enum {
-    Flags = LvalueBit
+    Flags = LvalueBit | NoPreferredStorageOrderBit
   };
 };
 }
@@ -141,7 +122,7 @@ class DiagonalMatrix
     typedef const DiagonalMatrix& Nested;
     typedef _Scalar Scalar;
     typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
-    typedef typename internal::traits<DiagonalMatrix>::Index Index;
+    typedef typename internal::traits<DiagonalMatrix>::StorageIndex StorageIndex;
     #endif
 
   protected:
@@ -151,24 +132,31 @@ class DiagonalMatrix
   public:
 
     /** const version of diagonal(). */
+    EIGEN_DEVICE_FUNC
     inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
     /** \returns a reference to the stored vector of diagonal coefficients. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalVectorType& diagonal() { return m_diagonal; }
 
     /** Default constructor without initialization */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix() {}
 
     /** Constructs a diagonal matrix with given dimension  */
-    inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
 
     /** 2D constructor. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
 
     /** 3D constructor. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
 
     /** Copy constructor. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
@@ -178,11 +166,13 @@ class DiagonalMatrix
 
     /** generic constructor from expression of the diagonal coefficients */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
     {}
 
     /** Copy operator. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
     {
       m_diagonal = other.diagonal();
@@ -193,6 +183,7 @@ class DiagonalMatrix
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     DiagonalMatrix& operator=(const DiagonalMatrix& other)
     {
       m_diagonal = other.diagonal();
@@ -201,14 +192,19 @@ class DiagonalMatrix
     #endif
 
     /** Resizes to given size. */
+    EIGEN_DEVICE_FUNC
     inline void resize(Index size) { m_diagonal.resize(size); }
     /** Sets all coefficients to zero. */
+    EIGEN_DEVICE_FUNC
     inline void setZero() { m_diagonal.setZero(); }
     /** Resizes and sets all coefficients to zero. */
+    EIGEN_DEVICE_FUNC
     inline void setZero(Index size) { m_diagonal.setZero(size); }
     /** Sets this matrix to be the identity matrix of the current size. */
+    EIGEN_DEVICE_FUNC
     inline void setIdentity() { m_diagonal.setOnes(); }
     /** Sets this matrix to be the identity matrix of the given size. */
+    EIGEN_DEVICE_FUNC
     inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
 };
 
@@ -232,14 +228,15 @@ struct traits<DiagonalWrapper<_DiagonalVectorType> >
 {
   typedef _DiagonalVectorType DiagonalVectorType;
   typedef typename DiagonalVectorType::Scalar Scalar;
-  typedef typename DiagonalVectorType::Index Index;
-  typedef typename DiagonalVectorType::StorageKind StorageKind;
+  typedef typename DiagonalVectorType::StorageIndex StorageIndex;
+  typedef DiagonalShape StorageKind;
+  typedef typename traits<DiagonalVectorType>::XprKind XprKind;
   enum {
     RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
     ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    MaxColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    Flags =  traits<DiagonalVectorType>::Flags & LvalueBit
+    MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+    MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+    Flags =  (traits<DiagonalVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
   };
 };
 }
@@ -255,9 +252,11 @@ class DiagonalWrapper
     #endif
 
     /** Constructor from expression of diagonal coefficients to wrap. */
-    inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
 
     /** \returns a const reference to the wrapped expression of diagonal coefficients. */
+    EIGEN_DEVICE_FUNC
     const DiagonalVectorType& diagonal() const { return m_diagonal; }
 
   protected:
@@ -277,7 +276,7 @@ template<typename Derived>
 inline const DiagonalWrapper<const Derived>
 MatrixBase<Derived>::asDiagonal() const
 {
-  return derived();
+  return DiagonalWrapper<const Derived>(derived());
 }
 
 /** \returns true if *this is approximately equal to a diagonal matrix,
@@ -291,12 +290,11 @@ MatrixBase<Derived>::asDiagonal() const
 template<typename Derived>
 bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
 {
-  using std::abs;
   if(cols() != rows()) return false;
   RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
   {
-    RealScalar absOnDiagonal = abs(coeff(j,j));
+    RealScalar absOnDiagonal = numext::abs(coeff(j,j));
     if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
   }
   for(Index j = 0; j < cols(); ++j)
@@ -308,6 +306,38 @@ bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
   return true;
 }
 
+namespace internal {
+
+template<> struct storage_kind_to_shape<DiagonalShape> { typedef DiagonalShape Shape; };
+
+struct Diagonal2Dense {};
+
+template<> struct AssignmentKind<DenseShape,DiagonalShape> { typedef Diagonal2Dense Kind; };
+
+// Diagonal matrix to Dense assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Dense>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    dst.setZero();
+    dst.diagonal() = src.diagonal();
+  }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() += src.diagonal(); }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() -= src.diagonal(); }
+};
+
+} // namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_DIAGONALMATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/DiagonalProduct.h b/vendor/eigen/Eigen/src/Core/DiagonalProduct.h
index cc6b536..d372b93 100644
--- a/vendor/eigen/Eigen/src/Core/DiagonalProduct.h
+++ b/vendor/eigen/Eigen/src/Core/DiagonalProduct.h
@@ -13,117 +13,14 @@
 
 namespace Eigen { 
 
-namespace internal {
-template<typename MatrixType, typename DiagonalType, int ProductOrder>
-struct traits<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
- : traits<MatrixType>
-{
-  typedef typename scalar_product_traits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-
-    _StorageOrder = MatrixType::Flags & RowMajorBit ? RowMajor : ColMajor,
-    _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
-                          ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
-    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
-    // FIXME currently we need same types, but in the future the next rule should be the one
-    //_Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))),
-    _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))),
-    _LinearAccessMask = (RowsAtCompileTime==1 || ColsAtCompileTime==1) ? LinearAccessBit : 0,
-
-    Flags = ((HereditaryBits|_LinearAccessMask|AlignedBit) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit),
-    Cost0 = EIGEN_ADD_COST(NumTraits<Scalar>::MulCost, MatrixType::CoeffReadCost),
-    CoeffReadCost = EIGEN_ADD_COST(Cost0,DiagonalType::DiagonalVectorType::CoeffReadCost)
-  };
-};
-}
-
-template<typename MatrixType, typename DiagonalType, int ProductOrder>
-class DiagonalProduct : internal::no_assignment_operator,
-                        public MatrixBase<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
-{
-  public:
-
-    typedef MatrixBase<DiagonalProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(DiagonalProduct)
-
-    inline DiagonalProduct(const MatrixType& matrix, const DiagonalType& diagonal)
-      : m_matrix(matrix), m_diagonal(diagonal)
-    {
-      eigen_assert(diagonal.diagonal().size() == (ProductOrder == OnTheLeft ? matrix.rows() : matrix.cols()));
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
-    {
-      return m_diagonal.diagonal().coeff(ProductOrder == OnTheLeft ? row : col) * m_matrix.coeff(row, col);
-    }
-    
-    EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
-    {
-      enum {
-        StorageOrder = int(MatrixType::Flags) & RowMajorBit ? RowMajor : ColMajor
-      };
-      return coeff(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
-    {
-      enum {
-        StorageOrder = Flags & RowMajorBit ? RowMajor : ColMajor
-      };
-      const Index indexInDiagonalVector = ProductOrder == OnTheLeft ? row : col;
-      return packet_impl<LoadMode>(row,col,indexInDiagonalVector,typename internal::conditional<
-        ((int(StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
-       ||(int(StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)), internal::true_type, internal::false_type>::type());
-    }
-    
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index idx) const
-    {
-      enum {
-        StorageOrder = int(MatrixType::Flags) & RowMajorBit ? RowMajor : ColMajor
-      };
-      return packet<LoadMode>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-    }
-
-  protected:
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::true_type) const
-    {
-      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
-                     internal::pset1<PacketScalar>(m_diagonal.diagonal().coeff(id)));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::false_type) const
-    {
-      enum {
-        InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
-        DiagonalVectorPacketLoadMode = (LoadMode == Aligned && (((InnerSize%16) == 0) || (int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit)==AlignedBit) ? Aligned : Unaligned)
-      };
-      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
-                     m_diagonal.diagonal().template packet<DiagonalVectorPacketLoadMode>(id));
-    }
-
-    typename MatrixType::Nested m_matrix;
-    typename DiagonalType::Nested m_diagonal;
-};
-
 /** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
   */
 template<typename Derived>
 template<typename DiagonalDerived>
-inline const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+inline const Product<Derived, DiagonalDerived, LazyProduct>
 MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &a_diagonal) const
 {
-  return DiagonalProduct<Derived, DiagonalDerived, OnTheRight>(derived(), a_diagonal.derived());
+  return Product<Derived, DiagonalDerived, LazyProduct>(derived(),a_diagonal.derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Dot.h b/vendor/eigen/Eigen/src/Core/Dot.h
index 9d7651f..06ef18b 100644
--- a/vendor/eigen/Eigen/src/Core/Dot.h
+++ b/vendor/eigen/Eigen/src/Core/Dot.h
@@ -28,26 +28,31 @@ template<typename T, typename U,
 >
 struct dot_nocheck
 {
-  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+  typedef typename conj_prod::result_type ResScalar;
+  EIGEN_DEVICE_FUNC
   static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
-    return a.template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+    return a.template binaryExpr<conj_prod>(b).sum();
   }
 };
 
 template<typename T, typename U>
 struct dot_nocheck<T, U, true>
 {
-  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+  typedef typename conj_prod::result_type ResScalar;
+  EIGEN_DEVICE_FUNC
   static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
-    return a.transpose().template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+    return a.transpose().template binaryExpr<conj_prod>(b).sum();
   }
 };
 
 } // end namespace internal
 
-/** \returns the dot product of *this with other.
+/** \fn MatrixBase::dot
+  * \returns the dot product of *this with other.
   *
   * \only_for_vectors
   *
@@ -59,55 +64,30 @@ struct dot_nocheck<T, U, true>
   */
 template<typename Derived>
 template<typename OtherDerived>
-typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+EIGEN_DEVICE_FUNC
+typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
 MatrixBase<Derived>::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)
+#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG))
   typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
   EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
-
+#endif
+  
   eigen_assert(size() == other.size());
 
   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.
   * In both cases, it consists in the sum of the square of all the matrix entries.
   * For vectors, this is also equals to the dot product of \c *this with itself.
   *
-  * \sa dot(), norm()
+  * \sa dot(), norm(), lpNorm()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
@@ -119,16 +99,18 @@ EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scala
   * In both cases, it consists in the square root of the sum of the square of all the matrix entries.
   * For vectors, this is also equals to the square root of the dot product of \c *this with itself.
   *
-  * \sa dot(), squaredNorm()
+  * \sa lpNorm(), dot(), squaredNorm()
   */
 template<typename Derived>
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
 {
-  using std::sqrt;
-  return sqrt(squaredNorm());
+  return numext::sqrt(squaredNorm());
 }
 
-/** \returns an expression of the quotient of *this by its own norm.
+/** \returns an expression of the quotient of \c *this by its own norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0),
+  *          then this function returns a copy of the input.
   *
   * \only_for_vectors
   *
@@ -138,22 +120,77 @@ template<typename Derived>
 inline const typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::normalized() const
 {
-  typedef typename internal::nested<Derived>::type Nested;
-  typedef typename internal::remove_reference<Nested>::type _Nested;
+  typedef typename internal::nested_eval<Derived,2>::type _Nested;
   _Nested n(derived());
-  return n / n.norm();
+  RealScalar z = n.squaredNorm();
+  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+  if(z>RealScalar(0))
+    return n / numext::sqrt(z);
+  else
+    return n;
 }
 
 /** Normalizes the vector, i.e. divides it by its own norm.
   *
   * \only_for_vectors
   *
+  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+  *
   * \sa norm(), normalized()
   */
 template<typename Derived>
 inline void MatrixBase<Derived>::normalize()
 {
-  *this /= norm();
+  RealScalar z = squaredNorm();
+  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+  if(z>RealScalar(0))
+    derived() /= numext::sqrt(z);
+}
+
+/** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow.
+  *
+  * \only_for_vectors
+  *
+  * This method is analogue to the normalized() method, but it reduces the risk of
+  * underflow and overflow when computing the norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0),
+  *          then this function returns a copy of the input.
+  *
+  * \sa stableNorm(), stableNormalize(), normalized()
+  */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::stableNormalized() const
+{
+  typedef typename internal::nested_eval<Derived,3>::type _Nested;
+  _Nested n(derived());
+  RealScalar w = n.cwiseAbs().maxCoeff();
+  RealScalar z = (n/w).squaredNorm();
+  if(z>RealScalar(0))
+    return n / (numext::sqrt(z)*w);
+  else
+    return n;
+}
+
+/** Normalizes the vector while avoid underflow and overflow
+  *
+  * \only_for_vectors
+  *
+  * This method is analogue to the normalize() method, but it reduces the risk of
+  * underflow and overflow when computing the norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+  *
+  * \sa stableNorm(), stableNormalized(), normalize()
+  */
+template<typename Derived>
+inline void MatrixBase<Derived>::stableNormalize()
+{
+  RealScalar w = cwiseAbs().maxCoeff();
+  RealScalar z = (derived()/w).squaredNorm();
+  if(z>RealScalar(0))
+    derived() /= numext::sqrt(z)*w;
 }
 
 //---------- implementation of other norms ----------
@@ -164,9 +201,10 @@ template<typename Derived, int p>
 struct lpNorm_selector
 {
   typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const MatrixBase<Derived>& m)
   {
-    using std::pow;
+    EIGEN_USING_STD_MATH(pow)
     return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
   }
 };
@@ -174,6 +212,7 @@ struct lpNorm_selector
 template<typename Derived>
 struct lpNorm_selector<Derived, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
   {
     return m.cwiseAbs().sum();
@@ -183,6 +222,7 @@ struct lpNorm_selector<Derived, 1>
 template<typename Derived>
 struct lpNorm_selector<Derived, 2>
 {
+  EIGEN_DEVICE_FUNC
   static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
   {
     return m.norm();
@@ -192,23 +232,35 @@ struct lpNorm_selector<Derived, 2>
 template<typename Derived>
 struct lpNorm_selector<Derived, Infinity>
 {
-  static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const MatrixBase<Derived>& m)
   {
+    if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0))
+      return RealScalar(0);
     return m.cwiseAbs().maxCoeff();
   }
 };
 
 } // end namespace internal
 
-/** \returns the \f$ \ell^p \f$ norm of *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
-  *          of the coefficients of *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
-  *          norm, that is the maximum of the absolute values of the coefficients of *this.
+/** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
+  *          of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
+  *          norm, that is the maximum of the absolute values of the coefficients of \c *this.
+  *
+  * In all cases, if \c *this is empty, then the value 0 is returned.
+  *
+  * \note For matrices, this function does not compute the <a href="https://en.wikipedia.org/wiki/Operator_norm">operator-norm</a>. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink.
   *
   * \sa norm()
   */
 template<typename Derived>
 template<int p>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+#else
+MatrixBase<Derived>::RealScalar
+#endif
 MatrixBase<Derived>::lpNorm() const
 {
   return internal::lpNorm_selector<Derived, p>::run(*this);
@@ -227,8 +279,8 @@ template<typename OtherDerived>
 bool MatrixBase<Derived>::isOrthogonal
 (const MatrixBase<OtherDerived>& other, const RealScalar& prec) const
 {
-  typename internal::nested<Derived,2>::type nested(derived());
-  typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
+  typename internal::nested_eval<Derived,2>::type nested(derived());
+  typename internal::nested_eval<OtherDerived,2>::type otherNested(other.derived());
   return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
 }
 
@@ -246,13 +298,13 @@ bool MatrixBase<Derived>::isOrthogonal
 template<typename Derived>
 bool MatrixBase<Derived>::isUnitary(const RealScalar& prec) const
 {
-  typename Derived::Nested nested(derived());
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index i = 0; i < cols(); ++i)
   {
-    if(!internal::isApprox(nested.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
+    if(!internal::isApprox(self.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
       return false;
     for(Index j = 0; j < i; ++j)
-      if(!internal::isMuchSmallerThan(nested.col(i).dot(nested.col(j)), static_cast<Scalar>(1), prec))
+      if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast<Scalar>(1), prec))
         return false;
   }
   return true;
diff --git a/vendor/eigen/Eigen/src/Core/EigenBase.h b/vendor/eigen/Eigen/src/Core/EigenBase.h
index fadb458..b195506 100644
--- a/vendor/eigen/Eigen/src/Core/EigenBase.h
+++ b/vendor/eigen/Eigen/src/Core/EigenBase.h
@@ -13,7 +13,10 @@
 
 namespace Eigen {
 
-/** Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
+/** \class EigenBase
+  * \ingroup Core_Module
+  * 
+  * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
   *
   * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
   *
@@ -21,39 +24,57 @@ namespace Eigen {
   *
   * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> struct EigenBase
 {
 //   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
-
+  
+  /** \brief The interface type of indices
+    * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+    * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
+    * \sa StorageIndex, \ref TopicPreprocessorDirectives.
+    */
+  typedef Eigen::Index Index;
+
+  // FIXME is it needed?
   typedef typename internal::traits<Derived>::StorageKind StorageKind;
-  typedef typename internal::traits<Derived>::Index Index;
 
   /** \returns a reference to the derived object */
+  EIGEN_DEVICE_FUNC
   Derived& derived() { return *static_cast<Derived*>(this); }
   /** \returns a const reference to the derived object */
+  EIGEN_DEVICE_FUNC
   const Derived& derived() const { return *static_cast<const Derived*>(this); }
 
+  EIGEN_DEVICE_FUNC
   inline Derived& const_cast_derived() const
   { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
+  EIGEN_DEVICE_FUNC
   inline const Derived& const_derived() const
   { return *static_cast<const Derived*>(this); }
 
   /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+  EIGEN_DEVICE_FUNC
   inline Index rows() const { return derived().rows(); }
   /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+  EIGEN_DEVICE_FUNC
   inline Index cols() const { return derived().cols(); }
   /** \returns the number of coefficients, which is rows()*cols().
     * \sa rows(), cols(), SizeAtCompileTime. */
+  EIGEN_DEVICE_FUNC
   inline Index size() const { return rows() * cols(); }
 
   /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
-  template<typename Dest> inline void evalTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void evalTo(Dest& dst) const
   { derived().evalTo(dst); }
 
   /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
-  template<typename Dest> inline void addTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void addTo(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -63,7 +84,9 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
-  template<typename Dest> inline void subTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void subTo(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -73,7 +96,8 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
-  template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -81,7 +105,8 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
-  template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -104,25 +129,28 @@ template<typename Derived> struct EigenBase
   */
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().evalTo(derived());
+  call_assignment(derived(), other.derived());
   return derived();
 }
 
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().addTo(derived());
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().subTo(derived());
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/ForceAlignedAccess.h b/vendor/eigen/Eigen/src/Core/ForceAlignedAccess.h
index 807c7a2..7b08b45 100644
--- a/vendor/eigen/Eigen/src/Core/ForceAlignedAccess.h
+++ b/vendor/eigen/Eigen/src/Core/ForceAlignedAccess.h
@@ -39,29 +39,29 @@ template<typename ExpressionType> class ForceAlignedAccess
     typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
 
-    inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
+    EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline const CoeffReturnType coeff(Index row, Index col) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
     {
       return m_expression.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(Index row, Index col)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const CoeffReturnType coeff(Index index) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
     {
       return m_expression.coeff(index);
     }
 
-    inline Scalar& coeffRef(Index index)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
@@ -90,7 +90,7 @@ template<typename ExpressionType> class ForceAlignedAccess
       m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
     }
 
-    operator const ExpressionType&() const { return m_expression; }
+    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
 
   protected:
     const ExpressionType& m_expression;
@@ -127,7 +127,7 @@ template<bool Enable>
 inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
 MatrixBase<Derived>::forceAlignedAccessIf() const
 {
-  return derived();
+  return derived();  // FIXME This should not work but apparently is never used
 }
 
 /** \returns an expression of *this with forced aligned access if \a Enable is true.
@@ -138,7 +138,7 @@ template<bool Enable>
 inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
 MatrixBase<Derived>::forceAlignedAccessIf()
 {
-  return derived();
+  return derived();  // FIXME This should not work but apparently is never used
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Fuzzy.h b/vendor/eigen/Eigen/src/Core/Fuzzy.h
index fe63bd2..3e403a0 100644
--- a/vendor/eigen/Eigen/src/Core/Fuzzy.h
+++ b/vendor/eigen/Eigen/src/Core/Fuzzy.h
@@ -19,18 +19,19 @@ namespace internal
 template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isApprox_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
   {
-    using std::min;
-    typename internal::nested<Derived,2>::type nested(x);
-    typename internal::nested<OtherDerived,2>::type otherNested(y);
-    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * (min)(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
+    typename internal::nested_eval<Derived,2>::type nested(x);
+    typename internal::nested_eval<OtherDerived,2>::type otherNested(y);
+    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
   }
 };
 
 template<typename Derived, typename OtherDerived>
 struct isApprox_selector<Derived, OtherDerived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&)
   {
     return x.matrix() == y.matrix();
@@ -40,6 +41,7 @@ struct isApprox_selector<Derived, OtherDerived, true>
 template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isMuchSmallerThan_object_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
   {
     return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum();
@@ -49,6 +51,7 @@ struct isMuchSmallerThan_object_selector
 template<typename Derived, typename OtherDerived>
 struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&)
   {
     return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
@@ -58,6 +61,7 @@ struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
 template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isMuchSmallerThan_scalar_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec)
   {
     return x.cwiseAbs2().sum() <= numext::abs2(prec * y);
@@ -67,6 +71,7 @@ struct isMuchSmallerThan_scalar_selector
 template<typename Derived>
 struct isMuchSmallerThan_scalar_selector<Derived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&)
   {
     return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
diff --git a/vendor/eigen/Eigen/src/Core/GeneralProduct.h b/vendor/eigen/Eigen/src/Core/GeneralProduct.h
index 29ac522..0f16cd8 100644
--- a/vendor/eigen/Eigen/src/Core/GeneralProduct.h
+++ b/vendor/eigen/Eigen/src/Core/GeneralProduct.h
@@ -11,29 +11,7 @@
 #ifndef EIGEN_GENERAL_PRODUCT_H
 #define EIGEN_GENERAL_PRODUCT_H
 
-namespace Eigen { 
-
-/** \class GeneralProduct
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the product of two general matrices or vectors
-  *
-  * \param LhsNested the type used to store the left-hand side
-  * \param RhsNested the type used to store the right-hand side
-  * \param ProductMode the type of the product
-  *
-  * This class represents an expression of the product of two general matrices.
-  * We call a general matrix, a dense matrix with full storage. For instance,
-  * This excludes triangular, selfadjoint, and sparse matrices.
-  * It is the return type of the operator* between general matrices. Its template
-  * arguments are determined automatically by ProductReturnType. Therefore,
-  * GeneralProduct should never be used direclty. To determine the result type of a
-  * function which involves a matrix product, use ProductReturnType::Type.
-  *
-  * \sa ProductReturnType, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename Lhs, typename Rhs, int ProductType = internal::product_type<Lhs,Rhs>::value>
-class GeneralProduct;
+namespace Eigen {
 
 enum {
   Large = 2,
@@ -47,7 +25,8 @@ template<int Rows, int Cols, int Depth> struct product_type_selector;
 template<int Size, int MaxSize> struct product_size_category
 {
   enum { is_large = MaxSize == Dynamic ||
-                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD,
+                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD ||
+                    (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD),
          value = is_large  ? Large
                : Size == 1 ? 1
                            : Small
@@ -59,15 +38,14 @@ template<typename Lhs, typename Rhs> struct product_type
   typedef typename remove_all<Lhs>::type _Lhs;
   typedef typename remove_all<Rhs>::type _Rhs;
   enum {
-    MaxRows  = _Lhs::MaxRowsAtCompileTime,
-    Rows  = _Lhs::RowsAtCompileTime,
-    MaxCols  = _Rhs::MaxColsAtCompileTime,
-    Cols  = _Rhs::ColsAtCompileTime,
-    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::MaxColsAtCompileTime,
-                                           _Rhs::MaxRowsAtCompileTime),
-    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::ColsAtCompileTime,
-                                        _Rhs::RowsAtCompileTime),
-    LargeThreshold = EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+    MaxRows = traits<_Lhs>::MaxRowsAtCompileTime,
+    Rows    = traits<_Lhs>::RowsAtCompileTime,
+    MaxCols = traits<_Rhs>::MaxColsAtCompileTime,
+    Cols    = traits<_Rhs>::ColsAtCompileTime,
+    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime,
+                                           traits<_Rhs>::MaxRowsAtCompileTime),
+    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime,
+                                        traits<_Rhs>::RowsAtCompileTime)
   };
 
   // the splitting into different lines of code here, introducing the _select enums and the typedef below,
@@ -82,7 +60,8 @@ private:
 
 public:
   enum {
-    value = selector::ret
+    value = selector::ret,
+    ret = selector::ret
   };
 #ifdef EIGEN_DEBUG_PRODUCT
   static void debug()
@@ -98,12 +77,13 @@ public:
 #endif
 };
 
-
 /* The following allows to select the kind of product at compile time
  * based on the three dimensions of the product.
  * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
 // FIXME I'm not sure the current mapping is the ideal one.
 template<int M, int N>  struct product_type_selector<M,N,1>              { enum { ret = OuterProduct }; };
+template<int M>         struct product_type_selector<M, 1, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
+template<int N>         struct product_type_selector<1, N, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
 template<int Depth>     struct product_type_selector<1,    1,    Depth>  { enum { ret = InnerProduct }; };
 template<>              struct product_type_selector<1,    1,    1>      { enum { ret = InnerProduct }; };
 template<>              struct product_type_selector<Small,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
@@ -122,60 +102,12 @@ template<>              struct product_type_selector<Small,Small,Large>  { enum
 template<>              struct product_type_selector<Large,Small,Large>  { enum { ret = GemmProduct }; };
 template<>              struct product_type_selector<Small,Large,Large>  { enum { ret = GemmProduct }; };
 template<>              struct product_type_selector<Large,Large,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = CoeffBasedProductMode }; };
 template<>              struct product_type_selector<Large,Large,Small>  { enum { ret = GemmProduct }; };
 
 } // end namespace internal
 
-/** \class ProductReturnType
-  * \ingroup Core_Module
-  *
-  * \brief Helper class to get the correct and optimized returned type of operator*
-  *
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  * \param ProductMode the type of the product (determined automatically by internal::product_mode)
-  *
-  * This class defines the typename Type representing the optimized product expression
-  * between two matrix expressions. In practice, using ProductReturnType<Lhs,Rhs>::Type
-  * is the recommended way to define the result type of a function returning an expression
-  * which involve a matrix product. The class Product should never be
-  * used directly.
-  *
-  * \sa class Product, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename Lhs, typename Rhs, int ProductType>
-struct ProductReturnType
-{
-  // TODO use the nested type to reduce instanciations ????
-//   typedef typename internal::nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-//   typedef typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef GeneralProduct<Lhs/*Nested*/, Rhs/*Nested*/, ProductType> Type;
-};
-
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,CoeffBasedProductMode>
-{
-  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
-  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
-  typedef CoeffBasedProduct<LhsNested, RhsNested, EvalBeforeAssigningBit | EvalBeforeNestingBit> Type;
-};
-
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
-{
-  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
-  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
-  typedef CoeffBasedProduct<LhsNested, RhsNested, NestByRefBit> Type;
-};
-
-// this is a workaround for sun CC
-template<typename Lhs, typename Rhs>
-struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
-{};
-
 /***********************************************************************
 *  Implementation of Inner Vector Vector Product
 ***********************************************************************/
@@ -187,119 +119,10 @@ struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedPr
 // product ends up to a row-vector times col-vector product... To tackle this use
 // case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
 
-namespace internal {
-
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,InnerProduct> >
- : traits<Matrix<typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> >
-{};
-
-}
-
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, InnerProduct>
-  : internal::no_assignment_operator,
-    public Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1>
-{
-    typedef Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> Base;
-  public:
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-      Base::coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
-    }
-
-    /** Convertion to scalar */
-    operator const typename Base::Scalar() const {
-      return Base::coeff(0,0);
-    }
-};
-
 /***********************************************************************
 *  Implementation of Outer Vector Vector Product
 ***********************************************************************/
 
-namespace internal {
-
-// Column major
-template<typename ProductType, typename Dest, typename Func>
-EIGEN_DONT_INLINE void outer_product_selector_run(const ProductType& prod, Dest& dest, const Func& func, const false_type&)
-{
-  typedef typename Dest::Index Index;
-  // FIXME make sure lhs is sequentially stored
-  // FIXME not very good if rhs is real and lhs complex while alpha is real too
-  const Index cols = dest.cols();
-  for (Index j=0; j<cols; ++j)
-    func(dest.col(j), prod.rhs().coeff(0,j) * prod.lhs());
-}
-
-// Row major
-template<typename ProductType, typename Dest, typename Func>
-EIGEN_DONT_INLINE void outer_product_selector_run(const ProductType& prod, Dest& dest, const Func& func, const true_type&) {
-  typedef typename Dest::Index Index;
-  // FIXME make sure rhs is sequentially stored
-  // FIXME not very good if lhs is real and rhs complex while alpha is real too
-  const Index rows = dest.rows();
-  for (Index i=0; i<rows; ++i)
-    func(dest.row(i), prod.lhs().coeff(i,0) * prod.rhs());
-}
-
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,OuterProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs> >
-{};
-
-}
-
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, OuterProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs>
-{
-    template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
-    
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    }
-    
-    struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
-    struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
-    struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
-    struct adds {
-      Scalar m_scale;
-      adds(const Scalar& s) : m_scale(s) {}
-      template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
-        dst.const_cast_derived() += m_scale * src;
-      }
-    };
-    
-    template<typename Dest>
-    inline void evalTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, set(), is_row_major<Dest>());
-    }
-    
-    template<typename Dest>
-    inline void addTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, add(), is_row_major<Dest>());
-    }
-
-    template<typename Dest>
-    inline void subTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, sub(), is_row_major<Dest>());
-    }
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
-    {
-      internal::outer_product_selector_run(*this, dest, adds(alpha), is_row_major<Dest>());
-    }
-};
-
 /***********************************************************************
 *  Implementation of General Matrix Vector Product
 ***********************************************************************/
@@ -313,60 +136,13 @@ class GeneralProduct<Lhs, Rhs, OuterProduct>
  */
 namespace internal {
 
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,GemvProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs> >
-{};
-
 template<int Side, int StorageOrder, bool BlasCompatible>
-struct gemv_selector;
+struct gemv_dense_selector;
 
 } // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, GemvProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-
-    typedef typename Lhs::Scalar LhsScalar;
-    typedef typename Rhs::Scalar RhsScalar;
-
-    GeneralProduct(const Lhs& a_lhs, const Rhs& a_rhs) : Base(a_lhs,a_rhs)
-    {
-//       EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::Scalar, typename Rhs::Scalar>::value),
-//         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    }
-
-    enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
-    typedef typename internal::conditional<int(Side)==OnTheRight,_LhsNested,_RhsNested>::type MatrixType;
-
-    template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
-    {
-      eigen_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols());
-      internal::gemv_selector<Side,(int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
-                       bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)>::run(*this, dst, alpha);
-    }
-};
-
 namespace internal {
 
-// The vector is on the left => transposition
-template<int StorageOrder, bool BlasCompatible>
-struct gemv_selector<OnTheLeft,StorageOrder,BlasCompatible>
-{
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
-  {
-    Transpose<Dest> destT(dest);
-    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
-    gemv_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
-      ::run(GeneralProduct<Transpose<const typename ProductType::_RhsNested>,Transpose<const typename ProductType::_LhsNested>, GemvProduct>
-        (prod.rhs().transpose(), prod.lhs().transpose()), destT, alpha);
-  }
-};
-
 template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
 
 template<typename Scalar,int Size,int MaxSize>
@@ -384,46 +160,61 @@ struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
 template<typename Scalar,int Size,int MaxSize>
 struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
 {
-  #if EIGEN_ALIGN_STATICALLY
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0> m_data;
-  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
-  #else
-  // Some architectures cannot align on the stack,
-  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
   enum {
     ForceAlignment  = internal::packet_traits<Scalar>::Vectorizable,
     PacketSize      = internal::packet_traits<Scalar>::size
   };
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?PacketSize:0),0> m_data;
+  #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0,EIGEN_PLAIN_ENUM_MIN(AlignedMax,PacketSize)> m_data;
+  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
+  #else
+  // Some architectures cannot align on the stack,
+  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?EIGEN_MAX_ALIGN_BYTES:0),0> m_data;
   EIGEN_STRONG_INLINE Scalar* data() {
     return ForceAlignment
-            ? reinterpret_cast<Scalar*>((reinterpret_cast<size_t>(m_data.array) & ~(size_t(15))) + 16)
+            ? reinterpret_cast<Scalar*>((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES)
             : m_data.array;
   }
   #endif
 };
 
-template<> struct gemv_selector<OnTheRight,ColMajor,true>
+// The vector is on the left => transposition
+template<int StorageOrder, bool BlasCompatible>
+struct gemv_dense_selector<OnTheLeft,StorageOrder,BlasCompatible>
+{
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+  {
+    Transpose<Dest> destT(dest);
+    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
+    gemv_dense_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
+      ::run(rhs.transpose(), lhs.transpose(), destT, alpha);
+  }
+};
+
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
 {
-  template<typename ProductType, typename Dest>
-  static inline void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::LhsScalar   LhsScalar;
-    typedef typename ProductType::RhsScalar   RhsScalar;
-    typedef typename ProductType::Scalar      ResScalar;
-    typedef typename ProductType::RealScalar  RealScalar;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
-
-    ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
-    ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    typedef typename Lhs::Scalar   LhsScalar;
+    typedef typename Rhs::Scalar   RhsScalar;
+    typedef typename Dest::Scalar  ResScalar;
+    typedef typename Dest::RealScalar  RealScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
+
+    ActualLhsType actualLhs = LhsBlasTraits::extract(lhs);
+    ActualRhsType actualRhs = RhsBlasTraits::extract(rhs);
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     // make sure Dest is a compile-time vector type (bug 1166)
     typedef typename conditional<Dest::IsVectorAtCompileTime, Dest, typename Dest::ColXpr>::type ActualDest;
@@ -433,80 +224,97 @@ template<> struct gemv_selector<OnTheRight,ColMajor,true>
       // on, the other hand it is good for the cache to pack the vector anyways...
       EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1),
       ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
-      MightCannotUseDest = (ActualDest::InnerStrideAtCompileTime!=1) || ComplexByReal
+      MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal
     };
 
-    gemv_static_vector_if<ResScalar,ActualDest::SizeAtCompileTime,ActualDest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
-
-    bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
-    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-    
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
     RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
 
-    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
-                                                  evalToDest ? dest.data() : static_dest.data());
-    
-    if(!evalToDest)
+    if(!MightCannotUseDest)
     {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = dest.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      if(!alphaIsCompatible)
+      // shortcut if we are sure to be able to use dest directly,
+      // this ease the compiler to generate cleaner and more optimzized code for most common cases
+      general_matrix_vector_product
+          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+          actualLhs.rows(), actualLhs.cols(),
+          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+          dest.data(), 1,
+          compatibleAlpha);
+    }
+    else
+    {
+      gemv_static_vector_if<ResScalar,ActualDest::SizeAtCompileTime,ActualDest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+      const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
+      const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+
+      ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                    evalToDest ? dest.data() : static_dest.data());
+
+      if(!evalToDest)
       {
-        MappedDest(actualDestPtr, dest.size()).setZero();
-        compatibleAlpha = RhsScalar(1);
+        #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+        Index size = dest.size();
+        EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+        #endif
+        if(!alphaIsCompatible)
+        {
+          MappedDest(actualDestPtr, dest.size()).setZero();
+          compatibleAlpha = RhsScalar(1);
+        }
+        else
+          MappedDest(actualDestPtr, dest.size()) = dest;
       }
-      else
-        MappedDest(actualDestPtr, dest.size()) = dest;
-    }
 
-    general_matrix_vector_product
-      <Index,LhsScalar,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
-        actualLhs.rows(), actualLhs.cols(),
-        actualLhs.data(), actualLhs.outerStride(),
-        actualRhs.data(), actualRhs.innerStride(),
-        actualDestPtr, 1,
-        compatibleAlpha);
+      general_matrix_vector_product
+          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+          actualLhs.rows(), actualLhs.cols(),
+          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+          actualDestPtr, 1,
+          compatibleAlpha);
 
-    if (!evalToDest)
-    {
-      if(!alphaIsCompatible)
-        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
-      else
-        dest = MappedDest(actualDestPtr, dest.size());
+      if (!evalToDest)
+      {
+        if(!alphaIsCompatible)
+          dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size());
+        else
+          dest = MappedDest(actualDestPtr, dest.size());
+      }
     }
   }
 };
 
-template<> struct gemv_selector<OnTheRight,RowMajor,true>
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,true>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename ProductType::LhsScalar LhsScalar;
-    typedef typename ProductType::RhsScalar RhsScalar;
-    typedef typename ProductType::Scalar    ResScalar;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::_ActualRhsType _ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    typedef typename Lhs::Scalar   LhsScalar;
+    typedef typename Rhs::Scalar   RhsScalar;
+    typedef typename Dest::Scalar  ResScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
       // on, the other hand it is good for the cache to pack the vector anyways...
-      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
     };
 
-    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
         DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
@@ -514,45 +322,48 @@ template<> struct gemv_selector<OnTheRight,RowMajor,true>
     if(!DirectlyUseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = actualRhs.size();
+      Index size = actualRhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
     }
 
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
     general_matrix_vector_product
-      <Index,LhsScalar,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        <Index,LhsScalar,LhsMapper,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
         actualLhs.rows(), actualLhs.cols(),
-        actualLhs.data(), actualLhs.outerStride(),
-        actualRhsPtr, 1,
+        LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+        RhsMapper(actualRhsPtr, 1),
         dest.data(), dest.col(0).innerStride(), //NOTE  if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166)
         actualAlpha);
   }
 };
 
-template<> struct gemv_selector<OnTheRight,ColMajor,false>
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,false>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename Dest::Index Index;
-    // TODO makes sure dest is sequentially stored in memory, otherwise use a temp
-    const Index size = prod.rhs().rows();
+    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+    // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp
+    typename nested_eval<Rhs,1>::type actual_rhs(rhs);
+    const Index size = rhs.rows();
     for(Index k=0; k<size; ++k)
-      dest += (alpha*prod.rhs().coeff(k)) * prod.lhs().col(k);
+      dest += (alpha*actual_rhs.coeff(k)) * lhs.col(k);
   }
 };
 
-template<> struct gemv_selector<OnTheRight,RowMajor,false>
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,false>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename Dest::Index Index;
-    // TODO makes sure rhs is sequentially stored in memory, otherwise use a temp
-    const Index rows = prod.rows();
+    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+    typename nested_eval<Rhs,Lhs::RowsAtCompileTime>::type actual_rhs(rhs);
+    const Index rows = dest.rows();
     for(Index i=0; i<rows; ++i)
-      dest.coeffRef(i) += alpha * (prod.lhs().row(i).cwiseProduct(prod.rhs().transpose())).sum();
+      dest.coeffRef(i) += alpha * (lhs.row(i).cwiseProduct(actual_rhs.transpose())).sum();
   }
 };
 
@@ -568,9 +379,11 @@ template<> struct gemv_selector<OnTheRight,RowMajor,false>
   *
   * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
   */
+#ifndef __CUDACC__
+
 template<typename Derived>
 template<typename OtherDerived>
-inline const typename ProductReturnType<Derived, OtherDerived>::Type
+inline const Product<Derived, OtherDerived>
 MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
 {
   // A note regarding the function declaration: In MSVC, this function will sometimes
@@ -595,9 +408,12 @@ MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
 #ifdef EIGEN_DEBUG_PRODUCT
   internal::product_type<Derived,OtherDerived>::debug();
 #endif
-  return typename ProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+
+  return Product<Derived, OtherDerived>(derived(), other.derived());
 }
 
+#endif // __CUDACC__
+
 /** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
   *
   * The returned product will behave like any other expressions: the coefficients of the product will be
@@ -611,7 +427,7 @@ MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
   */
 template<typename Derived>
 template<typename OtherDerived>
-const typename LazyProductReturnType<Derived,OtherDerived>::Type
+const Product<Derived,OtherDerived,LazyProduct>
 MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
 {
   enum {
@@ -630,7 +446,7 @@ MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
     INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
   EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
 
-  return typename LazyProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+  return Product<Derived,OtherDerived,LazyProduct>(derived(), other.derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/GenericPacketMath.h b/vendor/eigen/Eigen/src/Core/GenericPacketMath.h
index 5f783eb..029f8ac 100644
--- a/vendor/eigen/Eigen/src/Core/GenericPacketMath.h
+++ b/vendor/eigen/Eigen/src/Core/GenericPacketMath.h
@@ -42,21 +42,28 @@ namespace internal {
 struct default_packet_traits
 {
   enum {
+    HasHalfPacket = 0,
+
     HasAdd    = 1,
     HasSub    = 1,
     HasMul    = 1,
     HasNegate = 1,
     HasAbs    = 1,
+    HasArg    = 0,
     HasAbs2   = 1,
     HasMin    = 1,
     HasMax    = 1,
     HasConj   = 1,
     HasSetLinear = 1,
+    HasBlend  = 0,
 
     HasDiv    = 0,
     HasSqrt   = 0,
+    HasRsqrt  = 0,
     HasExp    = 0,
     HasLog    = 0,
+    HasLog1p  = 0,
+    HasLog10  = 0,
     HasPow    = 0,
 
     HasSin    = 0,
@@ -64,17 +71,37 @@ struct default_packet_traits
     HasTan    = 0,
     HasASin   = 0,
     HasACos   = 0,
-    HasATan   = 0
+    HasATan   = 0,
+    HasSinh   = 0,
+    HasCosh   = 0,
+    HasTanh   = 0,
+    HasLGamma = 0,
+    HasDiGamma = 0,
+    HasZeta = 0,
+    HasPolygamma = 0,
+    HasErf = 0,
+    HasErfc = 0,
+    HasIGamma = 0,
+    HasIGammac = 0,
+    HasBetaInc = 0,
+
+    HasRound  = 0,
+    HasFloor  = 0,
+    HasCeil   = 0,
+
+    HasSign   = 0
   };
 };
 
 template<typename T> struct packet_traits : default_packet_traits
 {
   typedef T type;
+  typedef T half;
   enum {
     Vectorizable = 0,
     size = 1,
-    AlignedOnScalar = 0
+    AlignedOnScalar = 0,
+    HasHalfPacket = 0
   };
   enum {
     HasAdd    = 0,
@@ -90,135 +117,239 @@ template<typename T> struct packet_traits : default_packet_traits
   };
 };
 
+template<typename T> struct packet_traits<const T> : packet_traits<T> { };
+
+template <typename Src, typename Tgt> struct type_casting_traits {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+
+/** \internal \returns static_cast<TgtType>(a) (coeff-wise) */
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a) {
+  return static_cast<TgtPacket>(a);
+}
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/) {
+  return static_cast<TgtPacket>(a);
+}
+
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) {
+  return static_cast<TgtPacket>(a);
+}
+
 /** \internal \returns a + b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 padd(const Packet& a,
         const Packet& b) { return a+b; }
 
 /** \internal \returns a - b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 psub(const Packet& a,
         const Packet& b) { return a-b; }
 
 /** \internal \returns -a (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pnegate(const Packet& a) { return -a; }
 
 /** \internal \returns conj(a) (coeff-wise) */
-template<typename Packet> inline Packet
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pconj(const Packet& a) { return numext::conj(a); }
 
 /** \internal \returns a * b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmul(const Packet& a,
         const Packet& b) { return a*b; }
 
 /** \internal \returns a / b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pdiv(const Packet& a,
         const Packet& b) { return a/b; }
 
 /** \internal \returns the min of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmin(const Packet& a,
-        const Packet& b) { using std::min; return (min)(a, b); }
+        const Packet& b) { return numext::mini(a, b); }
 
 /** \internal \returns the max of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmax(const Packet& a,
-        const Packet& b) { using std::max; return (max)(a, b); }
+        const Packet& b) { return numext::maxi(a, b); }
 
 /** \internal \returns the absolute value of \a a */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pabs(const Packet& a) { using std::abs; return abs(a); }
 
+/** \internal \returns the phase angle of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+parg(const Packet& a) { using numext::arg; return arg(a); }
+
 /** \internal \returns the bitwise and of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pand(const Packet& a, const Packet& b) { return a & b; }
 
 /** \internal \returns the bitwise or of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 por(const Packet& a, const Packet& b) { return a | b; }
 
 /** \internal \returns the bitwise xor of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pxor(const Packet& a, const Packet& b) { return a ^ b; }
 
 /** \internal \returns the bitwise andnot of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pandnot(const Packet& a, const Packet& b) { return a & (!b); }
 
 /** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
 /** \internal \returns a packet version of \a *from, (un-aligned load) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
+/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
+
+/** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pload1(const typename unpacket_traits<Packet>::type  *a) { return pset1<Packet>(*a); }
+
 /** \internal \returns a packet with elements of \a *from duplicated.
-  * For instance, for a packet of 8 elements, 4 scalar will be read from \a *from and
-  * duplicated to form: {from[0],from[0],from[1],from[1],,from[2],from[2],,from[3],from[3]}
+  * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and
+  * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]}
   * Currently, this function is only used for scalar * complex products.
- */
-template<typename Packet> inline Packet
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet
 ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
-/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
-template<typename Packet> inline Packet
-pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
+/** \internal \returns a packet with elements of \a *from quadrupled.
+  * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and
+  * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]}
+  * Currently, this function is only used in matrix products.
+  * For packet-size smaller or equal to 4, this function is equivalent to pload1 
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+ploadquad(const typename unpacket_traits<Packet>::type* from)
+{ return pload1<Packet>(from); }
+
+/** \internal equivalent to
+  * \code
+  * a0 = pload1(a+0);
+  * a1 = pload1(a+1);
+  * a2 = pload1(a+2);
+  * a3 = pload1(a+3);
+  * \endcode
+  * \sa pset1, pload1, ploaddup, pbroadcast2
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast4(const typename unpacket_traits<Packet>::type *a,
+                        Packet& a0, Packet& a1, Packet& a2, Packet& a3)
+{
+  a0 = pload1<Packet>(a+0);
+  a1 = pload1<Packet>(a+1);
+  a2 = pload1<Packet>(a+2);
+  a3 = pload1<Packet>(a+3);
+}
+
+/** \internal equivalent to
+  * \code
+  * a0 = pload1(a+0);
+  * a1 = pload1(a+1);
+  * \endcode
+  * \sa pset1, pload1, ploaddup, pbroadcast4
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast2(const typename unpacket_traits<Packet>::type *a,
+                        Packet& a0, Packet& a1)
+{
+  a0 = pload1<Packet>(a+0);
+  a1 = pload1<Packet>(a+1);
+}
 
 /** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
-template<typename Scalar> inline typename packet_traits<Scalar>::type
-plset(const Scalar& a) { return a; }
+template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet
+plset(const typename unpacket_traits<Packet>::type& a) { return a; }
 
 /** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet> inline void pstore(Scalar* to, const Packet& from)
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from)
 { (*to) = from; }
 
 /** \internal copy the packet \a from to \a *to, (un-aligned store) */
-template<typename Scalar, typename Packet> inline void pstoreu(Scalar* to, const Packet& from)
-{ (*to) = from; }
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from)
+{  (*to) = from; }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/)
+ { return ploadu<Packet>(from); }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/)
+ { pstore(to, from); }
 
 /** \internal tries to do cache prefetching of \a addr */
-template<typename Scalar> inline void prefetch(const Scalar* addr)
+template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr)
 {
-#if !defined(_MSC_VER)
-__builtin_prefetch(addr);
+#ifdef __CUDA_ARCH__
+#if defined(__LP64__)
+  // 64-bit pointer operand constraint for inlined asm
+  asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr));
+#else
+  // 32-bit pointer operand constraint for inlined asm
+  asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr));
+#endif
+#elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC)
+  __builtin_prefetch(addr);
 #endif
 }
 
 /** \internal \returns the first element of a packet */
-template<typename Packet> inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
 { return a; }
 
 /** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 preduxp(const Packet* vecs) { return vecs[0]; }
 
 /** \internal \returns the sum of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+{ return a; }
+
+/** \internal \returns the sum of the elements of \a a by block of 4 elements.
+  * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
+  * For packet-size smaller or equal to 4, this boils down to a noop.
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline
+typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
+predux_downto4(const Packet& a)
 { return a; }
 
 /** \internal \returns the product of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
 { return a; }
 
 /** \internal \returns the min of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
 { return a; }
 
 /** \internal \returns the max of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
 { return a; }
 
 /** \internal \returns the reversed elements of \a a*/
-template<typename Packet> inline Packet preverse(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a)
 { return a; }
 
-
 /** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
-template<typename Packet> inline Packet pcplxflip(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a)
 {
   // FIXME: uncomment the following in case we drop the internal imag and real functions.
 //   using std::imag;
@@ -250,6 +381,22 @@ Packet pasin(const Packet& a) { using std::asin; return asin(a); }
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pacos(const Packet& a) { using std::acos; return acos(a); }
 
+/** \internal \returns the arc tangent of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet patan(const Packet& a) { using std::atan; return atan(a); }
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psinh(const Packet& a) { using std::sinh; return sinh(a); }
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); }
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); }
+
 /** \internal \returns the exp of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pexp(const Packet& a) { using std::exp; return exp(a); }
@@ -258,10 +405,36 @@ Packet pexp(const Packet& a) { using std::exp; return exp(a); }
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet plog(const Packet& a) { using std::log; return log(a); }
 
+/** \internal \returns the log1p of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog1p(const Packet& a) { return numext::log1p(a); }
+
+/** \internal \returns the log10 of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog10(const Packet& a) { using std::log10; return log10(a); }
+
 /** \internal \returns the square-root of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); }
 
+/** \internal \returns the reciprocal square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet prsqrt(const Packet& a) {
+  return pdiv(pset1<Packet>(1), psqrt(a));
+}
+
+/** \internal \returns the rounded value of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pround(const Packet& a) { using numext::round; return round(a); }
+
+/** \internal \returns the floor of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pfloor(const Packet& a) { using numext::floor; return floor(a); }
+
+/** \internal \returns the ceil of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); }
+
 /***************************************************************************
 * The following functions might not have to be overwritten for vectorized types
 ***************************************************************************/
@@ -275,34 +448,45 @@ inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename u
 }
 
 /** \internal \returns a * b + c (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmadd(const Packet&  a,
          const Packet&  b,
          const Packet&  c)
 { return padd(pmul(a, b),c); }
 
 /** \internal \returns a packet version of \a *from.
-  * If LoadMode equals #Aligned, \a from must be 16 bytes aligned */
-template<typename Packet, int LoadMode>
-inline Packet ploadt(const typename unpacket_traits<Packet>::type* from)
+  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits<Packet>::type* from)
 {
-  if(LoadMode == Aligned)
+  if(Alignment >= unpacket_traits<Packet>::alignment)
     return pload<Packet>(from);
   else
     return ploadu<Packet>(from);
 }
 
 /** \internal copy the packet \a from to \a *to.
-  * If StoreMode equals #Aligned, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet, int LoadMode>
-inline void pstoret(Scalar* to, const Packet& from)
+  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Scalar, typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from)
 {
-  if(LoadMode == Aligned)
+  if(Alignment >= unpacket_traits<Packet>::alignment)
     pstore(to, from);
   else
     pstoreu(to, from);
 }
 
+/** \internal \returns a packet version of \a *from.
+  * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the
+  * hardware if available to speedup the loading of data that won't be modified
+  * by the current computation.
+  */
+template<typename Packet, int LoadMode>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt_ro(const typename unpacket_traits<Packet>::type* from)
+{
+  return ploadt<Packet, LoadMode>(from);
+}
+
 /** \internal default implementation of palign() allowing partial specialization */
 template<int Offset,typename PacketType>
 struct palign_impl
@@ -336,15 +520,74 @@ inline void palign(PacketType& first, const PacketType& second)
 * Fast complex products (GCC generates a function call which is very slow)
 ***************************************************************************/
 
+// Eigen+CUDA does not support complexes.
+#ifndef __CUDACC__
+
 template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
 { return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
 
 template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
 { return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
 
+#endif
+
+
+/***************************************************************************
+ * PacketBlock, that is a collection of N packets where the number of words
+ * in the packet is a multiple of N.
+***************************************************************************/
+template <typename Packet,int N=unpacket_traits<Packet>::size> struct PacketBlock {
+  Packet packet[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet,1>& /*kernel*/) {
+  // Nothing to do in the scalar case, i.e. a 1x1 matrix.
+}
+
+/***************************************************************************
+ * Selector, i.e. vector of N boolean values used to select (i.e. blend)
+ * words from 2 packets.
+***************************************************************************/
+template <size_t N> struct Selector {
+  bool select[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pblend(const Selector<unpacket_traits<Packet>::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) {
+  return ifPacket.select[0] ? thenPacket : elsePacket;
+}
+
+/** \internal \returns \a a with the first coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertfirst(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+  // Default implementation based on pblend.
+  // It must be specialized for higher performance.
+  Selector<unpacket_traits<Packet>::size> mask;
+  mask.select[0] = true;
+  // This for loop should be optimized away by the compiler.
+  for(Index i=1; i<unpacket_traits<Packet>::size; ++i)
+    mask.select[i] = false;
+  return pblend(mask, pset1<Packet>(b), a);
+}
+
+/** \internal \returns \a a with the last coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertlast(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+  // Default implementation based on pblend.
+  // It must be specialized for higher performance.
+  Selector<unpacket_traits<Packet>::size> mask;
+  // This for loop should be optimized away by the compiler.
+  for(Index i=0; i<unpacket_traits<Packet>::size-1; ++i)
+    mask.select[i] = false;
+  mask.select[unpacket_traits<Packet>::size-1] = true;
+  return pblend(mask, pset1<Packet>(b), a);
+}
+
 } // end namespace internal
 
 } // end namespace Eigen
 
 #endif // EIGEN_GENERIC_PACKET_MATH_H
-
diff --git a/vendor/eigen/Eigen/src/Core/GlobalFunctions.h b/vendor/eigen/Eigen/src/Core/GlobalFunctions.h
index 2acf977..769dc25 100644
--- a/vendor/eigen/Eigen/src/Core/GlobalFunctions.h
+++ b/vendor/eigen/Eigen/src/Core/GlobalFunctions.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2010-2012 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2010-2016 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,13 +11,30 @@
 #ifndef EIGEN_GLOBAL_FUNCTIONS_H
 #define EIGEN_GLOBAL_FUNCTIONS_H
 
-#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR) \
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
+  /** \returns an expression of the coefficient-wise DOC_OP of \a x
+
+    DOC_DETAILS
+
+    \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_##NAME">Math functions</a>, class CwiseUnaryOp
+    */ \
+  template<typename Derived> \
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+  NAME(const Eigen::ArrayBase<Derived>& x);
+
+#else
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
   template<typename Derived> \
   inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
-  NAME(const Eigen::ArrayBase<Derived>& x) { \
-    return x.derived(); \
+  (NAME)(const Eigen::ArrayBase<Derived>& x) { \
+    return Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived>(x.derived()); \
   }
 
+#endif // EIGEN_PARSED_BY_DOXYGEN
+
 #define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
   \
   template<typename Derived> \
@@ -30,55 +47,133 @@
   { \
     static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
     { \
-      return x.derived(); \
+      return typename NAME##_retval<ArrayBase<Derived> >::type(x.derived()); \
     } \
   };
 
-
 namespace Eigen
 {
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
   
+  /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
+    *
+    * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
+    *
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+  template<typename Derived,typename ScalarExponent>
+  inline const CwiseBinaryOp<internal::scalar_pow_op<Derived::Scalar,ScalarExponent>,Derived,Constant<ScalarExponent> >
+  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent);
+#else
+  template<typename Derived,typename ScalarExponent>
+  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,ScalarExponent>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent),
+          const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type
+  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent) {
+    return x.derived().pow(exponent);
+  }
+
   template<typename Derived>
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar>, const Derived>
+  inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow)
   pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) {
     return x.derived().pow(exponent);
   }
+#endif
 
-  template<typename Derived>
-  inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_binary_pow_op<typename Derived::Scalar, typename Derived::Scalar>, const Derived, const Derived>
-  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<Derived>& exponents) 
+  /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents.
+    *
+    * This function computes the coefficient-wise power.
+    *
+    * Example: \include Cwise_array_power_array.cpp
+    * Output: \verbinclude Cwise_array_power_array.out
+    * 
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+  template<typename Derived,typename ExponentDerived>
+  inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
+  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents) 
   {
-    return Eigen::CwiseBinaryOp<Eigen::internal::scalar_binary_pow_op<typename Derived::Scalar, typename Derived::Scalar>, const Derived, const Derived>(
+    return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
       x.derived(),
       exponents.derived()
     );
   }
   
-  /**
-  * \brief Component-wise division of a scalar by array elements.
-  **/
-  template <typename Derived>
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>, const Derived>
-    operator/(const typename Derived::Scalar& s, const Eigen::ArrayBase<Derived>& a)
+  /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
+    *
+    * This function computes the coefficient-wise power between a scalar and an array of exponents.
+    *
+    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+    *
+    * Example: \include Cwise_scalar_power_array.cpp
+    * Output: \verbinclude Cwise_scalar_power_array.out
+    * 
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+  template<typename Scalar,typename Derived>
+  inline const CwiseBinaryOp<internal::scalar_pow_op<Scalar,Derived::Scalar>,Constant<Scalar>,Derived>
+  pow(const Scalar& x,const Eigen::ArrayBase<Derived>& x);
+#else
+  template<typename Scalar, typename Derived>
+  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,Scalar>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar),
+          const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type
+  pow(const Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
   {
-    return Eigen::CwiseUnaryOp<Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>, const Derived>(
-      a.derived(),
-      Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>(s)  
-    );
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)(
+            typename internal::plain_constant_type<Derived,Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
   }
 
+  template<typename Derived>
+  inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)
+  pow(const typename Derived::Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
+  {
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)(
+      typename internal::plain_constant_type<Derived,typename Derived::Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
+  }
+#endif
+
+
   namespace internal
   {
     EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
diff --git a/vendor/eigen/Eigen/src/Core/IO.h b/vendor/eigen/Eigen/src/Core/IO.h
index 8d4bc59..da7fd6c 100644
--- a/vendor/eigen/Eigen/src/Core/IO.h
+++ b/vendor/eigen/Eigen/src/Core/IO.h
@@ -49,7 +49,7 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   */
 struct IOFormat
 {
-  /** Default contructor, see class IOFormat for the meaning of the parameters */
+  /** Default constructor, see class IOFormat for the meaning of the parameters */
   IOFormat(int _precision = StreamPrecision, int _flags = 0,
     const std::string& _coeffSeparator = " ",
     const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
@@ -57,6 +57,10 @@ struct IOFormat
   : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
     rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
   {
+    // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline
+    // don't add rowSpacer if columns are not to be aligned
+    if((flags & DontAlignCols))
+      return;
     int i = int(matSuffix.length())-1;
     while (i>=0 && matSuffix[i]!='\n')
     {
@@ -76,7 +80,7 @@ struct IOFormat
   *
   * \brief Pseudo expression providing matrix output with given format
   *
-  * \param ExpressionType the type of the object on which IO stream operations are performed
+  * \tparam ExpressionType the type of the object on which IO stream operations are performed
   *
   * This class represents an expression with stream operators controlled by a given IOFormat.
   * It is the return type of DenseBase::format()
@@ -101,52 +105,24 @@ class WithFormat
     }
 
   protected:
-    const typename ExpressionType::Nested m_matrix;
+    typename ExpressionType::Nested m_matrix;
     IOFormat m_format;
 };
 
-/** \returns a WithFormat proxy object allowing to print a matrix the with given
-  * format \a fmt.
-  *
-  * See class IOFormat for some examples.
-  *
-  * \sa class IOFormat, class WithFormat
-  */
-template<typename Derived>
-inline const WithFormat<Derived>
-DenseBase<Derived>::format(const IOFormat& fmt) const
-{
-  return WithFormat<Derived>(derived(), fmt);
-}
-
 namespace internal {
 
-template<typename Scalar, bool IsInteger>
-struct significant_decimals_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static inline int run()
-  {
-    using std::ceil;
-    using std::log;
-    return cast<RealScalar,int>(ceil(-log(NumTraits<RealScalar>::epsilon())/log(RealScalar(10))));
-  }
-};
-
+// NOTE: This helper is kept for backward compatibility with previous code specializing
+//       this internal::significant_decimals_impl structure. In the future we should directly
+//       call digits10() which has been introduced in July 2016 in 3.3.
 template<typename Scalar>
-struct significant_decimals_default_impl<Scalar, true>
+struct significant_decimals_impl
 {
   static inline int run()
   {
-    return 0;
+    return NumTraits<Scalar>::digits10();
   }
 };
 
-template<typename Scalar>
-struct significant_decimals_impl
-  : significant_decimals_default_impl<Scalar, NumTraits<Scalar>::IsInteger>
-{};
-
 /** \internal
   * print the matrix \a _m to the output stream \a s using the output format \a fmt */
 template<typename Derived>
@@ -160,7 +136,6 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   
   typename Derived::Nested m = _m;
   typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
 
   Index width = 0;
 
diff --git a/vendor/eigen/Eigen/src/Core/Inverse.h b/vendor/eigen/Eigen/src/Core/Inverse.h
new file mode 100644
index 0000000..b76f043
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/Inverse.h
@@ -0,0 +1,118 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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_INVERSE_H
+#define EIGEN_INVERSE_H
+
+namespace Eigen { 
+
+template<typename XprType,typename StorageKind> class InverseImpl;
+
+namespace internal {
+
+template<typename XprType>
+struct traits<Inverse<XprType> >
+  : traits<typename XprType::PlainObject>
+{
+  typedef typename XprType::PlainObject PlainObject;
+  typedef traits<PlainObject> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit
+  };
+};
+
+} // end namespace internal
+
+/** \class Inverse
+  *
+  * \brief Expression of the inverse of another expression
+  *
+  * \tparam XprType the type of the expression we are taking the inverse
+  *
+  * This class represents an abstract expression of A.inverse()
+  * and most of the time this is the only way it is used.
+  *
+  */
+template<typename XprType>
+class Inverse : public InverseImpl<XprType,typename internal::traits<XprType>::StorageKind>
+{
+public:
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename XprType::PlainObject                       PlainObject;
+  typedef typename XprType::Scalar                            Scalar;
+  typedef typename internal::ref_selector<XprType>::type      XprTypeNested;
+  typedef typename internal::remove_all<XprTypeNested>::type  XprTypeNestedCleaned;
+  typedef typename internal::ref_selector<Inverse>::type Nested;
+  typedef typename internal::remove_all<XprType>::type NestedExpression;
+  
+  explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr)
+    : m_xpr(xpr)
+  {}
+
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+
+  EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; }
+
+protected:
+  XprTypeNested m_xpr;
+};
+
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class InverseImpl
+  : public internal::generic_xpr_base<Inverse<XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<Inverse<XprType> >::type Base;
+  typedef typename XprType::Scalar Scalar;
+private:
+
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+namespace internal {
+
+/** \internal
+  * \brief Default evaluator for Inverse expression.
+  * 
+  * This default evaluator for Inverse expression simply evaluate the inverse into a temporary
+  * by a call to internal::call_assignment_no_alias.
+  * Therefore, inverse implementers only have to specialize Assignment<Dst,Inverse<...>, ...> for
+  * there own nested expression.
+  *
+  * \sa class Inverse
+  */
+template<typename ArgType>
+struct unary_evaluator<Inverse<ArgType> >
+  : public evaluator<typename Inverse<ArgType>::PlainObject>
+{
+  typedef Inverse<ArgType> InverseType;
+  typedef typename InverseType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  enum { Flags = Base::Flags | EvalBeforeNestingBit };
+
+  unary_evaluator(const InverseType& inv_xpr)
+    : m_result(inv_xpr.rows(), inv_xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    internal::call_assignment_no_alias(m_result, inv_xpr);
+  }
+  
+protected:
+  PlainObject m_result;
+};
+  
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_H
diff --git a/vendor/eigen/Eigen/src/Core/Map.h b/vendor/eigen/Eigen/src/Core/Map.h
index f804c89..06d1967 100644
--- a/vendor/eigen/Eigen/src/Core/Map.h
+++ b/vendor/eigen/Eigen/src/Core/Map.h
@@ -13,13 +13,35 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct traits<Map<PlainObjectType, MapOptions, StrideType> >
+  : public traits<PlainObjectType>
+{
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    Alignment = int(MapOptions)&int(AlignedMask),
+    Flags0 = TraitsBase::Flags & (~NestByRefBit),
+    Flags = is_lvalue<PlainObjectType>::value ? int(Flags0) : (int(Flags0) & ~LvalueBit)
+  };
+private:
+  enum { Options }; // Expressions don't have Options
+};
+}
+
 /** \class Map
   * \ingroup Core_Module
   *
   * \brief A matrix or vector expression mapping an existing array of data.
   *
   * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam MapOptions specifies whether the pointer is \c #Aligned, or \c #Unaligned.
+  * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
   *                The default is \c #Unaligned.
   * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
   *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
@@ -63,44 +85,6 @@ namespace Eigen {
   *
   * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
   */
-
-namespace internal {
-template<typename PlainObjectType, int MapOptions, typename StrideType>
-struct traits<Map<PlainObjectType, MapOptions, StrideType> >
-  : public traits<PlainObjectType>
-{
-  typedef traits<PlainObjectType> TraitsBase;
-  typedef typename PlainObjectType::Index Index;
-  typedef typename PlainObjectType::Scalar Scalar;
-  enum {
-    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
-                             ? int(PlainObjectType::InnerStrideAtCompileTime)
-                             : int(StrideType::InnerStrideAtCompileTime),
-    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
-                             ? int(PlainObjectType::OuterStrideAtCompileTime)
-                             : int(StrideType::OuterStrideAtCompileTime),
-    HasNoInnerStride = InnerStrideAtCompileTime == 1,
-    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
-    HasNoStride = HasNoInnerStride && HasNoOuterStride,
-    IsAligned = bool(EIGEN_ALIGN) && ((int(MapOptions)&Aligned)==Aligned),
-    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
-    KeepsPacketAccess = bool(HasNoInnerStride)
-                        && ( bool(IsDynamicSize)
-                           || HasNoOuterStride
-                           || ( OuterStrideAtCompileTime!=Dynamic
-                           && ((static_cast<int>(sizeof(Scalar))*OuterStrideAtCompileTime)%16)==0 ) ),
-    Flags0 = TraitsBase::Flags & (~NestByRefBit),
-    Flags1 = IsAligned ? (int(Flags0) | AlignedBit) : (int(Flags0) & ~AlignedBit),
-    Flags2 = (bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime))
-           ? int(Flags1) : int(Flags1 & ~LinearAccessBit),
-    Flags3 = is_lvalue<PlainObjectType>::value ? int(Flags2) : (int(Flags2) & ~LvalueBit),
-    Flags = KeepsPacketAccess ? int(Flags3) : (int(Flags3) & ~PacketAccessBit)
-  };
-private:
-  enum { Options }; // Expressions don't have Options
-};
-}
-
 template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
   : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
 {
@@ -110,19 +94,17 @@ 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
     {
       return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
@@ -134,10 +116,11 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the fixed-size case.
       *
       * \param dataPtr pointer to the array to map
-      * \param a_stride optional Stride object, passing the strides.
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr)), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr)), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -145,11 +128,12 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the dynamic-size vector case.
       *
       * \param dataPtr pointer to the array to map
-      * \param a_size the size of the vector expression
-      * \param a_stride optional Stride object, passing the strides.
+      * \param size the size of the vector expression
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, Index a_size, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), a_size), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -157,12 +141,13 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the dynamic-size matrix case.
       *
       * \param dataPtr pointer to the array to map
-      * \param nbRows the number of rows of the matrix expression
-      * \param nbCols the number of columns of the matrix expression
-      * \param a_stride optional Stride object, passing the strides.
+      * \param rows the number of rows of the matrix expression
+      * \param cols the number of columns of the matrix expression
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, Index nbRows, Index nbCols, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), nbRows, nbCols), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -173,19 +158,6 @@ 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/vendor/eigen/Eigen/src/Core/MapBase.h b/vendor/eigen/Eigen/src/Core/MapBase.h
index 81efc4a..020f939 100644
--- a/vendor/eigen/Eigen/src/Core/MapBase.h
+++ b/vendor/eigen/Eigen/src/Core/MapBase.h
@@ -12,15 +12,25 @@
 #define EIGEN_MAPBASE_H
 
 #define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
-      EIGEN_STATIC_ASSERT((int(internal::traits<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
+      EIGEN_STATIC_ASSERT((int(internal::evaluator<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
                           YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
 
 namespace Eigen { 
 
-/** \class MapBase
-  * \ingroup Core_Module
+/** \ingroup Core_Module
   *
-  * \brief Base class for Map and Block expression with direct access
+  * \brief Base class for dense Map and Block expression with direct access
+  *
+  * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense
+  * Map and Block objects with direct access.
+  * Typical users do not have to directly deal with this class.
+  *
+  * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN.
+  * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details.
+  *
+  * The \c Derived class has to provide the following two methods describing the memory layout:
+  *  \code Index innerStride() const; \endcode
+  *  \code Index outerStride() const; \endcode
   *
   * \sa class Map, class Block
   */
@@ -37,7 +47,6 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
     };
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -76,8 +85,10 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
 
     typedef typename Base::CoeffReturnType CoeffReturnType;
 
-    inline Index rows() const { return m_rows.value(); }
-    inline Index cols() const { return m_cols.value(); }
+    /** \copydoc DenseBase::rows() */
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); }
+    /** \copydoc DenseBase::cols() */
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); }
 
     /** Returns a pointer to the first coefficient of the matrix or vector.
       *
@@ -85,30 +96,39 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       *
       * \sa innerStride(), outerStride()
       */
-    inline const Scalar* data() const { return m_data; }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; }
 
+    /** \copydoc PlainObjectBase::coeff(Index,Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeff(Index rowId, Index colId) const
     {
       return m_data[colId * colStride() + rowId * rowStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeff(Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeff(Index index) const
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
       return m_data[index * innerStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return this->m_data[colId * colStride() + rowId * rowStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeffRef(Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
       return this->m_data[index * innerStride()];
     }
 
+    /** \internal */
     template<int LoadMode>
     inline PacketScalar packet(Index rowId, Index colId) const
     {
@@ -116,6 +136,7 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
                (m_data + (colId * colStride() + rowId * rowStride()));
     }
 
+    /** \internal */
     template<int LoadMode>
     inline PacketScalar packet(Index index) const
     {
@@ -123,12 +144,16 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
     }
 
+    /** \internal Constructor for fixed size matrices or vectors */
+    EIGEN_DEVICE_FUNC
     explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
     {
       EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-      checkSanity();
+      checkSanity<Derived>();
     }
 
+    /** \internal Constructor for dynamically sized vectors */
+    EIGEN_DEVICE_FUNC
     inline MapBase(PointerType dataPtr, Index vecSize)
             : m_data(dataPtr),
               m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)),
@@ -137,16 +162,18 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
       eigen_assert(vecSize >= 0);
       eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize);
-      checkSanity();
+      checkSanity<Derived>();
     }
 
-    inline MapBase(PointerType dataPtr, Index nbRows, Index nbCols)
-            : m_data(dataPtr), m_rows(nbRows), m_cols(nbCols)
+    /** \internal Constructor for dynamically sized matrices */
+    EIGEN_DEVICE_FUNC
+    inline MapBase(PointerType dataPtr, Index rows, Index cols)
+            : m_data(dataPtr), m_rows(rows), m_cols(cols)
     {
       eigen_assert( (dataPtr == 0)
-              || (   nbRows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == nbRows)
-                  && nbCols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == nbCols)));
-      checkSanity();
+              || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+                  && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+      checkSanity<Derived>();
     }
 
     #ifdef EIGEN_MAPBASE_PLUGIN
@@ -155,20 +182,36 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
 
   protected:
 
-    void checkSanity() const
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    void checkSanity(typename internal::enable_if<(internal::traits<T>::Alignment>0),void*>::type = 0) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
-                                        internal::inner_stride_at_compile_time<Derived>::ret==1),
-                          PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
-      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % 16) == 0)
-                   && "input pointer is not aligned on a 16 byte boundary");
+#if EIGEN_MAX_ALIGN_BYTES>0
+      eigen_assert((   ((internal::UIntPtr(m_data) % internal::traits<Derived>::Alignment) == 0)
+                    || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
+#endif
     }
 
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    void checkSanity(typename internal::enable_if<internal::traits<T>::Alignment==0,void*>::type = 0) const
+    {}
+
     PointerType m_data;
     const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
     const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
 };
 
+/** \ingroup Core_Module
+  *
+  * \brief Base class for non-const dense Map and Block expression with direct access
+  *
+  * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of
+  * dense Map and Block objects with direct access.
+  * It inherits MapBase<Derived, ReadOnlyAccessors> which defines the const variant for reading specific entries.
+  *
+  * \sa class Map, class Block
+  */
 template<typename Derived> class MapBase<Derived, WriteAccessors>
   : public MapBase<Derived, ReadOnlyAccessors>
 {
@@ -179,7 +222,7 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
 
     typedef typename Base::Scalar Scalar;
     typedef typename Base::PacketScalar PacketScalar;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
     typedef typename Base::PointerType PointerType;
 
     using Base::derived;
@@ -200,14 +243,18 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
                     const Scalar
                   >::type ScalarWithConstIfNotLvalue;
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return this->m_data; }
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
 
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
     {
       return this->m_data[col * colStride() + row * rowStride()];
     }
 
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
@@ -229,10 +276,11 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
                 (this->m_data + index * innerStride(), val);
     }
 
-    explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
-    inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
-    inline MapBase(PointerType dataPtr, Index nbRows, Index nbCols) : Base(dataPtr, nbRows, nbCols) {}
+    EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
+    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
+    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {}
 
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const MapBase& other)
     {
       ReadOnlyMapBase::Base::operator=(other);
diff --git a/vendor/eigen/Eigen/src/Core/MathFunctions.h b/vendor/eigen/Eigen/src/Core/MathFunctions.h
index 4e17ecd..a648aa0 100644
--- a/vendor/eigen/Eigen/src/Core/MathFunctions.h
+++ b/vendor/eigen/Eigen/src/Core/MathFunctions.h
@@ -10,11 +10,25 @@
 #ifndef EIGEN_MATHFUNCTIONS_H
 #define EIGEN_MATHFUNCTIONS_H
 
+// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html
+// TODO this should better be moved to NumTraits
+#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L
+
+
 namespace Eigen {
 
+// On WINCE, std::abs is defined for int only, so let's defined our own overloads:
+// This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too.
+#if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500
+long        abs(long        x) { return (labs(x));  }
+double      abs(double      x) { return (fabs(x));  }
+float       abs(float       x) { return (fabsf(x)); }
+long double abs(long double x) { return (fabsl(x)); }
+#endif
+
 namespace internal {
 
-/** \internal \struct global_math_functions_filtering_base
+/** \internal \class global_math_functions_filtering_base
   *
   * What it does:
   * Defines a typedef 'type' as follows:
@@ -62,6 +76,7 @@ template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct real_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     return x;
@@ -72,6 +87,7 @@ template<typename Scalar>
 struct real_default_impl<Scalar,true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     using std::real;
@@ -81,13 +97,25 @@ struct real_default_impl<Scalar,true>
 
 template<typename Scalar> struct real_impl : real_default_impl<Scalar> {};
 
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct real_impl<std::complex<T> >
+{
+  typedef T RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline T run(const std::complex<T>& x)
+  {
+    return x.real();
+  }
+};
+#endif
+
 template<typename Scalar>
 struct real_retval
 {
   typedef typename NumTraits<Scalar>::Real type;
 };
 
-
 /****************************************************************************
 * Implementation of imag                                                 *
 ****************************************************************************/
@@ -96,6 +124,7 @@ template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct imag_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar&)
   {
     return RealScalar(0);
@@ -106,6 +135,7 @@ template<typename Scalar>
 struct imag_default_impl<Scalar,true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     using std::imag;
@@ -115,6 +145,19 @@ struct imag_default_impl<Scalar,true>
 
 template<typename Scalar> struct imag_impl : imag_default_impl<Scalar> {};
 
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct imag_impl<std::complex<T> >
+{
+  typedef T RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline T run(const std::complex<T>& x)
+  {
+    return x.imag();
+  }
+};
+#endif
+
 template<typename Scalar>
 struct imag_retval
 {
@@ -129,10 +172,12 @@ template<typename Scalar>
 struct real_ref_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar& run(Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[0];
   }
+  EIGEN_DEVICE_FUNC
   static inline const RealScalar& run(const Scalar& x)
   {
     return reinterpret_cast<const RealScalar*>(&x)[0];
@@ -153,10 +198,12 @@ template<typename Scalar, bool IsComplex>
 struct imag_ref_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar& run(Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[1];
   }
+  EIGEN_DEVICE_FUNC
   static inline const RealScalar& run(const Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[1];
@@ -166,10 +213,12 @@ struct imag_ref_default_impl
 template<typename Scalar>
 struct imag_ref_default_impl<Scalar, false>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(Scalar&)
   {
     return Scalar(0);
   }
+  EIGEN_DEVICE_FUNC
   static inline const Scalar run(const Scalar&)
   {
     return Scalar(0);
@@ -192,6 +241,7 @@ struct imag_ref_retval
 template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct conj_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
     return x;
@@ -201,6 +251,7 @@ struct conj_impl
 template<typename Scalar>
 struct conj_impl<Scalar,true>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
     using std::conj;
@@ -218,26 +269,40 @@ struct conj_retval
 * Implementation of abs2                                                 *
 ****************************************************************************/
 
-template<typename Scalar>
-struct abs2_impl
+template<typename Scalar,bool IsComplex>
+struct abs2_impl_default
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     return x*x;
   }
 };
 
-template<typename RealScalar>
-struct abs2_impl<std::complex<RealScalar> >
+template<typename Scalar>
+struct abs2_impl_default<Scalar, true> // IsComplex
 {
-  static inline RealScalar run(const std::complex<RealScalar>& x)
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
   {
     return real(x)*real(x) + imag(x)*imag(x);
   }
 };
 
 template<typename Scalar>
+struct abs2_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
+  {
+    return abs2_impl_default<Scalar,NumTraits<Scalar>::IsComplex>::run(x);
+  }
+};
+
+template<typename Scalar>
 struct abs2_retval
 {
   typedef typename NumTraits<Scalar>::Real type;
@@ -251,9 +316,10 @@ template<typename Scalar, bool IsComplex>
 struct norm1_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
-    using std::abs;
+    EIGEN_USING_STD_MATH(abs);
     return abs(real(x)) + abs(imag(x));
   }
 };
@@ -261,9 +327,10 @@ struct norm1_default_impl
 template<typename Scalar>
 struct norm1_default_impl<Scalar, false>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
-    using std::abs;
+    EIGEN_USING_STD_MATH(abs);
     return abs(x);
   }
 };
@@ -287,16 +354,22 @@ struct hypot_impl
   typedef typename NumTraits<Scalar>::Real RealScalar;
   static inline RealScalar run(const Scalar& x, const Scalar& y)
   {
-    using std::max;
-    using std::min;
-    using std::abs;
-    using std::sqrt;
+    EIGEN_USING_STD_MATH(abs);
+    EIGEN_USING_STD_MATH(sqrt);
     RealScalar _x = abs(x);
     RealScalar _y = abs(y);
-    RealScalar p = (max)(_x, _y);
+    Scalar p, qp;
+    if(_x>_y)
+    {
+      p = _x;
+      qp = _y / p;
+    }
+    else
+    {
+      p = _y;
+      qp = _x / p;
+    }
     if(p==RealScalar(0)) return RealScalar(0);
-    RealScalar q = (min)(_x, _y);
-    RealScalar qp = q/p;
     return p * sqrt(RealScalar(1) + qp*qp);
   }
 };
@@ -314,6 +387,7 @@ struct hypot_retval
 template<typename OldType, typename NewType>
 struct cast_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline NewType run(const OldType& x)
   {
     return static_cast<NewType>(x);
@@ -323,48 +397,124 @@ struct cast_impl
 // here, for once, we're plainly returning NewType: we don't want cast to do weird things.
 
 template<typename OldType, typename NewType>
+EIGEN_DEVICE_FUNC
 inline NewType cast(const OldType& x)
 {
   return cast_impl<OldType, NewType>::run(x);
 }
 
 /****************************************************************************
-* Implementation of atanh2                                                *
+* Implementation of round                                                   *
 ****************************************************************************/
 
-template<typename Scalar, bool IsInteger>
-struct atanh2_default_impl
-{
-  typedef Scalar retval;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static inline Scalar run(const Scalar& x, const Scalar& y)
+#if EIGEN_HAS_CXX11_MATH
+  template<typename Scalar>
+  struct round_impl {
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+      using std::round;
+      return round(x);
+    }
+  };
+#else
+  template<typename Scalar>
+  struct round_impl
   {
-    using std::abs;
-    using std::log;
-    using std::sqrt;
-    Scalar z = x / y;
-    if (y == Scalar(0) || abs(z) > sqrt(NumTraits<RealScalar>::epsilon()))
-      return RealScalar(0.5) * log((y + x) / (y - x));
-    else
-      return z + z*z*z / RealScalar(3);
-  }
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+      EIGEN_USING_STD_MATH(floor);
+      EIGEN_USING_STD_MATH(ceil);
+      return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5));
+    }
+  };
+#endif
+
+template<typename Scalar>
+struct round_retval
+{
+  typedef Scalar type;
 };
 
+/****************************************************************************
+* Implementation of arg                                                     *
+****************************************************************************/
+
+#if EIGEN_HAS_CXX11_MATH
+  template<typename Scalar>
+  struct arg_impl {
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_USING_STD_MATH(arg);
+      return arg(x);
+    }
+  };
+#else
+  template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+  struct arg_default_impl
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_DEVICE_FUNC
+    static inline RealScalar run(const Scalar& x)
+    {
+      return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); }
+  };
+
+  template<typename Scalar>
+  struct arg_default_impl<Scalar,true>
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_DEVICE_FUNC
+    static inline RealScalar run(const Scalar& x)
+    {
+      EIGEN_USING_STD_MATH(arg);
+      return arg(x);
+    }
+  };
+
+  template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
+#endif
+
 template<typename Scalar>
-struct atanh2_default_impl<Scalar, true>
+struct arg_retval
 {
-  static inline Scalar run(const Scalar&, const Scalar&)
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of log1p                                                   *
+****************************************************************************/
+
+namespace std_fallback {
+  // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar,
+  // or that there is no suitable std::log1p function available
+  template<typename Scalar>
+  EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_USING_STD_MATH(log);
+    Scalar x1p = RealScalar(1) + x;
+    return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) );
+  }
+}
+
+template<typename Scalar>
+struct log1p_impl {
+  static inline Scalar run(const Scalar& x)
   {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
-    return Scalar(0);
+    #if EIGEN_HAS_CXX11_MATH
+    using std::log1p;
+    #endif
+    using std_fallback::log1p;
+    return log1p(x);
   }
 };
 
-template<typename Scalar>
-struct atanh2_impl : atanh2_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
 
 template<typename Scalar>
-struct atanh2_retval
+struct log1p_retval
 {
   typedef Scalar type;
 };
@@ -373,24 +523,26 @@ struct atanh2_retval
 * Implementation of pow                                                  *
 ****************************************************************************/
 
-template<typename Scalar, bool IsInteger>
-struct pow_default_impl
+template<typename ScalarX,typename ScalarY, bool IsInteger = NumTraits<ScalarX>::IsInteger&&NumTraits<ScalarY>::IsInteger>
+struct pow_impl
 {
-  typedef Scalar retval;
-  static inline Scalar run(const Scalar& x, const Scalar& y)
+  //typedef Scalar retval;
+  typedef typename ScalarBinaryOpTraits<ScalarX,ScalarY,internal::scalar_pow_op<ScalarX,ScalarY> >::ReturnType result_type;
+  static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y)
   {
-    using std::pow;
+    EIGEN_USING_STD_MATH(pow);
     return pow(x, y);
   }
 };
 
-template<typename Scalar>
-struct pow_default_impl<Scalar, true>
+template<typename ScalarX,typename ScalarY>
+struct pow_impl<ScalarX,ScalarY, true>
 {
-  static inline Scalar run(Scalar x, Scalar y)
+  typedef ScalarX result_type;
+  static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y)
   {
-    Scalar res(1);
-    eigen_assert(!NumTraits<Scalar>::IsSigned || y >= 0);
+    ScalarX res(1);
+    eigen_assert(!NumTraits<ScalarY>::IsSigned || y >= 0);
     if(y & 1) res *= x;
     y >>= 1;
     while(y)
@@ -403,15 +555,6 @@ struct pow_default_impl<Scalar, true>
   }
 };
 
-template<typename Scalar>
-struct pow_impl : pow_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
-
-template<typename Scalar>
-struct pow_retval
-{
-  typedef Scalar type;
-};
-
 /****************************************************************************
 * Implementation of random                                               *
 ****************************************************************************/
@@ -447,48 +590,48 @@ struct random_default_impl<Scalar, false, false>
 };
 
 enum {
-  floor_log2_terminate,
-  floor_log2_move_up,
-  floor_log2_move_down,
-  floor_log2_bogus
+  meta_floor_log2_terminate,
+  meta_floor_log2_move_up,
+  meta_floor_log2_move_down,
+  meta_floor_log2_bogus
 };
 
-template<unsigned int n, int lower, int upper> struct floor_log2_selector
+template<unsigned int n, int lower, int upper> struct meta_floor_log2_selector
 {
   enum { middle = (lower + upper) / 2,
-         value = (upper <= lower + 1) ? int(floor_log2_terminate)
-               : (n < (1 << middle)) ? int(floor_log2_move_down)
-               : (n==0) ? int(floor_log2_bogus)
-               : int(floor_log2_move_up)
+         value = (upper <= lower + 1) ? int(meta_floor_log2_terminate)
+               : (n < (1 << middle)) ? int(meta_floor_log2_move_down)
+               : (n==0) ? int(meta_floor_log2_bogus)
+               : int(meta_floor_log2_move_up)
   };
 };
 
 template<unsigned int n,
          int lower = 0,
          int upper = sizeof(unsigned int) * CHAR_BIT - 1,
-         int selector = floor_log2_selector<n, lower, upper>::value>
-struct floor_log2 {};
+         int selector = meta_floor_log2_selector<n, lower, upper>::value>
+struct meta_floor_log2 {};
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_move_down>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_down>
 {
-  enum { value = floor_log2<n, lower, floor_log2_selector<n, lower, upper>::middle>::value };
+  enum { value = meta_floor_log2<n, lower, meta_floor_log2_selector<n, lower, upper>::middle>::value };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_move_up>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_up>
 {
-  enum { value = floor_log2<n, floor_log2_selector<n, lower, upper>::middle, upper>::value };
+  enum { value = meta_floor_log2<n, meta_floor_log2_selector<n, lower, upper>::middle, upper>::value };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_terminate>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_terminate>
 {
   enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_bogus>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_bogus>
 {
   // no value, error at compile time
 };
@@ -496,11 +639,24 @@ struct floor_log2<n, lower, upper, floor_log2_bogus>
 template<typename Scalar>
 struct random_default_impl<Scalar, false, true>
 {
-  typedef typename NumTraits<Scalar>::NonInteger NonInteger;
-
   static inline Scalar run(const Scalar& x, const Scalar& y)
-  {
-    return x + Scalar((NonInteger(y)-x+1) * std::rand() / (RAND_MAX + NonInteger(1)));
+  { 
+    typedef typename conditional<NumTraits<Scalar>::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX;
+    if(y<x)
+      return x;
+    // the following difference might overflow on a 32 bits system,
+    // but since y>=x the result converted to an unsigned long is still correct.
+    std::size_t range = ScalarX(y)-ScalarX(x);
+    std::size_t offset = 0;
+    // rejection sampling
+    std::size_t divisor = 1;
+    std::size_t multiplier = 1;
+    if(range<RAND_MAX) divisor = (std::size_t(RAND_MAX)+1)/(range+1);
+    else               multiplier = 1 + range/(std::size_t(RAND_MAX)+1);
+    do {
+      offset = (std::size_t(std::rand()) * multiplier) / divisor;
+    } while (offset > range);
+    return Scalar(ScalarX(x) + offset);
   }
 
   static inline Scalar run()
@@ -508,7 +664,7 @@ struct random_default_impl<Scalar, false, true>
 #ifdef EIGEN_MAKING_DOCS
     return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
 #else
-    enum { rand_bits = floor_log2<(unsigned int)(RAND_MAX)+1>::value,
+    enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value,
            scalar_bits = sizeof(Scalar) * CHAR_BIT,
            shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)),
            offset = NumTraits<Scalar>::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0
@@ -545,97 +701,601 @@ inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
   return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
 }
 
+// Implementatin of is* functions
+
+// std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang.
+#if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG)
+#define EIGEN_USE_STD_FPCLASSIFY 1
+#else
+#define EIGEN_USE_STD_FPCLASSIFY 0
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isnan_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isinf_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isfinite_impl(const T&) { return true; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isfinite_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isfinite)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isfinite;
+    return isfinite EIGEN_NOT_A_MACRO (x);
+  #else
+    return x<=NumTraits<T>::highest() && x>=NumTraits<T>::lowest();
+  #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isinf_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isinf)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isinf;
+    return isinf EIGEN_NOT_A_MACRO (x);
+  #else
+    return x>NumTraits<T>::highest() || x<NumTraits<T>::lowest();
+  #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isnan_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isnan)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isnan;
+    return isnan EIGEN_NOT_A_MACRO (x);
+  #else
+    return x != x;
+  #endif
+}
+
+#if (!EIGEN_USE_STD_FPCLASSIFY)
+
+#if EIGEN_COMP_MSVC
+
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x)
+{
+  return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF;
+}
+
+//MSVC defines a _isnan builtin function, but for double only
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x)      { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x)       { return _isnan(x)!=0; }
+
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x)      { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x)       { return isinf_msvc_helper(x); }
+
+#elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC)
+
+#if EIGEN_GNUC_AT_LEAST(5,0)
+  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only")))
+#else
+  // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol),
+  //      while the second prevent too aggressive optimizations in fast-math mode:
+  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only")))
+#endif
+
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x)      { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x)       { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x)      { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x)       { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); }
+
+#undef EIGEN_TMP_NOOPT_ATTRIB
+
+#endif
+
+#endif
+
+// The following overload are defined at the end of this file
+template<typename T> EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x);
+
+template<typename T> T generic_fast_tanh_float(const T& a_x);
+
 } // end namespace internal
 
 /****************************************************************************
-* Generic math function                                                    *
+* Generic math functions                                                    *
 ****************************************************************************/
 
 namespace numext {
 
+#ifndef __CUDA_ARCH__
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+  EIGEN_USING_STD_MATH(min);
+  return min EIGEN_NOT_A_MACRO (x,y);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+  EIGEN_USING_STD_MATH(max);
+  return max EIGEN_NOT_A_MACRO (x,y);
+}
+#else
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+  return y < x ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
+{
+  return fminf(x, y);
+}
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+  return x < y ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
+{
+  return fmaxf(x, y);
+}
+#endif
+
+
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
-}  
+}
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
 {
   return internal::real_ref_impl<Scalar>::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
 {
   return internal::imag_ref_impl<Scalar>::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
 {
   return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
 }
 
 template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(atanh2, Scalar) atanh2(const Scalar& x, const Scalar& y)
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log1p(const float &x) { return ::log1pf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log1p(const double &x) { return ::log1p(x); }
+#endif
+
+template<typename ScalarX,typename ScalarY>
+EIGEN_DEVICE_FUNC
+inline typename internal::pow_impl<ScalarX,ScalarY>::result_type pow(const ScalarX& x, const ScalarY& y)
 {
-  return EIGEN_MATHFUNC_IMPL(atanh2, Scalar)::run(x, y);
+  return internal::pow_impl<ScalarX,ScalarY>::run(x, y);
 }
 
+template<typename T> EIGEN_DEVICE_FUNC bool (isnan)   (const T &x) { return internal::isnan_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isinf)   (const T &x) { return internal::isinf_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); }
+
 template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(pow, Scalar) pow(const Scalar& x, const Scalar& y)
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (floor)(const T& x)
 {
-  return EIGEN_MATHFUNC_IMPL(pow, Scalar)::run(x, y);
+  EIGEN_USING_STD_MATH(floor);
+  return floor(x);
 }
 
-// std::isfinite is non standard, so let's define our own version,
-// even though it is not very efficient.
-template<typename T> bool (isfinite)(const T& x)
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float floor(const float &x) { return ::floorf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double floor(const double &x) { return ::floor(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (ceil)(const T& x)
+{
+  EIGEN_USING_STD_MATH(ceil);
+  return ceil(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float ceil(const float &x) { return ::ceilf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double ceil(const double &x) { return ::ceil(x); }
+#endif
+
+
+/** Log base 2 for 32 bits positive integers.
+  * Conveniently returns 0 for x==0. */
+inline int log2(int x)
 {
-  return x<NumTraits<T>::highest() && x>NumTraits<T>::lowest();
+  eigen_assert(x>=0);
+  unsigned int v(x);
+  static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 };
+  v |= v >> 1;
+  v |= v >> 2;
+  v |= v >> 4;
+  v |= v >> 8;
+  v |= v >> 16;
+  return table[(v * 0x07C4ACDDU) >> 27];
 }
 
+/** \returns the square root of \a x.
+  *
+  * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode,
+  * but slightly faster for float/double and some compilers (e.g., gcc), thanks to
+  * specializations when SSE is enabled.
+  *
+  * It's usage is justified in performance critical functions, like norm/normalize.
+  */
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sqrt(const T &x)
+{
+  EIGEN_USING_STD_MATH(sqrt);
+  return sqrt(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T log(const T &x) {
+  EIGEN_USING_STD_MATH(log);
+  return log(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log(const float &x) { return ::logf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log(const double &x) { return ::log(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+typename internal::enable_if<NumTraits<T>::IsSigned || NumTraits<T>::IsComplex,typename NumTraits<T>::Real>::type
+abs(const T &x) {
+  EIGEN_USING_STD_MATH(abs);
+  return abs(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+typename internal::enable_if<!(NumTraits<T>::IsSigned || NumTraits<T>::IsComplex),typename NumTraits<T>::Real>::type
+abs(const T &x) {
+  return x;
+}
+
+#if defined(__SYCL_DEVICE_ONLY__)
+EIGEN_ALWAYS_INLINE float   abs(float x) { return cl::sycl::fabs(x); }
+EIGEN_ALWAYS_INLINE double  abs(double x) { return cl::sycl::fabs(x); }
+#endif // defined(__SYCL_DEVICE_ONLY__)
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const float &x) { return ::fabsf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const double &x) { return ::fabs(x); }
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const std::complex<float>& x) {
+  return ::hypotf(x.real(), x.imag());
+}
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const std::complex<double>& x) {
+  return ::hypot(x.real(), x.imag());
+}
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T exp(const T &x) {
+  EIGEN_USING_STD_MATH(exp);
+  return exp(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float exp(const float &x) { return ::expf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double exp(const double &x) { return ::exp(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cos(const T &x) {
+  EIGEN_USING_STD_MATH(cos);
+  return cos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cos(const float &x) { return ::cosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cos(const double &x) { return ::cos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sin(const T &x) {
+  EIGEN_USING_STD_MATH(sin);
+  return sin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sin(const float &x) { return ::sinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sin(const double &x) { return ::sin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tan(const T &x) {
+  EIGEN_USING_STD_MATH(tan);
+  return tan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tan(const float &x) { return ::tanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tan(const double &x) { return ::tan(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T acos(const T &x) {
+  EIGEN_USING_STD_MATH(acos);
+  return acos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float acos(const float &x) { return ::acosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double acos(const double &x) { return ::acos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T asin(const T &x) {
+  EIGEN_USING_STD_MATH(asin);
+  return asin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float asin(const float &x) { return ::asinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double asin(const double &x) { return ::asin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T atan(const T &x) {
+  EIGEN_USING_STD_MATH(atan);
+  return atan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float atan(const float &x) { return ::atanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double atan(const double &x) { return ::atan(x); }
+#endif
+
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cosh(const T &x) {
+  EIGEN_USING_STD_MATH(cosh);
+  return cosh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cosh(const float &x) { return ::coshf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cosh(const double &x) { return ::cosh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sinh(const T &x) {
+  EIGEN_USING_STD_MATH(sinh);
+  return sinh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sinh(const float &x) { return ::sinhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sinh(const double &x) { return ::sinh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tanh(const T &x) {
+  EIGEN_USING_STD_MATH(tanh);
+  return tanh(x);
+}
+
+#if (!defined(__CUDACC__)) && EIGEN_FAST_MATH
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(float x) { return internal::generic_fast_tanh_float(x); }
+#endif
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(const float &x) { return ::tanhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tanh(const double &x) { return ::tanh(x); }
+#endif
+
+template <typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T fmod(const T& a, const T& b) {
+  EIGEN_USING_STD_MATH(fmod);
+  return fmod(a, b);
+}
+
+#ifdef __CUDACC__
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float fmod(const float& a, const float& b) {
+  return ::fmodf(a, b);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double fmod(const double& a, const double& b) {
+  return ::fmod(a, b);
+}
+#endif
+
 } // end namespace numext
 
 namespace internal {
 
+template<typename T>
+EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x)
+{
+  return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x)
+{
+  return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x)
+{
+  return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x));
+}
+
 /****************************************************************************
 * Implementation of fuzzy comparisons                                       *
 ****************************************************************************/
@@ -649,18 +1309,17 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, false, false>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
   {
-    using std::abs;
-    return abs(x) <= abs(y) * prec;
+    return numext::abs(x) <= numext::abs(y) * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
-    using std::min;
-    using std::abs;
-    return abs(x - y) <= (min)(abs(x), abs(y)) * prec;
+    return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
     return x <= y || isApprox(x, y, prec);
@@ -671,15 +1330,17 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, false, true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
   {
     return x == Scalar(0);
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
   {
     return x == y;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
   {
     return x <= y;
@@ -690,36 +1351,36 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, true, false>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
   {
     return numext::abs2(x) <= numext::abs2(y) * prec * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
-    using std::min;
-    return numext::abs2(x - y) <= (min)(numext::abs2(x), numext::abs2(y)) * prec * prec;
+    return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec;
   }
 };
 
 template<typename Scalar>
 struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
 
-template<typename Scalar, typename OtherScalar>
+template<typename Scalar, typename OtherScalar> EIGEN_DEVICE_FUNC
 inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
                               const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
   return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
 }
 
-template<typename Scalar>
+template<typename Scalar> EIGEN_DEVICE_FUNC
 inline bool isApprox(const Scalar& x, const Scalar& y,
                      const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
   return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
 }
 
-template<typename Scalar>
+template<typename Scalar> EIGEN_DEVICE_FUNC
 inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
                                const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
@@ -742,17 +1403,19 @@ template<> struct scalar_fuzzy_impl<bool>
 {
   typedef bool RealScalar;
   
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
   {
     return !x;
   }
   
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(bool x, bool y, bool)
   {
     return x == y;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
   {
     return (!x) || y;
diff --git a/vendor/eigen/Eigen/src/Core/MathFunctionsImpl.h b/vendor/eigen/Eigen/src/Core/MathFunctionsImpl.h
new file mode 100644
index 0000000..3c9ef22
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/MathFunctionsImpl.h
@@ -0,0 +1,78 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet at gmail.com)
+// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud at 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_MATHFUNCTIONSIMPL_H
+#define EIGEN_MATHFUNCTIONSIMPL_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise)
+    Doesn't do anything fancy, just a 13/6-degree rational interpolant which
+    is accurate up to a couple of ulp in the range [-9, 9], outside of which
+    the tanh(x) = +/-1.
+
+    This implementation works on both scalars and packets.
+*/
+template<typename T>
+T generic_fast_tanh_float(const T& a_x)
+{
+  // Clamp the inputs to the range [-9, 9] since anything outside
+  // this range is +/-1.0f in single-precision.
+  const T plus_9 = pset1<T>(9.f);
+  const T minus_9 = pset1<T>(-9.f);
+  // NOTE GCC prior to 6.3 might improperly optimize this max/min
+  //      step such that if a_x is nan, x will be either 9 or -9,
+  //      and tanh will return 1 or -1 instead of nan.
+  //      This is supposed to be fixed in gcc6.3,
+  //      see: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  const T x = pmax(minus_9,pmin(plus_9,a_x));
+  // The monomial coefficients of the numerator polynomial (odd).
+  const T alpha_1 = pset1<T>(4.89352455891786e-03f);
+  const T alpha_3 = pset1<T>(6.37261928875436e-04f);
+  const T alpha_5 = pset1<T>(1.48572235717979e-05f);
+  const T alpha_7 = pset1<T>(5.12229709037114e-08f);
+  const T alpha_9 = pset1<T>(-8.60467152213735e-11f);
+  const T alpha_11 = pset1<T>(2.00018790482477e-13f);
+  const T alpha_13 = pset1<T>(-2.76076847742355e-16f);
+
+  // The monomial coefficients of the denominator polynomial (even).
+  const T beta_0 = pset1<T>(4.89352518554385e-03f);
+  const T beta_2 = pset1<T>(2.26843463243900e-03f);
+  const T beta_4 = pset1<T>(1.18534705686654e-04f);
+  const T beta_6 = pset1<T>(1.19825839466702e-06f);
+
+  // Since the polynomials are odd/even, we need x^2.
+  const T x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial p.
+  T p = pmadd(x2, alpha_13, alpha_11);
+  p = pmadd(x2, p, alpha_9);
+  p = pmadd(x2, p, alpha_7);
+  p = pmadd(x2, p, alpha_5);
+  p = pmadd(x2, p, alpha_3);
+  p = pmadd(x2, p, alpha_1);
+  p = pmul(x, p);
+
+  // Evaluate the denominator polynomial p.
+  T q = pmadd(x2, beta_6, beta_4);
+  q = pmadd(x2, q, beta_2);
+  q = pmadd(x2, q, beta_0);
+
+  // Divide the numerator by the denominator.
+  return pdiv(p, q);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATHFUNCTIONSIMPL_H
diff --git a/vendor/eigen/Eigen/src/Core/Matrix.h b/vendor/eigen/Eigen/src/Core/Matrix.h
index 02be142..90c336d 100644
--- a/vendor/eigen/Eigen/src/Core/Matrix.h
+++ b/vendor/eigen/Eigen/src/Core/Matrix.h
@@ -13,6 +13,45 @@
 
 namespace Eigen {
 
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+private:
+  enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret };
+  typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
+  enum {
+      row_major_bit = _Options&RowMajor ? RowMajorBit : 0,
+      is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic,
+      max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols,
+      default_alignment = compute_default_alignment<_Scalar,max_size>::value,
+      actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0,
+      required_alignment = unpacket_traits<PacketScalar>::alignment,
+      packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0
+    };
+    
+public:
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef Eigen::Index StorageIndex;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _MaxRows,
+    MaxColsAtCompileTime = _MaxCols,
+    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
+    Options = _Options,
+    InnerStrideAtCompileTime = 1,
+    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
+    
+    // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase
+    EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit,
+    Alignment = actual_alignment
+  };
+};
+}
+
 /** \class Matrix
   * \ingroup Core_Module
   *
@@ -24,13 +63,13 @@ namespace Eigen {
   * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
   *
   * The first three template parameters are required:
-  * \tparam _Scalar \anchor matrix_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>.
-  *                 User defined sclar types are supported as well (see \ref user_defined_scalars "here").
+  * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex<float>.
+  *                 User defined scalar types are supported as well (see \ref user_defined_scalars "here").
   * \tparam _Rows Number of rows, or \b Dynamic
   * \tparam _Cols Number of columns, or \b Dynamic
   *
   * The remaining template parameters are optional -- in most cases you don't have to worry about them.
-  * \tparam _Options \anchor matrix_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either
+  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either
   *                 \b #AutoAlign or \b #DontAlign.
   *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
   *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
@@ -67,7 +106,7 @@ namespace Eigen {
   * \endcode
   *
   * 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_MATRIX_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
   *
   * <i><b>Some notes:</b></i>
   *
@@ -97,32 +136,44 @@ namespace Eigen {
   * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
   * </dl>
   *
-  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, 
-  * \ref TopicStorageOrders 
+  * <i><b>ABI and storage layout</b></i>
+  *
+  * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3.
+  * <table  class="manual">
+  * <tr><th>Matrix type</th><th>Equivalent C structure</th></tr>
+  * <tr><td>\code Matrix<T,Dynamic,Dynamic> \endcode</td><td>\code
+  * struct {
+  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+  *   Eigen::Index rows, cols;
+  *  };
+  * \endcode</td></tr>
+  * <tr class="alt"><td>\code
+  * Matrix<T,Dynamic,1>
+  * Matrix<T,1,Dynamic> \endcode</td><td>\code
+  * struct {
+  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+  *   Eigen::Index size;
+  *  };
+  * \endcode</td></tr>
+  * <tr><td>\code Matrix<T,Rows,Cols> \endcode</td><td>\code
+  * struct {
+  *   T data[Rows*Cols];        // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0
+  *  };
+  * \endcode</td></tr>
+  * <tr class="alt"><td>\code Matrix<T,Dynamic,Dynamic,0,MaxRows,MaxCols> \endcode</td><td>\code
+  * struct {
+  *   T data[MaxRows*MaxCols];  // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0
+  *   Eigen::Index rows, cols;
+  *  };
+  * \endcode</td></tr>
+  * </table>
+  * Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two
+  * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES.
+  *
+  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy,
+  * \ref TopicStorageOrders
   */
 
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef _Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef DenseIndex Index;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _MaxRows,
-    MaxColsAtCompileTime = _MaxCols,
-    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    Options = _Options,
-    InnerStrideAtCompileTime = 1,
-    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime
-  };
-};
-}
-
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 class Matrix
   : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
@@ -151,6 +202,7 @@ class Matrix
       *
       * \callgraph
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
     {
       return Base::_set(other);
@@ -167,7 +219,8 @@ class Matrix
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase<OtherDerived>& other)
     {
       return Base::_set(other);
     }
@@ -179,12 +232,14 @@ class Matrix
       * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
     {
       return Base::operator=(other);
     }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
     {
       return Base::operator=(func);
@@ -200,6 +255,7 @@ class Matrix
       *
       * \sa resize(Index,Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix() : Base()
     {
       Base::_check_template_params();
@@ -207,60 +263,87 @@ class Matrix
     }
 
     // FIXME is it still needed
-    Matrix(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC
+    explicit Matrix(internal::constructor_without_unaligned_array_assert)
       : Base(internal::constructor_without_unaligned_array_assert())
     { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
 
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    Matrix(Matrix&& other)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
       : Base(std::move(other))
     {
       Base::_check_template_params();
       if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
         Base::_set_noalias(other);
     }
-    Matrix& operator=(Matrix&& other)
+    EIGEN_DEVICE_FUNC
+    Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
     {
       other.swap(*this);
       return *this;
     }
 #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.
-      */
-    EIGEN_STRONG_INLINE explicit Matrix(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    #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(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)
     {
       Base::_check_template_params();
       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
+      *
+      * This is useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead.
+      * 
+      * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance,
+      * calling Matrix<double,1,1>(1) will call the initialization constructor: Matrix(const Scalar&).
+      * For fixed-size \c 1x1 matrices it is therefore recommended to use the default
+      * constructor Matrix() instead, especially when using one of the non standard
+      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+      */
+    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,
       * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead. */
+      * Matrix() instead.
+      * 
+      * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance,
+      * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y).
+      * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default
+      * constructor Matrix() instead, especially when using one of the non standard
+      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+      */
+    EIGEN_DEVICE_FUNC
     Matrix(Index rows, Index cols);
+    
     /** \brief Constructs an initialized 2D vector with given coefficients */
     Matrix(const Scalar& x, const Scalar& y);
     #endif
 
     /** \brief Constructs an initialized 3D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
     {
       Base::_check_template_params();
@@ -270,6 +353,7 @@ class Matrix
       m_storage.data()[2] = z;
     }
     /** \brief Constructs an initialized 4D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
     {
       Base::_check_template_params();
@@ -280,76 +364,33 @@ class Matrix
       m_storage.data()[3] = w;
     }
 
-    explicit Matrix(const Scalar *data);
 
-    /** \brief Constructor copying the value of the expression \a other */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other)
-             : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      // This test resides here, to bring the error messages closer to the user. Normally, these checks
-      // are performed deeply within the library, thus causing long and scary error traces.
-      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)
-
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
     /** \brief Copy constructor */
-    EIGEN_STRONG_INLINE Matrix(const Matrix& other)
-            : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
-    /** \brief Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix(const ReturnByValue<OtherDerived>& other)
-    {
-      Base::_check_template_params();
-      Base::resize(other.rows(), other.cols());
-      other.evalTo(*this);
-    }
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other)
+    { }
 
     /** \brief Copy constructor for generic expressions.
       * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
-      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      Base::_check_template_params();
-      Base::_resize_to_match(other);
-      // FIXME/CHECK: isn't *this = other.derived() more efficient. it allows to
-      //              go for pure _set() implementations, right?
-      *this = other;
-    }
-
-    /** \internal
-      * \brief Override MatrixBase::swap() since for dynamic-sized matrices
-      * of same type it is enough to swap the data pointers.
-      */
-    template<typename OtherDerived>
-    void swap(MatrixBase<OtherDerived> const & other)
-    { this->_swap(other.derived()); }
+      : Base(other.derived())
+    { }
 
-    inline Index innerStride() const { return 1; }
-    inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
 
     /////////// Geometry module ///////////
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
     template<typename OtherDerived>
+    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/vendor/eigen/Eigen/src/Core/MatrixBase.h b/vendor/eigen/Eigen/src/Core/MatrixBase.h
index e83ef4d..ce41218 100644
--- a/vendor/eigen/Eigen/src/Core/MatrixBase.h
+++ b/vendor/eigen/Eigen/src/Core/MatrixBase.h
@@ -41,9 +41,9 @@ namespace Eigen {
   * \endcode
   *
   * 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_MATRIXBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> class MatrixBase
   : public DenseBase<Derived>
@@ -52,7 +52,7 @@ template<typename Derived> class MatrixBase
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef MatrixBase StorageBaseType;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -66,7 +66,6 @@ template<typename Derived> class MatrixBase
     using Base::MaxSizeAtCompileTime;
     using Base::IsVectorAtCompileTime;
     using Base::Flags;
-    using Base::CoeffReadCost;
 
     using Base::derived;
     using Base::const_cast_derived;
@@ -98,25 +97,14 @@ template<typename Derived> class MatrixBase
 
     /** \returns the size of the main diagonal, which is min(rows(),cols()).
       * \sa rows(), cols(), SizeAtCompileTime. */
-    inline Index diagonalSize() const { return (std::min)(rows(),cols()); }
+    EIGEN_DEVICE_FUNC
+    inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); }
 
-    /** \brief The plain matrix type corresponding to this expression.
-      *
-      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
-      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
-      * that the return type of eval() is either PlainObject or const PlainObject&.
-      */
-    typedef Matrix<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainObject;
+    typedef typename Base::PlainObject PlainObject;
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
     /** \internal the return type of MatrixBase::adjoint() */
     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
                         CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
@@ -125,7 +113,7 @@ template<typename Derived> class MatrixBase
     /** \internal Return type of eigenvalues() */
     typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
     /** \internal the return type of identity */
-    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,Derived> IdentityReturnType;
+    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,PlainObject> IdentityReturnType;
     /** \internal the return type of unit vectors */
     typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
                   internal::traits<Derived>::RowsAtCompileTime,
@@ -133,6 +121,7 @@ template<typename Derived> class MatrixBase
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/CommonCwiseBinaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
@@ -141,41 +130,53 @@ template<typename Derived> class MatrixBase
 #     include EIGEN_MATRIXBASE_PLUGIN
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const MatrixBase& other);
 
     // We cannot inherit here via Base::operator= since it is causing
     // trouble with MSVC.
 
     template <typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase<OtherDerived>& other);
 
     template <typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const EigenBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const ReturnByValue<OtherDerived>& other);
 
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other);
-
-    template<typename MatrixPower, typename Lhs, typename Rhs>
-    Derived& lazyAssign(const MatrixPowerProduct<MatrixPower, Lhs,Rhs>& other);
-
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator+=(const MatrixBase<OtherDerived>& other);
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator-=(const MatrixBase<OtherDerived>& other);
 
+#ifdef __CUDACC__
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,OtherDerived,LazyProduct>
+    operator*(const MatrixBase<OtherDerived> &other) const
+    { return this->lazyProduct(other); }
+#else
+
     template<typename OtherDerived>
-    const typename ProductReturnType<Derived,OtherDerived>::Type
+    const Product<Derived,OtherDerived>
     operator*(const MatrixBase<OtherDerived> &other) const;
 
+#endif
+
     template<typename OtherDerived>
-    const typename LazyProductReturnType<Derived,OtherDerived>::Type
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,OtherDerived,LazyProduct>
     lazyProduct(const MatrixBase<OtherDerived> &other) const;
 
     template<typename OtherDerived>
@@ -188,84 +189,93 @@ template<typename Derived> class MatrixBase
     void applyOnTheRight(const EigenBase<OtherDerived>& other);
 
     template<typename DiagonalDerived>
-    const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived, DiagonalDerived, LazyProduct>
     operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
 
     template<typename OtherDerived>
-    typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+    EIGEN_DEVICE_FUNC
+    typename ScalarBinaryOpTraits<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
-
-    RealScalar squaredNorm() const;
-    RealScalar norm() const;
+    EIGEN_DEVICE_FUNC RealScalar squaredNorm() const;
+    EIGEN_DEVICE_FUNC RealScalar norm() const;
     RealScalar stableNorm() const;
     RealScalar blueNorm() const;
     RealScalar hypotNorm() const;
-    const PlainObject normalized() const;
-    void normalize();
+    EIGEN_DEVICE_FUNC const PlainObject normalized() const;
+    EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const;
+    EIGEN_DEVICE_FUNC void normalize();
+    EIGEN_DEVICE_FUNC void stableNormalize();
 
-    const AdjointReturnType adjoint() const;
-    void adjointInPlace();
+    EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const;
+    EIGEN_DEVICE_FUNC void adjointInPlace();
 
     typedef Diagonal<Derived> DiagonalReturnType;
+    EIGEN_DEVICE_FUNC
     DiagonalReturnType diagonal();
+
     typedef typename internal::add_const<Diagonal<const Derived> >::type ConstDiagonalReturnType;
+    EIGEN_DEVICE_FUNC
     ConstDiagonalReturnType diagonal() const;
 
     template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
     template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
 
-    template<int Index> typename DiagonalIndexReturnType<Index>::Type diagonal();
-    template<int Index> typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
-    
+    template<int Index>
+    EIGEN_DEVICE_FUNC
+    typename DiagonalIndexReturnType<Index>::Type diagonal();
+
+    template<int Index>
+    EIGEN_DEVICE_FUNC
+    typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
+
     typedef Diagonal<Derived,DynamicIndex> DiagonalDynamicIndexReturnType;
     typedef typename internal::add_const<Diagonal<const Derived,DynamicIndex> >::type ConstDiagonalDynamicIndexReturnType;
 
+    EIGEN_DEVICE_FUNC
     DiagonalDynamicIndexReturnType diagonal(Index index);
+    EIGEN_DEVICE_FUNC
     ConstDiagonalDynamicIndexReturnType diagonal(Index index) const;
 
-    #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; };
 
-    template<unsigned int Mode> typename TriangularViewReturnType<Mode>::Type triangularView();
-    template<unsigned int Mode> typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
+    template<unsigned int Mode>
+    EIGEN_DEVICE_FUNC
+    typename TriangularViewReturnType<Mode>::Type triangularView();
+    template<unsigned int Mode>
+    EIGEN_DEVICE_FUNC
+    typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
 
     template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
     template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
 
-    template<unsigned int UpLo> typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
-    template<unsigned int UpLo> typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+    template<unsigned int UpLo>
+    EIGEN_DEVICE_FUNC
+    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
+    template<unsigned int UpLo>
+    EIGEN_DEVICE_FUNC
+    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
 
     const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
                                          const typename NumTraits<Scalar>::Real& m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
-    static const IdentityReturnType Identity();
-    static const IdentityReturnType Identity(Index rows, Index cols);
-    static const BasisReturnType Unit(Index size, Index i);
-    static const BasisReturnType Unit(Index i);
-    static const BasisReturnType UnitX();
-    static const BasisReturnType UnitY();
-    static const BasisReturnType UnitZ();
-    static const BasisReturnType UnitW();
-
+    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity();
+    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i);
+    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i);
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitX();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitY();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitW();
+
+    EIGEN_DEVICE_FUNC
     const DiagonalWrapper<const Derived> asDiagonal() const;
     const PermutationWrapper<const Derived> asPermutation() const;
 
+    EIGEN_DEVICE_FUNC
     Derived& setIdentity();
+    EIGEN_DEVICE_FUNC
     Derived& setIdentity(Index rows, Index cols);
 
     bool isIdentity(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
@@ -284,7 +294,7 @@ template<typename Derived> class MatrixBase
       *          fuzzy comparison such as isApprox()
       * \sa isApprox(), operator!= */
     template<typename OtherDerived>
-    inline bool operator==(const MatrixBase<OtherDerived>& other) const
+    EIGEN_DEVICE_FUNC inline bool operator==(const MatrixBase<OtherDerived>& other) const
     { return cwiseEqual(other).all(); }
 
     /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
@@ -292,64 +302,50 @@ template<typename Derived> class MatrixBase
       *          fuzzy comparison such as isApprox()
       * \sa isApprox(), operator== */
     template<typename OtherDerived>
-    inline bool operator!=(const MatrixBase<OtherDerived>& other) const
+    EIGEN_DEVICE_FUNC inline bool operator!=(const MatrixBase<OtherDerived>& other) const
     { return cwiseNotEqual(other).any(); }
 
     NoAlias<Derived,Eigen::MatrixBase > noalias();
 
-    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
-    inline ForceAlignedAccess<Derived> forceAlignedAccess();
-    template<bool Enable> inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type forceAlignedAccessIf() const;
-    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+    // TODO forceAlignedAccess is temporarily disabled
+    // Need to find a nicer workaround.
+    inline const Derived& forceAlignedAccess() const { return derived(); }
+    inline Derived& forceAlignedAccess() { return derived(); }
+    template<bool Enable> inline const Derived& forceAlignedAccessIf() const { return derived(); }
+    template<bool Enable> inline Derived& forceAlignedAccessIf() { return derived(); }
 
-    Scalar trace() const;
+    EIGEN_DEVICE_FUNC Scalar trace() const;
 
-/////////// Array module ///////////
+    template<int p> EIGEN_DEVICE_FUNC RealScalar lpNorm() const;
 
-    template<int p> RealScalar lpNorm() const;
-
-    MatrixBase<Derived>& matrix() { return *this; }
-    const MatrixBase<Derived>& matrix() const { return *this; }
+    EIGEN_DEVICE_FUNC MatrixBase<Derived>& matrix() { return *this; }
+    EIGEN_DEVICE_FUNC const MatrixBase<Derived>& matrix() const { return *this; }
 
     /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix
       * \sa ArrayBase::matrix() */
-    ArrayWrapper<Derived> array() { return derived(); }
-    const ArrayWrapper<const Derived> array() const { return derived(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper<Derived> array() { return ArrayWrapper<Derived>(derived()); }
+    /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix
+      * \sa ArrayBase::matrix() */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper<const Derived> array() const { return ArrayWrapper<const Derived>(derived()); }
 
 /////////// LU module ///////////
 
-    const FullPivLU<PlainObject> fullPivLu() const;
-    const PartialPivLU<PlainObject> partialPivLu() const;
+    inline const FullPivLU<PlainObject> fullPivLu() const;
+    inline const PartialPivLU<PlainObject> partialPivLu() const;
 
-    #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-    const LU<PlainObject> lu() const;
-    #endif
+    inline const PartialPivLU<PlainObject> lu() const;
 
-    #ifdef EIGEN2_SUPPORT
-    const LU<PlainObject> eigen2_lu() const;
-    #endif
+    inline const Inverse<Derived> inverse() const;
 
-    #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
-
-    const internal::inverse_impl<Derived> inverse() const;
-    template<typename ResultType>
-    void computeInverseAndDetWithCheck(
+    inline void computeInverseAndDetWithCheck(
       ResultType& inverse,
       typename ResultType::Scalar& determinant,
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
     ) const;
     template<typename ResultType>
-    void computeInverseWithCheck(
+    inline void computeInverseWithCheck(
       ResultType& inverse,
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
@@ -358,65 +354,70 @@ template<typename Derived> class MatrixBase
 
 /////////// Cholesky module ///////////
 
-    const LLT<PlainObject>  llt() const;
-    const LDLT<PlainObject> ldlt() const;
+    inline const LLT<PlainObject>  llt() const;
+    inline const LDLT<PlainObject> ldlt() const;
 
 /////////// QR module ///////////
 
-    const HouseholderQR<PlainObject> householderQr() const;
-    const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
-    const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    const QR<PlainObject> qr() const;
-    #endif
+    inline const HouseholderQR<PlainObject> householderQr() const;
+    inline const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
+    inline const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
+    inline const CompleteOrthogonalDecomposition<PlainObject> completeOrthogonalDecomposition() const;
 
-    EigenvaluesReturnType eigenvalues() const;
-    RealScalar operatorNorm() const;
+/////////// Eigenvalues module ///////////
 
-/////////// SVD module ///////////
+    inline EigenvaluesReturnType eigenvalues() const;
+    inline RealScalar operatorNorm() const;
 
-    JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+/////////// SVD module ///////////
 
-    #ifdef EIGEN2_SUPPORT
-    SVD<PlainObject> svd() const;
-    #endif
+    inline JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+    inline BDCSVD<PlainObject>    bdcSvd(unsigned int computationOptions = 0) const;
 
 /////////// Geometry module ///////////
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /// \internal helper struct to form the return type of the cross product
     template<typename OtherDerived> struct cross_product_return_type {
-      typedef typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
+      typedef typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
       typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
     };
     #endif // EIGEN_PARSED_BY_DOXYGEN
     template<typename OtherDerived>
-    typename cross_product_return_type<OtherDerived>::type
+    EIGEN_DEVICE_FUNC
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    inline typename cross_product_return_type<OtherDerived>::type
+#else
+    inline PlainObject
+#endif
     cross(const MatrixBase<OtherDerived>& other) const;
+
     template<typename OtherDerived>
-    PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
-    PlainObject unitOrthogonal(void) const;
-    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;
+    EIGEN_DEVICE_FUNC
+    inline PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
+
+    EIGEN_DEVICE_FUNC
+    inline PlainObject unitOrthogonal(void) const;
+
+    EIGEN_DEVICE_FUNC
+    inline Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
+
     // put this as separate enum value to work around possible GCC 4.3 bug (?)
-    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1?Vertical:Horizontal };
+    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits<Derived>::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical)
+                                          : ColsAtCompileTime==1 ? Vertical : Horizontal };
     typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
-    HomogeneousReturnType homogeneous() const;
-    #endif
-    
+    EIGEN_DEVICE_FUNC
+    inline HomogeneousReturnType homogeneous() const;
+
     enum {
       SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
     };
     typedef Block<const Derived,
                   internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
                   internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
-    typedef CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>,
-                const ConstStartMinusOne > HNormalizedReturnType;
-
-    const HNormalizedReturnType hnormalized() const;
+    typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType;
+    EIGEN_DEVICE_FUNC
+    inline const HNormalizedReturnType hnormalized() const;
 
 ////////// Householder module ///////////
 
@@ -461,49 +462,15 @@ template<typename Derived> class MatrixBase
     const MatrixSquareRootReturnValue<Derived> sqrt() const;
     const MatrixLogarithmReturnValue<Derived> log() const;
     const MatrixPowerReturnValue<Derived> pow(const 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
+    const MatrixComplexPowerReturnValue<Derived> pow(const std::complex<RealScalar>& p) const;
 
   protected:
-    MatrixBase() : Base() {}
+    EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
 
   private:
-    explicit MatrixBase(int);
-    MatrixBase(int,int);
-    template<typename OtherDerived> explicit MatrixBase(const MatrixBase<OtherDerived>&);
+    EIGEN_DEVICE_FUNC explicit MatrixBase(int);
+    EIGEN_DEVICE_FUNC MatrixBase(int,int);
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase<OtherDerived>&);
   protected:
     // mixing arrays and matrices is not legal
     template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
diff --git a/vendor/eigen/Eigen/src/Core/NestByValue.h b/vendor/eigen/Eigen/src/Core/NestByValue.h
index a893b17..13adf07 100644
--- a/vendor/eigen/Eigen/src/Core/NestByValue.h
+++ b/vendor/eigen/Eigen/src/Core/NestByValue.h
@@ -13,25 +13,24 @@
 
 namespace Eigen {
 
+namespace internal {
+template<typename ExpressionType>
+struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
 /** \class NestByValue
   * \ingroup Core_Module
   *
   * \brief Expression which must be nested by value
   *
-  * \param ExpressionType the type of the object of which we are requiring nesting-by-value
+  * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value
   *
   * This class is the return type of MatrixBase::nestByValue()
   * and most of the time this is the only way it is used.
   *
   * \sa MatrixBase::nestByValue()
   */
-
-namespace internal {
-template<typename ExpressionType>
-struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
-{};
-}
-
 template<typename ExpressionType> class NestByValue
   : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
 {
@@ -40,29 +39,29 @@ template<typename ExpressionType> class NestByValue
     typedef typename internal::dense_xpr_base<NestByValue>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
 
-    inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
+    EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline const CoeffReturnType coeff(Index row, Index col) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
     {
       return m_expression.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(Index row, Index col)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const CoeffReturnType coeff(Index index) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
     {
       return m_expression.coeff(index);
     }
 
-    inline Scalar& coeffRef(Index index)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
@@ -91,7 +90,7 @@ template<typename ExpressionType> class NestByValue
       m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
     }
 
-    operator const ExpressionType&() const { return m_expression; }
+    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
 
   protected:
     const ExpressionType m_expression;
diff --git a/vendor/eigen/Eigen/src/Core/NoAlias.h b/vendor/eigen/Eigen/src/Core/NoAlias.h
index 768bfb1..3390801 100644
--- a/vendor/eigen/Eigen/src/Core/NoAlias.h
+++ b/vendor/eigen/Eigen/src/Core/NoAlias.h
@@ -17,7 +17,7 @@ namespace Eigen {
   *
   * \brief Pseudo expression providing an operator = assuming no aliasing
   *
-  * \param ExpressionType the type of the object on which to do the lazy assignment
+  * \tparam ExpressionType the type of the object on which to do the lazy assignment
   *
   * This class represents an expression with special assignment operators
   * assuming no aliasing between the target expression and the source expression.
@@ -30,62 +30,36 @@ namespace Eigen {
 template<typename ExpressionType, template <typename> class StorageBase>
 class NoAlias
 {
-    typedef typename ExpressionType::Scalar Scalar;
   public:
-    NoAlias(ExpressionType& expression) : m_expression(expression) {}
-
-    /** Behaves like MatrixBase::lazyAssign(other)
-      * \sa MatrixBase::lazyAssign() */
+    typedef typename ExpressionType::Scalar Scalar;
+    
+    explicit NoAlias(ExpressionType& expression) : m_expression(expression) {}
+    
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
-    { return internal::assign_selector<ExpressionType,OtherDerived,false>::run(m_expression,other.derived()); }
-
-    /** \sa MatrixBase::operator+= */
+    {
+      call_assignment_no_alias(m_expression, other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+      return m_expression;
+    }
+    
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
     {
-      typedef SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
-      SelfAdder tmp(m_expression);
-      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
-      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
-      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
       return m_expression;
     }
-
-    /** \sa MatrixBase::operator-= */
+    
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
     {
-      typedef SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
-      SelfAdder tmp(m_expression);
-      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
-      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
-      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
       return m_expression;
     }
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    { other.derived().addTo(m_expression); return m_expression; }
-
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    { other.derived().subTo(m_expression); return m_expression; }
-
-    template<typename Lhs, typename Rhs, int NestingFlags>
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
-    { return m_expression.derived() += CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
-
-    template<typename Lhs, typename Rhs, int NestingFlags>
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
-    { return m_expression.derived() -= CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
-    
-    template<typename OtherDerived>
-    ExpressionType& operator=(const ReturnByValue<OtherDerived>& func)
-    { return m_expression = func; }
-#endif
-
+    EIGEN_DEVICE_FUNC
     ExpressionType& expression() const
     {
       return m_expression;
@@ -126,7 +100,7 @@ class NoAlias
 template<typename Derived>
 NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
 {
-  return derived();
+  return NoAlias<Derived, Eigen::MatrixBase >(derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/NumTraits.h b/vendor/eigen/Eigen/src/Core/NumTraits.h
index bac9e50..daf4898 100644
--- a/vendor/eigen/Eigen/src/Core/NumTraits.h
+++ b/vendor/eigen/Eigen/src/Core/NumTraits.h
@@ -12,24 +12,57 @@
 
 namespace Eigen {
 
+namespace internal {
+
+// default implementation of digits10(), based on numeric_limits if specialized,
+// 0 for integer types, and log10(epsilon()) otherwise.
+template< typename T,
+          bool use_numeric_limits = std::numeric_limits<T>::is_specialized,
+          bool is_integer = NumTraits<T>::IsInteger>
+struct default_digits10_impl
+{
+  static int run() { return std::numeric_limits<T>::digits10; }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,false> // Floating point
+{
+  static int run() {
+    using std::log10;
+    using std::ceil;
+    typedef typename NumTraits<T>::Real Real;
+    return int(ceil(-log10(NumTraits<Real>::epsilon())));
+  }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,true> // Integer
+{
+  static int run() { return 0; }
+};
+
+} // end namespace internal
+
 /** \class NumTraits
   * \ingroup Core_Module
   *
   * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
   *
-  * \param T the numeric type at hand
+  * \tparam T the numeric type at hand
   *
   * This class stores enums, typedefs and static methods giving information about a numeric type.
   *
   * The provided data consists of:
-  * \li A typedef \a Real, giving the "real part" type of \a T. If \a T is already real,
-  *     then \a Real is just a typedef to \a T. If \a T is \c std::complex<U> then \a Real
+  * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real,
+  *     then \c Real is just a typedef to \a T. If \a T is \c std::complex<U> then \c Real
   *     is a typedef to \a U.
-  * \li A typedef \a NonInteger, giving the type that should be used for operations producing non-integral values,
+  * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values,
   *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
   *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
   *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
   *     only intended as a helper for code that needs to explicitly promote types.
+  * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex<U>, Literal is defined as \c U.
+  *     Of course, this type must be fully compatible with \a T. In doubt, just use \a T here.
   * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
   *     this means, just use \a T here.
   * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
@@ -42,10 +75,14 @@ namespace Eigen {
   * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
   * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
   *     be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
-  * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), returns a \a Real instead of a \a T.
+  * \li An epsilon() function which, unlike <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">std::numeric_limits::epsilon()</a>,
+  *     it returns a \a Real instead of a \a T.
   * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
   *     value by the fuzzy comparison operators.
   * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
+  * \li digits10() function returning the number of decimal digits that can be represented without change. This is
+  *     the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits10">std::numeric_limits<T>::digits10</a>
+  *     which is used as the default implementation if specialized.
   */
 
 template<typename T> struct GenericNumTraits
@@ -67,22 +104,47 @@ template<typename T> struct GenericNumTraits
                      T
                    >::type NonInteger;
   typedef T Nested;
+  typedef T Literal;
+
+  EIGEN_DEVICE_FUNC
+  static inline Real epsilon()
+  {
+    return numext::numeric_limits<T>::epsilon();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline int digits10()
+  {
+    return internal::default_digits10_impl<T>::run();
+  }
 
-  static inline Real epsilon() { return std::numeric_limits<T>::epsilon(); }
+  EIGEN_DEVICE_FUNC
   static inline Real dummy_precision()
   {
     // make sure to override this for floating-point types
     return Real(0);
   }
-  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
+
+
+  EIGEN_DEVICE_FUNC
+  static inline T highest() {
+    return (numext::numeric_limits<T>::max)();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T lowest()  {
+    return IsInteger ? (numext::numeric_limits<T>::min)() : (-(numext::numeric_limits<T>::max)());
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T infinity() {
+    return numext::numeric_limits<T>::infinity();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T quiet_NaN() {
+    return numext::numeric_limits<T>::quiet_NaN();
+  }
 };
 
 template<typename T> struct NumTraits : GenericNumTraits<T>
@@ -91,11 +153,13 @@ template<typename T> struct NumTraits : GenericNumTraits<T>
 template<> struct NumTraits<float>
   : GenericNumTraits<float>
 {
+  EIGEN_DEVICE_FUNC
   static inline float dummy_precision() { return 1e-5f; }
 };
 
 template<> struct NumTraits<double> : GenericNumTraits<double>
 {
+  EIGEN_DEVICE_FUNC
   static inline double dummy_precision() { return 1e-12; }
 };
 
@@ -109,6 +173,7 @@ template<typename _Real> struct NumTraits<std::complex<_Real> >
   : GenericNumTraits<std::complex<_Real> >
 {
   typedef _Real Real;
+  typedef typename NumTraits<_Real>::Literal Literal;
   enum {
     IsComplex = 1,
     RequireInitialization = NumTraits<_Real>::RequireInitialization,
@@ -117,8 +182,12 @@ template<typename _Real> struct NumTraits<std::complex<_Real> >
     MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
   };
 
+  EIGEN_DEVICE_FUNC
   static inline Real epsilon() { return NumTraits<Real>::epsilon(); }
+  EIGEN_DEVICE_FUNC
   static inline Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
+  EIGEN_DEVICE_FUNC
+  static inline int digits10() { return NumTraits<Real>::digits10(); }
 };
 
 template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
@@ -130,21 +199,50 @@ struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
   typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
   typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
   typedef ArrayType & Nested;
-  
+  typedef typename NumTraits<Scalar>::Literal Literal;
+
   enum {
     IsComplex = NumTraits<Scalar>::IsComplex,
     IsInteger = NumTraits<Scalar>::IsInteger,
     IsSigned  = NumTraits<Scalar>::IsSigned,
     RequireInitialization = 1,
-    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
-    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
-    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
+    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
+    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
   };
-  
+
+  EIGEN_DEVICE_FUNC
   static inline RealScalar epsilon() { return NumTraits<RealScalar>::epsilon(); }
+  EIGEN_DEVICE_FUNC
   static inline RealScalar dummy_precision() { return NumTraits<RealScalar>::dummy_precision(); }
+
+  static inline int digits10() { return NumTraits<Scalar>::digits10(); }
+};
+
+template<> struct NumTraits<std::string>
+  : GenericNumTraits<std::string>
+{
+  enum {
+    RequireInitialization = 1,
+    ReadCost = HugeCost,
+    AddCost  = HugeCost,
+    MulCost  = HugeCost
+  };
+
+  static inline int digits10() { return 0; }
+
+private:
+  static inline std::string epsilon();
+  static inline std::string dummy_precision();
+  static inline std::string lowest();
+  static inline std::string highest();
+  static inline std::string infinity();
+  static inline std::string quiet_NaN();
 };
 
+// Empty specialization for void to allow template specialization based on NumTraits<T>::Real with T==void and SFINAE.
+template<> struct NumTraits<void> {};
+
 } // end namespace Eigen
 
 #endif // EIGEN_NUMTRAITS_H
diff --git a/vendor/eigen/Eigen/src/Core/PermutationMatrix.h b/vendor/eigen/Eigen/src/Core/PermutationMatrix.h
index 85ffae2..b1fb455 100644
--- a/vendor/eigen/Eigen/src/Core/PermutationMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/PermutationMatrix.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1 at gmail.com>
-// Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -13,14 +13,18 @@
 
 namespace Eigen { 
 
-template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKind> class PermutedImpl;
+namespace internal {
+
+enum PermPermProduct_t {PermPermProduct};
+
+} // end namespace internal
 
 /** \class PermutationBase
   * \ingroup Core_Module
   *
   * \brief Base class for permutations
   *
-  * \param Derived the derived class
+  * \tparam Derived the derived class
   *
   * This class is the base class for all expressions representing a permutation matrix,
   * internally stored as a vector of integers.
@@ -38,17 +42,6 @@ template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKi
   *
   * \sa class PermutationMatrix, class PermutationWrapper
   */
-
-namespace internal {
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
-struct permut_matrix_product_retval;
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
-struct permut_sparsematrix_product_retval;
-enum PermPermProduct_t {PermPermProduct};
-
-} // end namespace internal
-
 template<typename Derived>
 class PermutationBase : public EigenBase<Derived>
 {
@@ -60,19 +53,20 @@ class PermutationBase : public EigenBase<Derived>
     typedef typename Traits::IndicesType IndicesType;
     enum {
       Flags = Traits::Flags,
-      CoeffReadCost = Traits::CoeffReadCost,
       RowsAtCompileTime = Traits::RowsAtCompileTime,
       ColsAtCompileTime = Traits::ColsAtCompileTime,
       MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
     };
-    typedef typename Traits::Scalar Scalar;
-    typedef typename Traits::Index Index;
-    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
+    typedef typename Traits::StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
             DenseMatrixType;
-    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,Index>
+    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,StorageIndex>
             PlainPermutationType;
+    typedef PlainPermutationType PlainObject;
     using Base::derived;
+    typedef Inverse<Derived> InverseReturnType;
+    typedef void Scalar;
     #endif
 
     /** Copies the other permutation into *this */
@@ -118,7 +112,7 @@ class PermutationBase : public EigenBase<Derived>
     void evalTo(MatrixBase<DenseDerived>& other) const
     {
       other.setZero();
-      for (int i=0; i<rows();++i)
+      for (Index i=0; i<rows(); ++i)
         other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
     }
     #endif
@@ -147,7 +141,8 @@ class PermutationBase : public EigenBase<Derived>
     /** Sets *this to be the identity permutation matrix */
     void setIdentity()
     {
-      for(Index i = 0; i < size(); ++i)
+      StorageIndex n = StorageIndex(size());
+      for(StorageIndex i = 0; i < n; ++i)
         indices().coeffRef(i) = i;
     }
 
@@ -163,18 +158,18 @@ class PermutationBase : public EigenBase<Derived>
       *
       * \returns a reference to *this.
       *
-      * \warning This is much slower than applyTranspositionOnTheRight(int,int):
+      * \warning This is much slower than applyTranspositionOnTheRight(Index,Index):
       * this has linear complexity and requires a lot of branching.
       *
-      * \sa applyTranspositionOnTheRight(int,int)
+      * \sa applyTranspositionOnTheRight(Index,Index)
       */
     Derived& applyTranspositionOnTheLeft(Index i, Index j)
     {
       eigen_assert(i>=0 && j>=0 && i<size() && j<size());
       for(Index k = 0; k < size(); ++k)
       {
-        if(indices().coeff(k) == i) indices().coeffRef(k) = j;
-        else if(indices().coeff(k) == j) indices().coeffRef(k) = i;
+        if(indices().coeff(k) == i) indices().coeffRef(k) = StorageIndex(j);
+        else if(indices().coeff(k) == j) indices().coeffRef(k) = StorageIndex(i);
       }
       return derived();
     }
@@ -185,7 +180,7 @@ class PermutationBase : public EigenBase<Derived>
       *
       * This is a fast operation, it only consists in swapping two indices.
       *
-      * \sa applyTranspositionOnTheLeft(int,int)
+      * \sa applyTranspositionOnTheLeft(Index,Index)
       */
     Derived& applyTranspositionOnTheRight(Index i, Index j)
     {
@@ -196,16 +191,16 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the inverse permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
-    inline Transpose<PermutationBase> inverse() const
-    { return derived(); }
+    inline InverseReturnType inverse() const
+    { return InverseReturnType(derived()); }
     /** \returns the tranpose permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
-    inline Transpose<PermutationBase> transpose() const
-    { return derived(); }
+    inline InverseReturnType transpose() const
+    { return InverseReturnType(derived()); }
 
     /**** multiplication helpers to hopefully get RVO ****/
 
@@ -215,13 +210,13 @@ class PermutationBase : public EigenBase<Derived>
     template<typename OtherDerived>
     void assignTranspose(const PermutationBase<OtherDerived>& other)
     {
-      for (int i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
+      for (Index i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
     }
     template<typename Lhs,typename Rhs>
     void assignProduct(const Lhs& lhs, const Rhs& rhs)
     {
       eigen_assert(lhs.cols() == rhs.rows());
-      for (int i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
+      for (Index i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
     }
 #endif
 
@@ -229,7 +224,7 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the product permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other>
     inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
@@ -237,18 +232,18 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the product of a permutation with another inverse permutation.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other>
-    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other) const
+    inline PlainPermutationType operator*(const InverseImpl<Other,PermutationStorage>& other) const
     { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
 
     /** \returns the product of an inverse permutation with another permutation.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other> friend
-    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
+    inline PlainPermutationType operator*(const InverseImpl<Other, PermutationStorage>& other, const PermutationBase& perm)
     { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
     
     /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation.
@@ -284,39 +279,43 @@ class PermutationBase : public EigenBase<Derived>
 
 };
 
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef PermutationStorage StorageKind;
+  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef void Scalar;
+};
+}
+
 /** \class PermutationMatrix
   * \ingroup Core_Module
   *
   * \brief Permutation matrix
   *
-  * \param SizeAtCompileTime the number of rows/cols, or Dynamic
-  * \param MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  * \param IndexType the interger type of the indices
+  * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic
+  * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  * \tparam _StorageIndex the integer type of the indices
   *
   * This class represents a permutation matrix, internally stored as a vector of integers.
   *
   * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
   */
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
- : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  typedef IndexType Index;
-  typedef Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
-};
-}
-
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
 {
     typedef PermutationBase<PermutationMatrix> Base;
     typedef internal::traits<PermutationMatrix> Traits;
   public:
 
+    typedef const PermutationMatrix& Nested;
+
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef typename Traits::IndicesType IndicesType;
+    typedef typename Traits::StorageIndex StorageIndex;
     #endif
 
     inline PermutationMatrix()
@@ -324,8 +323,10 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
     /** Constructs an uninitialized permutation matrix of given size.
       */
-    inline PermutationMatrix(int size) : m_indices(size)
-    {}
+    explicit inline PermutationMatrix(Index size) : m_indices(size)
+    {
+      eigen_internal_assert(size <= NumTraits<StorageIndex>::highest());
+    }
 
     /** Copy constructor. */
     template<typename OtherDerived>
@@ -346,7 +347,7 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
       * array's size.
       */
     template<typename Other>
-    explicit inline PermutationMatrix(const MatrixBase<Other>& a_indices) : m_indices(a_indices)
+    explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
     {}
 
     /** Convert the Transpositions \a tr to a permutation matrix */
@@ -393,10 +394,13 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename Other>
-    PermutationMatrix(const Transpose<PermutationBase<Other> >& other)
-      : m_indices(other.nestedPermutation().size())
+    PermutationMatrix(const InverseImpl<Other,PermutationStorage>& other)
+      : m_indices(other.derived().nestedExpression().size())
     {
-      for (int i=0; i<m_indices.size();++i) m_indices.coeffRef(other.nestedPermutation().indices().coeff(i)) = i;
+      eigen_internal_assert(m_indices.size() <= NumTraits<StorageIndex>::highest());
+      StorageIndex end = StorageIndex(m_indices.size());
+      for (StorageIndex i=0; i<end;++i)
+        m_indices.coeffRef(other.derived().nestedExpression().indices().coeff(i)) = i;
     }
     template<typename Lhs,typename Rhs>
     PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
@@ -413,18 +417,20 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
- : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
 {
-  typedef IndexType Index;
-  typedef Map<const Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+  typedef PermutationStorage StorageKind;
+  typedef Map<const Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef void Scalar;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess>
-  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess>
+  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
 {
     typedef PermutationBase<Map> Base;
     typedef internal::traits<Map> Traits;
@@ -432,14 +438,14 @@ class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
     #endif
 
-    inline Map(const Index* indicesPtr)
+    inline Map(const StorageIndex* indicesPtr)
       : m_indices(indicesPtr)
     {}
 
-    inline Map(const Index* indicesPtr, Index size)
+    inline Map(const StorageIndex* indicesPtr, Index size)
       : m_indices(indicesPtr,size)
     {}
 
@@ -474,40 +480,36 @@ class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,
     IndicesType m_indices;
 };
 
-/** \class PermutationWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Class to view a vector of integers as a permutation matrix
-  *
-  * \param _IndicesType the type of the vector of integer (can be any compatible expression)
-  *
-  * This class allows to view any vector expression of integers as a permutation matrix.
-  *
-  * \sa class PermutationBase, class PermutationMatrix
-  */
-
-struct PermutationStorage {};
-
 template<typename _IndicesType> class TranspositionsWrapper;
 namespace internal {
 template<typename _IndicesType>
 struct traits<PermutationWrapper<_IndicesType> >
 {
   typedef PermutationStorage StorageKind;
-  typedef typename _IndicesType::Scalar Scalar;
-  typedef typename _IndicesType::Scalar Index;
+  typedef void Scalar;
+  typedef typename _IndicesType::Scalar StorageIndex;
   typedef _IndicesType IndicesType;
   enum {
     RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
     ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = IndicesType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = IndicesType::MaxColsAtCompileTime,
-    Flags = 0,
-    CoeffReadCost = _IndicesType::CoeffReadCost
+    MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+    MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+    Flags = 0
   };
 };
 }
 
+/** \class PermutationWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Class to view a vector of integers as a permutation matrix
+  *
+  * \tparam _IndicesType the type of the vector of integer (can be any compatible expression)
+  *
+  * This class allows to view any vector expression of integers as a permutation matrix.
+  *
+  * \sa class PermutationBase, class PermutationMatrix
+  */
 template<typename _IndicesType>
 class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
 {
@@ -519,8 +521,8 @@ class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesTyp
     typedef typename Traits::IndicesType IndicesType;
     #endif
 
-    inline PermutationWrapper(const IndicesType& a_indices)
-      : m_indices(a_indices)
+    inline PermutationWrapper(const IndicesType& indices)
+      : m_indices(indices)
     {}
 
     /** const version of indices(). */
@@ -532,182 +534,86 @@ class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesTyp
     typename IndicesType::Nested m_indices;
 };
 
+
 /** \returns the matrix with the permutation applied to the columns.
   */
-template<typename Derived, typename PermutationDerived>
-inline const internal::permut_matrix_product_retval<PermutationDerived, Derived, OnTheRight>
-operator*(const MatrixBase<Derived>& matrix,
-          const PermutationBase<PermutationDerived> &permutation)
+template<typename MatrixDerived, typename PermutationDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+          const PermutationBase<PermutationDerived>& permutation)
 {
-  return internal::permut_matrix_product_retval
-           <PermutationDerived, Derived, OnTheRight>
-           (permutation.derived(), matrix.derived());
+  return Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+            (matrix.derived(), permutation.derived());
 }
 
 /** \returns the matrix with the permutation applied to the rows.
   */
-template<typename Derived, typename PermutationDerived>
-inline const internal::permut_matrix_product_retval
-               <PermutationDerived, Derived, OnTheLeft>
+template<typename PermutationDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
 operator*(const PermutationBase<PermutationDerived> &permutation,
-          const MatrixBase<Derived>& matrix)
+          const MatrixBase<MatrixDerived>& matrix)
 {
-  return internal::permut_matrix_product_retval
-           <PermutationDerived, Derived, OnTheLeft>
-           (permutation.derived(), matrix.derived());
+  return Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
+            (permutation.derived(), matrix.derived());
 }
 
-namespace internal {
 
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct traits<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+template<typename PermutationType>
+class InverseImpl<PermutationType, PermutationStorage>
+  : public EigenBase<Inverse<PermutationType> >
 {
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct permut_matrix_product_retval
- : public ReturnByValue<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename MatrixType::Index Index;
-
-    permut_matrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
-      : m_permutation(perm), m_matrix(matrix)
-    {}
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
-    {
-      const Index n = Side==OnTheLeft ? rows() : cols();
-      // FIXME we need an is_same for expression that is not sensitive to constness. For instance
-      // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
-      if(    is_same<MatrixTypeNestedCleaned,Dest>::value
-          && blas_traits<MatrixTypeNestedCleaned>::HasUsableDirectAccess
-          && blas_traits<Dest>::HasUsableDirectAccess
-          && extract_data(dst) == extract_data(m_matrix))
-      {
-        // apply the permutation inplace
-        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(m_permutation.size());
-        mask.fill(false);
-        Index r = 0;
-        while(r < m_permutation.size())
-        {
-          // search for the next seed
-          while(r<m_permutation.size() && mask[r]) r++;
-          if(r>=m_permutation.size())
-            break;
-          // we got one, let's follow it until we are back to the seed
-          Index k0 = r++;
-          Index kPrev = k0;
-          mask.coeffRef(k0) = true;
-          for(Index k=m_permutation.indices().coeff(k0); k!=k0; k=m_permutation.indices().coeff(k))
-          {
-                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
-            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
-
-            mask.coeffRef(k) = true;
-            kPrev = k;
-          }
-        }
-      }
-      else
-      {
-        for(int i = 0; i < n; ++i)
-        {
-          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-               (dst, ((Side==OnTheLeft) ^ Transposed) ? m_permutation.indices().coeff(i) : i)
-
-          =
-
-          Block<const MatrixTypeNestedCleaned,Side==OnTheLeft ? 1 : MatrixType::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixType::ColsAtCompileTime>
-               (m_matrix, ((Side==OnTheRight) ^ Transposed) ? m_permutation.indices().coeff(i) : i);
-        }
-      }
-    }
-
-  protected:
-    const PermutationType& m_permutation;
-    typename MatrixType::Nested m_matrix;
-};
-
-/* Template partial specialization for transposed/inverse permutations */
-
-template<typename Derived>
-struct traits<Transpose<PermutationBase<Derived> > >
- : traits<Derived>
-{};
-
-} // end namespace internal
-
-template<typename Derived>
-class Transpose<PermutationBase<Derived> >
-  : public EigenBase<Transpose<PermutationBase<Derived> > >
-{
-    typedef Derived PermutationType;
-    typedef typename PermutationType::IndicesType IndicesType;
     typedef typename PermutationType::PlainPermutationType PlainPermutationType;
+    typedef internal::traits<PermutationType> PermTraits;
+  protected:
+    InverseImpl() {}
   public:
+    typedef Inverse<PermutationType> InverseType;
+    using EigenBase<Inverse<PermutationType> >::derived;
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef internal::traits<PermutationType> Traits;
-    typedef typename Derived::DenseMatrixType DenseMatrixType;
+    typedef typename PermutationType::DenseMatrixType DenseMatrixType;
     enum {
-      Flags = Traits::Flags,
-      CoeffReadCost = Traits::CoeffReadCost,
-      RowsAtCompileTime = Traits::RowsAtCompileTime,
-      ColsAtCompileTime = Traits::ColsAtCompileTime,
-      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+      RowsAtCompileTime = PermTraits::RowsAtCompileTime,
+      ColsAtCompileTime = PermTraits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime
     };
-    typedef typename Traits::Scalar Scalar;
     #endif
 
-    Transpose(const PermutationType& p) : m_permutation(p) {}
-
-    inline int rows() const { return m_permutation.rows(); }
-    inline int cols() const { return m_permutation.cols(); }
-
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename DenseDerived>
     void evalTo(MatrixBase<DenseDerived>& other) const
     {
       other.setZero();
-      for (int i=0; i<rows();++i)
-        other.coeffRef(i, m_permutation.indices().coeff(i)) = typename DenseDerived::Scalar(1);
+      for (Index i=0; i<derived().rows();++i)
+        other.coeffRef(i, derived().nestedExpression().indices().coeff(i)) = typename DenseDerived::Scalar(1);
     }
     #endif
 
     /** \return the equivalent permutation matrix */
-    PlainPermutationType eval() const { return *this; }
+    PlainPermutationType eval() const { return derived(); }
 
-    DenseMatrixType toDenseMatrix() const { return *this; }
+    DenseMatrixType toDenseMatrix() const { return derived(); }
 
     /** \returns the matrix with the inverse permutation applied to the columns.
       */
     template<typename OtherDerived> friend
-    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>
-    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trPerm)
+    const Product<OtherDerived, InverseType, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix, const InverseType& trPerm)
     {
-      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>(trPerm.m_permutation, matrix.derived());
+      return Product<OtherDerived, InverseType, AliasFreeProduct>(matrix.derived(), trPerm.derived());
     }
 
     /** \returns the matrix with the inverse permutation applied to the rows.
       */
     template<typename OtherDerived>
-    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>
+    const Product<InverseType, OtherDerived, AliasFreeProduct>
     operator*(const MatrixBase<OtherDerived>& matrix) const
     {
-      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>(m_permutation, matrix.derived());
+      return Product<InverseType, OtherDerived, AliasFreeProduct>(derived(), matrix.derived());
     }
-
-    const PermutationType& nestedPermutation() const { return m_permutation; }
-
-  protected:
-    const PermutationType& m_permutation;
 };
 
 template<typename Derived>
@@ -716,6 +622,12 @@ const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() con
   return derived();
 }
 
+namespace internal {
+
+template<> struct AssignmentKind<DenseShape,PermutationShape> { typedef EigenBase2EigenBase Kind; };
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/PlainObjectBase.h b/vendor/eigen/Eigen/src/Core/PlainObjectBase.h
index a4e4af4..77f4f60 100644
--- a/vendor/eigen/Eigen/src/Core/PlainObjectBase.h
+++ b/vendor/eigen/Eigen/src/Core/PlainObjectBase.h
@@ -28,6 +28,7 @@ namespace internal {
 
 template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
   template<typename Index>
+  EIGEN_DEVICE_FUNC
   static EIGEN_ALWAYS_INLINE void run(Index, Index)
   {
   }
@@ -35,11 +36,12 @@ template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
 
 template<> struct check_rows_cols_for_overflow<Dynamic> {
   template<typename Index>
+  EIGEN_DEVICE_FUNC
   static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols)
   {
     // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
     // we assume Index is signed
-    Index max_index = (size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
+    Index max_index = (std::size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
     bool error = (rows == 0 || cols == 0) ? false
                : (rows > max_index / cols);
     if (error)
@@ -56,33 +58,41 @@ template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct m
 
 } // end namespace internal
 
-/** \class PlainObjectBase
-  * \brief %Dense storage base class for matrices and arrays.
-  *
-  * 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_PLAINOBJECTBASE_PLUGIN.
-  *
-  * \sa \ref TopicClassHierarchy
-  */
 #ifdef EIGEN_PARSED_BY_DOXYGEN
-namespace internal {
+namespace doxygen {
 
-// this is a warkaround to doxygen not being able to understand the inheritence logic
+// This is a workaround to doxygen not being able to understand the inheritance logic
 // when it is hidden by the dense_xpr_base helper struct.
-template<typename Derived> struct dense_xpr_base_dispatcher_for_doxygen;// : public MatrixBase<Derived> {};
+// Moreover, doxygen fails to include members that are not documented in the declaration body of
+// MatrixBase if we inherits MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >,
+// this is why we simply inherits MatrixBase, though this does not make sense.
+
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename Derived> struct dense_xpr_base_dispatcher;
 /** This class is just a workaround for Doxygen and it does not not actually exist. */
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher_for_doxygen<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {};
+struct dense_xpr_base_dispatcher<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+    : public MatrixBase {};
 /** This class is just a workaround for Doxygen and it does not not actually exist. */
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher_for_doxygen<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {};
+struct dense_xpr_base_dispatcher<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+    : public ArrayBase {};
 
-} // namespace internal
+} // namespace doxygen
 
+/** \class PlainObjectBase
+  * \ingroup Core_Module
+  * \brief %Dense storage base class for matrices and arrays.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+  *
+  * \tparam Derived is the derived type, e.g., a Matrix or Array
+  *
+  * \sa \ref TopicClassHierarchy
+  */
 template<typename Derived>
-class PlainObjectBase : public internal::dense_xpr_base_dispatcher_for_doxygen<Derived>
+class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher<Derived>
 #else
 template<typename Derived>
 class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
@@ -93,8 +103,8 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     typedef typename internal::dense_xpr_base<Derived>::type Base;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
+    
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef Derived DenseType;
@@ -113,28 +123,40 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     typedef Eigen::Map<Derived, Unaligned>  MapType;
     friend  class Eigen::Map<const Derived, Unaligned>;
     typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
-    friend  class Eigen::Map<Derived, Aligned>;
-    typedef Eigen::Map<Derived, Aligned> AlignedMapType;
-    friend  class Eigen::Map<const Derived, Aligned>;
-    typedef const Eigen::Map<const Derived, Aligned> ConstAlignedMapType;
+#if EIGEN_MAX_ALIGN_BYTES>0
+    // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
+    friend  class Eigen::Map<Derived, AlignedMax>;
+    friend  class Eigen::Map<const Derived, AlignedMax>;
+#endif
+    typedef Eigen::Map<Derived, AlignedMax> AlignedMapType;
+    typedef const Eigen::Map<const Derived, AlignedMax> ConstAlignedMapType;
     template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
     template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
-    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
-    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
+    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, AlignedMax, StrideType> type; };
+    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, AlignedMax, StrideType> type; };
 
   protected:
     DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
 
   public:
-    enum { NeedsToAlign = SizeAtCompileTime != Dynamic && (internal::traits<Derived>::Flags & AlignedBit) != 0 };
+    enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits<Derived>::Alignment>0) };
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 
+    EIGEN_DEVICE_FUNC
     Base& base() { return *static_cast<Base*>(this); }
+    EIGEN_DEVICE_FUNC
     const Base& base() const { return *static_cast<const Base*>(this); }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index,Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const
     {
       if(Flags & RowMajorBit)
@@ -143,11 +165,21 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
     {
       return m_storage.data()[index];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId)
     {
       if(Flags & RowMajorBit)
@@ -156,11 +188,19 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
     {
       return m_storage.data()[index];
     }
 
+    /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index).
+      * It is provided for convenience. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const
     {
       if(Flags & RowMajorBit)
@@ -169,6 +209,9 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index).
+      * It is provided for convenience. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
     {
       return m_storage.data()[index];
@@ -209,11 +252,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     }
 
     /** \returns a const pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE const Scalar *data() const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const
     { return m_storage.data(); }
 
     /** \returns a pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE Scalar *data()
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data()
     { return m_storage.data(); }
 
     /** Resizes \c *this to a \a rows x \a cols matrix.
@@ -232,22 +275,22 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
       */
-    EIGEN_STRONG_INLINE void resize(Index nbRows, Index nbCols)
-    {
-      eigen_assert(   EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,nbRows==RowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,nbCols==ColsAtCompileTime)
-                   && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,nbRows<=MaxRowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,nbCols<=MaxColsAtCompileTime)
-                   && nbRows>=0 && nbCols>=0 && "Invalid sizes when resizing a matrix or array.");
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(nbRows, nbCols);
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
+    {
+      eigen_assert(   EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime)
+                   && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime)
+                   && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime)
+                   && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime)
+                   && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array.");
+      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(rows, cols);
       #ifdef EIGEN_INITIALIZE_COEFFS
-        Index size = nbRows*nbCols;
+        Index size = rows*cols;
         bool size_changed = size != this->size();
-        m_storage.resize(size, nbRows, nbCols);
+        m_storage.resize(size, rows, cols);
         if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
       #else
-        internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(nbRows, nbCols);
-        m_storage.resize(nbRows*nbCols, nbRows, nbCols);
+        m_storage.resize(rows*cols, rows, cols);
       #endif
     }
 
@@ -262,6 +305,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
       */
+    EIGEN_DEVICE_FUNC
     inline void resize(Index size)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
@@ -286,9 +330,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index)
       */
-    inline void resize(NoChange_t, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    inline void resize(NoChange_t, Index cols)
     {
-      resize(rows(), nbCols);
+      resize(rows(), cols);
     }
 
     /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
@@ -299,9 +344,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index)
       */
-    inline void resize(Index nbRows, NoChange_t)
+    EIGEN_DEVICE_FUNC
+    inline void resize(Index rows, NoChange_t)
     {
-      resize(nbRows, cols());
+      resize(rows, cols());
     }
 
     /** Resizes \c *this to have the same dimensions as \a other.
@@ -312,6 +358,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
     {
       const OtherDerived& other = _other.derived();
@@ -339,9 +386,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * Matrices are resized relative to the top-left element. In case values need to be 
       * appended to the matrix they will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(Index nbRows, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
     {
-      internal::conservative_resize_like_impl<Derived>::run(*this, nbRows, nbCols);
+      internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
     }
 
     /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
@@ -351,10 +399,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * In case the matrix is growing, new rows will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(Index nbRows, NoChange_t)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
     {
       // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(nbRows, cols());
+      conservativeResize(rows, cols());
     }
 
     /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
@@ -364,10 +413,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * In case the matrix is growing, new columns will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
     {
       // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(rows(), nbCols);
+      conservativeResize(rows(), cols);
     }
 
     /** Resizes the vector to \a size while retaining old values.
@@ -378,6 +428,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * When values are appended, they will be uninitialized.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void conservativeResize(Index size)
     {
       internal::conservative_resize_like_impl<Derived>::run(*this, size);
@@ -393,6 +444,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * appended to the matrix they will copied from \c other.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
     {
       internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
@@ -401,6 +453,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
     {
       return _set(other);
@@ -408,6 +461,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 
     /** \sa MatrixBase::lazyAssign() */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
     {
       _resize_to_match(other);
@@ -415,12 +469,18 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
     {
       resize(func.rows(), func.cols());
       return Base::operator=(func);
     }
 
+    // Prevent user from trying to instantiate PlainObjectBase objects
+    // by making all its constructor protected. See bug 1074.
+  protected:
+
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE PlainObjectBase() : m_storage()
     {
 //       _check_template_params();
@@ -430,20 +490,23 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     // FIXME is it still needed ?
     /** \internal */
-    PlainObjectBase(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC
+    explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert)
       : m_storage(internal::constructor_without_unaligned_array_assert())
     {
 //       _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 #endif
 
-#ifdef EIGEN_HAVE_RVALUE_REFERENCES
-    PlainObjectBase(PlainObjectBase&& other)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT
       : m_storage( std::move(other.m_storage) )
     {
     }
 
-    PlainObjectBase& operator=(PlainObjectBase&& other)
+    EIGEN_DEVICE_FUNC
+    PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT
     {
       using std::swap;
       swap(m_storage, other.m_storage);
@@ -452,31 +515,56 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 #endif
 
     /** Copy constructor */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other)
-      : m_storage()
+      : Base(), m_storage(other.m_storage) { }
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
+      : m_storage(size, rows, cols)
     {
-      _check_template_params();
-      lazyAssign(other);
+//       _check_template_params();
+//       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 
+    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase<OtherDerived> &other)
       : m_storage()
     {
       _check_template_params();
-      lazyAssign(other);
+      resizeLike(other);
+      _set_noalias(other);
     }
 
-    EIGEN_STRONG_INLINE PlainObjectBase(Index a_size, Index nbRows, Index nbCols)
-      : m_storage(a_size, nbRows, nbCols)
+    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
+      : m_storage()
     {
-//       _check_template_params();
-//       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+      _check_template_params();
+      resizeLike(other);
+      *this = other.derived();
+    }
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue<OtherDerived>& other)
+    {
+      _check_template_params();
+      // FIXME this does not automatically transpose vectors if necessary
+      resize(other.rows(), other.cols());
+      other.evalTo(this->derived());
     }
 
-    /** \copydoc MatrixBase::operator=(const EigenBase<OtherDerived>&)
+  public:
+
+    /** \brief Copies the generic expression \a other into *this.
+      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
     {
       _resize_to_match(other);
@@ -484,16 +572,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       return this->derived();
     }
 
-    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
-      : m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      _check_template_params();
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(other.derived().rows(), other.derived().cols());
-      Base::operator=(other.derived());
-    }
-
     /** \name Map
       * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
       * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
@@ -568,16 +646,16 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     //@}
 
     using Base::setConstant;
-    Derived& setConstant(Index size, const Scalar& value);
-    Derived& setConstant(Index rows, Index cols, const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val);
+    EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val);
 
     using Base::setZero;
-    Derived& setZero(Index size);
-    Derived& setZero(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setZero(Index size);
+    EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols);
 
     using Base::setOnes;
-    Derived& setOnes(Index size);
-    Derived& setOnes(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setOnes(Index size);
+    EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols);
 
     using Base::setRandom;
     Derived& setRandom(Index size);
@@ -596,6 +674,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
     {
       #ifdef EIGEN_NO_AUTOMATIC_RESIZING
@@ -603,8 +682,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
                  : (rows() == other.rows() && cols() == other.cols())))
         && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
       EIGEN_ONLY_USED_FOR_DEBUG(other);
-      if(this->size()==0)
-        resizeLike(other);
       #else
       resizeLike(other);
       #endif
@@ -624,25 +701,23 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \internal
       */
+    // aliasing is dealt once in internall::call_assignment
+    // so at this stage we have to assume aliasing... and resising has to be done later.
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
     {
-      _set_selector(other.derived(), typename internal::conditional<static_cast<bool>(int(OtherDerived::Flags) & EvalBeforeAssigningBit), internal::true_type, internal::false_type>::type());
+      internal::call_assignment(this->derived(), other.derived());
       return this->derived();
     }
 
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::true_type&) { _set_noalias(other.eval()); }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::false_type&) { _set_noalias(other); }
-
     /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
       * is the case when creating a new matrix) so one can enforce lazy evaluation.
       *
       * \sa operator=(const MatrixBase<OtherDerived>&), _set()
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
     {
       // I don't think we need this resize call since the lazyAssign will anyways resize
@@ -650,40 +725,175 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       //_resize_to_match(other);
       // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
       // it wouldn't allow to copy a row-vector into a column-vector.
-      return internal::assign_selector<Derived,OtherDerived,false>::run(this->derived(), other.derived());
+      internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+      return this->derived();
     }
 
     template<typename T0, typename T1>
-    EIGEN_STRONG_INLINE void _init2(Index nbRows, Index nbCols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
     {
       EIGEN_STATIC_ASSERT(bool(NumTraits<T0>::IsInteger) &&
                           bool(NumTraits<T1>::IsInteger),
                           FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
-      resize(nbRows,nbCols);
+      resize(rows,cols);
+    }
+    
+    template<typename T0, typename T1>
+    EIGEN_DEVICE_FUNC 
+    EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+      m_storage.data()[0] = Scalar(val0);
+      m_storage.data()[1] = Scalar(val1);
     }
+    
     template<typename T0, typename T1>
-    EIGEN_STRONG_INLINE void _init2(const Scalar& val0, const Scalar& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+    EIGEN_DEVICE_FUNC 
+    EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<T0,Index>::value)
+                                                                  && (internal::is_same<T1,Index>::value)
+                                                                  && Base::SizeAtCompileTime==2,T1>::type* = 0)
     {
       EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+      m_storage.data()[0] = Scalar(val0);
+      m_storage.data()[1] = Scalar(val1);
+    }
+
+    // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array,
+    // then the argument is meant to be the size of the object.
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if<    (Base::SizeAtCompileTime!=1 || !internal::is_convertible<T, Scalar>::value)
+                                                                              && ((!internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0)
+    {
+      // NOTE MSVC 2008 complains if we directly put bool(NumTraits<T>::IsInteger) as the EIGEN_STATIC_ASSERT argument.
+      const bool is_integer = NumTraits<T>::IsInteger;
+      EIGEN_UNUSED_VARIABLE(is_integer);
+      EIGEN_STATIC_ASSERT(is_integer,
+                          FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
+      resize(size);
+    }
+    
+    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted)
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1 && internal::is_convertible<T, Scalar>::value,T>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
       m_storage.data()[0] = val0;
-      m_storage.data()[1] = val1;
+    }
+    
+    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type)
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Index& val0,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<Index,T>::value)
+                                                                  && Base::SizeAtCompileTime==1
+                                                                  && internal::is_convertible<T, Scalar>::value,T*>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+      m_storage.data()[0] = Scalar(val0);
     }
 
+    // Initialize a fixed size matrix from a pointer to raw data
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar* data){
+      this->_set_noalias(ConstMapType(data));
+    }
+
+    // Initialize an arbitrary matrix from a dense expression
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const DenseBase<OtherDerived>& other){
+      this->_set_noalias(other);
+    }
+
+    // Initialize an arbitrary matrix from an object convertible to the Derived type.
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Derived& other){
+      this->_set_noalias(other);
+    }
+
+    // Initialize an arbitrary matrix from a generic Eigen expression
+    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;
+    }
+    
+    // For fixed-size Array<Scalar,...>
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar& val0,
+                                    typename internal::enable_if<    Base::SizeAtCompileTime!=Dynamic
+                                                                  && Base::SizeAtCompileTime!=1
+                                                                  && internal::is_convertible<T, Scalar>::value
+                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T>::type* = 0)
+    {
+      Base::setConstant(val0);
+    }
+    
+    // For fixed-size Array<Index,...>
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Index& val0,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<Index,T>::value)
+                                                                  && Base::SizeAtCompileTime!=Dynamic
+                                                                  && Base::SizeAtCompileTime!=1
+                                                                  && internal::is_convertible<T, Scalar>::value
+                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T*>::type* = 0)
+    {
+      Base::setConstant(val0);
+    }
+    
     template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
     friend struct internal::matrix_swap_impl;
 
-    /** \internal generic implementation of swap for dense storage since for dynamic-sized matrices of same type it is enough to swap the
-      * data pointers.
+  public:
+    
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal
+      * \brief Override DenseBase::swap() since for dynamic-sized matrices
+      * of same type it is enough to swap the data pointers.
       */
     template<typename OtherDerived>
-    void _swap(DenseBase<OtherDerived> const & other)
+    EIGEN_DEVICE_FUNC
+    void swap(DenseBase<OtherDerived> & other)
     {
       enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
-      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.const_cast_derived());
+      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.derived());
     }
-
-  public:
-#ifndef EIGEN_PARSED_BY_DOXYGEN
+    
+    /** \internal
+      * \brief const version forwarded to DenseBase::swap
+      */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void swap(DenseBase<OtherDerived> const & other)
+    { Base::swap(other.derived()); }
+    
+    EIGEN_DEVICE_FUNC 
     static EIGEN_STRONG_INLINE void _check_template_params()
     {
       EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
@@ -697,10 +907,9 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
                         && (Options & (DontAlign|RowMajor)) == Options),
         INVALID_MATRIX_TEMPLATE_PARAMETERS)
     }
-#endif
 
-private:
-    enum { ThisConstantIsPrivateInPlainObjectBase };
+    enum { IsPlainObjectBase = 1 };
+#endif
 };
 
 namespace internal {
@@ -708,7 +917,6 @@ namespace internal {
 template <typename Derived, typename OtherDerived, bool IsVector>
 struct conservative_resize_like_impl
 {
-  typedef typename Derived::Index Index;
   static void run(DenseBase<Derived>& _this, Index rows, Index cols)
   {
     if (_this.rows() == rows && _this.cols() == cols) return;
@@ -724,8 +932,8 @@ struct conservative_resize_like_impl
     {
       // The storage order does not allow us to use reallocation.
       typename Derived::PlainObject tmp(rows,cols);
-      const Index common_rows = (std::min)(rows, _this.rows());
-      const Index common_cols = (std::min)(cols, _this.cols());
+      const Index common_rows = numext::mini(rows, _this.rows());
+      const Index common_cols = numext::mini(cols, _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
       _this.derived().swap(tmp);
     }
@@ -758,8 +966,8 @@ struct conservative_resize_like_impl
     {
       // The storage order does not allow us to use reallocation.
       typename Derived::PlainObject tmp(other);
-      const Index common_rows = (std::min)(tmp.rows(), _this.rows());
-      const Index common_cols = (std::min)(tmp.cols(), _this.cols());
+      const Index common_rows = numext::mini(tmp.rows(), _this.rows());
+      const Index common_cols = numext::mini(tmp.cols(), _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
       _this.derived().swap(tmp);
     }
@@ -774,7 +982,6 @@ struct conservative_resize_like_impl<Derived,OtherDerived,true>
 {
   using conservative_resize_like_impl<Derived,OtherDerived,false>::run;
   
-  typedef typename Derived::Index Index;
   static void run(DenseBase<Derived>& _this, Index size)
   {
     const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
@@ -800,6 +1007,7 @@ struct conservative_resize_like_impl<Derived,OtherDerived,true>
 template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
 struct matrix_swap_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(MatrixTypeA& a, MatrixTypeB& b)
   {
     a.base().swap(b);
@@ -809,6 +1017,7 @@ struct matrix_swap_impl
 template<typename MatrixTypeA, typename MatrixTypeB>
 struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(MatrixTypeA& a, MatrixTypeB& b)
   {
     static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
diff --git a/vendor/eigen/Eigen/src/Core/Product.h b/vendor/eigen/Eigen/src/Core/Product.h
new file mode 100644
index 0000000..ae0c94b
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/Product.h
@@ -0,0 +1,186 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud at 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_PRODUCT_H
+#define EIGEN_PRODUCT_H
+
+namespace Eigen {
+
+template<typename Lhs, typename Rhs, int Option, typename StorageKind> class ProductImpl;
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Option>
+struct traits<Product<Lhs, Rhs, Option> >
+{
+  typedef typename remove_all<Lhs>::type LhsCleaned;
+  typedef typename remove_all<Rhs>::type RhsCleaned;
+  typedef traits<LhsCleaned> LhsTraits;
+  typedef traits<RhsCleaned> RhsTraits;
+  
+  typedef MatrixXpr XprKind;
+  
+  typedef typename ScalarBinaryOpTraits<typename traits<LhsCleaned>::Scalar, typename traits<RhsCleaned>::Scalar>::ReturnType Scalar;
+  typedef typename product_promote_storage_type<typename LhsTraits::StorageKind,
+                                                typename RhsTraits::StorageKind,
+                                                internal::product_type<Lhs,Rhs>::ret>::ret StorageKind;
+  typedef typename promote_index_type<typename LhsTraits::StorageIndex,
+                                      typename RhsTraits::StorageIndex>::type StorageIndex;
+  
+  enum {
+    RowsAtCompileTime    = LhsTraits::RowsAtCompileTime,
+    ColsAtCompileTime    = RhsTraits::ColsAtCompileTime,
+    MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime,
+    
+    // FIXME: only needed by GeneralMatrixMatrixTriangular
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime),
+    
+    // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator.
+    Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit
+          : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+          : (   ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit))
+             || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit
+          : NoPreferredStorageOrderBit
+  };
+};
+
+} // end namespace internal
+
+/** \class Product
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the product of two arbitrary matrices or vectors
+  *
+  * \tparam _Lhs the type of the left-hand side expression
+  * \tparam _Rhs the type of the right-hand side expression
+  *
+  * This class represents an expression of the product of two arbitrary matrices.
+  *
+  * The other template parameters are:
+  * \tparam Option     can be DefaultProduct, AliasFreeProduct, or LazyProduct
+  *
+  */
+template<typename _Lhs, typename _Rhs, int Option>
+class Product : public ProductImpl<_Lhs,_Rhs,Option,
+                                   typename internal::product_promote_storage_type<typename internal::traits<_Lhs>::StorageKind,
+                                                                                   typename internal::traits<_Rhs>::StorageKind,
+                                                                                   internal::product_type<_Lhs,_Rhs>::ret>::ret>
+{
+  public:
+    
+    typedef _Lhs Lhs;
+    typedef _Rhs Rhs;
+    
+    typedef typename ProductImpl<
+        Lhs, Rhs, Option,
+        typename internal::product_promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                                        typename internal::traits<Rhs>::StorageKind,
+                                                        internal::product_type<Lhs,Rhs>::ret>::ret>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
+
+    typedef typename internal::ref_selector<Lhs>::type LhsNested;
+    typedef typename internal::ref_selector<Rhs>::type RhsNested;
+    typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+    typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+    EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; }
+    EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; }
+
+  protected:
+
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+namespace internal {
+  
+template<typename Lhs, typename Rhs, int Option, int ProductTag = internal::product_type<Lhs,Rhs>::ret>
+class dense_product_base
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{};
+
+/** Convertion to scalar for inner-products */
+template<typename Lhs, typename Rhs, int Option>
+class dense_product_base<Lhs, Rhs, Option, InnerProduct>
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{
+  typedef Product<Lhs,Rhs,Option> ProductXpr;
+  typedef typename internal::dense_xpr_base<ProductXpr>::type Base;
+public:
+  using Base::derived;
+  typedef typename Base::Scalar Scalar;
+  
+  operator const Scalar() const
+  {
+    return internal::evaluator<ProductXpr>(derived()).coeff(0,0);
+  }
+};
+
+} // namespace internal
+
+// Generic API dispatcher
+template<typename Lhs, typename Rhs, int Option, typename StorageKind>
+class ProductImpl : public internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type
+{
+  public:
+    typedef typename internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type Base;
+};
+
+template<typename Lhs, typename Rhs, int Option>
+class ProductImpl<Lhs,Rhs,Option,Dense>
+  : public internal::dense_product_base<Lhs,Rhs,Option>
+{
+    typedef Product<Lhs, Rhs, Option> Derived;
+    
+  public:
+    
+    typedef typename internal::dense_product_base<Lhs, Rhs, Option> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+  protected:
+    enum {
+      IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && 
+                   (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic),
+      EnableCoeff = IsOneByOne || Option==LazyProduct
+    };
+    
+  public:
+  
+    EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const
+    {
+      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+      
+      return internal::evaluator<Derived>(derived()).coeff(row,col);
+    }
+
+    EIGEN_DEVICE_FUNC Scalar coeff(Index i) const
+    {
+      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+      
+      return internal::evaluator<Derived>(derived()).coeff(i);
+    }
+    
+  
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_H
diff --git a/vendor/eigen/Eigen/src/Core/ProductEvaluators.h b/vendor/eigen/Eigen/src/Core/ProductEvaluators.h
new file mode 100644
index 0000000..c42725d
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/ProductEvaluators.h
@@ -0,0 +1,1105 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011 Jitse Niesen <jitse at maths.leeds.ac.uk>
+//
+// 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_PRODUCTEVALUATORS_H
+#define EIGEN_PRODUCTEVALUATORS_H
+
+namespace Eigen {
+  
+namespace internal {
+
+/** \internal
+  * Evaluator of a product expression.
+  * Since products require special treatments to handle all possible cases,
+  * we simply deffer the evaluation logic to a product_evaluator class
+  * which offers more partial specialization possibilities.
+  * 
+  * \sa class product_evaluator
+  */
+template<typename Lhs, typename Rhs, int Options>
+struct evaluator<Product<Lhs, Rhs, Options> > 
+ : public product_evaluator<Product<Lhs, Rhs, Options> >
+{
+  typedef Product<Lhs, Rhs, Options> XprType;
+  typedef product_evaluator<XprType> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+ 
+// Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B"
+// TODO we should apply that rule only if that's really helpful
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                                               const Product<Lhs, Rhs, DefaultProduct> > >
+{
+  static const bool value = true;
+};
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                               const Product<Lhs, Rhs, DefaultProduct> > >
+ : public evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> >
+{
+  typedef CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                               const Product<Lhs, Rhs, DefaultProduct> > XprType;
+  typedef evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> > Base;
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs())
+  {}
+};
+
+
+template<typename Lhs, typename Rhs, int DiagIndex>
+struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> > 
+ : public evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> >
+{
+  typedef Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> XprType;
+  typedef evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : Base(Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex>(
+        Product<Lhs, Rhs, LazyProduct>(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()),
+        xpr.index() ))
+  {}
+};
+
+
+// Helper class to perform a matrix product with the destination at hand.
+// Depending on the sizes of the factors, there are different evaluation strategies
+// as controlled by internal::product_type.
+template< typename Lhs, typename Rhs,
+          typename LhsShape = typename evaluator_traits<Lhs>::Shape,
+          typename RhsShape = typename evaluator_traits<Rhs>::Shape,
+          int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct generic_product_impl;
+
+template<typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<Product<Lhs, Rhs, DefaultProduct> > {
+  static const bool value = true;
+};
+
+// This is the default evaluator implementation for products:
+// It creates a temporary and call generic_product_impl
+template<typename Lhs, typename Rhs, int Options, int ProductTag, typename LhsShape, typename RhsShape>
+struct product_evaluator<Product<Lhs, Rhs, Options>, ProductTag, LhsShape, RhsShape>
+  : public evaluator<typename Product<Lhs, Rhs, Options>::PlainObject>
+{
+  typedef Product<Lhs, Rhs, Options> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    
+// FIXME shall we handle nested_eval here?,
+// if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.)
+//     typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+//     typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+//     typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+//     typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+//     
+//     const LhsNested lhs(xpr.lhs());
+//     const RhsNested rhs(xpr.rhs());
+//   
+//     generic_product_impl<LhsNestedCleaned, RhsNestedCleaned>::evalTo(m_result, lhs, rhs);
+
+    generic_product_impl<Lhs, Rhs, LhsShape, RhsShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// The following three shortcuts are enabled only if the scalar types match excatly.
+// TODO: we could enable them for different scalar types when the product is not vectorized.
+
+// Dense = Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::evalTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+// Dense += Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::add_assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,Scalar> &)
+  {
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::addTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+// Dense -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::sub_assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,Scalar> &)
+  {
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::subTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+
+// Dense ?= scalar * Product
+// TODO we should apply that rule if that's really helpful
+// for instance, this is not good for inner products
+template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain>
+struct Assignment<DstXprType, CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>, const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+                                           const Product<Lhs,Rhs,DefaultProduct> >, AssignFunc, Dense2Dense>
+{
+  typedef CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>,
+                        const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+                        const Product<Lhs,Rhs,DefaultProduct> > SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func)
+  {
+    call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func);
+  }
+};
+
+//----------------------------------------
+// Catch "Dense ?= xpr + Product<>" expression to save one temporary
+// FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct
+
+template<typename OtherXpr, typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_sum_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
+                                               const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
+  static const bool value = true;
+};
+
+template<typename OtherXpr, typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_difference_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
+                                               const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
+  static const bool value = true;
+};
+
+template<typename DstXprType, typename OtherXpr, typename ProductType, typename Func1, typename Func2>
+struct assignment_from_xpr_op_product
+{
+  template<typename SrcXprType, typename InitialFunc>
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
+  {
+    call_assignment_no_alias(dst, src.lhs(), Func1());
+    call_assignment_no_alias(dst, src.rhs(), Func2());
+  }
+};
+
+#define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \
+  template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \
+  struct Assignment<DstXprType, CwiseBinaryOp<internal::BINOP<OtherScalar,ProdScalar>, const OtherXpr, \
+                                            const Product<Lhs,Rhs,DefaultProduct> >, internal::ASSIGN_OP<DstScalar,SrcScalar>, Dense2Dense> \
+    : assignment_from_xpr_op_product<DstXprType, OtherXpr, Product<Lhs,Rhs,DefaultProduct>, internal::ASSIGN_OP<DstScalar,OtherScalar>, internal::ASSIGN_OP2<DstScalar,ProdScalar> > \
+  {}
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op);
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op);
+
+//----------------------------------------
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
+{
+  template<typename Dst>
+  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
+  }
+  
+  template<typename Dst>
+  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum();
+  }
+  
+  template<typename Dst>
+  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); }
+};
+
+
+/***********************************************************************
+*  Implementation of outer dense * dense vector product
+***********************************************************************/
+
+// Column major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
+{
+  evaluator<Rhs> rhsEval(rhs);
+  typename nested_eval<Lhs,Rhs::SizeAtCompileTime>::type actual_lhs(lhs);
+  // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored
+  // FIXME not very good if rhs is real and lhs complex while alpha is real too
+  const Index cols = dst.cols();
+  for (Index j=0; j<cols; ++j)
+    func(dst.col(j), rhsEval.coeff(Index(0),j) * actual_lhs);
+}
+
+// Row major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
+{
+  evaluator<Lhs> lhsEval(lhs);
+  typename nested_eval<Rhs,Lhs::SizeAtCompileTime>::type actual_rhs(rhs);
+  // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored
+  // FIXME not very good if lhs is real and rhs complex while alpha is real too
+  const Index rows = dst.rows();
+  for (Index i=0; i<rows; ++i)
+    func(dst.row(i), lhsEval.coeff(i,Index(0)) * actual_rhs);
+}
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,OuterProduct>
+{
+  template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose
+  struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
+  struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
+  struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
+  struct adds {
+    Scalar m_scale;
+    explicit adds(const Scalar& s) : m_scale(s) {}
+    template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
+      dst.const_cast_derived() += m_scale * src;
+    }
+  };
+  
+  template<typename Dst>
+  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major<Dst>());
+  }
+  
+};
+
+
+// This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo
+template<typename Lhs, typename Rhs, typename Derived>
+struct generic_product_impl_base
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
+
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); }
+
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
+
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct> >
+{
+  typedef typename nested_eval<Lhs,1>::type LhsNested;
+  typedef typename nested_eval<Rhs,1>::type RhsNested;
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
+  typedef typename internal::remove_all<typename internal::conditional<int(Side)==OnTheRight,LhsNested,RhsNested>::type>::type MatrixType;
+
+  template<typename Dest>
+  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    LhsNested actual_lhs(lhs);
+    RhsNested actual_rhs(rhs);
+    internal::gemv_dense_selector<Side,
+                            (int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                            bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)
+                           >::run(actual_lhs, actual_rhs, dst, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> 
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // Same as: dst.noalias() = lhs.lazyProduct(rhs);
+    // but easier on the compiler side
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // dst.noalias() += lhs.lazyProduct(rhs);
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // dst.noalias() -= lhs.lazyProduct(rhs);
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+//   template<typename Dst>
+//   static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+//   { dst.noalias() += alpha * lhs.lazyProduct(rhs); }
+};
+
+// This specialization enforces the use of a coefficient-based evaluation strategy
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,LazyCoeffBasedProductMode>
+  : generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> {};
+
+// Case 2: Evaluate coeff by coeff
+//
+// This is mostly taken from CoeffBasedProduct.h
+// The main difference is that we add an extra argument to the etor_product_*_impl::run() function
+// for the inner dimension of the product, because evaluator object do not know their size.
+
+template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct etor_product_coeff_impl;
+
+template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, DenseShape>
+    : evaluator_base<Product<Lhs, Rhs, LazyProduct> >
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit product_evaluator(const XprType& xpr)
+    : m_lhs(xpr.lhs()),
+      m_rhs(xpr.rhs()),
+      m_lhsImpl(m_lhs),     // FIXME the creation of the evaluator objects should result in a no-op, but check that!
+      m_rhsImpl(m_rhs),     //       Moreover, they are only useful for the packet path, so we could completely disable them when not needed,
+                            //       or perhaps declare them on the fly on the packet method... We have experiment to check what's best.
+      m_innerDim(xpr.lhs().cols())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::AddCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+#if 0
+    std::cerr << "LhsOuterStrideBytes=  " << LhsOuterStrideBytes << "\n";
+    std::cerr << "RhsOuterStrideBytes=  " << RhsOuterStrideBytes << "\n";
+    std::cerr << "LhsAlignment=         " << LhsAlignment << "\n";
+    std::cerr << "RhsAlignment=         " << RhsAlignment << "\n";
+    std::cerr << "CanVectorizeLhs=      " << CanVectorizeLhs << "\n";
+    std::cerr << "CanVectorizeRhs=      " << CanVectorizeRhs << "\n";
+    std::cerr << "CanVectorizeInner=    " << CanVectorizeInner << "\n";
+    std::cerr << "EvalToRowMajor=       " << EvalToRowMajor << "\n";
+    std::cerr << "Alignment=            " << Alignment << "\n";
+    std::cerr << "Flags=                " << Flags << "\n";
+#endif
+  }
+
+  // Everything below here is taken from CoeffBasedProduct.h
+
+  typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+  typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+  
+  typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+  typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+  typedef evaluator<LhsNestedCleaned> LhsEtorType;
+  typedef evaluator<RhsNestedCleaned> RhsEtorType;
+
+  enum {
+    RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime,
+    ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime,
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime),
+    MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime
+  };
+
+  typedef typename find_best_packet<Scalar,RowsAtCompileTime>::type LhsVecPacketType;
+  typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
+
+  enum {
+      
+    LhsCoeffReadCost = LhsEtorType::CoeffReadCost,
+    RhsCoeffReadCost = RhsEtorType::CoeffReadCost,
+    CoeffReadCost = InnerSize==0 ? NumTraits<Scalar>::ReadCost
+                  : InnerSize == Dynamic ? HugeCost
+                  : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+                    + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
+
+    Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
+    
+    LhsFlags = LhsEtorType::Flags,
+    RhsFlags = RhsEtorType::Flags,
+    
+    LhsRowMajor = LhsFlags & RowMajorBit,
+    RhsRowMajor = RhsFlags & RowMajorBit,
+
+    LhsVecPacketSize = unpacket_traits<LhsVecPacketType>::size,
+    RhsVecPacketSize = unpacket_traits<RhsVecPacketType>::size,
+
+    // Here, we don't care about alignment larger than the usable packet size.
+    LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))),
+    RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))),
+      
+    SameType = is_same<typename LhsNestedCleaned::Scalar,typename RhsNestedCleaned::Scalar>::value,
+
+    CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1),
+    CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1),
+
+    EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+                    : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+                    : (bool(RhsRowMajor) && !CanVectorizeLhs),
+
+    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+          | (EvalToRowMajor ? RowMajorBit : 0)
+          // TODO enable vectorization for mixed types
+          | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0)
+          | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0),
+          
+    LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)),
+    RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)),
+
+    Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment)
+              : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment)
+              : 0,
+
+    /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
+     * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
+     * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
+     * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
+     */
+    CanVectorizeInner =    SameType
+                        && LhsRowMajor
+                        && (!RhsRowMajor)
+                        && (LhsFlags & RhsFlags & ActualPacketAccessBit)
+                        && (InnerSize % packet_traits<Scalar>::size == 0)
+  };
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
+  {
+    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+  }
+
+  /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
+   * which is why we don't set the LinearAccessBit.
+   * TODO: this seems possible when the result is a vector
+   */
+  EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const
+  {
+    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+  }
+
+  template<int LoadMode, typename PacketType>
+  const PacketType packet(Index row, Index col) const
+  {
+    PacketType res;
+    typedef etor_product_packet_impl<bool(int(Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                                     Unroll ? int(InnerSize) : Dynamic,
+                                     LhsEtorType, RhsEtorType, PacketType, LoadMode> PacketImpl;
+    PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res);
+    return res;
+  }
+
+  template<int LoadMode, typename PacketType>
+  const PacketType packet(Index index) const
+  {
+    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+    return packet<LoadMode,PacketType>(row,col);
+  }
+
+protected:
+  typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
+  typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
+  
+  LhsEtorType m_lhsImpl;
+  RhsEtorType m_rhsImpl;
+
+  // TODO: Get rid of m_innerDim if known at compile time
+  Index m_innerDim;
+};
+
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProductMode, DenseShape, DenseShape>
+  : product_evaluator<Product<Lhs, Rhs, LazyProduct>, CoeffBasedProductMode, DenseShape, DenseShape>
+{
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  typedef Product<Lhs, Rhs, LazyProduct> BaseProduct;
+  typedef product_evaluator<BaseProduct, CoeffBasedProductMode, DenseShape, DenseShape> Base;
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(BaseProduct(xpr.lhs(),xpr.rhs()))
+  {}
+};
+
+/****************************************
+*** Coeff based product, Packet path  ***
+****************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  {
+    etor_product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+    res =  pmadd(pset1<Packet>(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet<LoadMode,Packet>(Index(UnrollingIndex-1), col), res);
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  {
+    etor_product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+    res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  {
+    res = pmul(pset1<Packet>(lhs.coeff(row, Index(0))),rhs.template packet<LoadMode,Packet>(Index(0), col));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  {
+    res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+    for(Index i = 0; i < innerDim; ++i)
+      res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode,Packet>(i, col), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+    for(Index i = 0; i < innerDim; ++i)
+      res =  pmadd(lhs.template packet<LoadMode,Packet>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
+  }
+};
+
+
+/***************************************************************************
+* Triangular products
+***************************************************************************/
+template<int Mode, bool LhsIsTriangular,
+         typename Lhs, bool LhsIsVector,
+         typename Rhs, bool RhsIsVector>
+struct triangular_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
+        ::run(dst, lhs.nestedExpression(), rhs, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+  }
+};
+
+
+/***************************************************************************
+* SelfAdjoint products
+***************************************************************************/
+template <typename Lhs, int LhsMode, bool LhsIsVector,
+          typename Rhs, int RhsMode, bool RhsIsVector>
+struct selfadjoint_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    selfadjoint_product_impl<typename Lhs::MatrixType,Lhs::Mode,false,Rhs,0,Rhs::IsVectorAtCompileTime>::run(dst, lhs.nestedExpression(), rhs, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    selfadjoint_product_impl<Lhs,0,Lhs::IsVectorAtCompileTime,typename Rhs::MatrixType,Rhs::Mode,false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+  }
+};
+
+
+/***************************************************************************
+* Diagonal products
+***************************************************************************/
+  
+template<typename MatrixType, typename DiagonalType, typename Derived, int ProductOrder>
+struct diagonal_product_evaluator_base
+  : evaluator_base<Derived>
+{
+   typedef typename ScalarBinaryOpTraits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
+public:
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::MulCost + evaluator<MatrixType>::CoeffReadCost + evaluator<DiagonalType>::CoeffReadCost,
+    
+    MatrixFlags = evaluator<MatrixType>::Flags,
+    DiagFlags = evaluator<DiagonalType>::Flags,
+    _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
+    _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
+                           ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
+    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
+    // FIXME currently we need same types, but in the future the next rule should be the one
+    //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))),
+    _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
+    _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0,
+    Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0),
+    Alignment = evaluator<MatrixType>::Alignment
+  };
+  
+  diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
+    : m_diagImpl(diag), m_matImpl(mat)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
+  {
+    return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
+  }
+  
+protected:
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const
+  {
+    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+                          internal::pset1<PacketType>(m_diagImpl.coeff(id)));
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const
+  {
+    enum {
+      InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
+      DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator<DiagonalType>::Alignment)) // FIXME hardcoded 16!!
+    };
+    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+                          m_diagImpl.template packet<DiagonalPacketLoadMode,PacketType>(id));
+  }
+  
+  evaluator<DiagonalType> m_diagImpl;
+  evaluator<MatrixType>   m_matImpl;
+};
+
+// diagonal * dense
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalShape, DenseShape>
+  : diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft>
+{
+  typedef diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft> Base;
+  using Base::m_diagImpl;
+  using Base::m_matImpl;
+  using Base::coeff;
+  typedef typename Base::Scalar Scalar;
+  
+  typedef Product<Lhs, Rhs, ProductKind> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  
+  enum {
+    StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor
+  };
+
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.rhs(), xpr.lhs().diagonal())
+  {
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+  {
+    return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col);
+  }
+  
+#ifndef __CUDACC__
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+  {
+    // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case.
+    // See also similar calls below.
+    return this->template packet_impl<LoadMode,PacketType>(row,col, row,
+                                 typename internal::conditional<int(StorageOrder)==RowMajor, internal::true_type, internal::false_type>::type());
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+  {
+    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+  }
+#endif
+};
+
+// dense * diagonal
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DenseShape, DiagonalShape>
+  : diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight>
+{
+  typedef diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight> Base;
+  using Base::m_diagImpl;
+  using Base::m_matImpl;
+  using Base::coeff;
+  typedef typename Base::Scalar Scalar;
+  
+  typedef Product<Lhs, Rhs, ProductKind> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  
+  enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor };
+
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs().diagonal())
+  {
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+  {
+    return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col);
+  }
+  
+#ifndef __CUDACC__
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+  {
+    return this->template packet_impl<LoadMode,PacketType>(row,col, col,
+                                 typename internal::conditional<int(StorageOrder)==ColMajor, internal::true_type, internal::false_type>::type());
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+  {
+    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+  }
+#endif
+};
+
+/***************************************************************************
+* Products with permutation matrices
+***************************************************************************/
+
+/** \internal
+  * \class permutation_matrix_product
+  * Internal helper class implementing the product between a permutation matrix and a matrix.
+  * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h
+  */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct permutation_matrix_product;
+
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
+{
+    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+
+    template<typename Dest, typename PermutationType>
+    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
+    {
+      MatrixType mat(xpr);
+      const Index n = Side==OnTheLeft ? mat.rows() : mat.cols();
+      // FIXME we need an is_same for expression that is not sensitive to constness. For instance
+      // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
+      //if(is_same<MatrixTypeCleaned,Dest>::value && extract_data(dst) == extract_data(mat))
+      if(is_same_dense(dst, mat))
+      {
+        // apply the permutation inplace
+        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(perm.size());
+        mask.fill(false);
+        Index r = 0;
+        while(r < perm.size())
+        {
+          // search for the next seed
+          while(r<perm.size() && mask[r]) r++;
+          if(r>=perm.size())
+            break;
+          // we got one, let's follow it until we are back to the seed
+          Index k0 = r++;
+          Index kPrev = k0;
+          mask.coeffRef(k0) = true;
+          for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k))
+          {
+                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
+            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
+
+            mask.coeffRef(k) = true;
+            kPrev = k;
+          }
+        }
+      }
+      else
+      {
+        for(Index i = 0; i < n; ++i)
+        {
+          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+               (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i)
+
+          =
+
+          Block<const MatrixTypeCleaned,Side==OnTheLeft ? 1 : MatrixTypeCleaned::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixTypeCleaned::ColsAtCompileTime>
+               (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i);
+        }
+      }
+    }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, PermutationShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Inverse<Lhs>, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Inverse<Rhs>, MatrixShape, PermutationShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
+  {
+    permutation_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+  }
+};
+
+
+/***************************************************************************
+* Products with transpositions matrices
+***************************************************************************/
+
+// FIXME could we unify Transpositions and Permutation into a single "shape"??
+
+/** \internal
+  * \class transposition_matrix_product
+  * Internal helper class implementing the product between a permutation matrix and a matrix.
+  */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct transposition_matrix_product
+{
+  typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+  
+  template<typename Dest, typename TranspositionType>
+  static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
+  {
+    MatrixType mat(xpr);
+    typedef typename TranspositionType::StorageIndex StorageIndex;
+    const Index size = tr.size();
+    StorageIndex j = 0;
+
+    if(!is_same_dense(dst,mat))
+      dst = mat;
+
+    for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
+      if(Index(j=tr.coeff(k))!=k)
+      {
+        if(Side==OnTheLeft)        dst.row(k).swap(dst.row(j));
+        else if(Side==OnTheRight)  dst.col(k).swap(dst.col(j));
+      }
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, TranspositionsShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+  }
+};
+
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Transpose<Lhs>, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Transpose<Rhs>, MatrixShape, TranspositionsShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
+  {
+    transposition_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+  }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_EVALUATORS_H
diff --git a/vendor/eigen/Eigen/src/Core/Random.h b/vendor/eigen/Eigen/src/Core/Random.h
index 480fea4..6faf789 100644
--- a/vendor/eigen/Eigen/src/Core/Random.h
+++ b/vendor/eigen/Eigen/src/Core/Random.h
@@ -16,8 +16,7 @@ namespace internal {
 
 template<typename Scalar> struct scalar_random_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
-  template<typename Index>
-  inline const Scalar operator() (Index, Index = 0) const { return random<Scalar>(); }
+  inline const Scalar operator() () const { return random<Scalar>(); }
 };
 
 template<typename Scalar>
@@ -28,12 +27,18 @@ struct functor_traits<scalar_random_op<Scalar> >
 
 /** \returns a random matrix expression
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
+  * \not_reentrant
+  * 
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
   * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
   * instead.
+  * 
   *
   * Example: \include MatrixBase_random_int_int.cpp
   * Output: \verbinclude MatrixBase_random_int_int.out
@@ -41,11 +46,13 @@ struct functor_traits<scalar_random_op<Scalar> >
   * This expression has the "evaluate before nesting" flag so that it will be evaluated into
   * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
+  * 
+  * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators.
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index), MatrixBase::Random()
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random(Index rows, Index cols)
 {
   return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
@@ -53,10 +60,14 @@ DenseBase<Derived>::Random(Index rows, Index cols)
 
 /** \returns a random vector expression
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  *
   * The parameter \a size is the size of the returned vector.
   * Must be compatible with this MatrixBase type.
   *
   * \only_for_vectors
+  * \not_reentrant
   *
   * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
   * it is redundant to pass \a size as argument, so Random() should be used
@@ -69,10 +80,10 @@ DenseBase<Derived>::Random(Index rows, Index cols)
   * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random()
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random(Index size)
 {
   return NullaryExpr(size, internal::scalar_random_op<Scalar>());
@@ -80,6 +91,9 @@ DenseBase<Derived>::Random(Index size)
 
 /** \returns a fixed-size random matrix or vector expression
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
   * need to use the variants taking size arguments.
   *
@@ -89,11 +103,13 @@ DenseBase<Derived>::Random(Index size)
   * This expression has the "evaluate before nesting" flag so that it will be evaluated into
   * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
+  * 
+  * \not_reentrant
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random(Index)
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index)
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random()
 {
   return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
@@ -101,6 +117,11 @@ DenseBase<Derived>::Random()
 
 /** Sets all coefficients in this expression to random values.
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
+  * \not_reentrant
+  * 
   * Example: \include MatrixBase_setRandom.cpp
   * Output: \verbinclude MatrixBase_setRandom.out
   *
@@ -114,12 +135,16 @@ inline Derived& DenseBase<Derived>::setRandom()
 
 /** Resizes to the given \a newSize, and sets all coefficients in this expression to random values.
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * \only_for_vectors
+  * \not_reentrant
   *
   * Example: \include Matrix_setRandom_int.cpp
   * Output: \verbinclude Matrix_setRandom_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
@@ -131,19 +156,24 @@ PlainObjectBase<Derived>::setRandom(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to random values.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  *
+  * \not_reentrant
+  * 
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setRandom_int_int.cpp
   * Output: \verbinclude Matrix_setRandom_int_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(Index), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setRandom(Index nbRows, Index nbCols)
+PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setRandom();
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/Redux.h b/vendor/eigen/Eigen/src/Core/Redux.h
index 9b8662a..b6e8f88 100644
--- a/vendor/eigen/Eigen/src/Core/Redux.h
+++ b/vendor/eigen/Eigen/src/Core/Redux.h
@@ -27,8 +27,9 @@ template<typename Func, typename Derived>
 struct redux_traits
 {
 public:
+    typedef typename find_best_packet<typename Derived::Scalar,Derived::SizeAtCompileTime>::type PacketType;
   enum {
-    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    PacketSize = unpacket_traits<PacketType>::size,
     InnerMaxSize = int(Derived::IsRowMajor)
                  ? Derived::MaxColsAtCompileTime
                  : Derived::MaxRowsAtCompileTime
@@ -37,8 +38,8 @@ public:
   enum {
     MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
                   && (functor_traits<Func>::PacketAccess),
-    MayLinearVectorize = MightVectorize && (int(Derived::Flags)&LinearAccessBit),
-    MaySliceVectorize  = MightVectorize && int(InnerMaxSize)>=3*PacketSize
+    MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit),
+    MaySliceVectorize  = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize
   };
 
 public:
@@ -50,21 +51,34 @@ public:
 
 public:
   enum {
-    Cost = (  Derived::SizeAtCompileTime == Dynamic
-           || Derived::CoeffReadCost == Dynamic
-           || (Derived::SizeAtCompileTime!=1 && functor_traits<Func>::Cost == Dynamic)
-           ) ? Dynamic
-           : Derived::SizeAtCompileTime * Derived::CoeffReadCost
-               + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+    Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost
+         : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
     UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
   };
 
 public:
   enum {
-    Unrolling = Cost != Dynamic && Cost <= UnrollingLimit
-              ? CompleteUnrolling
-              : NoUnrolling
+    Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling
   };
+  
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl;
+    std::cerr.setf(std::ios::hex, std::ios::basefield);
+    EIGEN_DEBUG_VAR(Derived::Flags)
+    std::cerr.unsetf(std::ios::hex);
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(PacketSize)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    EIGEN_DEBUG_VAR(Traversal)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(Unrolling)
+    std::cerr << std::endl;
+  }
+#endif
 };
 
 /***************************************************************************
@@ -82,6 +96,7 @@ struct redux_novec_unroller
 
   typedef typename Derived::Scalar Scalar;
 
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
@@ -99,6 +114,7 @@ struct redux_novec_unroller<Func, Derived, Start, 1>
 
   typedef typename Derived::Scalar Scalar;
 
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&)
   {
     return mat.coeffByOuterInner(outer, inner);
@@ -112,6 +128,7 @@ template<typename Func, typename Derived, int Start>
 struct redux_novec_unroller<Func, Derived, Start, 0>
 {
   typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC 
   static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); }
 };
 
@@ -121,12 +138,12 @@ template<typename Func, typename Derived, int Start, int Length>
 struct redux_vec_unroller
 {
   enum {
-    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    PacketSize = redux_traits<Func, Derived>::PacketSize,
     HalfLength = Length/2
   };
 
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
   static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func)
   {
@@ -140,18 +157,18 @@ template<typename Func, typename Derived, int Start>
 struct redux_vec_unroller<Func, Derived, Start, 1>
 {
   enum {
-    index = Start * packet_traits<typename Derived::Scalar>::size,
+    index = Start * redux_traits<Func, Derived>::PacketSize,
     outer = index / int(Derived::InnerSizeAtCompileTime),
     inner = index % int(Derived::InnerSizeAtCompileTime),
-    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
+    alignment = Derived::Alignment
   };
 
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
   static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&)
   {
-    return mat.template packetByOuterInner<alignment>(outer, inner);
+    return mat.template packetByOuterInner<alignment,PacketScalar>(outer, inner);
   }
 };
 
@@ -169,8 +186,8 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
-  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
     Scalar res;
@@ -193,19 +210,19 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  typedef typename Derived::Index Index;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
-  static Scalar run(const Derived& mat, const Func& func)
+  static Scalar run(const Derived &mat, const Func& func)
   {
     const Index size = mat.size();
-    eigen_assert(size && "you are using an empty matrix");
-    const Index packetSize = packet_traits<Scalar>::size;
-    const Index alignedStart = internal::first_aligned(mat);
+    
+    const Index packetSize = redux_traits<Func, Derived>::PacketSize;
+    const int packetAlignment = unpacket_traits<PacketScalar>::alignment;
     enum {
-      alignment = bool(Derived::Flags & DirectAccessBit) || bool(Derived::Flags & AlignedBit)
-                ? Aligned : Unaligned
+      alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
+      alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment)
     };
+    const Index alignedStart = internal::first_default_aligned(mat.nestedExpression());
     const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize);
     const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize);
     const Index alignedEnd2 = alignedStart + alignedSize2;
@@ -213,19 +230,19 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
     Scalar res;
     if(alignedSize)
     {
-      PacketScalar packet_res0 = mat.template packet<alignment>(alignedStart);
+      PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
       if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop
       {
-        PacketScalar packet_res1 = mat.template packet<alignment>(alignedStart+packetSize);
+        PacketScalar packet_res1 = mat.template packet<alignment,PacketScalar>(alignedStart+packetSize);
         for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize)
         {
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment>(index));
-          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment>(index+packetSize));
+          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(index));
+          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment,PacketScalar>(index+packetSize));
         }
 
         packet_res0 = func.packetOp(packet_res0,packet_res1);
         if(alignedEnd>alignedEnd2)
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment>(alignedEnd2));
+          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(alignedEnd2));
       }
       res = func.predux(packet_res0);
 
@@ -252,25 +269,24 @@ template<typename Func, typename Derived, int Unrolling>
 struct redux_impl<Func, Derived, SliceVectorizedTraversal, Unrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  typedef typename Derived::Index Index;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketType;
 
-  static Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
     const Index innerSize = mat.innerSize();
     const Index outerSize = mat.outerSize();
     enum {
-      packetSize = packet_traits<Scalar>::size
+      packetSize = redux_traits<Func, Derived>::PacketSize
     };
     const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
     Scalar res;
     if(packetedInnerSize)
     {
-      PacketScalar packet_res = mat.template packet<Unaligned>(0,0);
+      PacketType packet_res = mat.template packet<Unaligned,PacketType>(0,0);
       for(Index j=0; j<outerSize; ++j)
         for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
-          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned>(j,i));
+          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned,PacketType>(j,i));
 
       res = func.predux(packet_res);
       for(Index j=0; j<outerSize; ++j)
@@ -291,22 +307,90 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
   enum {
-    PacketSize = packet_traits<Scalar>::size,
+    PacketSize = redux_traits<Func, Derived>::PacketSize,
     Size = Derived::SizeAtCompileTime,
     VectorizedSize = (Size / PacketSize) * PacketSize
   };
-  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
-    if (VectorizedSize != Size)
-      res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
-    return res;
+    if (VectorizedSize > 0) {
+      Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+      if (VectorizedSize != Size)
+        res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+      return res;
+    }
+    else {
+      return redux_novec_unroller<Func, Derived, 0, Size>::run(mat,func);
+    }
   }
 };
 
+// evaluator adaptor
+template<typename _XprType>
+class redux_evaluator
+{
+public:
+  typedef _XprType XprType;
+  EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  typedef typename XprType::PacketScalar PacketScalar;
+  typedef typename XprType::PacketReturnType PacketReturnType;
+  
+  enum {
+    MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = XprType::MaxColsAtCompileTime,
+    // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator
+    Flags = evaluator<XprType>::Flags & ~DirectAccessBit,
+    IsRowMajor = XprType::IsRowMajor,
+    SizeAtCompileTime = XprType::SizeAtCompileTime,
+    InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime,
+    CoeffReadCost = evaluator<XprType>::CoeffReadCost,
+    Alignment = evaluator<XprType>::Alignment
+  };
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+  EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); }
+  EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); }
+
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeff(Index row, Index col) const
+  { return m_evaluator.coeff(row, col); }
+
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeff(Index index) const
+  { return m_evaluator.coeff(index); }
+
+  template<int LoadMode, typename PacketType>
+  PacketType packet(Index row, Index col) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(row, col); }
+
+  template<int LoadMode, typename PacketType>
+  PacketType packet(Index index) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(index); }
+  
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+  { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+  
+  template<int LoadMode, typename PacketType>
+  PacketType packetByOuterInner(Index outer, Index inner) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+  
+  const XprType & nestedExpression() const { return m_xpr; }
+  
+protected:
+  internal::evaluator<XprType> m_evaluator;
+  const XprType &m_xpr;
+};
+
 } // end namespace internal
 
 /***************************************************************************
@@ -317,18 +401,21 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
 /** \returns the result of a full redux operation on the whole matrix or vector using \a func
   *
   * The template parameter \a BinaryOp is the type of the functor \a func which must be
-  * an associative operator. Both current STL and TR1 functor styles are handled.
+  * an associative operator. Both current C++98 and C++11 functor styles are handled.
   *
   * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
   */
 template<typename Derived>
 template<typename Func>
-EIGEN_STRONG_INLINE typename internal::result_of<Func(typename internal::traits<Derived>::Scalar)>::type
+typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::redux(const Func& func) const
 {
-  typedef typename internal::remove_all<typename Derived::Nested>::type ThisNested;
-  return internal::redux_impl<Func, ThisNested>
-            ::run(derived(), func);
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
+  typedef typename internal::redux_evaluator<Derived> ThisEvaluator;
+  ThisEvaluator thisEval(derived());
+  
+  return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
 }
 
 /** \returns the minimum of all coefficients of \c *this.
@@ -338,7 +425,7 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff() const
 {
-  return this->redux(Eigen::internal::scalar_min_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar>());
 }
 
 /** \returns the maximum of all coefficients of \c *this.
@@ -348,10 +435,12 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff() const
 {
-  return this->redux(Eigen::internal::scalar_max_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar>());
 }
 
-/** \returns the sum of all coefficients of *this
+/** \returns the sum of all coefficients of \c *this
+  *
+  * If \c *this is empty, then the value 0 is returned.
   *
   * \sa trace(), prod(), mean()
   */
@@ -361,7 +450,7 @@ DenseBase<Derived>::sum() const
 {
   if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
     return Scalar(0);
-  return this->redux(Eigen::internal::scalar_sum_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
 }
 
 /** \returns the mean of all coefficients of *this
@@ -372,7 +461,14 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::mean() const
 {
-  return Scalar(this->redux(Eigen::internal::scalar_sum_op<Scalar>())) / Scalar(this->size());
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  return Scalar(derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>())) / Scalar(this->size());
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
 }
 
 /** \returns the product of all coefficients of *this
@@ -388,7 +484,7 @@ DenseBase<Derived>::prod() const
 {
   if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
     return Scalar(1);
-  return this->redux(Eigen::internal::scalar_product_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_product_op<Scalar>());
 }
 
 /** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
diff --git a/vendor/eigen/Eigen/src/Core/Ref.h b/vendor/eigen/Eigen/src/Core/Ref.h
index 7a3beca..bdf24f5 100644
--- a/vendor/eigen/Eigen/src/Core/Ref.h
+++ b/vendor/eigen/Eigen/src/Core/Ref.h
@@ -12,79 +12,6 @@
 
 namespace Eigen { 
 
-template<typename Derived> class RefBase;
-template<typename PlainObjectType, int Options = 0,
-         typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
-
-/** \class Ref
-  * \ingroup Core_Module
-  *
-  * \brief A matrix or vector expression mapping an existing expressions
-  *
-  * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam Options specifies whether the pointer is \c #Aligned, or \c #Unaligned.
-  *                The default is \c #Unaligned.
-  * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
-  *                   but accept a variable outer stride (leading dimension).
-  *                   This can be overridden by specifying strides.
-  *                   The type passed here must be a specialization of the Stride template, see examples below.
-  *
-  * This class permits to write non template functions taking Eigen's object as parameters while limiting the number of copies.
-  * A Ref<> object can represent either a const expression or a l-value:
-  * \code
-  * // in-out argument:
-  * void foo1(Ref<VectorXf> x);
-  *
-  * // read-only const argument:
-  * void foo2(const Ref<const VectorXf>& x);
-  * \endcode
-  *
-  * In the in-out case, the input argument must satisfies the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
-  * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
-  * Likewise, a Ref<MatrixXf> can reference any column major dense matrix expression of float whose column's elements are contiguously stored with
-  * the possibility to have a constant space inbetween each column, i.e.: the inner stride mmust be equal to 1, but the outer-stride (or leading dimension),
-  * can be greater than the number of rows.
-  *
-  * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
-  * Here are some examples:
-  * \code
-  * MatrixXf A;
-  * VectorXf a;
-  * foo1(a.head());             // OK
-  * foo1(A.col());              // OK
-  * foo1(A.row());              // compilation error because here innerstride!=1
-  * foo2(A.row());              // The row is copied into a contiguous temporary
-  * foo2(2*a);                  // The expression is evaluated into a temporary
-  * foo2(A.col().segment(2,4)); // No temporary
-  * \endcode
-  *
-  * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameter.
-  * Here is an example accepting an innerstride!=1:
-  * \code
-  * // in-out argument:
-  * void foo3(Ref<VectorXf,0,InnerStride<> > x);
-  * foo3(A.row());              // OK
-  * \endcode
-  * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involved more
-  * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overloads internally calling a
-  * template function, e.g.:
-  * \code
-  * // in the .h:
-  * void foo(const Ref<MatrixXf>& A);
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A);
-  *
-  * // in the .cpp:
-  * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
-  *     ... // crazy code goes here
-  * }
-  * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
-  * \endcode
-  *
-  *
-  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
-  */
-
 namespace internal {
 
 template<typename _PlainObjectType, int _Options, typename _StrideType>
@@ -95,7 +22,8 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
   typedef _StrideType StrideType;
   enum {
     Options = _Options,
-    Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit
+    Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit,
+    Alignment = traits<Map<_PlainObjectType, _Options, _StrideType> >::Alignment
   };
 
   template<typename Derived> struct match {
@@ -107,7 +35,13 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
                       || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1),
       OuterStrideMatch = Derived::IsVectorAtCompileTime
                       || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime),
-      AlignmentMatch = (_Options!=Aligned) || ((PlainObjectType::Flags&AlignedBit)==0) || ((traits<Derived>::Flags&AlignedBit)==AlignedBit),
+      // NOTE, this indirection of evaluator<Derived>::Alignment is needed
+      // to workaround a very strange bug in MSVC related to the instantiation
+      // of has_*ary_operator in evaluator<CwiseNullaryOp>.
+      // This line is surprisingly very sensitive. For instance, simply adding parenthesis
+      // as "DerivedAlignment = (int(evaluator<Derived>::Alignment))," will make MSVC fail...
+      DerivedAlignment = int(evaluator<Derived>::Alignment),
+      AlignmentMatch = (int(traits<PlainObjectType>::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment
       ScalarTypeMatch = internal::is_same<typename PlainObjectType::Scalar, typename Derived::Scalar>::value,
       MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch
     };
@@ -132,12 +66,12 @@ public:
   typedef MapBase<Derived> Base;
   EIGEN_DENSE_PUBLIC_INTERFACE(RefBase)
 
-  inline Index innerStride() const
+  EIGEN_DEVICE_FUNC inline Index innerStride() const
   {
     return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
   }
 
-  inline Index outerStride() const
+  EIGEN_DEVICE_FUNC inline Index outerStride() const
   {
     return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
          : IsVectorAtCompileTime ? this->size()
@@ -145,7 +79,7 @@ public:
          : this->rows();
   }
 
-  RefBase()
+  EIGEN_DEVICE_FUNC RefBase()
     : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime),
       // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values:
       m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime,
@@ -159,7 +93,7 @@ protected:
   typedef Stride<StrideType::OuterStrideAtCompileTime,StrideType::InnerStrideAtCompileTime> StrideBase;
 
   template<typename Expression>
-  void construct(Expression& expr)
+  EIGEN_DEVICE_FUNC void construct(Expression& expr)
   {
     if(PlainObjectType::RowsAtCompileTime==1)
     {
@@ -184,15 +118,83 @@ protected:
   StrideBase m_stride;
 };
 
-
+/** \class Ref
+  * \ingroup Core_Module
+  *
+  * \brief A matrix or vector expression mapping an existing expression
+  *
+  * \tparam PlainObjectType the equivalent matrix type of the mapped data
+  * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
+  *                 The default is \c #Unaligned.
+  * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
+  *                   but accepts a variable outer stride (leading dimension).
+  *                   This can be overridden by specifying strides.
+  *                   The type passed here must be a specialization of the Stride template, see examples below.
+  *
+  * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies.
+  * A Ref<> object can represent either a const expression or a l-value:
+  * \code
+  * // in-out argument:
+  * void foo1(Ref<VectorXf> x);
+  *
+  * // read-only const argument:
+  * void foo2(const Ref<const VectorXf>& x);
+  * \endcode
+  *
+  * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
+  * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
+  * Likewise, a Ref<MatrixXf> can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with
+  * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension)
+  * can be greater than the number of rows.
+  *
+  * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
+  * Here are some examples:
+  * \code
+  * MatrixXf A;
+  * VectorXf a;
+  * foo1(a.head());             // OK
+  * foo1(A.col());              // OK
+  * foo1(A.row());              // Compilation error because here innerstride!=1
+  * foo2(A.row());              // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object
+  * foo2(A.row().transpose());  // The row is copied into a contiguous temporary
+  * foo2(2*a);                  // The expression is evaluated into a temporary
+  * foo2(A.col().segment(2,4)); // No temporary
+  * \endcode
+  *
+  * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters.
+  * Here is an example accepting an innerstride!=1:
+  * \code
+  * // in-out argument:
+  * void foo3(Ref<VectorXf,0,InnerStride<> > x);
+  * foo3(A.row());              // OK
+  * \endcode
+  * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more
+  * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a
+  * template function, e.g.:
+  * \code
+  * // in the .h:
+  * void foo(const Ref<MatrixXf>& A);
+  * void foo(const Ref<MatrixXf,0,Stride<> >& A);
+  *
+  * // in the .cpp:
+  * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
+  *     ... // crazy code goes here
+  * }
+  * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
+  * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
+  * \endcode
+  *
+  *
+  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
+  */
 template<typename PlainObjectType, int Options, typename StrideType> class Ref
   : public RefBase<Ref<PlainObjectType, Options, StrideType> >
 {
   private:
     typedef internal::traits<Ref> Traits;
     template<typename Derived>
-    inline Ref(const PlainObjectBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
+    EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
   public:
 
     typedef RefBase<Ref> Base;
@@ -201,23 +203,24 @@ template<typename PlainObjectType, int Options, typename StrideType> class Ref
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename Derived>
-    inline Ref(PlainObjectBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
     {
-      EIGEN_STATIC_ASSERT(static_cast<bool>(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
       Base::construct(expr.derived());
     }
     template<typename Derived>
-    inline Ref(const DenseBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
     #else
+    /** Implicit constructor from any dense expression */
     template<typename Derived>
     inline Ref(DenseBase<Derived>& expr)
     #endif
     {
-      EIGEN_STATIC_ASSERT(static_cast<bool>(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      EIGEN_STATIC_ASSERT(static_cast<bool>(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      enum { THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY = Derived::ThisConstantIsPrivateInPlainObjectBase};
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
       Base::construct(expr.const_cast_derived());
     }
 
@@ -236,36 +239,36 @@ template<typename TPlainObjectType, int Options, typename StrideType> class Ref<
     EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
 
     template<typename Derived>
-    inline Ref(const DenseBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
     {
 //      std::cout << match_helper<Derived>::HasDirectAccess << "," << match_helper<Derived>::OuterStrideMatch << "," << match_helper<Derived>::InnerStrideMatch << "\n";
 //      std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n";
 //      std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n";
       construct(expr.derived(), typename Traits::template match<Derived>::type());
     }
-    
-    inline Ref(const Ref& other) : Base(other) {
+
+    EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) {
       // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
     }
 
     template<typename OtherRef>
-    inline Ref(const RefBase<OtherRef>& other) {
+    EIGEN_DEVICE_FUNC inline Ref(const RefBase<OtherRef>& other) {
       construct(other.derived(), typename Traits::template match<OtherRef>::type());
     }
 
   protected:
 
     template<typename Expression>
-    void construct(const Expression& expr,internal::true_type)
+    EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type)
     {
       Base::construct(expr);
     }
 
     template<typename Expression>
-    void construct(const Expression& expr, internal::false_type)
+    EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type)
     {
-      m_object.lazyAssign(expr);
+      internal::call_assignment_no_alias(m_object,expr,internal::assign_op<Scalar,Scalar>());
       Base::construct(m_object);
     }
 
diff --git a/vendor/eigen/Eigen/src/Core/Replicate.h b/vendor/eigen/Eigen/src/Core/Replicate.h
index ac4537c..9960ef8 100644
--- a/vendor/eigen/Eigen/src/Core/Replicate.h
+++ b/vendor/eigen/Eigen/src/Core/Replicate.h
@@ -12,21 +12,6 @@
 
 namespace Eigen { 
 
-/**
-  * \class Replicate
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the multiple replication of a matrix or vector
-  *
-  * \param MatrixType the type of the object we are replicating
-  *
-  * This class represents an expression of the multiple replication of a matrix or vector.
-  * It is the return type of DenseBase::replicate() and most of the time
-  * this is the only way it is used.
-  *
-  * \sa DenseBase::replicate()
-  */
-
 namespace internal {
 template<typename MatrixType,int RowFactor,int ColFactor>
 struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
@@ -35,10 +20,7 @@ struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
   typedef typename MatrixType::Scalar Scalar;
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
-  enum {
-    Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
-  };
-  typedef typename nested<MatrixType,Factor>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
@@ -53,12 +35,29 @@ struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
     IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
                : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
                : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
-    Flags = (_MatrixTypeNested::Flags & HereditaryBits & ~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+    
+    // FIXME enable DirectAccess with negative strides?
+    Flags = IsRowMajor ? RowMajorBit : 0
   };
 };
 }
 
+/**
+  * \class Replicate
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the multiple replication of a matrix or vector
+  *
+  * \tparam MatrixType the type of the object we are replicating
+  * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic.
+  * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic.
+  *
+  * This class represents an expression of the multiple replication of a matrix or vector.
+  * It is the return type of DenseBase::replicate() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa DenseBase::replicate()
+  */
 template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
   : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
 {
@@ -68,10 +67,12 @@ template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
 
     typedef typename internal::dense_xpr_base<Replicate>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
     template<typename OriginalMatrixType>
-    inline explicit Replicate(const OriginalMatrixType& a_matrix)
-      : m_matrix(a_matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
+    EIGEN_DEVICE_FUNC
+    inline explicit Replicate(const OriginalMatrixType& matrix)
+      : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
     {
       EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
                           THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
@@ -79,41 +80,20 @@ template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
     }
 
     template<typename OriginalMatrixType>
-    inline Replicate(const OriginalMatrixType& a_matrix, Index rowFactor, Index colFactor)
-      : m_matrix(a_matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
+    EIGEN_DEVICE_FUNC
+    inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor)
+      : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
     {
       EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
                           THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
 
-    inline Scalar coeff(Index rowId, Index colId) const
-    {
-      // try to avoid using modulo; this is a pure optimization strategy
-      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
-                            : RowFactor==1 ? rowId
-                            : rowId%m_matrix.rows();
-      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
-                            : ColFactor==1 ? colId
-                            : colId%m_matrix.cols();
-
-      return m_matrix.coeff(actual_row, actual_col);
-    }
-    template<int LoadMode>
-    inline PacketScalar packet(Index rowId, Index colId) const
-    {
-      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
-                            : RowFactor==1 ? rowId
-                            : rowId%m_matrix.rows();
-      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
-                            : ColFactor==1 ? colId
-                            : colId%m_matrix.cols();
-
-      return m_matrix.template packet<LoadMode>(actual_row, actual_col);
-    }
-
+    EIGEN_DEVICE_FUNC
     const _MatrixTypeNested& nestedExpression() const
     { 
       return m_matrix; 
@@ -142,21 +122,6 @@ DenseBase<Derived>::replicate() const
 }
 
 /**
-  * \return an expression of the replication of \c *this
-  *
-  * Example: \include MatrixBase_replicate_int_int.cpp
-  * Output: \verbinclude MatrixBase_replicate_int_int.out
-  *
-  * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
-  */
-template<typename Derived>
-const typename DenseBase<Derived>::ReplicateReturnType
-DenseBase<Derived>::replicate(Index rowFactor,Index colFactor) const
-{
-  return Replicate<Derived,Dynamic,Dynamic>(derived(),rowFactor,colFactor);
-}
-
-/**
   * \return an expression of the replication of each column (or row) of \c *this
   *
   * Example: \include DirectionWise_replicate_int.cpp
diff --git a/vendor/eigen/Eigen/src/Core/ReturnByValue.h b/vendor/eigen/Eigen/src/Core/ReturnByValue.h
index f635598..c44b767 100644
--- a/vendor/eigen/Eigen/src/Core/ReturnByValue.h
+++ b/vendor/eigen/Eigen/src/Core/ReturnByValue.h
@@ -13,11 +13,6 @@
 
 namespace Eigen {
 
-/** \class ReturnByValue
-  * \ingroup Core_Module
-  *
-  */
-
 namespace internal {
 
 template<typename Derived>
@@ -38,17 +33,22 @@ struct traits<ReturnByValue<Derived> >
  * So internal::nested always gives the plain return matrix type.
  *
  * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
+ * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators
  */
 template<typename Derived,int n,typename PlainObject>
-struct nested<ReturnByValue<Derived>, n, PlainObject>
+struct nested_eval<ReturnByValue<Derived>, n, PlainObject>
 {
   typedef typename traits<Derived>::ReturnType type;
 };
 
 } // end namespace internal
 
+/** \class ReturnByValue
+  * \ingroup Core_Module
+  *
+  */
 template<typename Derived> class ReturnByValue
-  : internal::no_assignment_operator, public internal::dense_xpr_base< ReturnByValue<Derived> >::type
+  : public internal::dense_xpr_base< ReturnByValue<Derived> >::type, internal::no_assignment_operator
 {
   public:
     typedef typename internal::traits<Derived>::ReturnType ReturnType;
@@ -57,10 +57,11 @@ template<typename Derived> class ReturnByValue
     EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
 
     template<typename Dest>
+    EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const
     { static_cast<const Derived*>(this)->evalTo(dst); }
-    inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
-    inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 #define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
@@ -72,8 +73,7 @@ template<typename Derived> class ReturnByValue
     const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
     Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
     Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
-    template<int LoadMode>  Unusable& packet(Index) const;
-    template<int LoadMode>  Unusable& packet(Index, Index) const;
+#undef Unusable
 #endif
 };
 
@@ -85,14 +85,32 @@ Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
   return derived();
 }
 
+namespace internal {
+
+// Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that
+// when a ReturnByValue expression is assigned, the evaluator is not constructed.
+// TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world
+  
 template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::lazyAssign(const ReturnByValue<OtherDerived>& other)
+struct evaluator<ReturnByValue<Derived> >
+  : public evaluator<typename internal::traits<Derived>::ReturnType>
 {
-  other.evalTo(derived());
-  return derived();
-}
+  typedef ReturnByValue<Derived> XprType;
+  typedef typename internal::traits<Derived>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    xpr.evalTo(m_result);
+  }
+
+protected:
+  PlainObject m_result;
+};
 
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/Core/Reverse.h b/vendor/eigen/Eigen/src/Core/Reverse.h
index e30ae3d..0640cda 100644
--- a/vendor/eigen/Eigen/src/Core/Reverse.h
+++ b/vendor/eigen/Eigen/src/Core/Reverse.h
@@ -14,20 +14,6 @@
 
 namespace Eigen { 
 
-/** \class Reverse
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the reverse of a vector or matrix
-  *
-  * \param MatrixType the type of the object of which we are taking the reverse
-  *
-  * This class represents an expression of the reverse of a vector.
-  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
-  */
-
 namespace internal {
 
 template<typename MatrixType, int Direction>
@@ -37,36 +23,43 @@ struct traits<Reverse<MatrixType, Direction> >
   typedef typename MatrixType::Scalar Scalar;
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-
-    // let's enable LinearAccess only with vectorization because of the product overhead
-    LinearAccess = ( (Direction==BothDirections) && (int(_MatrixTypeNested::Flags)&PacketAccessBit) )
-                 ? LinearAccessBit : 0,
-
-    Flags = int(_MatrixTypeNested::Flags) & (HereditaryBits | LvalueBit | PacketAccessBit | LinearAccess),
-
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+    Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit)
   };
 };
 
-template<typename PacketScalar, bool ReversePacket> struct reverse_packet_cond
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond
 {
-  static inline PacketScalar run(const PacketScalar& x) { return preverse(x); }
+  static inline PacketType run(const PacketType& x) { return preverse(x); }
 };
 
-template<typename PacketScalar> struct reverse_packet_cond<PacketScalar,false>
+template<typename PacketType> struct reverse_packet_cond<PacketType,false>
 {
-  static inline PacketScalar run(const PacketScalar& x) { return x; }
+  static inline PacketType run(const PacketType& x) { return x; }
 };
 
 } // end namespace internal 
 
+/** \class Reverse
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the reverse of a vector or matrix
+  *
+  * \tparam MatrixType the type of the object of which we are taking the reverse
+  * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections
+  *
+  * This class represents an expression of the reverse of a vector.
+  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
+  */
 template<typename MatrixType, int Direction> class Reverse
   : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
 {
@@ -74,12 +67,9 @@ template<typename MatrixType, int Direction> class Reverse
 
     typedef typename internal::dense_xpr_base<Reverse>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
     using Base::IsRowMajor;
 
-    // next line is necessary because otherwise const version of operator()
-    // is hidden by non-const version defined in this file
-    using Base::operator(); 
-
   protected:
     enum {
       PacketSize = internal::packet_traits<Scalar>::size,
@@ -95,82 +85,19 @@ template<typename MatrixType, int Direction> class Reverse
     typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
   public:
 
-    inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
+    EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
 
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); }
 
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC inline Index innerStride() const
     {
       return -m_matrix.innerStride();
     }
 
-    inline Scalar& operator()(Index row, Index col)
-    {
-      eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
-      return coeffRef(row, col);
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(ReverseRow ? m_matrix.rows() - row - 1 : row,
-                                                    ReverseCol ? m_matrix.cols() - col - 1 : col);
-    }
-
-    inline CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(ReverseRow ? m_matrix.rows() - row - 1 : row,
-                            ReverseCol ? m_matrix.cols() - col - 1 : col);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_matrix.coeff(m_matrix.size() - index - 1);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_matrix.const_cast_derived().coeffRef(m_matrix.size() - index - 1);
-    }
-
-    inline Scalar& operator()(Index index)
-    {
-      eigen_assert(index >= 0 && index < m_matrix.size());
-      return coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index row, Index col) const
-    {
-      return reverse_packet::run(m_matrix.template packet<LoadMode>(
-                                    ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
-                                    ReverseCol ? m_matrix.cols() - col - OffsetCol : col));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(
-                                      ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
-                                      ReverseCol ? m_matrix.cols() - col - OffsetCol : col,
-                                      reverse_packet::run(x));
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return internal::preverse(m_matrix.template packet<LoadMode>( m_matrix.size() - index - PacketSize ));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(m_matrix.size() - index - PacketSize, internal::preverse(x));
-    }
-
-    const typename internal::remove_all<typename MatrixType::Nested>::type& 
+    EIGEN_DEVICE_FUNC const typename internal::remove_all<typename MatrixType::Nested>::type&
     nestedExpression() const 
     {
       return m_matrix;
@@ -190,33 +117,93 @@ template<typename Derived>
 inline typename DenseBase<Derived>::ReverseReturnType
 DenseBase<Derived>::reverse()
 {
-  return derived();
+  return ReverseReturnType(derived());
 }
 
-/** This is the const version of reverse(). */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstReverseReturnType
-DenseBase<Derived>::reverse() const
-{
-  return derived();
-}
+
+//reverse const overload moved DenseBase.h due to a CUDA compiler bug
 
 /** This is the "in place" version of reverse: it reverses \c *this.
   *
   * In most cases it is probably better to simply use the reversed expression
   * of a matrix. However, when reversing the matrix data itself is really needed,
   * then this "in-place" version is probably the right choice because it provides
-  * the following additional features:
+  * the following additional benefits:
   *  - less error prone: doing the same operation with .reverse() requires special care:
   *    \code m = m.reverse().eval(); \endcode
-  *  - this API allows to avoid creating a temporary (the current implementation creates a temporary, but that could be avoided using swap)
+  *  - this API enables reverse operations without the need for a temporary
   *  - it allows future optimizations (cache friendliness, etc.)
   *
-  * \sa reverse() */
+  * \sa VectorwiseOp::reverseInPlace(), reverse() */
 template<typename Derived>
 inline void DenseBase<Derived>::reverseInPlace()
 {
-  derived() = derived().reverse().eval();
+  if(cols()>rows())
+  {
+    Index half = cols()/2;
+    leftCols(half).swap(rightCols(half).reverse());
+    if((cols()%2)==1)
+    {
+      Index half2 = rows()/2;
+      col(half).head(half2).swap(col(half).tail(half2).reverse());
+    }
+  }
+  else
+  {
+    Index half = rows()/2;
+    topRows(half).swap(bottomRows(half).reverse());
+    if((rows()%2)==1)
+    {
+      Index half2 = cols()/2;
+      row(half).head(half2).swap(row(half).tail(half2).reverse());
+    }
+  }
+}
+
+namespace internal {
+  
+template<int Direction>
+struct vectorwise_reverse_inplace_impl;
+
+template<>
+struct vectorwise_reverse_inplace_impl<Vertical>
+{
+  template<typename ExpressionType>
+  static void run(ExpressionType &xpr)
+  {
+    Index half = xpr.rows()/2;
+    xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse());
+  }
+};
+
+template<>
+struct vectorwise_reverse_inplace_impl<Horizontal>
+{
+  template<typename ExpressionType>
+  static void run(ExpressionType &xpr)
+  {
+    Index half = xpr.cols()/2;
+    xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse());
+  }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this.
+  *
+  * In most cases it is probably better to simply use the reversed expression
+  * of a matrix. However, when reversing the matrix data itself is really needed,
+  * then this "in-place" version is probably the right choice because it provides
+  * the following additional benefits:
+  *  - less error prone: doing the same operation with .reverse() requires special care:
+  *    \code m = m.reverse().eval(); \endcode
+  *  - this API enables reverse operations without the need for a temporary
+  *
+  * \sa DenseBase::reverseInPlace(), reverse() */
+template<typename ExpressionType, int Direction>
+void VectorwiseOp<ExpressionType,Direction>::reverseInPlace()
+{
+  internal::vectorwise_reverse_inplace_impl<Direction>::run(_expression().const_cast_derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Select.h b/vendor/eigen/Eigen/src/Core/Select.h
index 87993bb..79eec1b 100644
--- a/vendor/eigen/Eigen/src/Core/Select.h
+++ b/vendor/eigen/Eigen/src/Core/Select.h
@@ -43,23 +43,21 @@ struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
     ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
-    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & HereditaryBits,
-    CoeffReadCost = traits<typename remove_all<ConditionMatrixNested>::type>::CoeffReadCost
-                  + EIGEN_SIZE_MAX(traits<typename remove_all<ThenMatrixNested>::type>::CoeffReadCost,
-                                   traits<typename remove_all<ElseMatrixNested>::type>::CoeffReadCost)
+    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit
   };
 };
 }
 
 template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-class Select : internal::no_assignment_operator,
-  public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type
+class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type,
+               internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<Select>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Select)
 
+    inline EIGEN_DEVICE_FUNC
     Select(const ConditionMatrixType& a_conditionMatrix,
            const ThenMatrixType& a_thenMatrix,
            const ElseMatrixType& a_elseMatrix)
@@ -69,9 +67,10 @@ class Select : internal::no_assignment_operator,
       eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
     }
 
-    Index rows() const { return m_condition.rows(); }
-    Index cols() const { return m_condition.cols(); }
+    inline EIGEN_DEVICE_FUNC Index rows() const { return m_condition.rows(); }
+    inline EIGEN_DEVICE_FUNC Index cols() const { return m_condition.cols(); }
 
+    inline EIGEN_DEVICE_FUNC
     const Scalar coeff(Index i, Index j) const
     {
       if (m_condition.coeff(i,j))
@@ -80,6 +79,7 @@ class Select : internal::no_assignment_operator,
         return m_else.coeff(i,j);
     }
 
+    inline EIGEN_DEVICE_FUNC
     const Scalar coeff(Index i) const
     {
       if (m_condition.coeff(i))
@@ -88,17 +88,17 @@ class Select : internal::no_assignment_operator,
         return m_else.coeff(i);
     }
 
-    const ConditionMatrixType& conditionMatrix() const
+    inline EIGEN_DEVICE_FUNC const ConditionMatrixType& conditionMatrix() const
     {
       return m_condition;
     }
 
-    const ThenMatrixType& thenMatrix() const
+    inline EIGEN_DEVICE_FUNC const ThenMatrixType& thenMatrix() const
     {
       return m_then;
     }
 
-    const ElseMatrixType& elseMatrix() const
+    inline EIGEN_DEVICE_FUNC const ElseMatrixType& elseMatrix() const
     {
       return m_else;
     }
diff --git a/vendor/eigen/Eigen/src/Core/SelfAdjointView.h b/vendor/eigen/Eigen/src/Core/SelfAdjointView.h
index 6fa7cd1..504c98f 100644
--- a/vendor/eigen/Eigen/src/Core/SelfAdjointView.h
+++ b/vendor/eigen/Eigen/src/Core/SelfAdjointView.h
@@ -32,54 +32,60 @@ namespace internal {
 template<typename MatrixType, unsigned int UpLo>
 struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
   typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
   typedef MatrixType ExpressionType;
-  typedef typename MatrixType::PlainObject DenseMatrixType;
+  typedef typename MatrixType::PlainObject FullMatrixType;
   enum {
     Mode = UpLo | SelfAdjoint,
-    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits)
-           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)), // FIXME these flags should be preserved
-    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits|FlagsLvalueBit)
+           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)) // FIXME these flags should be preserved
   };
 };
 }
 
-template <typename Lhs, int LhsMode, bool LhsIsVector,
-          typename Rhs, int RhsMode, bool RhsIsVector>
-struct SelfadjointProductMatrix;
 
-// FIXME could also be called SelfAdjointWrapper to be consistent with DiagonalWrapper ??
-template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
-  : public TriangularBase<SelfAdjointView<MatrixType, UpLo> >
+template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
+  : public TriangularBase<SelfAdjointView<_MatrixType, UpLo> >
 {
   public:
 
+    typedef _MatrixType MatrixType;
     typedef TriangularBase<SelfAdjointView> Base;
     typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
     typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+    typedef MatrixTypeNestedCleaned NestedExpression;
 
     /** \brief The type of coefficients in this matrix */
     typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
-
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
 
     enum {
-      Mode = internal::traits<SelfAdjointView>::Mode
+      Mode = internal::traits<SelfAdjointView>::Mode,
+      Flags = internal::traits<SelfAdjointView>::Flags,
+      TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0)
     };
     typedef typename MatrixType::PlainObject PlainObject;
 
-    inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
+    EIGEN_DEVICE_FUNC
+    explicit inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
     {}
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_matrix.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_matrix.innerStride(); }
 
     /** \sa MatrixBase::coeff()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar coeff(Index row, Index col) const
     {
       Base::check_coordinates_internal(row, col);
@@ -89,36 +95,46 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
     /** \sa MatrixBase::coeffRef()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index col)
     {
+      EIGEN_STATIC_ASSERT_LVALUE(SelfAdjointView);
       Base::check_coordinates_internal(row, col);
-      return m_matrix.const_cast_derived().coeffRef(row, col);
+      return m_matrix.coeffRef(row, col);
     }
 
     /** \internal */
+    EIGEN_DEVICE_FUNC
     const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
 
+    EIGEN_DEVICE_FUNC
     const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+    EIGEN_DEVICE_FUNC
+    MatrixTypeNestedCleaned& nestedExpression() { return m_matrix; }
 
-    /** Efficient self-adjoint matrix times vector/matrix product */
+    /** Efficient triangular matrix times vector/matrix product */
     template<typename OtherDerived>
-    SelfadjointProductMatrix<MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+    EIGEN_DEVICE_FUNC
+    const Product<SelfAdjointView,OtherDerived>
     operator*(const MatrixBase<OtherDerived>& rhs) const
     {
-      return SelfadjointProductMatrix
-              <MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
-              (m_matrix, rhs.derived());
+      return Product<SelfAdjointView,OtherDerived>(*this, rhs.derived());
     }
 
-    /** Efficient vector/matrix times self-adjoint matrix product */
+    /** Efficient vector/matrix times triangular matrix product */
     template<typename OtherDerived> friend
-    SelfadjointProductMatrix<OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+    EIGEN_DEVICE_FUNC
+    const Product<OtherDerived,SelfAdjointView>
     operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
     {
-      return SelfadjointProductMatrix
-              <OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
-              (lhs.derived(),rhs.m_matrix);
+      return Product<OtherDerived,SelfAdjointView>(lhs.derived(),rhs);
+    }
+    
+    friend EIGEN_DEVICE_FUNC
+    const SelfAdjointView<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,MatrixType,product),UpLo>
+    operator*(const Scalar& s, const SelfAdjointView& mat)
+    {
+      return (s*mat.nestedExpression()).template selfadjointView<UpLo>();
     }
 
     /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
@@ -132,6 +148,7 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
       * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
       */
     template<typename DerivedU, typename DerivedV>
+    EIGEN_DEVICE_FUNC
     SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha = Scalar(1));
 
     /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
@@ -145,8 +162,74 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
       * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
       */
     template<typename DerivedU>
+    EIGEN_DEVICE_FUNC
     SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
 
+    /** \returns an expression of a triangular view extracted from the current selfadjoint view of a given triangular part
+      *
+      * The parameter \a TriMode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
+      * \c #Lower, \c #StrictlyLower, \c #UnitLower.
+      *
+      * If \c TriMode references the same triangular part than \c *this, then this method simply return a \c TriangularView of the nested expression,
+      * otherwise, the nested expression is first transposed, thus returning a \c TriangularView<Transpose<MatrixType>> object.
+      *
+      * \sa MatrixBase::triangularView(), class TriangularView
+      */
+    template<unsigned int TriMode>
+    EIGEN_DEVICE_FUNC
+    typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+                                   TriangularView<MatrixType,TriMode>,
+                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type
+    triangularView() const
+    {
+      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::ConstTransposeReturnType>::type tmp1(m_matrix);
+      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::AdjointReturnType>::type tmp2(tmp1);
+      return typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+                                   TriangularView<MatrixType,TriMode>,
+                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type(tmp2);
+    }
+
+    typedef SelfAdjointView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
+    /** \sa MatrixBase::conjugate() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConjugateReturnType conjugate() const
+    { return ConjugateReturnType(m_matrix.conjugate()); }
+
+    typedef SelfAdjointView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
+    /** \sa MatrixBase::adjoint() const */
+    EIGEN_DEVICE_FUNC
+    inline const AdjointReturnType adjoint() const
+    { return AdjointReturnType(m_matrix.adjoint()); }
+
+    typedef SelfAdjointView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+     /** \sa MatrixBase::transpose() */
+    EIGEN_DEVICE_FUNC
+    inline TransposeReturnType transpose()
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      typename MatrixType::TransposeReturnType tmp(m_matrix);
+      return TransposeReturnType(tmp);
+    }
+
+    typedef SelfAdjointView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
+    /** \sa MatrixBase::transpose() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConstTransposeReturnType transpose() const
+    {
+      return ConstTransposeReturnType(m_matrix.transpose());
+    }
+
+    /** \returns a const expression of the main diagonal of the matrix \c *this
+      *
+      * This method simply returns the diagonal of the nested expression, thus by-passing the SelfAdjointView decorator.
+      *
+      * \sa MatrixBase::diagonal(), class Diagonal */
+    EIGEN_DEVICE_FUNC
+    typename MatrixType::ConstDiagonalReturnType diagonal() const
+    {
+      return typename MatrixType::ConstDiagonalReturnType(m_matrix);
+    }
+
 /////////// Cholesky module ///////////
 
     const LLT<PlainObject, UpLo> llt() const;
@@ -159,31 +242,10 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
     /** Return type of eigenvalues() */
     typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
 
+    EIGEN_DEVICE_FUNC
     EigenvaluesReturnType eigenvalues() const;
+    EIGEN_DEVICE_FUNC
     RealScalar operatorNorm() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    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>
-    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;
@@ -201,90 +263,54 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
 
 namespace internal {
 
-template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount, ClearOpposite>
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    if(row == col)
-      dst.coeffRef(row, col) = numext::real(src.coeff(row, col));
-    else if(row < col)
-      dst.coeffRef(col, row) = numext::conj(dst.coeffRef(row, col) = src.coeff(row, col));
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, 0, ClearOpposite>
-{
-  static inline void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount, ClearOpposite>
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    if(row == col)
-      dst.coeffRef(row, col) = numext::real(src.coeff(row, col));
-    else if(row > col)
-      dst.coeffRef(col, row) = numext::conj(dst.coeffRef(row, col) = src.coeff(row, col));
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, 0, ClearOpposite>
+// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
+//      in the future selfadjoint-ness should be defined by the expression traits
+//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<SelfAdjointView<MatrixType,Mode> >
 {
-  static inline void run(Derived1 &, const Derived2 &) {}
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SelfAdjointShape Shape;
 };
 
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, Dynamic, ClearOpposite>
+template<int UpLo, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version>
+class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluatorTypeT,SrcEvaluatorTypeT,Functor,Version>
+  : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
 {
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+  typedef typename Base::DstXprType DstXprType;
+  typedef typename Base::SrcXprType SrcXprType;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+public:
+  
+  typedef typename Base::DstEvaluatorType DstEvaluatorType;
+  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::AssignmentTraits AssignmentTraits;
+  
+  
+  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
   {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = 0; i < j; ++i)
-      {
-        dst.copyCoeff(i, j, src);
-        dst.coeffRef(j,i) = numext::conj(dst.coeff(i,j));
-      }
-      dst.copyCoeff(j, j, src);
-    }
+    eigen_internal_assert(row!=col);
+    Scalar tmp = m_src.coeff(row,col);
+    m_functor.assignCoeff(m_dst.coeffRef(row,col), tmp);
+    m_functor.assignCoeff(m_dst.coeffRef(col,row), numext::conj(tmp));
   }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dynamic, ClearOpposite>
-{
-  static inline void run(Derived1 &dst, const Derived2 &src)
+  
+  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
   {
-  typedef typename Derived1::Index Index;
-    for(Index i = 0; i < dst.rows(); ++i)
-    {
-      for(Index j = 0; j < i; ++j)
-      {
-        dst.copyCoeff(i, j, src);
-        dst.coeffRef(j,i) = numext::conj(dst.coeff(i,j));
-      }
-      dst.copyCoeff(i, i, src);
-    }
+    Base::assignCoeff(id,id);
   }
+  
+  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index, Index)
+  { eigen_internal_assert(false && "should never be called"); }
 };
 
 } // end namespace internal
@@ -293,20 +319,30 @@ struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dyn
 * Implementation of MatrixBase methods
 ***************************************************************************/
 
+/** This is the const version of MatrixBase::selfadjointView() */
 template<typename Derived>
 template<unsigned int UpLo>
 typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
 MatrixBase<Derived>::selfadjointView() const
 {
-  return derived();
+  return typename ConstSelfAdjointViewReturnType<UpLo>::Type(derived());
 }
 
+/** \returns an expression of a symmetric/self-adjoint view extracted from the upper or lower triangular part of the current matrix
+  *
+  * The parameter \a UpLo can be either \c #Upper or \c #Lower
+  *
+  * Example: \include MatrixBase_selfadjointView.cpp
+  * Output: \verbinclude MatrixBase_selfadjointView.out
+  *
+  * \sa class SelfAdjointView
+  */
 template<typename Derived>
 template<unsigned int UpLo>
 typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
 MatrixBase<Derived>::selfadjointView()
 {
-  return derived();
+  return typename SelfAdjointViewReturnType<UpLo>::Type(derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h b/vendor/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
index 0956475..50099df 100644
--- a/vendor/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ b/vendor/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -12,177 +12,37 @@
 
 namespace Eigen { 
 
-/** \class SelfCwiseBinaryOp
-  * \ingroup Core_Module
-  *
-  * \internal
-  *
-  * \brief Internal helper class for optimizing operators like +=, -=
-  *
-  * This is a pseudo expression class re-implementing the copyCoeff/copyPacket
-  * method to directly performs a +=/-= operations in an optimal way. In particular,
-  * this allows to make sure that the input/output data are loaded only once using
-  * aligned packet loads.
-  *
-  * \sa class SwapWrapper for a similar trick.
-  */
+// TODO generalize the scalar type of 'other'
 
-namespace internal {
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct traits<SelfCwiseBinaryOp<BinaryOp,Lhs,Rhs> >
-  : traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(const Scalar& other)
 {
-  enum {
-    // Note that it is still a good idea to preserve the DirectAccessBit
-    // so that assign can correctly align the data.
-    Flags = traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >::Flags | (Lhs::Flags&DirectAccessBit) | (Lhs::Flags&LvalueBit),
-    OuterStrideAtCompileTime = Lhs::OuterStrideAtCompileTime,
-    InnerStrideAtCompileTime = Lhs::InnerStrideAtCompileTime
-  };
-};
+  typedef typename Derived::PlainObject PlainObject;
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
+  return derived();
 }
 
-template<typename BinaryOp, typename Lhs, typename Rhs> class SelfCwiseBinaryOp
-  : public internal::dense_xpr_base< SelfCwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other)
 {
-  public:
-
-    typedef typename internal::dense_xpr_base<SelfCwiseBinaryOp>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SelfCwiseBinaryOp)
-
-    typedef typename internal::packet_traits<Scalar>::type Packet;
-
-    inline SelfCwiseBinaryOp(Lhs& xpr, const BinaryOp& func = BinaryOp()) : m_matrix(xpr), m_functor(func) {}
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    inline Index innerStride() const { return m_matrix.innerStride(); }
-    inline const Scalar* data() const { return m_matrix.data(); }
-
-    // note that this function is needed by assign to correctly align loads/stores
-    // TODO make Assign use .data()
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-    inline const Scalar& coeffRef(Index row, Index col) const
-    {
-      return m_matrix.coeffRef(row, col);
-    }
-
-    // note that this function is needed by assign to correctly align loads/stores
-    // TODO make Assign use .data()
-    inline Scalar& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(row >= 0 && row < rows()
-                         && col >= 0 && col < cols());
-      Scalar& tmp = m_matrix.coeffRef(row,col);
-      tmp = m_functor(tmp, _other.coeff(row,col));
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_matrix.size());
-      Scalar& tmp = m_matrix.coeffRef(index);
-      tmp = m_functor(tmp, _other.coeff(index));
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      m_matrix.template writePacket<StoreMode>(row, col,
-        m_functor.packetOp(m_matrix.template packet<StoreMode>(row, col),_other.template packet<LoadMode>(row, col)) );
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_matrix.size());
-      m_matrix.template writePacket<StoreMode>(index,
-        m_functor.packetOp(m_matrix.template packet<StoreMode>(index),_other.template packet<LoadMode>(index)) );
-    }
-
-    // reimplement lazyAssign to handle complex *= real
-    // see CwiseBinaryOp ctor for details
-    template<typename RhsDerived>
-    EIGEN_STRONG_INLINE SelfCwiseBinaryOp& lazyAssign(const DenseBase<RhsDerived>& rhs)
-    {
-      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs,RhsDerived)
-      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename RhsDerived::Scalar);
-      
-    #ifdef EIGEN_DEBUG_ASSIGN
-      internal::assign_traits<SelfCwiseBinaryOp, RhsDerived>::debug();
-    #endif
-      eigen_assert(rows() == rhs.rows() && cols() == rhs.cols());
-      internal::assign_impl<SelfCwiseBinaryOp, RhsDerived>::run(*this,rhs.derived());
-    #ifndef EIGEN_NO_DEBUG
-      this->checkTransposeAliasing(rhs.derived());
-    #endif
-      return *this;
-    }
-    
-    // overloaded to honor evaluation of special matrices
-    // maybe another solution would be to not use SelfCwiseBinaryOp
-    // at first...
-    SelfCwiseBinaryOp& operator=(const Rhs& _rhs)
-    {
-      typename internal::nested<Rhs>::type rhs(_rhs);
-      return Base::operator=(rhs);
-    }
-
-    Lhs& expression() const 
-    { 
-      return m_matrix;
-    }
-
-    const BinaryOp& functor() const 
-    { 
-      return m_functor;
-    }
-
-  protected:
-    Lhs& m_matrix;
-    const BinaryOp& m_functor;
-
-  private:
-    SelfCwiseBinaryOp& operator=(const SelfCwiseBinaryOp&);
-};
+  typedef typename Derived::PlainObject PlainObject;
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::add_assign_op<Scalar,Scalar>());
+  return derived();
+}
 
 template<typename Derived>
-inline Derived& DenseBase<Derived>::operator*=(const Scalar& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other)
 {
   typedef typename Derived::PlainObject PlainObject;
-  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
-  tmp = PlainObject::Constant(rows(),cols(),other);
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::sub_assign_op<Scalar,Scalar>());
   return derived();
 }
 
 template<typename Derived>
-inline Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other)
 {
   typedef typename Derived::PlainObject PlainObject;
-  SelfCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
-  tmp = PlainObject::Constant(rows(),cols(), other);
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
   return derived();
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/Solve.h b/vendor/eigen/Eigen/src/Core/Solve.h
new file mode 100644
index 0000000..a8daea5
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/Solve.h
@@ -0,0 +1,188 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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_SOLVE_H
+#define EIGEN_SOLVE_H
+
+namespace Eigen {
+
+template<typename Decomposition, typename RhsType, typename StorageKind> class SolveImpl;
+  
+/** \class Solve
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression representing a solving operation
+  *
+  * \tparam Decomposition the type of the matrix or decomposion object
+  * \tparam Rhstype the type of the right-hand side
+  *
+  * This class represents an expression of A.solve(B)
+  * and most of the time this is the only way it is used.
+  *
+  */
+namespace internal {
+
+// this solve_traits class permits to determine the evaluation type with respect to storage kind (Dense vs Sparse)
+template<typename Decomposition, typename RhsType,typename StorageKind> struct solve_traits;
+
+template<typename Decomposition, typename RhsType>
+struct solve_traits<Decomposition,RhsType,Dense>
+{
+  typedef typename make_proper_matrix_type<typename RhsType::Scalar,
+                 Decomposition::ColsAtCompileTime,
+                 RhsType::ColsAtCompileTime,
+                 RhsType::PlainObject::Options,
+                 Decomposition::MaxColsAtCompileTime,
+                 RhsType::MaxColsAtCompileTime>::type PlainObject;
+};
+
+template<typename Decomposition, typename RhsType>
+struct traits<Solve<Decomposition, RhsType> >
+  : traits<typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject>
+{
+  typedef typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject PlainObject;
+  typedef typename promote_index_type<typename Decomposition::StorageIndex, typename RhsType::StorageIndex>::type StorageIndex;
+  typedef traits<PlainObject> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit,
+    CoeffReadCost = HugeCost
+  };
+};
+
+}
+
+
+template<typename Decomposition, typename RhsType>
+class Solve : public SolveImpl<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>
+{
+public:
+  typedef typename internal::traits<Solve>::PlainObject PlainObject;
+  typedef typename internal::traits<Solve>::StorageIndex StorageIndex;
+  
+  Solve(const Decomposition &dec, const RhsType &rhs)
+    : m_dec(dec), m_rhs(rhs)
+  {}
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC const Decomposition& dec() const { return m_dec; }
+  EIGEN_DEVICE_FUNC const RhsType&       rhs() const { return m_rhs; }
+
+protected:
+  const Decomposition &m_dec;
+  const RhsType       &m_rhs;
+};
+
+
+// Specialization of the Solve expression for dense results
+template<typename Decomposition, typename RhsType>
+class SolveImpl<Decomposition,RhsType,Dense>
+  : public MatrixBase<Solve<Decomposition,RhsType> >
+{
+  typedef Solve<Decomposition,RhsType> Derived;
+  
+public:
+  
+  typedef MatrixBase<Solve<Decomposition,RhsType> > Base;
+  EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+private:
+  
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+// Generic API dispatcher
+template<typename Decomposition, typename RhsType, typename StorageKind>
+class SolveImpl : public internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type
+{
+  public:
+    typedef typename internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type Base;
+};
+
+namespace internal {
+
+// Evaluator of Solve -> eval into a temporary
+template<typename Decomposition, typename RhsType>
+struct evaluator<Solve<Decomposition,RhsType> >
+  : public evaluator<typename Solve<Decomposition,RhsType>::PlainObject>
+{
+  typedef Solve<Decomposition,RhsType> SolveType;
+  typedef typename SolveType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum { Flags = Base::Flags | EvalBeforeNestingBit };
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const SolveType& solve)
+    : m_result(solve.rows(), solve.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    solve.dec()._solve_impl(solve.rhs(), m_result);
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// Specialization for "dst = dec.solve(rhs)"
+// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<DecType,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec()._solve_impl(src.rhs(), dst);
+  }
+};
+
+// Specialization for "dst = dec.transpose().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<Transpose<const DecType>,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<Transpose<const DecType>,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec().nestedExpression().template _solve_impl_transposed<false>(src.rhs(), dst);
+  }
+};
+
+// Specialization for "dst = dec.adjoint().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType>,
+                  internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    src.dec().nestedExpression().nestedExpression().template _solve_impl_transposed<true>(src.rhs(), dst);
+  }
+};
+
+} // end namepsace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVE_H
diff --git a/vendor/eigen/Eigen/src/Core/SolveTriangular.h b/vendor/eigen/Eigen/src/Core/SolveTriangular.h
index 83565dd..049890b 100644
--- a/vendor/eigen/Eigen/src/Core/SolveTriangular.h
+++ b/vendor/eigen/Eigen/src/Core/SolveTriangular.h
@@ -68,7 +68,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
     if(!useRhsDirectly)
       MappedRhs(actualRhs,rhs.size()) = rhs;
 
-    triangular_solve_vector<LhsScalar, RhsScalar, typename Lhs::Index, Side, Mode, LhsProductTraits::NeedToConjugate,
+    triangular_solve_vector<LhsScalar, RhsScalar, Index, Side, Mode, LhsProductTraits::NeedToConjugate,
                             (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
       ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
 
@@ -82,7 +82,6 @@ template<typename Lhs, typename Rhs, int Side, int Mode>
 struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
 {
   typedef typename Rhs::Scalar Scalar;
-  typedef typename Rhs::Index Index;
   typedef blas_traits<Lhs> LhsProductTraits;
   typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
 
@@ -96,7 +95,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
     typedef internal::gemm_blocking_space<(Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
               Rhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxRowsAtCompileTime,4> BlockingType;
 
-    BlockingType blocking(rhs.rows(), rhs.cols(), size);
+    BlockingType blocking(rhs.rows(), rhs.cols(), size, 1, false);
 
     triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
                                (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
@@ -108,32 +107,32 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
 * meta-unrolling implementation
 ***************************************************************************/
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
-         bool Stop = Index==Size>
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size,
+         bool Stop = LoopIndex==Size>
 struct triangular_solver_unroller;
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
   enum {
     IsLower = ((Mode&Lower)==Lower),
-    RowIndex = IsLower ? Index : Size - Index - 1,
-    S = IsLower ? 0     : RowIndex+1
+    DiagIndex  = IsLower ? LoopIndex : Size - LoopIndex - 1,
+    StartIndex = IsLower ? 0         : DiagIndex+1
   };
   static void run(const Lhs& lhs, Rhs& rhs)
   {
-    if (Index>0)
-      rhs.coeffRef(RowIndex) -= lhs.row(RowIndex).template segment<Index>(S).transpose()
-                         .cwiseProduct(rhs.template segment<Index>(S)).sum();
+    if (LoopIndex>0)
+      rhs.coeffRef(DiagIndex) -= lhs.row(DiagIndex).template segment<LoopIndex>(StartIndex).transpose()
+                                .cwiseProduct(rhs.template segment<LoopIndex>(StartIndex)).sum();
 
     if(!(Mode & UnitDiag))
-      rhs.coeffRef(RowIndex) /= lhs.coeff(RowIndex,RowIndex);
+      rhs.coeffRef(DiagIndex) /= lhs.coeff(DiagIndex,DiagIndex);
 
-    triangular_solver_unroller<Lhs,Rhs,Mode,Index+1,Size>::run(lhs,rhs);
+    triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex+1,Size>::run(lhs,rhs);
   }
 };
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,true> {
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,true> {
   static void run(const Lhs&, Rhs&) {}
 };
 
@@ -162,61 +161,35 @@ struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
 * TriangularView methods
 ***************************************************************************/
 
-/** "in-place" version of TriangularView::solve() where the result is written in \a other
-  *
-  * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
-  * This function will const_cast it, so constness isn't honored here.
-  *
-  * See TriangularView:solve() for the details.
-  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 template<typename MatrixType, unsigned int Mode>
 template<int Side, typename OtherDerived>
-void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
+void TriangularViewImpl<MatrixType,Mode,Dense>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
 {
   OtherDerived& other = _other.const_cast_derived();
-  eigen_assert( cols() == rows() && ((Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols())) );
+  eigen_assert( derived().cols() == derived().rows() && ((Side==OnTheLeft && derived().cols() == other.rows()) || (Side==OnTheRight && derived().cols() == other.cols())) );
   eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
-  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
+  enum { copy = (internal::traits<OtherDerived>::Flags & RowMajorBit)  && OtherDerived::IsVectorAtCompileTime && OtherDerived::SizeAtCompileTime!=1};
   typedef typename internal::conditional<copy,
     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
   OtherCopy otherCopy(other);
 
   internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
-    Side, Mode>::run(nestedExpression(), otherCopy);
+    Side, Mode>::run(derived().nestedExpression(), otherCopy);
 
   if (copy)
     other = otherCopy;
 }
 
-/** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
-  *
-  * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
-  * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
-  * \a Side==OnTheRight.
-  *
-  * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
-  * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
-  * is an upper (resp. lower) triangular matrix.
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
-  * to the same matrix or vector \a other.
-  *
-  * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
-  * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
-  *
-  * \sa TriangularView::solveInPlace()
-  */
 template<typename Derived, unsigned int Mode>
 template<int Side, typename Other>
 const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
-TriangularView<Derived,Mode>::solve(const MatrixBase<Other>& other) const
+TriangularViewImpl<Derived,Mode,Dense>::solve(const MatrixBase<Other>& other) const
 {
-  return internal::triangular_solve_retval<Side,TriangularView,Other>(*this, other.derived());
+  return internal::triangular_solve_retval<Side,TriangularViewType,Other>(derived(), other.derived());
 }
+#endif
 
 namespace internal {
 
@@ -232,7 +205,6 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
 {
   typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
   typedef ReturnByValue<triangular_solve_retval> Base;
-  typedef typename Base::Index Index;
 
   triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
     : m_triangularMatrix(tri), m_rhs(rhs)
@@ -243,7 +215,7 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
 
   template<typename Dest> inline void evalTo(Dest& dst) const
   {
-    if(!(is_same<RhsNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_rhs)))
+    if(!is_same_dense(dst,m_rhs))
       dst = m_rhs;
     m_triangularMatrix.template solveInPlace<Side>(dst);
   }
diff --git a/vendor/eigen/Eigen/src/Core/SolverBase.h b/vendor/eigen/Eigen/src/Core/SolverBase.h
new file mode 100644
index 0000000..8a4adc2
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/SolverBase.h
@@ -0,0 +1,130 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_SOLVERBASE_H
+#define EIGEN_SOLVERBASE_H
+
+namespace Eigen {
+
+namespace internal {
+
+
+
+} // end namespace internal
+
+/** \class SolverBase
+  * \brief A base class for matrix decomposition and solvers
+  *
+  * \tparam Derived the actual type of the decomposition/solver.
+  *
+  * Any matrix decomposition inheriting this base class provide the following API:
+  *
+  * \code
+  * MatrixType A, b, x;
+  * DecompositionType dec(A);
+  * x = dec.solve(b);             // solve A   * x = b
+  * x = dec.transpose().solve(b); // solve A^T * x = b
+  * x = dec.adjoint().solve(b);   // solve A'  * x = b
+  * \endcode
+  *
+  * \warning Currently, any other usage of transpose() and adjoint() are not supported and will produce compilation errors.
+  *
+  * \sa class PartialPivLU, class FullPivLU
+  */
+template<typename Derived>
+class SolverBase : public EigenBase<Derived>
+{
+  public:
+
+    typedef EigenBase<Derived> Base;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef Scalar CoeffReturnType;
+
+    enum {
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                          internal::traits<Derived>::ColsAtCompileTime>::ret),
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                             internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+                           || internal::traits<Derived>::MaxColsAtCompileTime == 1
+    };
+
+    /** Default constructor */
+    SolverBase()
+    {}
+
+    ~SolverBase()
+    {}
+
+    using Base::derived;
+
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+
+    /** \internal the return type of transpose() */
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    /** \returns an expression of the transposed of the factored matrix.
+      *
+      * A typical usage is to solve for the transposed problem A^T x = b:
+      * \code x = dec.transpose().solve(b); \endcode
+      *
+      * \sa adjoint(), solve()
+      */
+    inline ConstTransposeReturnType transpose() const
+    {
+      return ConstTransposeReturnType(derived());
+    }
+
+    /** \internal the return type of adjoint() */
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+                        ConstTransposeReturnType
+                     >::type AdjointReturnType;
+    /** \returns an expression of the adjoint of the factored matrix
+      *
+      * A typical usage is to solve for the adjoint problem A' x = b:
+      * \code x = dec.adjoint().solve(b); \endcode
+      *
+      * For real scalar types, this function is equivalent to transpose().
+      *
+      * \sa transpose(), solve()
+      */
+    inline AdjointReturnType adjoint() const
+    {
+      return AdjointReturnType(derived().transpose());
+    }
+
+  protected:
+};
+
+namespace internal {
+
+template<typename Derived>
+struct generic_xpr_base<Derived, MatrixXpr, SolverStorage>
+{
+  typedef SolverBase<Derived> type;
+
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVERBASE_H
diff --git a/vendor/eigen/Eigen/src/Core/StableNorm.h b/vendor/eigen/Eigen/src/Core/StableNorm.h
index 389d942..be04ed4 100644
--- a/vendor/eigen/Eigen/src/Core/StableNorm.h
+++ b/vendor/eigen/Eigen/src/Core/StableNorm.h
@@ -17,10 +17,9 @@ namespace internal {
 template<typename ExpressionType, typename Scalar>
 inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
 {
-  using std::max;
   Scalar maxCoeff = bl.cwiseAbs().maxCoeff();
   
-  if (maxCoeff>scale)
+  if(maxCoeff>scale)
   {
     ssq = ssq * numext::abs2(scale/maxCoeff);
     Scalar tmp = Scalar(1)/maxCoeff;
@@ -29,12 +28,21 @@ inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& sc
       invScale = NumTraits<Scalar>::highest();
       scale = Scalar(1)/invScale;
     }
+    else if(maxCoeff>NumTraits<Scalar>::highest()) // we got a INF
+    {
+      invScale = Scalar(1);
+      scale = maxCoeff;
+    }
     else
     {
       scale = maxCoeff;
       invScale = tmp;
     }
   }
+  else if(maxCoeff!=maxCoeff) // we got a NaN
+  {
+    scale = maxCoeff;
+  }
   
   // TODO if the maxCoeff is much much smaller than the current scale,
   // then we can neglect this sub vector
@@ -47,15 +55,12 @@ inline typename NumTraits<typename traits<Derived>::Scalar>::Real
 blueNorm_impl(const EigenBase<Derived>& _vec)
 {
   typedef typename Derived::RealScalar RealScalar;  
-  typedef typename Derived::Index Index;
   using std::pow;
-  using std::min;
-  using std::max;
   using std::sqrt;
   using std::abs;
   const Derived& vec(_vec.derived());
   static bool initialized = false;
-  static RealScalar b1, b2, s1m, s2m, overfl, rbig, relerr;
+  static RealScalar b1, b2, s1m, s2m, rbig, relerr;
   if(!initialized)
   {
     int ibeta, it, iemin, iemax, iexp;
@@ -84,7 +89,6 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
     iexp  = - ((iemax+it)/2);
     s2m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // scaling factor for upper range
 
-    overfl  = rbig*s2m;                                             // overflow boundary for abig
     eps     = RealScalar(pow(double(ibeta), 1-it));
     relerr  = sqrt(eps);                                            // tolerance for neglecting asml
     initialized = true;
@@ -101,13 +105,13 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
     else if(ax < b1) asml += numext::abs2(ax*s1m);
     else             amed += numext::abs2(ax);
   }
+  if(amed!=amed)
+    return amed;  // we got a NaN
   if(abig > RealScalar(0))
   {
     abig = sqrt(abig);
-    if(abig > overfl)
-    {
-      return rbig;
-    }
+    if(abig > rbig) // overflow, or *this contains INF values
+      return abig;  // return INF
     if(amed > RealScalar(0))
     {
       abig = abig/s2m;
@@ -128,8 +132,8 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
   }
   else
     return sqrt(amed);
-  asml = (min)(abig, amed);
-  abig = (max)(abig, amed);
+  asml = numext::mini(abig, amed);
+  abig = numext::maxi(abig, amed);
   if(asml <= abig*relerr)
     return abig;
   else
@@ -152,21 +156,35 @@ template<typename Derived>
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
 MatrixBase<Derived>::stableNorm() const
 {
-  using std::min;
   using std::sqrt;
+  using std::abs;
   const Index blockSize = 4096;
   RealScalar scale(0);
   RealScalar invScale(1);
   RealScalar ssq(0); // sum of square
+  
+  typedef typename internal::nested_eval<Derived,2>::type DerivedCopy;
+  typedef typename internal::remove_all<DerivedCopy>::type DerivedCopyClean;
+  DerivedCopy copy(derived());
+  
   enum {
-    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? 1 : 0
+    CanAlign = (   (int(DerivedCopyClean::Flags)&DirectAccessBit)
+                || (int(internal::evaluator<DerivedCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
+               ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT)
+                 && (EIGEN_MAX_STATIC_ALIGN_BYTES>0) // if we cannot allocate on the stack, then let's not bother about this optimization
   };
+  typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<DerivedCopyClean>::Alignment>,
+                                                   typename DerivedCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
   Index n = size();
-  Index bi = internal::first_aligned(derived());
+  
+  if(n==1)
+    return abs(this->coeff(0));
+  
+  Index bi = internal::first_default_aligned(copy);
   if (bi>0)
-    internal::stable_norm_kernel(this->head(bi), ssq, scale, invScale);
+    internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
   for (; bi<n; bi+=blockSize)
-    internal::stable_norm_kernel(this->segment(bi,(min)(blockSize, n - bi)).template forceAlignedAccessIf<Alignment>(), ssq, scale, invScale);
+    internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
   return scale * sqrt(ssq);
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/Stride.h b/vendor/eigen/Eigen/src/Core/Stride.h
index 1e3f5fe..513742f 100644
--- a/vendor/eigen/Eigen/src/Core/Stride.h
+++ b/vendor/eigen/Eigen/src/Core/Stride.h
@@ -31,8 +31,8 @@ namespace Eigen {
   * arguments to the constructor.
   *
   * Indeed, this class takes two template parameters:
-  *  \param _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
-  *  \param _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
+  *  \tparam _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
+  *  \tparam _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
   *
   * Here is an example:
   * \include Map_general_stride.cpp
@@ -44,13 +44,14 @@ template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
 class Stride
 {
   public:
-    typedef DenseIndex Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
     enum {
       InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
       OuterStrideAtCompileTime = _OuterStrideAtCompileTime
     };
 
     /** Default constructor, for use when strides are fixed at compile time */
+    EIGEN_DEVICE_FUNC
     Stride()
       : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
     {
@@ -58,6 +59,7 @@ class Stride
     }
 
     /** Constructor allowing to pass the strides at runtime */
+    EIGEN_DEVICE_FUNC
     Stride(Index outerStride, Index innerStride)
       : m_outer(outerStride), m_inner(innerStride)
     {
@@ -65,13 +67,16 @@ class Stride
     }
 
     /** Copy constructor */
+    EIGEN_DEVICE_FUNC
     Stride(const Stride& other)
       : m_outer(other.outer()), m_inner(other.inner())
     {}
 
     /** \returns the outer stride */
+    EIGEN_DEVICE_FUNC
     inline Index outer() const { return m_outer.value(); }
     /** \returns the inner stride */
+    EIGEN_DEVICE_FUNC
     inline Index inner() const { return m_inner.value(); }
 
   protected:
@@ -81,26 +86,24 @@ class Stride
 
 /** \brief Convenience specialization of Stride to specify only an inner stride
   * See class Map for some examples */
-template<int Value = Dynamic>
+template<int Value>
 class InnerStride : public Stride<0, Value>
 {
     typedef Stride<0, Value> Base;
   public:
-    typedef DenseIndex Index;
-    InnerStride() : Base() {}
-    InnerStride(Index v) : Base(0, v) {}
+    EIGEN_DEVICE_FUNC InnerStride() : Base() {}
+    EIGEN_DEVICE_FUNC InnerStride(Index v) : Base(0, v) {} // FIXME making this explicit could break valid code
 };
 
 /** \brief Convenience specialization of Stride to specify only an outer stride
   * See class Map for some examples */
-template<int Value = Dynamic>
+template<int Value>
 class OuterStride : public Stride<Value, 0>
 {
     typedef Stride<Value, 0> Base;
   public:
-    typedef DenseIndex Index;
-    OuterStride() : Base() {}
-    OuterStride(Index v) : Base(v,0) {}
+    EIGEN_DEVICE_FUNC OuterStride() : Base() {}
+    EIGEN_DEVICE_FUNC OuterStride(Index v) : Base(v,0) {} // FIXME making this explicit could break valid code
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Swap.h b/vendor/eigen/Eigen/src/Core/Swap.h
index bf58bd5..d702009 100644
--- a/vendor/eigen/Eigen/src/Core/Swap.h
+++ b/vendor/eigen/Eigen/src/Core/Swap.h
@@ -12,115 +12,56 @@
 
 namespace Eigen { 
 
-/** \class SwapWrapper
-  * \ingroup Core_Module
-  *
-  * \internal
-  *
-  * \brief Internal helper class for swapping two expressions
-  */
 namespace internal {
-template<typename ExpressionType>
-struct traits<SwapWrapper<ExpressionType> > : traits<ExpressionType> {};
-}
 
-template<typename ExpressionType> class SwapWrapper
-  : public internal::dense_xpr_base<SwapWrapper<ExpressionType> >::type
+// Overload default assignPacket behavior for swapping them
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT>
+class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, Specialized>
+ : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn>
 {
-  public:
-
-    typedef typename internal::dense_xpr_base<SwapWrapper>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SwapWrapper)
-    typedef typename internal::packet_traits<Scalar>::type Packet;
-
-    inline SwapWrapper(ExpressionType& xpr) : m_expression(xpr) {}
-
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
-    
-    typedef typename internal::conditional<
-                       internal::is_lvalue<ExpressionType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-                     
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-    inline const Scalar* data() const { return m_expression.data(); }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return m_expression.coeffRef(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index index) const
-    {
-      return m_expression.coeffRef(index);
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index rowId, Index colId, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(rowId >= 0 && rowId < rows()
-                         && colId >= 0 && colId < cols());
-      Scalar tmp = m_expression.coeff(rowId, colId);
-      m_expression.coeffRef(rowId, colId) = _other.coeff(rowId, colId);
-      _other.coeffRef(rowId, colId) = tmp;
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_expression.size());
-      Scalar tmp = m_expression.coeff(index);
-      m_expression.coeffRef(index) = _other.coeff(index);
-      _other.coeffRef(index) = tmp;
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index rowId, Index colId, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(rowId >= 0 && rowId < rows()
-                        && colId >= 0 && colId < cols());
-      Packet tmp = m_expression.template packet<StoreMode>(rowId, colId);
-      m_expression.template writePacket<StoreMode>(rowId, colId,
-        _other.template packet<LoadMode>(rowId, colId)
-      );
-      _other.template writePacket<LoadMode>(rowId, colId, tmp);
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_expression.size());
-      Packet tmp = m_expression.template packet<StoreMode>(index);
-      m_expression.template writePacket<StoreMode>(index,
-        _other.template packet<LoadMode>(index)
-      );
-      _other.template writePacket<LoadMode>(index, tmp);
-    }
-
-    ExpressionType& expression() const { return m_expression; }
-
-  protected:
-    ExpressionType& m_expression;
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn> Base;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+  
+public:
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::DstXprType DstXprType;
+  typedef swap_assign_op<Scalar> Functor;
+  
+  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacket(Index row, Index col)
+  {
+    PacketType tmp = m_src.template packet<LoadMode,PacketType>(row,col);
+    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(row,col, m_dst.template packet<StoreMode,PacketType>(row,col));
+    m_dst.template writePacket<StoreMode>(row,col,tmp);
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacket(Index index)
+  {
+    PacketType tmp = m_src.template packet<LoadMode,PacketType>(index);
+    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(index, m_dst.template packet<StoreMode,PacketType>(index));
+    m_dst.template writePacket<StoreMode>(index,tmp);
+  }
+  
+  // TODO find a simple way not to have to copy/paste this function from generic_dense_assignment_kernel, by simple I mean no CRTP (Gael)
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacketByOuterInner(Index outer, Index inner)
+  {
+    Index row = Base::rowIndexByOuterInner(outer, inner); 
+    Index col = Base::colIndexByOuterInner(outer, inner);
+    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+  }
 };
 
+} // namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SWAP_H
diff --git a/vendor/eigen/Eigen/src/Core/Transpose.h b/vendor/eigen/Eigen/src/Core/Transpose.h
index 22096ea..79b767b 100644
--- a/vendor/eigen/Eigen/src/Core/Transpose.h
+++ b/vendor/eigen/Eigen/src/Core/Transpose.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -13,39 +13,21 @@
 
 namespace Eigen { 
 
-/** \class Transpose
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the transpose of a matrix
-  *
-  * \param MatrixType the type of the object of which we are taking the transpose
-  *
-  * This class represents an expression of the transpose of a matrix.
-  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
-  */
-
 namespace internal {
 template<typename MatrixType>
-struct traits<Transpose<MatrixType> > : traits<MatrixType>
+struct traits<Transpose<MatrixType> > : public traits<MatrixType>
 {
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename traits<MatrixType>::XprKind XprKind;
   enum {
     RowsAtCompileTime = MatrixType::ColsAtCompileTime,
     ColsAtCompileTime = MatrixType::RowsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags0 = MatrixTypeNestedPlain::Flags & ~(LvalueBit | NestByRefBit),
+    Flags0 = traits<MatrixTypeNestedPlain>::Flags & ~(LvalueBit | NestByRefBit),
     Flags1 = Flags0 | FlagsLvalueBit,
     Flags = Flags1 ^ RowMajorBit,
-    CoeffReadCost = MatrixTypeNestedPlain::CoeffReadCost,
     InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
     OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
   };
@@ -54,31 +36,55 @@ struct traits<Transpose<MatrixType> > : traits<MatrixType>
 
 template<typename MatrixType, typename StorageKind> class TransposeImpl;
 
+/** \class Transpose
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the transpose of a matrix
+  *
+  * \tparam MatrixType the type of the object of which we are taking the transpose
+  *
+  * This class represents an expression of the transpose of a matrix.
+  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
+  */
 template<typename MatrixType> class Transpose
   : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
 {
   public:
 
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+
     typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-    inline Transpose(MatrixType& a_matrix) : m_matrix(a_matrix) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
 
-    inline Index rows() const { return m_matrix.cols(); }
-    inline Index cols() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.rows(); }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename MatrixType::Nested>::type&
-    nestedExpression() { return m_matrix.const_cast_derived(); }
+    EIGEN_DEVICE_FUNC
+    typename internal::remove_reference<MatrixTypeNested>::type&
+    nestedExpression() { return m_matrix; }
+
+    /** \internal */
+    void resize(Index nrows, Index ncols) {
+      m_matrix.resize(ncols,nrows);
+    }
 
   protected:
-    typename MatrixType::Nested m_matrix;
+    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
 };
 
 namespace internal {
@@ -97,17 +103,27 @@ struct TransposeImpl_base<MatrixType, false>
 
 } // end namespace internal
 
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class TransposeImpl
+  : public internal::generic_xpr_base<Transpose<XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<Transpose<XprType> >::type Base;
+};
+
 template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
   : public internal::TransposeImpl_base<MatrixType>::type
 {
   public:
 
     typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
+    using Base::coeffRef;
     EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)
 
-    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
-    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
 
     typedef typename internal::conditional<
                        internal::is_lvalue<MatrixType>::value,
@@ -115,64 +131,21 @@ template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
-    inline const Scalar* data() const { return derived().nestedExpression().data(); }
-
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index rowId, Index colId)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return derived().nestedExpression().const_cast_derived().coeffRef(colId, rowId);
-    }
-
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return derived().nestedExpression().const_cast_derived().coeffRef(index);
-    }
+    EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return derived().nestedExpression().data(); }
 
+    // FIXME: shall we keep the const version of coeffRef?
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return derived().nestedExpression().coeffRef(colId, rowId);
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
       return derived().nestedExpression().coeffRef(index);
     }
-
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return derived().nestedExpression().coeff(colId, rowId);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return derived().nestedExpression().coeff(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().nestedExpression().template packet<LoadMode>(colId, rowId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& x)
-    {
-      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(colId, rowId, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return derived().nestedExpression().template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
 };
 
 /** \returns an expression of the transpose of *this.
@@ -198,7 +171,7 @@ template<typename Derived>
 inline Transpose<Derived>
 DenseBase<Derived>::transpose()
 {
-  return derived();
+  return TransposeReturnType(derived());
 }
 
 /** This is the const version of transpose().
@@ -236,8 +209,7 @@ template<typename Derived>
 inline const typename MatrixBase<Derived>::AdjointReturnType
 MatrixBase<Derived>::adjoint() const
 {
-  return this->transpose(); // in the complex case, the .conjugate() is be implicit here
-                            // due to implicit conversion to return type
+  return AdjointReturnType(this->transpose());
 }
 
 /***************************************************************************
@@ -247,18 +219,38 @@ MatrixBase<Derived>::adjoint() const
 namespace internal {
 
 template<typename MatrixType,
-  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic>
+  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic,
+  bool MatchPacketSize =
+        (int(MatrixType::RowsAtCompileTime) == int(internal::packet_traits<typename MatrixType::Scalar>::size))
+    &&  (internal::evaluator<MatrixType>::Flags&PacketAccessBit) >
 struct inplace_transpose_selector;
 
 template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,true> { // square matrix
+struct inplace_transpose_selector<MatrixType,true,false> { // square matrix
   static void run(MatrixType& m) {
     m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
   }
 };
 
+// TODO: vectorized path is currently limited to LargestPacketSize x LargestPacketSize cases only.
 template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,false> { // non square matrix
+struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x PacketSize
+  static void run(MatrixType& m) {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
+    const Index PacketSize = internal::packet_traits<Scalar>::size;
+    const Index Alignment = internal::evaluator<MatrixType>::Alignment;
+    PacketBlock<Packet> A;
+    for (Index i=0; i<PacketSize; ++i)
+      A.packet[i] = m.template packetByOuterInner<Alignment>(i,0);
+    internal::ptranspose(A);
+    for (Index i=0; i<PacketSize; ++i)
+      m.template writePacket<Alignment>(m.rowIndexByOuterInner(i,0), m.colIndexByOuterInner(i,0), A.packet[i]);
+  }
+};
+
+template<typename MatrixType,bool MatchPacketSize>
+struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square matrix
   static void run(MatrixType& m) {
     if (m.rows()==m.cols())
       m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
@@ -331,14 +323,6 @@ inline void MatrixBase<Derived>::adjointInPlace()
 
 namespace internal {
 
-template<typename BinOp,typename NestedXpr,typename Rhs>
-struct blas_traits<SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> >
- : blas_traits<NestedXpr>
-{
-  typedef SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> XprType;
-  static inline const XprType extract(const XprType& x) { return x; }
-};
-
 template<bool DestIsTransposed, typename OtherDerived>
 struct check_transpose_aliasing_compile_time_selector
 {
@@ -404,15 +388,15 @@ struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
     }
 };
 
-} // end namespace internal
-
-template<typename Derived>
-template<typename OtherDerived>
-void DenseBase<Derived>::checkTransposeAliasing(const OtherDerived& other) const
+template<typename Dst, typename Src>
+void check_for_aliasing(const Dst &dst, const Src &src)
 {
-    internal::checkTransposeAliasing_impl<Derived, OtherDerived>::run(derived(), other);
+  internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
 }
-#endif
+
+} // end namespace internal
+
+#endif // EIGEN_NO_DEBUG
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/Core/Transpositions.h b/vendor/eigen/Eigen/src/Core/Transpositions.h
index e4ba075..19c17bb 100644
--- a/vendor/eigen/Eigen/src/Core/Transpositions.h
+++ b/vendor/eigen/Eigen/src/Core/Transpositions.h
@@ -12,39 +12,6 @@
 
 namespace Eigen { 
 
-/** \class Transpositions
-  * \ingroup Core_Module
-  *
-  * \brief Represents a sequence of transpositions (row/column interchange)
-  *
-  * \param SizeAtCompileTime the number of transpositions, or Dynamic
-  * \param MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  *
-  * This class represents a permutation transformation as a sequence of \em n transpositions
-  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
-  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
-  * the rows \c i and \c indices[i] of the matrix \c M.
-  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
-  *
-  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
-  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
-  * 
-  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
-  * \code
-  * Transpositions tr;
-  * MatrixXf mat;
-  * mat = tr * mat;
-  * \endcode
-  * In this example, we detect that the matrix appears on both side, and so the transpositions
-  * are applied in-place without any temporary or extra copy.
-  *
-  * \sa class PermutationMatrix
-  */
-
-namespace internal {
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed=false> struct transposition_matrix_product_retval;
-}
-
 template<typename Derived>
 class TranspositionsBase
 {
@@ -53,7 +20,8 @@ class TranspositionsBase
   public:
 
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     Derived& derived() { return *static_cast<Derived*>(this); }
     const Derived& derived() const { return *static_cast<const Derived*>(this); }
@@ -65,7 +33,7 @@ class TranspositionsBase
       indices() = other.indices();
       return derived();
     }
-
+    
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
@@ -78,20 +46,24 @@ class TranspositionsBase
     #endif
 
     /** \returns the number of transpositions */
-    inline Index size() const { return indices().size(); }
+    Index size() const { return indices().size(); }
+    /** \returns the number of rows of the equivalent permutation matrix */
+    Index rows() const { return indices().size(); }
+    /** \returns the number of columns of the equivalent permutation matrix */
+    Index cols() const { return indices().size(); }
 
     /** Direct access to the underlying index vector */
-    inline const Index& coeff(Index i) const { return indices().coeff(i); }
+    inline const StorageIndex& coeff(Index i) const { return indices().coeff(i); }
     /** Direct access to the underlying index vector */
-    inline Index& coeffRef(Index i) { return indices().coeffRef(i); }
+    inline StorageIndex& coeffRef(Index i) { return indices().coeffRef(i); }
     /** Direct access to the underlying index vector */
-    inline const Index& operator()(Index i) const { return indices()(i); }
+    inline const StorageIndex& operator()(Index i) const { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline Index& operator()(Index i) { return indices()(i); }
+    inline StorageIndex& operator()(Index i) { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline const Index& operator[](Index i) const { return indices()(i); }
+    inline const StorageIndex& operator[](Index i) const { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline Index& operator[](Index i) { return indices()(i); }
+    inline StorageIndex& operator[](Index i) { return indices()(i); }
 
     /** const version of indices(). */
     const IndicesType& indices() const { return derived().indices(); }
@@ -99,7 +71,7 @@ class TranspositionsBase
     IndicesType& indices() { return derived().indices(); }
 
     /** Resizes to given size. */
-    inline void resize(int newSize)
+    inline void resize(Index newSize)
     {
       indices().resize(newSize);
     }
@@ -107,7 +79,7 @@ class TranspositionsBase
     /** Sets \c *this to represents an identity transformation */
     void setIdentity()
     {
-      for(int i = 0; i < indices().size(); ++i)
+      for(StorageIndex i = 0; i < indices().size(); ++i)
         coeffRef(i) = i;
     }
 
@@ -144,23 +116,53 @@ class TranspositionsBase
 };
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
-  typedef IndexType Index;
-  typedef Matrix<Index, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+/** \class Transpositions
+  * \ingroup Core_Module
+  *
+  * \brief Represents a sequence of transpositions (row/column interchange)
+  *
+  * \tparam SizeAtCompileTime the number of transpositions, or Dynamic
+  * \tparam MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  *
+  * This class represents a permutation transformation as a sequence of \em n transpositions
+  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
+  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
+  * the rows \c i and \c indices[i] of the matrix \c M.
+  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
+  *
+  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
+  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
+  *
+  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
+  * \code
+  * Transpositions tr;
+  * MatrixXf mat;
+  * mat = tr * mat;
+  * \endcode
+  * In this example, we detect that the matrix appears on both side, and so the transpositions
+  * are applied in-place without any temporary or extra copy.
+  *
+  * \sa class PermutationMatrix
+  */
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
     typedef internal::traits<Transpositions> Traits;
   public:
 
     typedef TranspositionsBase<Transpositions> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
     inline Transpositions() {}
 
@@ -177,7 +179,7 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
 
     /** Generic constructor from expression of the transposition indices. */
     template<typename Other>
-    explicit inline Transpositions(const MatrixBase<Other>& a_indices) : m_indices(a_indices)
+    explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
     {}
 
     /** Copies the \a other transpositions into \c *this */
@@ -215,30 +217,32 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
 
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,_PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,_PacketAccess> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
-  typedef IndexType Index;
-  typedef Map<const Matrix<Index,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+  typedef Map<const Matrix<_StorageIndex,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int PacketAccess>
-class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess>
- : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int PacketAccess>
+class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess>
+ : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess> >
 {
     typedef internal::traits<Map> Traits;
   public:
 
     typedef TranspositionsBase<Map> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
-    inline Map(const Index* indicesPtr)
+    explicit inline Map(const StorageIndex* indicesPtr)
       : m_indices(indicesPtr)
     {}
 
-    inline Map(const Index* indicesPtr, Index size)
+    inline Map(const StorageIndex* indicesPtr, Index size)
       : m_indices(indicesPtr,size)
     {}
 
@@ -274,9 +278,9 @@ class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,Packe
 namespace internal {
 template<typename _IndicesType>
 struct traits<TranspositionsWrapper<_IndicesType> >
+ : traits<PermutationWrapper<_IndicesType> >
 {
-  typedef typename _IndicesType::Scalar Index;
-  typedef _IndicesType IndicesType;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
@@ -289,10 +293,10 @@ class TranspositionsWrapper
 
     typedef TranspositionsBase<TranspositionsWrapper> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
-    inline TranspositionsWrapper(IndicesType& a_indices)
-      : m_indices(a_indices)
+    explicit inline TranspositionsWrapper(IndicesType& indices)
+      : m_indices(indices)
     {}
 
     /** Copies the \a other transpositions into \c *this */
@@ -321,83 +325,46 @@ class TranspositionsWrapper
 
   protected:
 
-    const typename IndicesType::Nested m_indices;
+    typename IndicesType::Nested m_indices;
 };
 
+
+
 /** \returns the \a matrix with the \a transpositions applied to the columns.
   */
-template<typename Derived, typename TranspositionsDerived>
-inline const internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, OnTheRight>
-operator*(const MatrixBase<Derived>& matrix,
-          const TranspositionsBase<TranspositionsDerived> &transpositions)
+template<typename MatrixDerived, typename TranspositionsDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+          const TranspositionsBase<TranspositionsDerived>& transpositions)
 {
-  return internal::transposition_matrix_product_retval
-           <TranspositionsDerived, Derived, OnTheRight>
-           (transpositions.derived(), matrix.derived());
+  return Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+            (matrix.derived(), transpositions.derived());
 }
 
 /** \returns the \a matrix with the \a transpositions applied to the rows.
   */
-template<typename Derived, typename TranspositionDerived>
-inline const internal::transposition_matrix_product_retval
-               <TranspositionDerived, Derived, OnTheLeft>
-operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
-          const MatrixBase<Derived>& matrix)
+template<typename TranspositionsDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+operator*(const TranspositionsBase<TranspositionsDerived> &transpositions,
+          const MatrixBase<MatrixDerived>& matrix)
 {
-  return internal::transposition_matrix_product_retval
-           <TranspositionDerived, Derived, OnTheLeft>
-           (transpositions.derived(), matrix.derived());
+  return Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+            (transpositions.derived(), matrix.derived());
 }
 
-namespace internal {
-
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
-struct traits<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
-{
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
-struct transposition_matrix_product_retval
- : public ReturnByValue<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename TranspositionType::Index Index;
-
-    transposition_matrix_product_retval(const TranspositionType& tr, const MatrixType& matrix)
-      : m_transpositions(tr), m_matrix(matrix)
-    {}
+// Template partial specialization for transposed/inverse transpositions
 
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
-    {
-      const int size = m_transpositions.size();
-      Index j = 0;
-
-      if(!(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix)))
-        dst = m_matrix;
-
-      for(int k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
-        if((j=m_transpositions.coeff(k))!=k)
-        {
-          if(Side==OnTheLeft)
-            dst.row(k).swap(dst.row(j));
-          else if(Side==OnTheRight)
-            dst.col(k).swap(dst.col(j));
-        }
-    }
+namespace internal {
 
-  protected:
-    const TranspositionType& m_transpositions;
-    typename MatrixType::Nested m_matrix;
-};
+template<typename Derived>
+struct traits<Transpose<TranspositionsBase<Derived> > >
+ : traits<Derived>
+{};
 
 } // end namespace internal
 
-/* Template partial specialization for transposed/inverse transpositions */
-
 template<typename TranspositionsDerived>
 class Transpose<TranspositionsBase<TranspositionsDerived> >
 {
@@ -405,27 +372,31 @@ class Transpose<TranspositionsBase<TranspositionsDerived> >
     typedef typename TranspositionType::IndicesType IndicesType;
   public:
 
-    Transpose(const TranspositionType& t) : m_transpositions(t) {}
+    explicit Transpose(const TranspositionType& t) : m_transpositions(t) {}
 
-    inline int size() const { return m_transpositions.size(); }
+    Index size() const { return m_transpositions.size(); }
+    Index rows() const { return m_transpositions.size(); }
+    Index cols() const { return m_transpositions.size(); }
 
     /** \returns the \a matrix with the inverse transpositions applied to the columns.
       */
-    template<typename Derived> friend
-    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>
-    operator*(const MatrixBase<Derived>& matrix, const Transpose& trt)
+    template<typename OtherDerived> friend
+    const Product<OtherDerived, Transpose, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trt)
     {
-      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>(trt.m_transpositions, matrix.derived());
+      return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt.derived());
     }
 
     /** \returns the \a matrix with the inverse transpositions applied to the rows.
       */
-    template<typename Derived>
-    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>
-    operator*(const MatrixBase<Derived>& matrix) const
+    template<typename OtherDerived>
+    const Product<Transpose, OtherDerived, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix) const
     {
-      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>(m_transpositions, matrix.derived());
+      return Product<Transpose, OtherDerived, AliasFreeProduct>(*this, matrix.derived());
     }
+    
+    const TranspositionType& nestedExpression() const { return m_transpositions; }
 
   protected:
     const TranspositionType& m_transpositions;
diff --git a/vendor/eigen/Eigen/src/Core/TriangularMatrix.h b/vendor/eigen/Eigen/src/Core/TriangularMatrix.h
index 4d65392..667ef09 100644
--- a/vendor/eigen/Eigen/src/Core/TriangularMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/TriangularMatrix.h
@@ -19,9 +19,7 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
   
 }
 
-/** \internal
-  *
-  * \class TriangularBase
+/** \class TriangularBase
   * \ingroup Core_Module
   *
   * \brief Base class for triangular part in a matrix
@@ -32,41 +30,69 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
 
     enum {
       Mode = internal::traits<Derived>::Mode,
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
       RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
       ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
       MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
+      /**< This is equal to the number of coefficients, i.e. the number of
+          * rows times the number of columns, or to \a Dynamic if this is not
+          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+      
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                   internal::traits<Derived>::MaxColsAtCompileTime>::ret)
+        
     };
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
-    typedef typename internal::traits<Derived>::DenseMatrixType DenseMatrixType;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+    typedef typename internal::traits<Derived>::FullMatrixType DenseMatrixType;
     typedef DenseMatrixType DenseType;
+    typedef Derived const& Nested;
 
+    EIGEN_DEVICE_FUNC
     inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return derived().rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return derived().cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return derived().outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return derived().innerStride(); }
+    
+    // dummy resize function
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_UNUSED_VARIABLE(rows);
+      EIGEN_UNUSED_VARIABLE(cols);
+      eigen_assert(rows==this->rows() && cols==this->cols());
+    }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar coeff(Index row, Index col) const  { return derived().coeff(row,col); }
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
 
     /** \see MatrixBase::copyCoeff(row,col)
       */
     template<typename Other>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
     {
       derived().coeffRef(row, col) = other.coeff(row, col);
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar operator()(Index row, Index col) const
     {
       check_coordinates(row, col);
       return coeff(row,col);
     }
+    EIGEN_DEVICE_FUNC
     inline Scalar& operator()(Index row, Index col)
     {
       check_coordinates(row, col);
@@ -74,15 +100,20 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
     }
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_DEVICE_FUNC
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC
     inline Derived& derived() { return *static_cast<Derived*>(this); }
     #endif // not EIGEN_PARSED_BY_DOXYGEN
 
     template<typename DenseDerived>
+    EIGEN_DEVICE_FUNC
     void evalTo(MatrixBase<DenseDerived> &other) const;
     template<typename DenseDerived>
+    EIGEN_DEVICE_FUNC
     void evalToLazy(MatrixBase<DenseDerived> &other) const;
 
+    EIGEN_DEVICE_FUNC
     DenseMatrixType toDenseMatrix() const
     {
       DenseMatrixType res(rows(), cols());
@@ -119,17 +150,17 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
 /** \class TriangularView
   * \ingroup Core_Module
   *
-  * \brief Base class for triangular part in a matrix
+  * \brief Expression of a triangular part in a matrix
   *
   * \param MatrixType the type of the object in which we are taking the triangular part
   * \param Mode the kind of triangular matrix expression to construct. Can be #Upper,
   *             #Lower, #UnitUpper, #UnitLower, #StrictlyUpper, or #StrictlyLower.
   *             This is in fact a bit field; it must have either #Upper or #Lower, 
-  *             and additionnaly it may have #UnitDiag or #ZeroDiag or neither.
+  *             and additionally it may have #UnitDiag or #ZeroDiag or neither.
   *
   * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
   * matrices one should speak of "trapezoid" parts. This class is the return type
-  * of MatrixBase::triangularView() and most of the time this is the only way it is used.
+  * of MatrixBase::triangularView() and SparseMatrixBase::triangularView(), and most of the time this is the only way it is used.
   *
   * \sa MatrixBase::triangularView()
   */
@@ -137,499 +168,405 @@ namespace internal {
 template<typename MatrixType, unsigned int _Mode>
 struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
   typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef typename MatrixType::PlainObject FullMatrixType;
   typedef MatrixType ExpressionType;
-  typedef typename MatrixType::PlainObject DenseMatrixType;
   enum {
     Mode = _Mode,
-    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit))) | Mode,
-    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits | FlagsLvalueBit) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)))
   };
 };
 }
 
-template<int Mode, bool LhsIsTriangular,
-         typename Lhs, bool LhsIsVector,
-         typename Rhs, bool RhsIsVector>
-struct TriangularProduct;
+template<typename _MatrixType, unsigned int _Mode, typename StorageKind> class TriangularViewImpl;
 
 template<typename _MatrixType, unsigned int _Mode> class TriangularView
-  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+  : public TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind >
 {
   public:
 
-    typedef TriangularBase<TriangularView> Base;
+    typedef TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind > Base;
     typedef typename internal::traits<TriangularView>::Scalar Scalar;
-
     typedef _MatrixType MatrixType;
-    typedef typename internal::traits<TriangularView>::DenseMatrixType DenseMatrixType;
-    typedef DenseMatrixType PlainObject;
 
   protected:
     typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
     typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
-    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
 
     typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
     
   public:
-    using Base::evalToLazy;
-  
 
     typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
-    typedef typename internal::traits<TriangularView>::Index Index;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned NestedExpression;
 
     enum {
       Mode = _Mode,
+      Flags = internal::traits<TriangularView>::Flags,
       TransposeMode = (Mode & Upper ? Lower : 0)
                     | (Mode & Lower ? Upper : 0)
                     | (Mode & (UnitDiag))
-                    | (Mode & (ZeroDiag))
+                    | (Mode & (ZeroDiag)),
+      IsVectorAtCompileTime = false
     };
 
-    inline TriangularView(const MatrixType& matrix) : m_matrix(matrix)
+    EIGEN_DEVICE_FUNC
+    explicit inline TriangularView(MatrixType& matrix) : m_matrix(matrix)
     {}
+    
+    using Base::operator=;
+    TriangularView& operator=(const TriangularView &other)
+    { return Base::operator=(other); }
 
+    /** \copydoc EigenBase::rows() */
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows(); }
+    /** \copydoc EigenBase::cols() */
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols(); }
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    /** \returns a const reference to the nested expression */
+    EIGEN_DEVICE_FUNC
+    const NestedExpression& nestedExpression() const { return m_matrix; }
+
+    /** \returns a reference to the nested expression */
+    EIGEN_DEVICE_FUNC
+    NestedExpression& nestedExpression() { return m_matrix; }
+    
+    typedef TriangularView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
+    /** \sa MatrixBase::conjugate() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConjugateReturnType conjugate() const
+    { return ConjugateReturnType(m_matrix.conjugate()); }
+
+    typedef TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
+    /** \sa MatrixBase::adjoint() const */
+    EIGEN_DEVICE_FUNC
+    inline const AdjointReturnType adjoint() const
+    { return AdjointReturnType(m_matrix.adjoint()); }
+
+    typedef TriangularView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+     /** \sa MatrixBase::transpose() */
+    EIGEN_DEVICE_FUNC
+    inline TransposeReturnType transpose()
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      typename MatrixType::TransposeReturnType tmp(m_matrix);
+      return TransposeReturnType(tmp);
+    }
+    
+    typedef TriangularView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
+    /** \sa MatrixBase::transpose() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConstTransposeReturnType transpose() const
+    {
+      return ConstTransposeReturnType(m_matrix.transpose());
+    }
+
+    template<typename Other>
+    EIGEN_DEVICE_FUNC
+    inline const Solve<TriangularView, Other> 
+    solve(const MatrixBase<Other>& other) const
+    { return Solve<TriangularView, Other>(*this, other.derived()); }
+    
+  // workaround MSVC ICE
+  #if EIGEN_COMP_MSVC
+    template<int Side, typename Other>
+    EIGEN_DEVICE_FUNC
+    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+    solve(const MatrixBase<Other>& other) const
+    { return Base::template solve<Side>(other); }
+  #else
+    using Base::solve;
+  #endif
+
+    /** \returns a selfadjoint view of the referenced triangular part which must be either \c #Upper or \c #Lower.
+      *
+      * This is a shortcut for \code this->nestedExpression().selfadjointView<(*this)::Mode>() \endcode
+      * \sa MatrixBase::selfadjointView() */
+    EIGEN_DEVICE_FUNC
+    SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
+    {
+      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+
+    /** This is the const version of selfadjointView() */
+    EIGEN_DEVICE_FUNC
+    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
+    {
+      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+
+
+    /** \returns the determinant of the triangular matrix
+      * \sa MatrixBase::determinant() */
+    EIGEN_DEVICE_FUNC
+    Scalar determinant() const
+    {
+      if (Mode & UnitDiag)
+        return 1;
+      else if (Mode & ZeroDiag)
+        return 0;
+      else
+        return m_matrix.diagonal().prod();
+    }
+      
+  protected:
+
+    MatrixTypeNested m_matrix;
+};
+
+/** \ingroup Core_Module
+  *
+  * \brief Base class for a triangular part in a \b dense matrix
+  *
+  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
+  * It extends class TriangularView with additional methods which available for dense expressions only.
+  *
+  * \sa class TriangularView, MatrixBase::triangularView()
+  */
+template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_MatrixType,_Mode,Dense>
+  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+{
+  public:
+
+    typedef TriangularView<_MatrixType, _Mode> TriangularViewType;
+    typedef TriangularBase<TriangularViewType> Base;
+    typedef typename internal::traits<TriangularViewType>::Scalar Scalar;
+
+    typedef _MatrixType MatrixType;
+    typedef typename MatrixType::PlainObject DenseMatrixType;
+    typedef DenseMatrixType PlainObject;
+
+  public:
+    using Base::evalToLazy;
+    using Base::derived;
+
+    typedef typename internal::traits<TriangularViewType>::StorageKind StorageKind;
+
+    enum {
+      Mode = _Mode,
+      Flags = internal::traits<TriangularViewType>::Flags
+    };
+
+    /** \returns the outer-stride of the underlying dense matrix
+      * \sa DenseCoeffsBase::outerStride() */
+    EIGEN_DEVICE_FUNC
+    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+    /** \returns the inner-stride of the underlying dense matrix
+      * \sa DenseCoeffsBase::innerStride() */
+    EIGEN_DEVICE_FUNC
+    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
 
     /** \sa MatrixBase::operator+=() */
-    template<typename Other> TriangularView&  operator+=(const DenseBase<Other>& other) { return *this = m_matrix + other.derived(); }
+    template<typename Other>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator+=(const DenseBase<Other>& other) {
+      internal::call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename Other::Scalar>());
+      return derived();
+    }
     /** \sa MatrixBase::operator-=() */
-    template<typename Other> TriangularView&  operator-=(const DenseBase<Other>& other) { return *this = m_matrix - other.derived(); }
+    template<typename Other>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator-=(const DenseBase<Other>& other) {
+      internal::call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename Other::Scalar>());
+      return derived();
+    }
+    
     /** \sa MatrixBase::operator*=() */
-    TriangularView&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix * other; }
-    /** \sa MatrixBase::operator/=() */
-    TriangularView&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix / other; }
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() * other; }
+    /** \sa DenseBase::operator/=() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() / other; }
 
     /** \sa MatrixBase::fill() */
+    EIGEN_DEVICE_FUNC
     void fill(const Scalar& value) { setConstant(value); }
     /** \sa MatrixBase::setConstant() */
-    TriangularView& setConstant(const Scalar& value)
-    { return *this = MatrixType::Constant(rows(), cols(), value); }
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setConstant(const Scalar& value)
+    { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
     /** \sa MatrixBase::setZero() */
-    TriangularView& setZero() { return setConstant(Scalar(0)); }
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setZero() { return setConstant(Scalar(0)); }
     /** \sa MatrixBase::setOnes() */
-    TriangularView& setOnes() { return setConstant(Scalar(1)); }
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setOnes() { return setConstant(Scalar(1)); }
 
     /** \sa MatrixBase::coeff()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar coeff(Index row, Index col) const
     {
       Base::check_coordinates_internal(row, col);
-      return m_matrix.coeff(row, col);
+      return derived().nestedExpression().coeff(row, col);
     }
 
     /** \sa MatrixBase::coeffRef()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index col)
     {
+      EIGEN_STATIC_ASSERT_LVALUE(TriangularViewType);
       Base::check_coordinates_internal(row, col);
-      return m_matrix.const_cast_derived().coeffRef(row, col);
+      return derived().nestedExpression().coeffRef(row, col);
     }
 
-    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
-
     /** Assigns a triangular matrix to a triangular part of a dense matrix */
     template<typename OtherDerived>
-    TriangularView& operator=(const TriangularBase<OtherDerived>& other);
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const TriangularBase<OtherDerived>& other);
 
+    /** Shortcut for\code *this = other.other.triangularView<(*this)::Mode>() \endcode */
     template<typename OtherDerived>
-    TriangularView& operator=(const MatrixBase<OtherDerived>& other);
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const MatrixBase<OtherDerived>& other);
 
-    TriangularView& operator=(const TriangularView& other)
-    { return *this = other.nestedExpression(); }
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const TriangularViewImpl& other)
+    { return *this = other.derived().nestedExpression(); }
 
+    /** \deprecated */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void lazyAssign(const TriangularBase<OtherDerived>& other);
 
+    /** \deprecated */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void lazyAssign(const MatrixBase<OtherDerived>& other);
-
-    /** \sa MatrixBase::conjugate() */
-    inline TriangularView<MatrixConjugateReturnType,Mode> conjugate()
-    { return m_matrix.conjugate(); }
-    /** \sa MatrixBase::conjugate() const */
-    inline const TriangularView<MatrixConjugateReturnType,Mode> conjugate() const
-    { return m_matrix.conjugate(); }
-
-    /** \sa MatrixBase::adjoint() const */
-    inline const TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> adjoint() const
-    { return m_matrix.adjoint(); }
-
-    /** \sa MatrixBase::transpose() */
-    inline TriangularView<Transpose<MatrixType>,TransposeMode> transpose()
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().transpose();
-    }
-    /** \sa MatrixBase::transpose() const */
-    inline const TriangularView<Transpose<MatrixType>,TransposeMode> transpose() const
-    {
-      return m_matrix.transpose();
-    }
+#endif
 
     /** Efficient triangular matrix times vector/matrix product */
     template<typename OtherDerived>
-    TriangularProduct<Mode, true, MatrixType, false, OtherDerived, OtherDerived::ColsAtCompileTime==1>
+    EIGEN_DEVICE_FUNC
+    const Product<TriangularViewType,OtherDerived>
     operator*(const MatrixBase<OtherDerived>& rhs) const
     {
-      return TriangularProduct
-              <Mode, true, MatrixType, false, OtherDerived, OtherDerived::ColsAtCompileTime==1>
-              (m_matrix, rhs.derived());
+      return Product<TriangularViewType,OtherDerived>(derived(), rhs.derived());
     }
 
     /** Efficient vector/matrix times triangular matrix product */
     template<typename OtherDerived> friend
-    TriangularProduct<Mode, false, OtherDerived, OtherDerived::RowsAtCompileTime==1, MatrixType, false>
-    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
-    {
-      return TriangularProduct
-              <Mode, false, OtherDerived, OtherDerived::RowsAtCompileTime==1, MatrixType, false>
-              (lhs.derived(),rhs.m_matrix);
-    }
-
-    #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
-
+    EIGEN_DEVICE_FUNC
+    const Product<OtherDerived,TriangularViewType>
+    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularViewImpl& rhs)
+    {
+      return Product<OtherDerived,TriangularViewType>(lhs.derived(),rhs.derived());
+    }
+
+    /** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
+      *
+      * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
+      * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
+      * \a Side==OnTheRight.
+      *
+      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      *
+      * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
+      * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
+      * is an upper (resp. lower) triangular matrix.
+      *
+      * Example: \include Triangular_solve.cpp
+      * Output: \verbinclude Triangular_solve.out
+      *
+      * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
+      * to the same matrix or vector \a other.
+      *
+      * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
+      * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
+      *
+      * \sa TriangularView::solveInPlace()
+      */
     template<int Side, typename Other>
-    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+    EIGEN_DEVICE_FUNC
+    inline const internal::triangular_solve_retval<Side,TriangularViewType, Other>
     solve(const MatrixBase<Other>& other) const;
 
+    /** "in-place" version of TriangularView::solve() where the result is written in \a other
+      *
+      * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+      * This function will const_cast it, so constness isn't honored here.
+      *
+      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      *
+      * See TriangularView:solve() for the details.
+      */
     template<int Side, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void solveInPlace(const MatrixBase<OtherDerived>& other) const;
 
-    template<typename Other>
-    inline const internal::triangular_solve_retval<OnTheLeft,TriangularView, Other> 
-    solve(const MatrixBase<Other>& other) const
-    { return solve<OnTheLeft>(other); }
-
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void solveInPlace(const MatrixBase<OtherDerived>& other) const
     { return solveInPlace<OnTheLeft>(other); }
 
-    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
-    {
-      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
-      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
-    }
-    SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
-    {
-      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
-      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
-    }
-
+    /** Swaps the coefficients of the common triangular parts of two matrices */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+    void swap(TriangularBase<OtherDerived> &other)
+#else
     void swap(TriangularBase<OtherDerived> const & other)
+#endif
     {
-      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
     }
 
+    /** \deprecated
+      * Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void swap(MatrixBase<OtherDerived> const & other)
     {
-      SwapWrapper<MatrixType> swaper(const_cast<MatrixType&>(m_matrix));
-      TriangularView<SwapWrapper<MatrixType>,Mode>(swaper).lazyAssign(other.derived());
+      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
     }
 
-    Scalar determinant() const
-    {
-      if (Mode & UnitDiag)
-        return 1;
-      else if (Mode & ZeroDiag)
-        return 0;
-      else
-        return m_matrix.diagonal().prod();
-    }
-    
-    // TODO simplify the following:
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      setZero();
-      return assignProduct(other.derived(),1);
-    }
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      return assignProduct(other.derived(),1);
-    }
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      return assignProduct(other.derived(),-1);
-    }
-    
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator=(const ScaledProduct<ProductDerived>& other)
-    {
-      setZero();
-      return assignProduct(other.derived(),other.alpha());
-    }
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator+=(const ScaledProduct<ProductDerived>& other)
-    {
-      return assignProduct(other.derived(),other.alpha());
-    }
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator-=(const ScaledProduct<ProductDerived>& other)
-    {
-      return assignProduct(other.derived(),-other.alpha());
-    }
-    
-  protected:
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& assignProduct(const ProductBase<ProductDerived, Lhs,Rhs>& prod, const Scalar& alpha);
-    
-    template<int Mode, bool LhsIsTriangular,
-         typename Lhs, bool LhsIsVector,
-         typename Rhs, bool RhsIsVector>
-    EIGEN_STRONG_INLINE TriangularView& assignProduct(const TriangularProduct<Mode, LhsIsTriangular, Lhs, LhsIsVector, Rhs, RhsIsVector>& prod, const Scalar& alpha)
-    {
-      lazyAssign(alpha*prod.eval());
-      return *this;
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
+      if(!internal::is_same_dense(dst,rhs))
+        dst = rhs;
+      this->solveInPlace(dst);
     }
 
-    MatrixTypeNested m_matrix;
+    template<typename ProductType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE TriangularViewType& _assignProduct(const ProductType& prod, const Scalar& alpha, bool beta);
 };
 
 /***************************************************************************
 * Implementation of triangular evaluation/assignment
 ***************************************************************************/
 
-namespace internal {
-
-template<typename Derived1, typename Derived2, unsigned int Mode, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-  
-  typedef typename Derived1::Scalar Scalar;
-
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    triangular_assignment_selector<Derived1, Derived2, Mode, UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    eigen_assert( Mode == Upper || Mode == Lower
-            || Mode == StrictlyUpper || Mode == StrictlyLower
-            || Mode == UnitUpper || Mode == UnitLower);
-    if((Mode == Upper && row <= col)
-    || (Mode == Lower && row >= col)
-    || (Mode == StrictlyUpper && row < col)
-    || (Mode == StrictlyLower && row > col)
-    || (Mode == UnitUpper && row < col)
-    || (Mode == UnitLower && row > col))
-      dst.copyCoeff(row, col, src);
-    else if(ClearOpposite)
-    {
-      if (Mode&UnitDiag && row==col)
-        dst.coeffRef(row, col) = Scalar(1);
-      else
-        dst.coeffRef(row, col) = Scalar(0);
-    }
-  }
-};
-
-// prevent buggy user code from causing an infinite recursion
-template<typename Derived1, typename Derived2, unsigned int Mode, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Mode, 0, ClearOpposite>
-{
-  static inline void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Upper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  typedef typename Derived1::Scalar Scalar;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows()-1);
-      for(Index i = 0; i <= maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-        for(Index i = maxi+1; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = Scalar(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Lower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = j; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      Index maxi = (std::min)(j, dst.rows());
-      if (ClearOpposite)
-        for(Index i = 0; i < maxi; ++i)
-          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  typedef typename Derived1::Scalar Scalar;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = 0; i < maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-        for(Index i = maxi; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = Scalar(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, StrictlyLower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = j+1; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      Index maxi = (std::min)(j, dst.rows()-1);
-      if (ClearOpposite)
-        for(Index i = 0; i <= maxi; ++i)
-          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, UnitUpper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = 0; i < maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-      {
-        for(Index i = maxi+1; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = 0;
-      }
-    }
-    dst.diagonal().setOnes();
-  }
-};
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, UnitLower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = maxi+1; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-      {
-        for(Index i = 0; i < maxi; ++i)
-          dst.coeffRef(i, j) = 0;
-      }
-    }
-    dst.diagonal().setOnes();
-  }
-};
-
-} // end namespace internal
-
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 // FIXME should we keep that possibility
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
 inline TriangularView<MatrixType, Mode>&
-TriangularView<MatrixType, Mode>::operator=(const MatrixBase<OtherDerived>& other)
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const MatrixBase<OtherDerived>& other)
 {
-  if(OtherDerived::Flags & EvalBeforeAssigningBit)
-  {
-    typename internal::plain_matrix_type<OtherDerived>::type other_evaluated(other.rows(), other.cols());
-    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived());
-    lazyAssign(other_evaluated);
-  }
-  else
-    lazyAssign(other.derived());
-  return *this;
+  internal::call_assignment_no_alias(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
 }
 
 // FIXME should we keep that possibility
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
-void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>& other)
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const MatrixBase<OtherDerived>& other)
 {
-  enum {
-    unroll = MatrixType::SizeAtCompileTime != Dynamic
-          && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
-          && MatrixType::SizeAtCompileTime*internal::traits<OtherDerived>::CoeffReadCost/2 <= EIGEN_UNROLLING_LIMIT
-  };
-  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
-
-  internal::triangular_assignment_selector
-    <MatrixType, OtherDerived, int(Mode),
-    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
-    false // do not change the opposite triangular part
-    >::run(m_matrix.const_cast_derived(), other.derived());
+  internal::call_assignment_no_alias(derived(), other.template triangularView<Mode>());
 }
 
 
@@ -637,38 +574,21 @@ void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
 inline TriangularView<MatrixType, Mode>&
-TriangularView<MatrixType, Mode>::operator=(const TriangularBase<OtherDerived>& other)
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const TriangularBase<OtherDerived>& other)
 {
   eigen_assert(Mode == int(OtherDerived::Mode));
-  if(internal::traits<OtherDerived>::Flags & EvalBeforeAssigningBit)
-  {
-    typename OtherDerived::DenseMatrixType other_evaluated(other.rows(), other.cols());
-    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived().nestedExpression());
-    lazyAssign(other_evaluated);
-  }
-  else
-    lazyAssign(other.derived().nestedExpression());
-  return *this;
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
-void TriangularView<MatrixType, Mode>::lazyAssign(const TriangularBase<OtherDerived>& other)
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const TriangularBase<OtherDerived>& other)
 {
-  enum {
-    unroll = MatrixType::SizeAtCompileTime != Dynamic
-                   && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
-                   && MatrixType::SizeAtCompileTime * internal::traits<OtherDerived>::CoeffReadCost / 2
-                        <= EIGEN_UNROLLING_LIMIT
-  };
-  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
-
-  internal::triangular_assignment_selector
-    <MatrixType, OtherDerived, int(Mode),
-    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
-    false // preserve the opposite triangular part
-    >::run(m_matrix.const_cast_derived(), other.derived().nestedExpression());
+  eigen_assert(Mode == int(OtherDerived::Mode));
+  internal::call_assignment_no_alias(derived(), other.derived());
 }
+#endif
 
 /***************************************************************************
 * Implementation of TriangularBase methods
@@ -680,35 +600,7 @@ template<typename Derived>
 template<typename DenseDerived>
 void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
 {
-  if(internal::traits<Derived>::Flags & EvalBeforeAssigningBit)
-  {
-    typename internal::plain_matrix_type<Derived>::type other_evaluated(rows(), cols());
-    evalToLazy(other_evaluated);
-    other.derived().swap(other_evaluated);
-  }
-  else
-    evalToLazy(other.derived());
-}
-
-/** Assigns a triangular or selfadjoint matrix to a dense matrix.
-  * If the matrix is triangular, the opposite part is set to zero. */
-template<typename Derived>
-template<typename DenseDerived>
-void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
-{
-  enum {
-    unroll = DenseDerived::SizeAtCompileTime != Dynamic
-                   && internal::traits<Derived>::CoeffReadCost != Dynamic
-                   && DenseDerived::SizeAtCompileTime * internal::traits<Derived>::CoeffReadCost / 2
-                        <= EIGEN_UNROLLING_LIMIT
-  };
-  other.derived().resize(this->rows(), this->cols());
-
-  internal::triangular_assignment_selector
-    <DenseDerived, typename internal::traits<Derived>::MatrixTypeNestedCleaned, Derived::Mode,
-    unroll ? int(DenseDerived::SizeAtCompileTime) : Dynamic,
-    true // clear the opposite triangular part
-    >::run(other.derived(), derived().nestedExpression());
+  evalToLazy(other.derived());
 }
 
 /***************************************************************************
@@ -719,49 +611,14 @@ 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
   *
   * The parameter \a Mode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
   * \c #Lower, \c #StrictlyLower, \c #UnitLower.
   *
-  * Example: \include MatrixBase_extract.cpp
-  * Output: \verbinclude MatrixBase_extract.out
+  * Example: \include MatrixBase_triangularView.cpp
+  * Output: \verbinclude MatrixBase_triangularView.out
   *
   * \sa class TriangularView
   */
@@ -770,7 +627,7 @@ template<unsigned int Mode>
 typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
 MatrixBase<Derived>::triangularView()
 {
-  return derived();
+  return typename TriangularViewReturnType<Mode>::Type(derived());
 }
 
 /** This is the const version of MatrixBase::triangularView() */
@@ -779,7 +636,7 @@ template<unsigned int Mode>
 typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
 MatrixBase<Derived>::triangularView() const
 {
-  return derived();
+  return typename ConstTriangularViewReturnType<Mode>::Type(derived());
 }
 
 /** \returns true if *this is approximately equal to an upper triangular matrix,
@@ -790,21 +647,20 @@ MatrixBase<Derived>::triangularView() const
 template<typename Derived>
 bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
 {
-  using std::abs;
   RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
   {
-    Index maxi = (std::min)(j, rows()-1);
+    Index maxi = numext::mini(j, rows()-1);
     for(Index i = 0; i <= maxi; ++i)
     {
-      RealScalar absValue = abs(coeff(i,j));
+      RealScalar absValue = numext::abs(coeff(i,j));
       if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
     }
   }
   RealScalar threshold = maxAbsOnUpperPart * prec;
   for(Index j = 0; j < cols(); ++j)
     for(Index i = j+1; i < rows(); ++i)
-      if(abs(coeff(i, j)) > threshold) return false;
+      if(numext::abs(coeff(i, j)) > threshold) return false;
   return true;
 }
 
@@ -816,24 +672,312 @@ bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
 template<typename Derived>
 bool MatrixBase<Derived>::isLowerTriangular(const RealScalar& prec) const
 {
-  using std::abs;
   RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
     for(Index i = j; i < rows(); ++i)
     {
-      RealScalar absValue = abs(coeff(i,j));
+      RealScalar absValue = numext::abs(coeff(i,j));
       if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
     }
   RealScalar threshold = maxAbsOnLowerPart * prec;
   for(Index j = 1; j < cols(); ++j)
   {
-    Index maxi = (std::min)(j, rows()-1);
+    Index maxi = numext::mini(j, rows()-1);
     for(Index i = 0; i < maxi; ++i)
-      if(abs(coeff(i, j)) > threshold) return false;
+      if(numext::abs(coeff(i, j)) > threshold) return false;
   }
   return true;
 }
 
+
+/***************************************************************************
+****************************************************************************
+* Evaluators and Assignment of triangular expressions
+***************************************************************************
+***************************************************************************/
+
+namespace internal {
+
+  
+// TODO currently a triangular expression has the form TriangularView<.,.>
+//      in the future triangular-ness should be defined by the expression traits
+//      such that Transpose<TriangularView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<TriangularView<MatrixType,Mode> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef typename glue_shapes<typename evaluator_traits<MatrixType>::Shape, TriangularShape>::type Shape;
+};
+
+template<typename MatrixType, unsigned int Mode>
+struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
+ : evaluator<typename internal::remove_all<MatrixType>::type>
+{
+  typedef TriangularView<MatrixType,Mode> XprType;
+  typedef evaluator<typename internal::remove_all<MatrixType>::type> Base;
+  unary_evaluator(const XprType &xpr) : Base(xpr.nestedExpression()) {}
+};
+
+// Additional assignment kinds:
+struct Triangular2Triangular    {};
+struct Triangular2Dense         {};
+struct Dense2Triangular         {};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool ClearOpposite> struct triangular_assignment_loop;
+
+ 
+/** \internal Specialization of the dense assignment kernel for triangular matrices.
+  * The main difference is that the triangular, diagonal, and opposite parts are processed through three different functions.
+  * \tparam UpLo must be either Lower or Upper
+  * \tparam Mode must be either 0, UnitDiag, ZeroDiag, or SelfAdjoint
+  */
+template<int UpLo, int Mode, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class triangular_dense_assignment_kernel : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
+{
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+  typedef typename Base::DstXprType DstXprType;
+  typedef typename Base::SrcXprType SrcXprType;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+public:
+  
+  typedef typename Base::DstEvaluatorType DstEvaluatorType;
+  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::AssignmentTraits AssignmentTraits;
+  
+  
+  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+#ifdef EIGEN_INTERNAL_DEBUGGING
+  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
+  {
+    eigen_internal_assert(row!=col);
+    Base::assignCoeff(row,col);
+  }
+#else
+  using Base::assignCoeff;
+#endif
+  
+  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
+  {
+         if(Mode==UnitDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(1));
+    else if(Mode==ZeroDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(0));
+    else if(Mode==0)                       Base::assignCoeff(id,id);
+  }
+  
+  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index row, Index col)
+  { 
+    eigen_internal_assert(row!=col);
+    if(SetOpposite)
+      m_functor.assignCoeff(m_dst.coeffRef(row,col), Scalar(0));
+  }
+};
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+  typedef evaluator<DstXprType> DstEvaluatorType;
+  typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  Index dstRows = src.rows();
+  Index dstCols = src.cols();
+  if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+    dst.resize(dstRows, dstCols);
+  DstEvaluatorType dstEvaluator(dst);
+    
+  typedef triangular_dense_assignment_kernel< Mode&(Lower|Upper),Mode&(UnitDiag|ZeroDiag|SelfAdjoint),SetOpposite,
+                                              DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+  
+  enum {
+      unroll = DstXprType::SizeAtCompileTime != Dynamic
+            && SrcEvaluatorType::CoeffReadCost < HugeCost
+            && DstXprType::SizeAtCompileTime * (DstEvaluatorType::CoeffReadCost+SrcEvaluatorType::CoeffReadCost) / 2 <= EIGEN_UNROLLING_LIMIT
+    };
+  
+  triangular_assignment_loop<Kernel, Mode, unroll ? int(DstXprType::SizeAtCompileTime) : Dynamic, SetOpposite>::run(kernel);
+}
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+  call_triangular_assignment_loop<Mode,SetOpposite>(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+template<> struct AssignmentKind<TriangularShape,TriangularShape> { typedef Triangular2Triangular Kind; };
+template<> struct AssignmentKind<DenseShape,TriangularShape>      { typedef Triangular2Dense      Kind; };
+template<> struct AssignmentKind<TriangularShape,DenseShape>      { typedef Dense2Triangular      Kind; };
+
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Triangular>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    eigen_assert(int(DstXprType::Mode) == int(SrcXprType::Mode));
+    
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+  }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Dense>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    call_triangular_assignment_loop<SrcXprType::Mode, (SrcXprType::Mode&SelfAdjoint)==0>(dst, src, func);  
+  }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Triangular>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+  }
+};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool SetOpposite>
+struct triangular_assignment_loop
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  
+  enum {
+    col = (UnrollCount-1) / DstXprType::RowsAtCompileTime,
+    row = (UnrollCount-1) % DstXprType::RowsAtCompileTime
+  };
+  
+  typedef typename Kernel::Scalar Scalar;
+
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &kernel)
+  {
+    triangular_assignment_loop<Kernel, Mode, UnrollCount-1, SetOpposite>::run(kernel);
+    
+    if(row==col)
+      kernel.assignDiagonalCoeff(row);
+    else if( ((Mode&Lower) && row>col) || ((Mode&Upper) && row<col) )
+      kernel.assignCoeff(row,col);
+    else if(SetOpposite)
+      kernel.assignOppositeCoeff(row,col);
+  }
+};
+
+// prevent buggy user code from causing an infinite recursion
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, 0, SetOpposite>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &) {}
+};
+
+
+
+// TODO: experiment with a recursive assignment procedure splitting the current
+//       triangular part into one rectangular and two triangular parts.
+
+
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, Dynamic, SetOpposite>
+{
+  typedef typename Kernel::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &kernel)
+  {
+    for(Index j = 0; j < kernel.cols(); ++j)
+    {
+      Index maxi = numext::mini(j, kernel.rows());
+      Index i = 0;
+      if (((Mode&Lower) && SetOpposite) || (Mode&Upper))
+      {
+        for(; i < maxi; ++i)
+          if(Mode&Upper) kernel.assignCoeff(i, j);
+          else           kernel.assignOppositeCoeff(i, j);
+      }
+      else
+        i = maxi;
+      
+      if(i<kernel.rows()) // then i==j
+        kernel.assignDiagonalCoeff(i++);
+      
+      if (((Mode&Upper) && SetOpposite) || (Mode&Lower))
+      {
+        for(; i < kernel.rows(); ++i)
+          if(Mode&Lower) kernel.assignCoeff(i, j);
+          else           kernel.assignOppositeCoeff(i, j);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
+{
+  other.derived().resize(this->rows(), this->cols());
+  internal::call_triangular_assignment_loop<Derived::Mode,(Derived::Mode&SelfAdjoint)==0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
+}
+
+namespace internal {
+  
+// Triangular = Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst._assignProduct(src, 1, 0);
+  }
+};
+
+// Triangular += Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::add_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    dst._assignProduct(src, 1, 1);
+  }
+};
+
+// Triangular -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::sub_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    dst._assignProduct(src, -1, 1);
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/VectorBlock.h b/vendor/eigen/Eigen/src/Core/VectorBlock.h
index 1a7330f..d72fbf7 100644
--- a/vendor/eigen/Eigen/src/Core/VectorBlock.h
+++ b/vendor/eigen/Eigen/src/Core/VectorBlock.h
@@ -13,13 +13,23 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename VectorType, int Size>
+struct traits<VectorBlock<VectorType, Size> >
+  : public traits<Block<VectorType,
+                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
+{
+};
+}
+
 /** \class VectorBlock
   * \ingroup Core_Module
   *
   * \brief Expression of a fixed-size or dynamic-size sub-vector
   *
-  * \param VectorType the type of the object in which we are taking a sub-vector
-  * \param Size size of the sub-vector we are taking at compile time (optional)
+  * \tparam VectorType the type of the object in which we are taking a sub-vector
+  * \tparam Size size of the sub-vector we are taking at compile time (optional)
   *
   * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
   * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
@@ -43,17 +53,6 @@ namespace Eigen {
   *
   * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
   */
-
-namespace internal {
-template<typename VectorType, int Size>
-struct traits<VectorBlock<VectorType, Size> >
-  : public traits<Block<VectorType,
-                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
-                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
-{
-};
-}
-
 template<typename VectorType, int Size> class VectorBlock
   : public Block<VectorType,
                      internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
@@ -72,6 +71,7 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline VectorBlock(VectorType& vector, Index start, Index size)
       : Base(vector,
              IsColVector ? start : 0, IsColVector ? 0 : start,
@@ -82,6 +82,7 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Fixed-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline VectorBlock(VectorType& vector, Index start)
       : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
     {
diff --git a/vendor/eigen/Eigen/src/Core/VectorwiseOp.h b/vendor/eigen/Eigen/src/Core/VectorwiseOp.h
index d5ab036..4fe267e 100644
--- a/vendor/eigen/Eigen/src/Core/VectorwiseOp.h
+++ b/vendor/eigen/Eigen/src/Core/VectorwiseOp.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_PARTIAL_REDUX_H
 #define EIGEN_PARTIAL_REDUX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class PartialReduxExpr
   * \ingroup Core_Module
@@ -41,64 +41,43 @@ struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
   typedef typename MatrixType::Scalar InputScalar;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
-    Flags0 = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
-    Flags = (Flags0 & ~RowMajorBit) | (RowsAtCompileTime == 1 ? RowMajorBit : 0),
+    Flags = RowsAtCompileTime == 1 ? RowMajorBit : 0,
     TraversalSize = Direction==Vertical ? MatrixType::RowsAtCompileTime :  MatrixType::ColsAtCompileTime
   };
-  #if EIGEN_GNUC_AT_LEAST(3,4)
-  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
-  #else
-  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
-  #endif
-  enum {
-    CoeffReadCost = TraversalSize==Dynamic ? Dynamic
-                  : TraversalSize * traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
-  };
 };
 }
 
 template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr : internal::no_assignment_operator,
-  public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type
+class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type,
+                         internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
-    typedef typename internal::traits<PartialReduxExpr>::MatrixTypeNested MatrixTypeNested;
-    typedef typename internal::traits<PartialReduxExpr>::_MatrixTypeNested _MatrixTypeNested;
 
-    PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
+    EIGEN_DEVICE_FUNC
+    explicit PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
       : m_matrix(mat), m_functor(func) {}
 
+    EIGEN_DEVICE_FUNC
     Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
+    EIGEN_DEVICE_FUNC
     Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(Index i, Index j) const
-    {
-      if (Direction==Vertical)
-        return m_functor(m_matrix.col(j));
-      else
-        return m_functor(m_matrix.row(i));
-    }
+    EIGEN_DEVICE_FUNC
+    typename MatrixType::Nested nestedExpression() const { return m_matrix; }
 
-    const Scalar coeff(Index index) const
-    {
-      if (Direction==Vertical)
-        return m_functor(m_matrix.col(index));
-      else
-        return m_functor(m_matrix.row(index));
-    }
+    EIGEN_DEVICE_FUNC
+    const MemberOp& functor() const { return m_functor; }
 
   protected:
-    MatrixTypeNested m_matrix;
+    typename MatrixType::Nested m_matrix;
     const MemberOp m_functor;
 };
 
@@ -110,7 +89,8 @@ class PartialReduxExpr : internal::no_assignment_operator,
     template<typename Scalar, int Size> struct Cost                     \
     { enum { value = COST }; };                                         \
     template<typename XprType>                                          \
-    EIGEN_STRONG_INLINE ResultType operator()(const XprType& mat) const \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                               \
+    ResultType operator()(const XprType& mat) const                     \
     { return mat.MEMBER(); } \
   }
 
@@ -130,17 +110,27 @@ EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
 
+template <int p, typename ResultType>
+struct member_lpnorm {
+  typedef ResultType result_type;
+  template<typename Scalar, int Size> struct Cost
+  { enum { value = (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost }; };
+  EIGEN_DEVICE_FUNC member_lpnorm() {}
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC inline ResultType operator()(const XprType& mat) const
+  { return mat.template lpNorm<p>(); }
+};
 
 template <typename BinaryOp, typename Scalar>
 struct member_redux {
   typedef typename result_of<
-                     BinaryOp(Scalar)
+                     BinaryOp(const Scalar&,const Scalar&)
                    >::type  result_type;
   template<typename _Scalar, int Size> struct Cost
   { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
-  member_redux(const BinaryOp func) : m_functor(func) {}
+  EIGEN_DEVICE_FUNC explicit member_redux(const BinaryOp func) : m_functor(func) {}
   template<typename Derived>
-  inline result_type operator()(const DenseBase<Derived>& mat) const
+  EIGEN_DEVICE_FUNC inline result_type operator()(const DenseBase<Derived>& mat) const
   { return mat.redux(m_functor); }
   const BinaryOp m_functor;
 };
@@ -151,8 +141,8 @@ struct member_redux {
   *
   * \brief Pseudo expression providing partial reduction operations
   *
-  * \param ExpressionType the type of the object on which to do partial reductions
-  * \param Direction indicates the direction of the redux (#Vertical or #Horizontal)
+  * \tparam ExpressionType the type of the object on which to do partial reductions
+  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
   *
   * This class represents a pseudo expression with partial reduction features.
   * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
@@ -169,16 +159,15 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     typedef typename ExpressionType::Scalar Scalar;
     typedef typename ExpressionType::RealScalar RealScalar;
-    typedef typename ExpressionType::Index Index;
-    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, ExpressionType&>::type ExpressionTypeNested;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type ExpressionTypeNested;
     typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
 
     template<template<typename _Scalar> class Functor,
-                      typename Scalar=typename internal::traits<ExpressionType>::Scalar> struct ReturnType
+                      typename Scalar_=Scalar> struct ReturnType
     {
       typedef PartialReduxExpr<ExpressionType,
-                               Functor<Scalar>,
+                               Functor<Scalar_>,
                                Direction
                               > Type;
     };
@@ -186,23 +175,24 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     template<typename BinaryOp> struct ReduxReturnType
     {
       typedef PartialReduxExpr<ExpressionType,
-                               internal::member_redux<BinaryOp,typename internal::traits<ExpressionType>::Scalar>,
+                               internal::member_redux<BinaryOp,Scalar>,
                                Direction
                               > Type;
     };
 
     enum {
-      IsVertical   = (Direction==Vertical) ? 1 : 0,
-      IsHorizontal = (Direction==Horizontal) ? 1 : 0
+      isVertical   = (Direction==Vertical) ? 1 : 0,
+      isHorizontal = (Direction==Horizontal) ? 1 : 0
     };
 
   protected:
 
-    /** \internal
-      * \returns the i-th subvector according to the \c Direction */
-    typedef typename internal::conditional<Direction==Vertical,
+    typedef typename internal::conditional<isVertical,
                                typename ExpressionType::ColXpr,
                                typename ExpressionType::RowXpr>::type SubVector;
+    /** \internal
+      * \returns the i-th subvector according to the \c Direction */
+    EIGEN_DEVICE_FUNC
     SubVector subVector(Index i)
     {
       return SubVector(m_matrix.derived(),i);
@@ -210,58 +200,62 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** \internal
       * \returns the number of subvectors in the direction \c Direction */
+    EIGEN_DEVICE_FUNC
     Index subVectors() const
-    { return Direction==Vertical?m_matrix.cols():m_matrix.rows(); }
+    { return isVertical?m_matrix.cols():m_matrix.rows(); }
 
     template<typename OtherDerived> struct ExtendedType {
       typedef Replicate<OtherDerived,
-                        Direction==Vertical   ? 1 : ExpressionType::RowsAtCompileTime,
-                        Direction==Horizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
+                        isVertical   ? 1 : ExpressionType::RowsAtCompileTime,
+                        isHorizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
     };
 
     /** \internal
       * Replicates a vector to match the size of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     typename ExtendedType<OtherDerived>::Type
     extendedTo(const DenseBase<OtherDerived>& other) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Vertical, OtherDerived::MaxColsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxColsAtCompileTime==1),
                           YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Horizontal, OtherDerived::MaxRowsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxRowsAtCompileTime==1),
                           YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
       return typename ExtendedType<OtherDerived>::Type
                       (other.derived(),
-                       Direction==Vertical   ? 1 : m_matrix.rows(),
-                       Direction==Horizontal ? 1 : m_matrix.cols());
+                       isVertical   ? 1 : m_matrix.rows(),
+                       isHorizontal ? 1 : m_matrix.cols());
     }
-    
+
     template<typename OtherDerived> struct OppositeExtendedType {
       typedef Replicate<OtherDerived,
-                        Direction==Horizontal ? 1 : ExpressionType::RowsAtCompileTime,
-                        Direction==Vertical   ? 1 : ExpressionType::ColsAtCompileTime> Type;
+                        isHorizontal ? 1 : ExpressionType::RowsAtCompileTime,
+                        isVertical   ? 1 : ExpressionType::ColsAtCompileTime> Type;
     };
 
     /** \internal
       * Replicates a vector in the opposite direction to match the size of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     typename OppositeExtendedType<OtherDerived>::Type
     extendedToOpposite(const DenseBase<OtherDerived>& other) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Horizontal, OtherDerived::MaxColsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxColsAtCompileTime==1),
                           YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Vertical, OtherDerived::MaxRowsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxRowsAtCompileTime==1),
                           YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
       return typename OppositeExtendedType<OtherDerived>::Type
                       (other.derived(),
-                       Direction==Horizontal  ? 1 : m_matrix.rows(),
-                       Direction==Vertical    ? 1 : m_matrix.cols());
+                       isHorizontal  ? 1 : m_matrix.rows(),
+                       isVertical    ? 1 : m_matrix.cols());
     }
 
   public:
-
-    inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
 
     /** \internal */
+    EIGEN_DEVICE_FUNC
     inline const ExpressionType& _expression() const { return m_matrix; }
 
     /** \returns a row or column vector expression of \c *this reduxed by \a func
@@ -272,80 +266,126 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
       */
     template<typename BinaryOp>
+    EIGEN_DEVICE_FUNC
     const typename ReduxReturnType<BinaryOp>::Type
     redux(const BinaryOp& func = BinaryOp()) const
-    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), func); }
+    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func)); }
+
+    typedef typename ReturnType<internal::member_minCoeff>::Type MinCoeffReturnType;
+    typedef typename ReturnType<internal::member_maxCoeff>::Type MaxCoeffReturnType;
+    typedef typename ReturnType<internal::member_squaredNorm,RealScalar>::Type SquaredNormReturnType;
+    typedef typename ReturnType<internal::member_norm,RealScalar>::Type NormReturnType;
+    typedef typename ReturnType<internal::member_blueNorm,RealScalar>::Type BlueNormReturnType;
+    typedef typename ReturnType<internal::member_stableNorm,RealScalar>::Type StableNormReturnType;
+    typedef typename ReturnType<internal::member_hypotNorm,RealScalar>::Type HypotNormReturnType;
+    typedef typename ReturnType<internal::member_sum>::Type SumReturnType;
+    typedef typename ReturnType<internal::member_mean>::Type MeanReturnType;
+    typedef typename ReturnType<internal::member_all>::Type AllReturnType;
+    typedef typename ReturnType<internal::member_any>::Type AnyReturnType;
+    typedef PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> CountReturnType;
+    typedef typename ReturnType<internal::member_prod>::Type ProdReturnType;
+    typedef Reverse<const ExpressionType, Direction> ConstReverseReturnType;
+    typedef Reverse<ExpressionType, Direction> ReverseReturnType;
+
+    template<int p> struct LpNormReturnType {
+      typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar>,Direction> Type;
+    };
 
     /** \returns a row (or column) vector expression of the smallest coefficient
       * of each column (or row) of the referenced expression.
-      * 
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_minCoeff.cpp
       * Output: \verbinclude PartialRedux_minCoeff.out
       *
       * \sa DenseBase::minCoeff() */
-    const typename ReturnType<internal::member_minCoeff>::Type minCoeff() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MinCoeffReturnType minCoeff() const
+    { return MinCoeffReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the largest coefficient
       * of each column (or row) of the referenced expression.
-      * 
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_maxCoeff.cpp
       * Output: \verbinclude PartialRedux_maxCoeff.out
       *
       * \sa DenseBase::maxCoeff() */
-    const typename ReturnType<internal::member_maxCoeff>::Type maxCoeff() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MaxCoeffReturnType maxCoeff() const
+    { return MaxCoeffReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the squared norm
       * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * Example: \include PartialRedux_squaredNorm.cpp
       * Output: \verbinclude PartialRedux_squaredNorm.out
       *
       * \sa DenseBase::squaredNorm() */
-    const typename ReturnType<internal::member_squaredNorm,RealScalar>::Type squaredNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const SquaredNormReturnType squaredNorm() const
+    { return SquaredNormReturnType(_expression()); }
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
+      *
+      * Example: \include PartialRedux_norm.cpp
+      * Output: \verbinclude PartialRedux_norm.out
+      *
+      * \sa DenseBase::norm() */
+    EIGEN_DEVICE_FUNC
+    const NormReturnType norm() const
+    { return NormReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * Example: \include PartialRedux_norm.cpp
       * Output: \verbinclude PartialRedux_norm.out
       *
       * \sa DenseBase::norm() */
-    const typename ReturnType<internal::member_norm,RealScalar>::Type norm() const
-    { return _expression(); }
+    template<int p>
+    EIGEN_DEVICE_FUNC
+    const typename LpNormReturnType<p>::Type lpNorm() const
+    { return typename LpNormReturnType<p>::Type(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, using
-      * blue's algorithm.
+      * Blue's algorithm.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::blueNorm() */
-    const typename ReturnType<internal::member_blueNorm,RealScalar>::Type blueNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const BlueNormReturnType blueNorm() const
+    { return BlueNormReturnType(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, avoiding
       * underflow and overflow.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::stableNorm() */
-    const typename ReturnType<internal::member_stableNorm,RealScalar>::Type stableNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const StableNormReturnType stableNorm() const
+    { return StableNormReturnType(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, avoiding
       * underflow and overflow using a concatenation of hypot() calls.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::hypotNorm() */
-    const typename ReturnType<internal::member_hypotNorm,RealScalar>::Type hypotNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const HypotNormReturnType hypotNorm() const
+    { return HypotNormReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the sum
       * of each column (or row) of the referenced expression.
@@ -354,39 +394,48 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude PartialRedux_sum.out
       *
       * \sa DenseBase::sum() */
-    const typename ReturnType<internal::member_sum>::Type sum() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const SumReturnType sum() const
+    { return SumReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the mean
     * of each column (or row) of the referenced expression.
     *
     * \sa DenseBase::mean() */
-    const typename ReturnType<internal::member_mean>::Type mean() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MeanReturnType mean() const
+    { return MeanReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * whether \b all coefficients of each respective column (or row) are \c true.
+      * This expression can be assigned to a vector with entries of type \c bool.
       *
       * \sa DenseBase::all() */
-    const typename ReturnType<internal::member_all>::Type all() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const AllReturnType all() const
+    { return AllReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * whether \b at \b least one coefficient of each respective column (or row) is \c true.
+      * This expression can be assigned to a vector with entries of type \c bool.
       *
       * \sa DenseBase::any() */
-    const typename ReturnType<internal::member_any>::Type any() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const AnyReturnType any() const
+    { return AnyReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * the number of \c true coefficients of each respective column (or row).
+      * This expression can be assigned to a vector whose entries have the same type as is used to
+      * index entries of the original matrix; for dense matrices, this is \c std::ptrdiff_t .
       *
       * Example: \include PartialRedux_count.cpp
       * Output: \verbinclude PartialRedux_count.out
       *
       * \sa DenseBase::count() */
-    const PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> count() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const CountReturnType count() const
+    { return CountReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the product
       * of each column (or row) of the referenced expression.
@@ -395,8 +444,9 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude PartialRedux_prod.out
       *
       * \sa DenseBase::prod() */
-    const typename ReturnType<internal::member_prod>::Type prod() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const ProdReturnType prod() const
+    { return ProdReturnType(_expression()); }
 
 
     /** \returns a matrix expression
@@ -406,10 +456,20 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude Vectorwise_reverse.out
       *
       * \sa DenseBase::reverse() */
-    const Reverse<ExpressionType, Direction> reverse() const
-    { return Reverse<ExpressionType, Direction>( _expression() ); }
+    EIGEN_DEVICE_FUNC
+    const ConstReverseReturnType reverse() const
+    { return ConstReverseReturnType( _expression() ); }
 
-    typedef Replicate<ExpressionType,Direction==Vertical?Dynamic:1,Direction==Horizontal?Dynamic:1> ReplicateReturnType;
+    /** \returns a writable matrix expression
+      * where each column (or row) are reversed.
+      *
+      * \sa reverse() const */
+    EIGEN_DEVICE_FUNC
+    ReverseReturnType reverse()
+    { return ReverseReturnType( _expression() ); }
+
+    typedef Replicate<ExpressionType,(isVertical?Dynamic:1),(isHorizontal?Dynamic:1)> ReplicateReturnType;
+    EIGEN_DEVICE_FUNC
     const ReplicateReturnType replicate(Index factor) const;
 
     /**
@@ -421,17 +481,20 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
       */
     // NOTE implemented here because of sunstudio's compilation errors
-    template<int Factor> const Replicate<ExpressionType,(IsVertical?Factor:1),(IsHorizontal?Factor:1)>
+    // isVertical*Factor+isHorizontal instead of (isVertical?Factor:1) to handle CUDA bug with ternary operator
+    template<int Factor> const Replicate<ExpressionType,isVertical*Factor+isHorizontal,isHorizontal*Factor+isVertical>
+    EIGEN_DEVICE_FUNC
     replicate(Index factor = Factor) const
     {
-      return Replicate<ExpressionType,Direction==Vertical?Factor:1,Direction==Horizontal?Factor:1>
-          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+      return Replicate<ExpressionType,(isVertical?Factor:1),(isHorizontal?Factor:1)>
+          (_expression(),isVertical?factor:1,isHorizontal?factor:1);
     }
 
 /////////// Artithmetic operators ///////////
 
     /** Copies the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -442,6 +505,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Adds the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -451,6 +515,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Substracts the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -460,6 +525,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Multiples each subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator*=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -471,6 +537,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Divides each subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator/=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -481,8 +548,8 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     }
 
     /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE
-    CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
+    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+    CwiseBinaryOp<internal::scalar_sum_op<Scalar,typename OtherDerived::Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
     operator+(const DenseBase<OtherDerived>& other) const
@@ -494,7 +561,8 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
     template<typename OtherDerived>
-    CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+    EIGEN_DEVICE_FUNC
+    CwiseBinaryOp<internal::scalar_difference_op<Scalar,typename OtherDerived::Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
     operator-(const DenseBase<OtherDerived>& other) const
@@ -506,10 +574,11 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Returns the expression where each subvector is the product of the vector \a other
       * by the corresponding subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE
+    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_product_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
+    EIGEN_DEVICE_FUNC
     operator*(const DenseBase<OtherDerived>& other) const
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -521,6 +590,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     /** Returns the expression where each subvector is the quotient of the corresponding
       * subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
@@ -531,32 +601,36 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
       return m_matrix / extendedTo(other.derived());
     }
-    
-    /** \returns an expression where each column of row of the referenced matrix are normalized.
+
+    /** \returns an expression where each column (or row) of the referenced matrix are normalized.
       * The referenced matrix is \b not modified.
       * \sa MatrixBase::normalized(), normalize()
       */
+    EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename OppositeExtendedType<typename ReturnType<internal::member_norm,RealScalar>::Type>::Type>
     normalized() const { return m_matrix.cwiseQuotient(extendedToOpposite(this->norm())); }
-    
-    
+
+
     /** Normalize in-place each row or columns of the referenced matrix.
       * \sa MatrixBase::normalize(), normalized()
       */
-    void normalize() {
+    EIGEN_DEVICE_FUNC void normalize() {
       m_matrix = this->normalized();
     }
 
+    EIGEN_DEVICE_FUNC inline void reverseInPlace();
+
 /////////// Geometry module ///////////
 
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-    Homogeneous<ExpressionType,Direction> homogeneous() const;
-    #endif
+    typedef Homogeneous<ExpressionType,Direction> HomogeneousReturnType;
+    EIGEN_DEVICE_FUNC
+    HomogeneousReturnType homogeneous() const;
 
     typedef typename ExpressionType::PlainObject CrossReturnType;
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
 
     enum {
@@ -581,25 +655,15 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
                   Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
             HNormalizedReturnType;
 
+    EIGEN_DEVICE_FUNC
     const HNormalizedReturnType hnormalized() const;
 
   protected:
     ExpressionTypeNested m_matrix;
 };
 
-/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_colwise.cpp
-  * Output: \verbinclude MatrixBase_colwise.out
-  *
-  * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstColwiseReturnType
-DenseBase<Derived>::colwise() const
-{
-  return derived();
-}
+//const colwise moved to DenseBase.h due to CUDA compiler bug
+
 
 /** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
   *
@@ -609,22 +673,11 @@ template<typename Derived>
 inline typename DenseBase<Derived>::ColwiseReturnType
 DenseBase<Derived>::colwise()
 {
-  return derived();
+  return ColwiseReturnType(derived());
 }
 
-/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_rowwise.cpp
-  * Output: \verbinclude MatrixBase_rowwise.out
-  *
-  * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstRowwiseReturnType
-DenseBase<Derived>::rowwise() const
-{
-  return derived();
-}
+//const rowwise moved to DenseBase.h due to CUDA compiler bug
+
 
 /** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
   *
@@ -634,7 +687,7 @@ template<typename Derived>
 inline typename DenseBase<Derived>::RowwiseReturnType
 DenseBase<Derived>::rowwise()
 {
-  return derived();
+  return RowwiseReturnType(derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/Visitor.h b/vendor/eigen/Eigen/src/Core/Visitor.h
index dd94eb8..54c1883 100644
--- a/vendor/eigen/Eigen/src/Core/Visitor.h
+++ b/vendor/eigen/Eigen/src/Core/Visitor.h
@@ -22,6 +22,7 @@ struct visitor_impl
     row = (UnrollCount-1) % Derived::RowsAtCompileTime
   };
 
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived &mat, Visitor& visitor)
   {
     visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
@@ -32,6 +33,7 @@ struct visitor_impl
 template<typename Visitor, typename Derived>
 struct visitor_impl<Visitor, Derived, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived &mat, Visitor& visitor)
   {
     return visitor.init(mat.coeff(0, 0), 0, 0);
@@ -41,7 +43,7 @@ struct visitor_impl<Visitor, Derived, 1>
 template<typename Visitor, typename Derived>
 struct visitor_impl<Visitor, Derived, Dynamic>
 {
-  typedef typename Derived::Index Index;
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived& mat, Visitor& visitor)
   {
     visitor.init(mat.coeff(0,0), 0, 0);
@@ -53,6 +55,33 @@ struct visitor_impl<Visitor, Derived, Dynamic>
   }
 };
 
+// evaluator adaptor
+template<typename XprType>
+class visitor_evaluator
+{
+public:
+  EIGEN_DEVICE_FUNC
+  explicit visitor_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  
+  enum {
+    RowsAtCompileTime = XprType::RowsAtCompileTime,
+    CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
+  };
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+
+  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const
+  { return m_evaluator.coeff(row, col); }
+  
+protected:
+  internal::evaluator<XprType> m_evaluator;
+  const XprType &m_xpr;
+};
 } // end namespace internal
 
 /** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
@@ -74,19 +103,17 @@ struct visitor_impl<Visitor, Derived, Dynamic>
   */
 template<typename Derived>
 template<typename Visitor>
+EIGEN_DEVICE_FUNC
 void DenseBase<Derived>::visit(Visitor& visitor) const
 {
-  typedef typename internal::remove_all<typename Derived::Nested>::type ThisNested;
-  typename Derived::Nested thisNested(derived());
-
-  enum { unroll = SizeAtCompileTime != Dynamic
-                   && CoeffReadCost != Dynamic
-                   && (SizeAtCompileTime == 1 || internal::functor_traits<Visitor>::Cost != Dynamic)
-                   && SizeAtCompileTime * CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost
-                      <= EIGEN_UNROLLING_LIMIT };
-  return internal::visitor_impl<Visitor, ThisNested,
-      unroll ? int(SizeAtCompileTime) : Dynamic
-    >::run(thisNested, visitor);
+  typedef typename internal::visitor_evaluator<Derived> ThisEvaluator;
+  ThisEvaluator thisEval(derived());
+  
+  enum {
+    unroll =  SizeAtCompileTime != Dynamic
+           && SizeAtCompileTime * ThisEvaluator::CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost <= EIGEN_UNROLLING_LIMIT
+  };
+  return internal::visitor_impl<Visitor, ThisEvaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(thisEval, visitor);
 }
 
 namespace internal {
@@ -97,10 +124,10 @@ namespace internal {
 template <typename Derived>
 struct coeff_visitor
 {
-  typedef typename Derived::Index Index;
   typedef typename Derived::Scalar Scalar;
   Index row, col;
   Scalar res;
+  EIGEN_DEVICE_FUNC
   inline void init(const Scalar& value, Index i, Index j)
   {
     res = value;
@@ -117,8 +144,8 @@ struct coeff_visitor
 template <typename Derived>
 struct min_coeff_visitor : coeff_visitor<Derived>
 {
-  typedef typename Derived::Index Index;
   typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
   void operator() (const Scalar& value, Index i, Index j)
   {
     if(value < this->res)
@@ -145,8 +172,8 @@ struct functor_traits<min_coeff_visitor<Scalar> > {
 template <typename Derived>
 struct max_coeff_visitor : coeff_visitor<Derived>
 {
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Scalar Scalar; 
+  EIGEN_DEVICE_FUNC
   void operator() (const Scalar& value, Index i, Index j)
   {
     if(value > this->res)
@@ -167,13 +194,15 @@ struct functor_traits<max_coeff_visitor<Scalar> > {
 
 } // end namespace internal
 
-/** \returns the minimum of all coefficients of *this and puts in *row and *col its location.
+/** \fn DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
+  * \returns the minimum of all coefficients of *this and puts in *row and *col its location.
   * \warning the result is undefined if \c *this contains NaN.
   *
-  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visitor(), DenseBase::minCoeff()
+  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 {
@@ -187,27 +216,30 @@ DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 /** \returns the minimum of all coefficients of *this and puts in *index its location.
   * \warning the result is undefined if \c *this contains NaN. 
   *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::minCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* index) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   internal::min_coeff_visitor<Derived> minVisitor;
   this->visit(minVisitor);
-  *index = (RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row;
+  *index = IndexType((RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row);
   return minVisitor.res;
 }
 
-/** \returns the maximum of all coefficients of *this and puts in *row and *col its location.
+/** \fn DenseBase<Derived>::maxCoeff(IndexType* rowId, IndexType* colId) const
+  * \returns the maximum of all coefficients of *this and puts in *row and *col its location.
   * \warning the result is undefined if \c *this contains NaN. 
   *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::maxCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
 {
@@ -225,6 +257,7 @@ DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* index) const
 {
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX/Complex.h b/vendor/eigen/Eigen/src/Core/arch/AVX/Complex.h
new file mode 100644
index 0000000..99439c8
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX/Complex.h
@@ -0,0 +1,483 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog at 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_COMPLEX_AVX_H
+#define EIGEN_COMPLEX_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet4cf
+{
+  EIGEN_STRONG_INLINE Packet4cf() {}
+  EIGEN_STRONG_INLINE explicit Packet4cf(const __m256& a) : v(a) {}
+  __m256  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet4cf type;
+  typedef Packet2cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet4cf> { typedef std::complex<float> type; enum {size=4, alignment=Aligned32}; typedef Packet2cf half; };
+
+template<> EIGEN_STRONG_INLINE Packet4cf padd<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf psub<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pnegate(const Packet4cf& a)
+{
+  return Packet4cf(pnegate(a.v));
+}
+template<> EIGEN_STRONG_INLINE Packet4cf pconj(const Packet4cf& a)
+{
+  const __m256 mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000));
+  return Packet4cf(_mm256_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pmul<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+  __m256 tmp1 = _mm256_mul_ps(_mm256_moveldup_ps(a.v), b.v);
+  __m256 tmp2 = _mm256_mul_ps(_mm256_movehdup_ps(a.v), _mm256_permute_ps(b.v, _MM_SHUFFLE(2,3,0,1)));
+  __m256 result = _mm256_addsub_ps(tmp1, tmp2);
+  return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pand   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf por    <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pxor   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet4cf pload <Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet4cf(pload<Packet8f>(&numext::real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cf(ploadu<Packet8f>(&numext::real_ref(*from))); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4cf pset1<Packet4cf>(const std::complex<float>& from)
+{
+  return Packet4cf(_mm256_castpd_ps(_mm256_broadcast_sd((const double*)(const void*)&from)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf ploaddup<Packet4cf>(const std::complex<float>* from)
+{
+  // FIXME The following might be optimized using _mm256_movedup_pd
+  Packet2cf a = ploaddup<Packet2cf>(from);
+  Packet2cf b = ploaddup<Packet2cf>(from+1);
+  return  Packet4cf(_mm256_insertf128_ps(_mm256_castps128_ps256(a.v), b.v, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4cf pgather<std::complex<float>, Packet4cf>(const std::complex<float>* from, Index stride)
+{
+  return Packet4cf(_mm256_set_ps(std::imag(from[3*stride]), std::real(from[3*stride]),
+                                 std::imag(from[2*stride]), std::real(from[2*stride]),
+                                 std::imag(from[1*stride]), std::real(from[1*stride]),
+                                 std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet4cf>(std::complex<float>* to, const Packet4cf& from, Index stride)
+{
+  __m128 low = _mm256_extractf128_ps(from.v, 0);
+  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1)));
+  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3)));
+
+  __m128 high = _mm256_extractf128_ps(from.v, 1);
+  to[stride*2] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1)));
+  to[stride*3] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3)));
+
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet4cf>(const Packet4cf& a)
+{
+  return pfirst(Packet2cf(_mm256_castps256_ps128(a.v)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preverse(const Packet4cf& a) {
+  __m128 low  = _mm256_extractf128_ps(a.v, 0);
+  __m128 high = _mm256_extractf128_ps(a.v, 1);
+  __m128d lowd  = _mm_castps_pd(low);
+  __m128d highd = _mm_castps_pd(high);
+  low  = _mm_castpd_ps(_mm_shuffle_pd(lowd,lowd,0x1));
+  high = _mm_castpd_ps(_mm_shuffle_pd(highd,highd,0x1));
+  __m256 result = _mm256_setzero_ps();
+  result = _mm256_insertf128_ps(result, low, 1);
+  result = _mm256_insertf128_ps(result, high, 0);
+  return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet4cf>(const Packet4cf& a)
+{
+  return predux(padd(Packet2cf(_mm256_extractf128_ps(a.v,0)),
+                     Packet2cf(_mm256_extractf128_ps(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preduxp<Packet4cf>(const Packet4cf* vecs)
+{
+  Packet8f t0 = _mm256_shuffle_ps(vecs[0].v, vecs[0].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  Packet8f t1 = _mm256_shuffle_ps(vecs[1].v, vecs[1].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  t0 = _mm256_hadd_ps(t0,t1);
+  Packet8f t2 = _mm256_shuffle_ps(vecs[2].v, vecs[2].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  Packet8f t3 = _mm256_shuffle_ps(vecs[3].v, vecs[3].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  t2 = _mm256_hadd_ps(t2,t3);
+  
+  t1 = _mm256_permute2f128_ps(t0,t2, 0 + (2<<4));
+  t3 = _mm256_permute2f128_ps(t0,t2, 1 + (3<<4));
+
+  return Packet4cf(_mm256_add_ps(t1,t3));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet4cf>(const Packet4cf& a)
+{
+  return predux_mul(pmul(Packet2cf(_mm256_extractf128_ps(a.v, 0)),
+                         Packet2cf(_mm256_extractf128_ps(a.v, 1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4cf>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4cf& first, const Packet4cf& second)
+  {
+    if (Offset==0) return;
+    palign_impl<Offset*2,Packet8f>::run(first.v, second.v);
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet8f, Packet4cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet8f& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet8f& x, const Packet4cf& y) const
+  { return Packet4cf(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet4cf, Packet8f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet8f& y, const Packet4cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& x, const Packet8f& y) const
+  { return Packet4cf(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet4cf pdiv<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+  Packet4cf num = pmul(a, pconj(b));
+  __m256 tmp = _mm256_mul_ps(b.v, b.v);
+  __m256 tmp2    = _mm256_shuffle_ps(tmp,tmp,0xB1);
+  __m256 denom = _mm256_add_ps(tmp, tmp2);
+  return Packet4cf(_mm256_div_ps(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pcplxflip<Packet4cf>(const Packet4cf& x)
+{
+  return Packet4cf(_mm256_shuffle_ps(x.v, x.v, _MM_SHUFFLE(2, 3, 0 ,1)));
+}
+
+//---------- double ----------
+struct Packet2cd
+{
+  EIGEN_STRONG_INLINE Packet2cd() {}
+  EIGEN_STRONG_INLINE explicit Packet2cd(const __m256d& a) : v(a) {}
+  __m256d  v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet2cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 2,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cd> { typedef std::complex<double> type; enum {size=2, alignment=Aligned32}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet2cd padd<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd psub<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pnegate(const Packet2cd& a) { return Packet2cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pconj(const Packet2cd& a)
+{
+  const __m256d mask = _mm256_castsi256_pd(_mm256_set_epi32(0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0));
+  return Packet2cd(_mm256_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pmul<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+  __m256d tmp1 = _mm256_shuffle_pd(a.v,a.v,0x0);
+  __m256d even = _mm256_mul_pd(tmp1, b.v);
+  __m256d tmp2 = _mm256_shuffle_pd(a.v,a.v,0xF);
+  __m256d tmp3 = _mm256_shuffle_pd(b.v,b.v,0x5);
+  __m256d odd  = _mm256_mul_pd(tmp2, tmp3);
+  return Packet2cd(_mm256_addsub_pd(even, odd));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pand   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd por    <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pxor   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pload <Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet2cd(pload<Packet4d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cd ploadu<Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cd(ploadu<Packet4d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pset1<Packet2cd>(const std::complex<double>& from)
+{
+  // in case casting to a __m128d* is really not safe, then we can still fallback to this version: (much slower though)
+//   return Packet2cd(_mm256_loadu2_m128d((const double*)&from,(const double*)&from));
+    return Packet2cd(_mm256_broadcast_pd((const __m128d*)(const void*)&from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd ploaddup<Packet2cd>(const std::complex<double>* from) { return pset1<Packet2cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cd pgather<std::complex<double>, Packet2cd>(const std::complex<double>* from, Index stride)
+{
+  return Packet2cd(_mm256_set_pd(std::imag(from[1*stride]), std::real(from[1*stride]),
+				 std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet2cd>(std::complex<double>* to, const Packet2cd& from, Index stride)
+{
+  __m128d low = _mm256_extractf128_pd(from.v, 0);
+  to[stride*0] = std::complex<double>(_mm_cvtsd_f64(low), _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1)));
+  __m128d high = _mm256_extractf128_pd(from.v, 1);
+  to[stride*1] = std::complex<double>(_mm_cvtsd_f64(high), _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet2cd>(const Packet2cd& a)
+{
+  __m128d low = _mm256_extractf128_pd(a.v, 0);
+  EIGEN_ALIGN16 double res[2];
+  _mm_store_pd(res, low);
+  return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preverse(const Packet2cd& a) {
+  __m256d result = _mm256_permute2f128_pd(a.v, a.v, 1);
+  return Packet2cd(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet2cd>(const Packet2cd& a)
+{
+  return predux(padd(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preduxp<Packet2cd>(const Packet2cd* vecs)
+{
+  Packet4d t0 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 0 + (2<<4));
+  Packet4d t1 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 1 + (3<<4));
+
+  return Packet2cd(_mm256_add_pd(t0,t1));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet2cd>(const Packet2cd& a)
+{
+  return predux(pmul(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2cd& first, const Packet2cd& second)
+  {
+    if (Offset==0) return;
+    palign_impl<Offset*2,Packet4d>::run(first.v, second.v);
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet4d, Packet2cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet4d& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet4d& x, const Packet2cd& y) const
+  { return Packet2cd(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cd, Packet4d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet4d& y, const Packet2cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& x, const Packet4d& y) const
+  { return Packet2cd(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cd pdiv<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+  Packet2cd num = pmul(a, pconj(b));
+  __m256d tmp = _mm256_mul_pd(b.v, b.v);
+  __m256d denom = _mm256_hadd_pd(tmp, tmp);
+  return Packet2cd(_mm256_div_pd(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pcplxflip<Packet2cd>(const Packet2cd& x)
+{
+  return Packet2cd(_mm256_shuffle_pd(x.v, x.v, 0x5));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4cf,4>& kernel) {
+  __m256d P0 = _mm256_castps_pd(kernel.packet[0].v);
+  __m256d P1 = _mm256_castps_pd(kernel.packet[1].v);
+  __m256d P2 = _mm256_castps_pd(kernel.packet[2].v);
+  __m256d P3 = _mm256_castps_pd(kernel.packet[3].v);
+
+  __m256d T0 = _mm256_shuffle_pd(P0, P1, 15);
+  __m256d T1 = _mm256_shuffle_pd(P0, P1, 0);
+  __m256d T2 = _mm256_shuffle_pd(P2, P3, 15);
+  __m256d T3 = _mm256_shuffle_pd(P2, P3, 0);
+
+  kernel.packet[1].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 32));
+  kernel.packet[3].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 49));
+  kernel.packet[0].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 32));
+  kernel.packet[2].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 49));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cd,2>& kernel) {
+  __m256d tmp = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 0+(2<<4));
+  kernel.packet[1].v = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 1+(3<<4));
+ kernel.packet[0].v = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertfirst(const Packet4cf& a, std::complex<float> b)
+{
+  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertfirst(const Packet2cd& a, std::complex<double> b)
+{
+  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertlast(const Packet4cf& a, std::complex<float> b)
+{
+  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,(1<<7)|(1<<6)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertlast(const Packet2cd& a, std::complex<double> b)
+{
+  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,(1<<3)|(1<<2)));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_AVX_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h
new file mode 100644
index 0000000..6af67ce
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet at 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_MATH_FUNCTIONS_AVX_H
+#define EIGEN_MATH_FUNCTIONS_AVX_H
+
+/* The sin, cos, exp, and log functions of this file are loosely derived from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+namespace Eigen {
+
+namespace internal {
+
+inline Packet8i pshiftleft(Packet8i v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_slli_epi32(v, n);
+#else
+  __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(v, 0), n);
+  __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(v, 1), n);
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
+inline Packet8f pshiftright(Packet8f v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_cvtepi32_ps(_mm256_srli_epi32(_mm256_castps_si256(v), n));
+#else
+  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 0), n);
+  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 1), n);
+  return _mm256_cvtepi32_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1));
+#endif
+}
+
+// Sine function
+// Computes sin(x) by wrapping x to the interval [-Pi/4,3*Pi/4] and
+// evaluating interpolants in [-Pi/4,Pi/4] or [Pi/4,3*Pi/4]. The interpolants
+// are (anti-)symmetric and thus have only odd/even coefficients
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psin<Packet8f>(const Packet8f& _x) {
+  Packet8f x = _x;
+
+  // Some useful values.
+  _EIGEN_DECLARE_CONST_Packet8i(one, 1);
+  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(two, 2.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(one_over_four, 0.25f);
+  _EIGEN_DECLARE_CONST_Packet8f(one_over_pi, 3.183098861837907e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_first, -3.140625000000000e+00f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_second, -9.670257568359375e-04f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_third, -6.278329571784980e-07f);
+  _EIGEN_DECLARE_CONST_Packet8f(four_over_pi, 1.273239544735163e+00f);
+
+  // Map x from [-Pi/4,3*Pi/4] to z in [-1,3] and subtract the shifted period.
+  Packet8f z = pmul(x, p8f_one_over_pi);
+  Packet8f shift = _mm256_floor_ps(padd(z, p8f_one_over_four));
+  x = pmadd(shift, p8f_neg_pi_first, x);
+  x = pmadd(shift, p8f_neg_pi_second, x);
+  x = pmadd(shift, p8f_neg_pi_third, x);
+  z = pmul(x, p8f_four_over_pi);
+
+  // Make a mask for the entries that need flipping, i.e. wherever the shift
+  // is odd.
+  Packet8i shift_ints = _mm256_cvtps_epi32(shift);
+  Packet8i shift_isodd = _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(shift_ints), _mm256_castsi256_ps(p8i_one)));
+  Packet8i sign_flip_mask = pshiftleft(shift_isodd, 31);
+
+  // Create a mask for which interpolant to use, i.e. if z > 1, then the mask
+  // is set to ones for that entry.
+  Packet8f ival_mask = _mm256_cmp_ps(z, p8f_one, _CMP_GT_OQ);
+
+  // Evaluate the polynomial for the interval [1,3] in z.
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_0, 9.999999724233232e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_2, -3.084242535619928e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_4, 1.584991525700324e-02f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_6, -3.188805084631342e-04f);
+  Packet8f z_minus_two = psub(z, p8f_two);
+  Packet8f z_minus_two2 = pmul(z_minus_two, z_minus_two);
+  Packet8f right = pmadd(p8f_coeff_right_6, z_minus_two2, p8f_coeff_right_4);
+  right = pmadd(right, z_minus_two2, p8f_coeff_right_2);
+  right = pmadd(right, z_minus_two2, p8f_coeff_right_0);
+
+  // Evaluate the polynomial for the interval [-1,1] in z.
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_1, 7.853981525427295e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_3, -8.074536727092352e-02f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_5, 2.489871967827018e-03f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_7, -3.587725841214251e-05f);
+  Packet8f z2 = pmul(z, z);
+  Packet8f left = pmadd(p8f_coeff_left_7, z2, p8f_coeff_left_5);
+  left = pmadd(left, z2, p8f_coeff_left_3);
+  left = pmadd(left, z2, p8f_coeff_left_1);
+  left = pmul(left, z);
+
+  // Assemble the results, i.e. select the left and right polynomials.
+  left = _mm256_andnot_ps(ival_mask, left);
+  right = _mm256_and_ps(ival_mask, right);
+  Packet8f res = _mm256_or_ps(left, right);
+
+  // Flip the sign on the odd intervals and return the result.
+  res = _mm256_xor_ps(res, _mm256_castsi256_ps(sign_flip_mask));
+  return res;
+}
+
+// Natural logarithm
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+// TODO(gonnet): Further reduce the interval allowing for lower-degree
+//               polynomial interpolants -> ... -> profit!
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+plog<Packet8f>(const Packet8f& _x) {
+  Packet8f x = _x;
+  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(126f, 126.0f);
+
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  // The smallest non denormalized float number.
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(min_norm_pos, 0x00800000);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(minus_inf, 0xff800000);
+
+  // Polynomial coefficients.
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p1, -1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p3, -1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p4, +1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p5, -1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p6, +2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p7, -2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p8, +3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q2, 0.693359375f);
+
+  Packet8f invalid_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_NGE_UQ); // not greater equal is true if x is NaN
+  Packet8f iszero_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_EQ_OQ);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, p8f_min_norm_pos);
+
+  Packet8f emm0 = pshiftright(x,23);
+  Packet8f e = _mm256_sub_ps(emm0, p8f_126f);
+
+  // Set the exponents to -1, i.e. x are in the range [0.5,1).
+  x = _mm256_and_ps(x, p8f_inv_mant_mask);
+  x = _mm256_or_ps(x, p8f_half);
+
+  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  Packet8f mask = _mm256_cmp_ps(x, p8f_cephes_SQRTHF, _CMP_LT_OQ);
+  Packet8f tmp = _mm256_and_ps(x, mask);
+  x = psub(x, p8f_1);
+  e = psub(e, _mm256_and_ps(p8f_1, mask));
+  x = padd(x, tmp);
+
+  Packet8f x2 = pmul(x, x);
+  Packet8f x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant of degree 8 in three parts, probably
+  // to improve instruction-level parallelism.
+  Packet8f y, y1, y2;
+  y = pmadd(p8f_cephes_log_p0, x, p8f_cephes_log_p1);
+  y1 = pmadd(p8f_cephes_log_p3, x, p8f_cephes_log_p4);
+  y2 = pmadd(p8f_cephes_log_p6, x, p8f_cephes_log_p7);
+  y = pmadd(y, x, p8f_cephes_log_p2);
+  y1 = pmadd(y1, x, p8f_cephes_log_p5);
+  y2 = pmadd(y2, x, p8f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  y1 = pmul(e, p8f_cephes_log_q1);
+  tmp = pmul(x2, p8f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p8f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+
+  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
+  return _mm256_or_ps(
+      _mm256_andnot_ps(iszero_mask, _mm256_or_ps(x, invalid_mask)),
+      _mm256_and_ps(iszero_mask, p8f_minus_inf));
+}
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+pexp<Packet8f>(const Packet8f& _x) {
+  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(127, 127.0f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(exp_hi, 88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet8f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_LOG2EF, 1.44269504088896341f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p5, 5.0000001201E-1f);
+
+  // Clamp x.
+  Packet8f x = pmax(pmin(_x, p8f_exp_hi), p8f_exp_lo);
+
+  // Express exp(x) as exp(m*ln(2) + r), start by extracting
+  // m = floor(x/ln(2) + 0.5).
+  Packet8f m = _mm256_floor_ps(pmadd(x, p8f_cephes_LOG2EF, p8f_half));
+
+// Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
+// subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
+// truncation errors. Note that we don't use the "pmadd" function here to
+// ensure that a precision-preserving FMA instruction is used.
+#ifdef EIGEN_VECTORIZE_FMA
+  _EIGEN_DECLARE_CONST_Packet8f(nln2, -0.6931471805599453f);
+  Packet8f r = _mm256_fmadd_ps(m, p8f_nln2, x);
+#else
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C2, -2.12194440e-4f);
+  Packet8f r = psub(x, pmul(m, p8f_cephes_exp_C1));
+  r = psub(r, pmul(m, p8f_cephes_exp_C2));
+#endif
+
+  Packet8f r2 = pmul(r, r);
+
+  // TODO(gonnet): Split into odd/even polynomials and try to exploit
+  //               instruction-level parallelism.
+  Packet8f y = p8f_cephes_exp_p0;
+  y = pmadd(y, r, p8f_cephes_exp_p1);
+  y = pmadd(y, r, p8f_cephes_exp_p2);
+  y = pmadd(y, r, p8f_cephes_exp_p3);
+  y = pmadd(y, r, p8f_cephes_exp_p4);
+  y = pmadd(y, r, p8f_cephes_exp_p5);
+  y = pmadd(y, r2, r);
+  y = padd(y, p8f_1);
+
+  // Build emm0 = 2^m.
+  Packet8i emm0 = _mm256_cvttps_epi32(padd(m, p8f_127));
+  emm0 = pshiftleft(emm0, 23);
+
+  // Return 2^m * exp(r).
+  return pmax(pmul(y, _mm256_castsi256_ps(emm0)), _x);
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+ptanh<Packet8f>(const Packet8f& x) {
+  return internal::generic_fast_tanh_float(x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
+pexp<Packet4d>(const Packet4d& _x) {
+  Packet4d x = _x;
+
+  _EIGEN_DECLARE_CONST_Packet4d(1, 1.0);
+  _EIGEN_DECLARE_CONST_Packet4d(2, 2.0);
+  _EIGEN_DECLARE_CONST_Packet4d(half, 0.5);
+
+  _EIGEN_DECLARE_CONST_Packet4d(exp_hi, 709.437);
+  _EIGEN_DECLARE_CONST_Packet4d(exp_lo, -709.436139303);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_LOG2EF, 1.4426950408889634073599);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p0, 1.26177193074810590878e-4);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p1, 3.02994407707441961300e-2);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q0, 3.00198505138664455042e-6);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q1, 2.52448340349684104192e-3);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q2, 2.27265548208155028766e-1);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q3, 2.00000000000000000009e0);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C1, 0.693145751953125);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C2, 1.42860682030941723212e-6);
+  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
+
+  Packet4d tmp, fx;
+
+  // clamp x
+  x = pmax(pmin(x, p4d_exp_hi), p4d_exp_lo);
+  // Express exp(x) as exp(g + n*log(2)).
+  fx = pmadd(p4d_cephes_LOG2EF, x, p4d_half);
+
+  // Get the integer modulus of log(2), i.e. the "n" described above.
+  fx = _mm256_floor_pd(fx);
+
+  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+  // digits right.
+  tmp = pmul(fx, p4d_cephes_exp_C1);
+  Packet4d z = pmul(fx, p4d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet4d x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial of the rational interpolant.
+  Packet4d px = p4d_cephes_exp_p0;
+  px = pmadd(px, x2, p4d_cephes_exp_p1);
+  px = pmadd(px, x2, p4d_cephes_exp_p2);
+  px = pmul(px, x);
+
+  // Evaluate the denominator polynomial of the rational interpolant.
+  Packet4d qx = p4d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p4d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p4d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p4d_cephes_exp_q3);
+
+  // I don't really get this bit, copied from the SSE2 routines, so...
+  // TODO(gonnet): Figure out what is going on here, perhaps find a better
+  // rational interpolant?
+  x = _mm256_div_pd(px, psub(qx, px));
+  x = pmadd(p4d_2, x, p4d_1);
+
+  // Build e=2^n by constructing the exponents in a 128-bit vector and
+  // shifting them to where they belong in double-precision values.
+  __m128i emm0 = _mm256_cvtpd_epi32(fx);
+  emm0 = _mm_add_epi32(emm0, p4i_1023);
+  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(3, 1, 2, 0));
+  __m128i lo = _mm_slli_epi64(emm0, 52);
+  __m128i hi = _mm_slli_epi64(_mm_srli_epi64(emm0, 32), 52);
+  __m256i e = _mm256_insertf128_si256(_mm256_setzero_si256(), lo, 0);
+  e = _mm256_insertf128_si256(e, hi, 1);
+
+  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+  // non-finite values in the input.
+  return pmax(pmul(x, _mm256_castsi256_pd(e)), _x);
+}
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+#if EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psqrt<Packet8f>(const Packet8f& _x) {
+  Packet8f half = pmul(_x, pset1<Packet8f>(.5f));
+  Packet8f denormal_mask = _mm256_and_ps(
+      _mm256_cmp_ps(_x, pset1<Packet8f>((std::numeric_limits<float>::min)()),
+                    _CMP_LT_OQ),
+      _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_GE_OQ));
+
+  // Compute approximate reciprocal sqrt.
+  Packet8f x = _mm256_rsqrt_ps(_x);
+  // Do a single step of Newton's iteration.
+  x = pmul(x, psub(pset1<Packet8f>(1.5f), pmul(half, pmul(x,x))));
+  // Flush results for denormals to zero.
+  return _mm256_andnot_ps(denormal_mask, pmul(_x,x));
+}
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f psqrt<Packet8f>(const Packet8f& x) {
+  return _mm256_sqrt_ps(x);
+}
+#endif
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d psqrt<Packet4d>(const Packet4d& x) {
+  return _mm256_sqrt_pd(x);
+}
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet8f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(flt_min, 0x00800000);
+
+  Packet8f neg_half = pmul(_x, p8f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  Packet8f le_zero_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
+  Packet8f x = _mm256_andnot_ps(le_zero_mask, _mm256_rsqrt_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  Packet8f neg_mask = _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_LT_OQ);
+  Packet8f zero_mask = _mm256_andnot_ps(neg_mask, le_zero_mask);
+  Packet8f infs_and_nans = _mm256_or_ps(_mm256_and_ps(neg_mask, p8f_nan),
+                                        _mm256_and_ps(zero_mask, p8f_inf));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm256_or_ps(x, infs_and_nans);
+}
+
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& x) {
+  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+  return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(x));
+}
+#endif
+
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d prsqrt<Packet4d>(const Packet4d& x) {
+  _EIGEN_DECLARE_CONST_Packet4d(one, 1.0);
+  return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(x));
+}
+
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_AVX_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/AVX/PacketMath.h
new file mode 100644
index 0000000..195d40f
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX/PacketMath.h
@@ -0,0 +1,633 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog at 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_PACKET_MATH_AVX_H
+#define EIGEN_PACKET_MATH_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+#endif
+
+typedef __m256  Packet8f;
+typedef __m256i Packet8i;
+typedef __m256d Packet4d;
+
+template<> struct is_arithmetic<__m256>  { enum { value = true }; };
+template<> struct is_arithmetic<__m256i> { enum { value = true }; };
+template<> struct is_arithmetic<__m256d> { enum { value = true }; };
+
+#define _EIGEN_DECLARE_CONST_Packet8f(NAME,X) \
+  const Packet8f p8f_##NAME = pset1<Packet8f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4d(NAME,X) \
+  const Packet4d p4d_##NAME = pset1<Packet4d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(NAME,X) \
+  const Packet8f p8f_##NAME = _mm256_castsi256_ps(pset1<Packet8i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet8i(NAME,X) \
+  const Packet8i p8i_##NAME = pset1<Packet8i>(X)
+
+// Use the packet_traits defined in AVX512/PacketMath.h instead if we're going
+// to leverage AVX512 instructions.
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet8f type;
+  typedef Packet4f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8,
+    HasHalfPacket = 1,
+
+    HasDiv  = 1,
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh  = EIGEN_FAST_MATH,
+    HasBlend = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+  };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet4d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 1,
+
+    HasDiv  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasBlend = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+  };
+};
+#endif
+
+template<> struct scalar_div_cost<float,true> { enum { value = 14 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 16 }; };
+
+/* Proper support for integers is only provided by AVX2. In the meantime, we'll
+   use SSE instructions and packets to deal with integers.
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet8i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8
+  };
+};
+*/
+
+template<> struct unpacket_traits<Packet8f> { typedef float  type; typedef Packet4f half; enum {size=8, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet4d> { typedef double type; typedef Packet2d half; enum {size=4, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet8i> { typedef int    type; typedef Packet4i half; enum {size=8, alignment=Aligned32}; };
+
+template<> EIGEN_STRONG_INLINE Packet8f pset1<Packet8f>(const float&  from) { return _mm256_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pset1<Packet4d>(const double& from) { return _mm256_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pset1<Packet8i>(const int&    from) { return _mm256_set1_epi32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload1<Packet8f>(const float*  from) { return _mm256_broadcast_ss(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload1<Packet4d>(const double* from) { return _mm256_broadcast_sd(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f plset<Packet8f>(const float& a) { return _mm256_add_ps(_mm256_set1_ps(a), _mm256_set_ps(7.0,6.0,5.0,4.0,3.0,2.0,1.0,0.0)); }
+template<> EIGEN_STRONG_INLINE Packet4d plset<Packet4d>(const double& a) { return _mm256_add_pd(_mm256_set1_pd(a), _mm256_set_pd(3.0,2.0,1.0,0.0)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f padd<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d padd<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_add_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f psub<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d psub<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_sub_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pnegate(const Packet8f& a)
+{
+  return _mm256_sub_ps(_mm256_set1_ps(0.0),a);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pnegate(const Packet4d& a)
+{
+  return _mm256_sub_pd(_mm256_set1_pd(0.0),a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pconj(const Packet8f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4d pconj(const Packet4d& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8i pconj(const Packet8i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmul<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmul<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_mul_pd(a,b); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8f pdiv<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pdiv<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i pdiv<Packet8i>(const Packet8i& /*a*/, const Packet8i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by AVX");
+  return pset1<Packet8i>(0);
+}
+
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f& b, const Packet8f& c) {
+#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
+  // clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
+  // and gcc stupidly generates a vfmadd132ps instruction,
+  // so let's enforce it to generate a vfmadd231ps instruction since the most common use case is to accumulate
+  // the result of the product.
+  Packet8f res = c;
+  __asm__("vfmadd231ps %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
+  return _mm256_fmadd_ps(a,b,c);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d& b, const Packet4d& c) {
+#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
+  // see above
+  Packet4d res = c;
+  __asm__("vfmadd231pd %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
+  return _mm256_fmadd_pd(a,b,c);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet8f pmin<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmin<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_min_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmax<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmax<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_max_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pceil<Packet8f>(const Packet8f& a) { return _mm256_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { return _mm256_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pfloor<Packet8f>(const Packet8f& a) { return _mm256_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pfloor<Packet4d>(const Packet4d& a) { return _mm256_floor_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pand<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pand<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_and_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f por<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d por<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_or_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pxor<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pxor<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_xor_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload<Packet8f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload<Packet4d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pload<Packet8i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_si256(reinterpret_cast<const __m256i*>(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d ploadu<Packet4d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i ploadu<Packet8i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from)); }
+
+// Loads 4 floats from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3, a3}
+template<> EIGEN_STRONG_INLINE Packet8f ploaddup<Packet8f>(const float* from)
+{
+  // TODO try to find a way to avoid the need of a temporary register
+//   Packet8f tmp  = _mm256_castps128_ps256(_mm_loadu_ps(from));
+//   tmp = _mm256_insertf128_ps(tmp, _mm_movehl_ps(_mm256_castps256_ps128(tmp),_mm256_castps256_ps128(tmp)), 1);
+//   return _mm256_unpacklo_ps(tmp,tmp);
+  
+  // _mm256_insertf128_ps is very slow on Haswell, thus:
+  Packet8f tmp = _mm256_broadcast_ps((const __m128*)(const void*)from);
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  tmp = _mm256_blend_ps(tmp,_mm256_castps128_ps256(_mm_permute_ps( _mm256_castps256_ps128(tmp), _MM_SHUFFLE(1,0,1,0))), 15);
+  // then we can perform a consistent permutation on the global register to get everything in shape:
+  return  _mm256_permute_ps(tmp, _MM_SHUFFLE(3,3,2,2));
+}
+// Loads 2 doubles from memory a returns the packet {a0, a0  a1, a1}
+template<> EIGEN_STRONG_INLINE Packet4d ploaddup<Packet4d>(const double* from)
+{
+  Packet4d tmp = _mm256_broadcast_pd((const __m128d*)(const void*)from);
+  return  _mm256_permute_pd(tmp, 3<<2);
+}
+
+// Loads 2 floats from memory a returns the packet {a0, a0  a0, a0, a1, a1, a1, a1}
+template<> EIGEN_STRONG_INLINE Packet8f ploadquad<Packet8f>(const float* from)
+{
+  Packet8f tmp = _mm256_castps128_ps256(_mm_broadcast_ss(from));
+  return _mm256_insertf128_ps(tmp, _mm_broadcast_ss(from+1), 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available
+// NOTE: for the record the following seems to be slower: return _mm256_i32gather_ps(from, _mm256_set1_epi32(stride), 4);
+template<> EIGEN_DEVICE_FUNC inline Packet8f pgather<float, Packet8f>(const float* from, Index stride)
+{
+  return _mm256_set_ps(from[7*stride], from[6*stride], from[5*stride], from[4*stride],
+                       from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4d pgather<double, Packet4d>(const double* from, Index stride)
+{
+  return _mm256_set_pd(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet8f>(float* to, const Packet8f& from, Index stride)
+{
+  __m128 low = _mm256_extractf128_ps(from, 0);
+  to[stride*0] = _mm_cvtss_f32(low);
+  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1));
+  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 2));
+  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3));
+
+  __m128 high = _mm256_extractf128_ps(from, 1);
+  to[stride*4] = _mm_cvtss_f32(high);
+  to[stride*5] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1));
+  to[stride*6] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 2));
+  to[stride*7] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet4d>(double* to, const Packet4d& from, Index stride)
+{
+  __m128d low = _mm256_extractf128_pd(from, 0);
+  to[stride*0] = _mm_cvtsd_f64(low);
+  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1));
+  __m128d high = _mm256_extractf128_pd(from, 1);
+  to[stride*2] = _mm_cvtsd_f64(high);
+  to[stride*3] = _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8f>(float* to, const float& a)
+{
+  Packet8f pa = pset1<Packet8f>(a);
+  pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4d>(double* to, const double& a)
+{
+  Packet4d pa = pset1<Packet4d>(a);
+  pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8i>(int* to, const int& a)
+{
+  Packet8i pa = pset1<Packet8i>(a);
+  pstore(to, pa);
+}
+
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet8f>(const Packet8f& a) {
+  return _mm_cvtss_f32(_mm256_castps256_ps128(a));
+}
+template<> EIGEN_STRONG_INLINE double pfirst<Packet4d>(const Packet4d& a) {
+  return _mm_cvtsd_f64(_mm256_castpd256_pd128(a));
+}
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet8i>(const Packet8i& a) {
+  return _mm_cvtsi128_si32(_mm256_castsi256_si128(a));
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet8f preverse(const Packet8f& a)
+{
+  __m256 tmp = _mm256_shuffle_ps(a,a,0x1b);
+  return _mm256_permute2f128_ps(tmp, tmp, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet4d preverse(const Packet4d& a)
+{
+   __m256d tmp = _mm256_shuffle_pd(a,a,5);
+  return _mm256_permute2f128_pd(tmp, tmp, 1);
+
+  __m256d swap_halves = _mm256_permute2f128_pd(a,a,1);
+    return _mm256_permute_pd(swap_halves,5);
+}
+
+// pabs should be ok
+template<> EIGEN_STRONG_INLINE Packet8f pabs(const Packet8f& a)
+{
+  const Packet8f mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+  return _mm256_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pabs(const Packet4d& a)
+{
+  const Packet4d mask = _mm256_castsi256_pd(_mm256_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+  return _mm256_and_pd(a,mask);
+}
+
+// preduxp should be ok
+// FIXME: why is this ok? why isn't the simply implementation working as expected?
+template<> EIGEN_STRONG_INLINE Packet8f preduxp<Packet8f>(const Packet8f* vecs)
+{
+    __m256 hsum1 = _mm256_hadd_ps(vecs[0], vecs[1]);
+    __m256 hsum2 = _mm256_hadd_ps(vecs[2], vecs[3]);
+    __m256 hsum3 = _mm256_hadd_ps(vecs[4], vecs[5]);
+    __m256 hsum4 = _mm256_hadd_ps(vecs[6], vecs[7]);
+
+    __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+    __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+    __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+    __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+    __m256 perm1 =  _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+    __m256 perm2 =  _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+    __m256 perm3 =  _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+    __m256 perm4 =  _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+    __m256 sum1 = _mm256_add_ps(perm1, hsum5);
+    __m256 sum2 = _mm256_add_ps(perm2, hsum6);
+    __m256 sum3 = _mm256_add_ps(perm3, hsum7);
+    __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+
+    __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+    __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+    __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
+    return final;
+}
+template<> EIGEN_STRONG_INLINE Packet4d preduxp<Packet4d>(const Packet4d* vecs)
+{
+ Packet4d tmp0, tmp1;
+
+  tmp0 = _mm256_hadd_pd(vecs[0], vecs[1]);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs[2], vecs[3]);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  return _mm256_blend_pd(tmp0, tmp1, 0xC);
+}
+
+template<> EIGEN_STRONG_INLINE float predux<Packet8f>(const Packet8f& a)
+{
+  return predux(Packet4f(_mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1))));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet4d>(const Packet4d& a)
+{
+  return predux(Packet2d(_mm_add_pd(_mm256_castpd256_pd128(a),_mm256_extractf128_pd(a,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f predux_downto4<Packet8f>(const Packet8f& a)
+{
+  return _mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp;
+  tmp = _mm256_mul_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp;
+  tmp = _mm256_mul_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_mul_pd(tmp, _mm256_shuffle_pd(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp = _mm256_min_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp = _mm256_min_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_min_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp = _mm256_max_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE double predux_max<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp = _mm256_max_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_max_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+
+template<int Offset>
+struct palign_impl<Offset,Packet8f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet8f& first, const Packet8f& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm256_blend_ps(first, second, 1);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0x88);
+    }
+    else if (Offset==2)
+    {
+      first = _mm256_blend_ps(first, second, 3);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0xcc);
+    }
+    else if (Offset==3)
+    {
+      first = _mm256_blend_ps(first, second, 7);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0xee);
+    }
+    else if (Offset==4)
+    {
+      first = _mm256_blend_ps(first, second, 15);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(3,2,1,0));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_permute_ps(tmp2, _MM_SHUFFLE(3,2,1,0));
+    }
+    else if (Offset==5)
+    {
+      first = _mm256_blend_ps(first, second, 31);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0x88);
+    }
+    else if (Offset==6)
+    {
+      first = _mm256_blend_ps(first, second, 63);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0xcc);
+    }
+    else if (Offset==7)
+    {
+      first = _mm256_blend_ps(first, second, 127);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0xee);
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4d& first, const Packet4d& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm256_blend_pd(first, second, 1);
+      __m256d tmp = _mm256_permute_pd(first, 5);
+      first = _mm256_permute2f128_pd(tmp, tmp, 1);
+      first = _mm256_blend_pd(tmp, first, 0xA);
+    }
+    else if (Offset==2)
+    {
+      first = _mm256_blend_pd(first, second, 3);
+      first = _mm256_permute2f128_pd(first, first, 1);
+    }
+    else if (Offset==3)
+    {
+      first = _mm256_blend_pd(first, second, 7);
+      __m256d tmp = _mm256_permute_pd(first, 5);
+      first = _mm256_permute2f128_pd(tmp, tmp, 1);
+      first = _mm256_blend_pd(tmp, first, 5);
+    }
+  }
+};
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,8>& kernel) {
+  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T4 = _mm256_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
+  __m256 T5 = _mm256_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
+  __m256 T6 = _mm256_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
+  __m256 T7 = _mm256_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
+  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+  __m256 S4 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(1,0,1,0));
+  __m256 S5 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(3,2,3,2));
+  __m256 S6 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(1,0,1,0));
+  __m256 S7 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(3,2,3,2));
+  kernel.packet[0] = _mm256_permute2f128_ps(S0, S4, 0x20);
+  kernel.packet[1] = _mm256_permute2f128_ps(S1, S5, 0x20);
+  kernel.packet[2] = _mm256_permute2f128_ps(S2, S6, 0x20);
+  kernel.packet[3] = _mm256_permute2f128_ps(S3, S7, 0x20);
+  kernel.packet[4] = _mm256_permute2f128_ps(S0, S4, 0x31);
+  kernel.packet[5] = _mm256_permute2f128_ps(S1, S5, 0x31);
+  kernel.packet[6] = _mm256_permute2f128_ps(S2, S6, 0x31);
+  kernel.packet[7] = _mm256_permute2f128_ps(S3, S7, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,4>& kernel) {
+  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+
+  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+
+  kernel.packet[0] = _mm256_permute2f128_ps(S0, S1, 0x20);
+  kernel.packet[1] = _mm256_permute2f128_ps(S2, S3, 0x20);
+  kernel.packet[2] = _mm256_permute2f128_ps(S0, S1, 0x31);
+  kernel.packet[3] = _mm256_permute2f128_ps(S2, S3, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4d,4>& kernel) {
+  __m256d T0 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 15);
+  __m256d T1 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
+  __m256d T2 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 15);
+  __m256d T3 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
+
+  kernel.packet[1] = _mm256_permute2f128_pd(T0, T2, 32);
+  kernel.packet[3] = _mm256_permute2f128_pd(T0, T2, 49);
+  kernel.packet[0] = _mm256_permute2f128_pd(T1, T3, 32);
+  kernel.packet[2] = _mm256_permute2f128_pd(T1, T3, 49);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pblend(const Selector<8>& ifPacket, const Packet8f& thenPacket, const Packet8f& elsePacket) {
+  const __m256 zero = _mm256_setzero_ps();
+  const __m256 select = _mm256_set_ps(ifPacket.select[7], ifPacket.select[6], ifPacket.select[5], ifPacket.select[4], ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m256 false_mask = _mm256_cmp_ps(select, zero, _CMP_EQ_UQ);
+  return _mm256_blendv_ps(thenPacket, elsePacket, false_mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pblend(const Selector<4>& ifPacket, const Packet4d& thenPacket, const Packet4d& elsePacket) {
+  const __m256d zero = _mm256_setzero_pd();
+  const __m256d select = _mm256_set_pd(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m256d false_mask = _mm256_cmp_pd(select, zero, _CMP_EQ_UQ);
+  return _mm256_blendv_pd(thenPacket, elsePacket, false_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertfirst(const Packet8f& a, float b)
+{
+  return _mm256_blend_ps(a,pset1<Packet8f>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertfirst(const Packet4d& a, double b)
+{
+  return _mm256_blend_pd(a,pset1<Packet4d>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertlast(const Packet8f& a, float b)
+{
+  return _mm256_blend_ps(a,pset1<Packet8f>(b),(1<<7));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertlast(const Packet4d& a, double b)
+{
+  return _mm256_blend_pd(a,pset1<Packet4d>(b),(1<<3));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_AVX_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h b/vendor/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h
new file mode 100644
index 0000000..83bfdc6
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog at 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_TYPE_CASTING_AVX_H
+#define EIGEN_TYPE_CASTING_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// For now we use SSE to handle integers, so we can't use AVX instructions to cast
+// from int to float
+template <>
+struct type_casting_traits<float, int> {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<int, float> {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+
+
+template<> EIGEN_STRONG_INLINE Packet8i pcast<Packet8f, Packet8i>(const Packet8f& a) {
+  return _mm256_cvtps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8i, Packet8f>(const Packet8i& a) {
+  return _mm256_cvtepi32_ps(a);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_AVX_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h
new file mode 100644
index 0000000..399be0e
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h
@@ -0,0 +1,396 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Pedro Gonnet (pedro.gonnet at 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 THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
+#define THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
+
+namespace Eigen {
+
+namespace internal {
+
+// Disable the code for older versions of gcc that don't support many of the required avx512 instrinsics.
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+
+#define _EIGEN_DECLARE_CONST_Packet16f(NAME, X) \
+  const Packet16f p16f_##NAME = pset1<Packet16f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(NAME, X) \
+  const Packet16f p16f_##NAME = (__m512)pset1<Packet16i>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8d(NAME, X) \
+  const Packet8d p8d_##NAME = pset1<Packet8d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(NAME, X) \
+  const Packet8d p8d_##NAME = _mm512_castsi512_pd(_mm512_set1_epi64(X))
+
+// Natural logarithm
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+#if defined(EIGEN_VECTORIZE_AVX512DQ)
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+plog<Packet16f>(const Packet16f& _x) {
+  Packet16f x = _x;
+  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(126f, 126.0f);
+
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  // The smallest non denormalized float number.
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(min_norm_pos, 0x00800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(minus_inf, 0xff800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
+
+  // Polynomial coefficients.
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p1, -1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p3, -1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p4, +1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p5, -1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p6, +2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p7, -2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p8, +3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q2, 0.693359375f);
+
+  // invalid_mask is set to true when x is NaN
+  __mmask16 invalid_mask =
+      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_NGE_UQ);
+  __mmask16 iszero_mask =
+      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_EQ_UQ);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, p16f_min_norm_pos);
+
+  // Extract the shifted exponents.
+  Packet16f emm0 = _mm512_cvtepi32_ps(_mm512_srli_epi32((__m512i)x, 23));
+  Packet16f e = _mm512_sub_ps(emm0, p16f_126f);
+
+  // Set the exponents to -1, i.e. x are in the range [0.5,1).
+  x = _mm512_and_ps(x, p16f_inv_mant_mask);
+  x = _mm512_or_ps(x, p16f_half);
+
+  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  __mmask16 mask = _mm512_cmp_ps_mask(x, p16f_cephes_SQRTHF, _CMP_LT_OQ);
+  Packet16f tmp = _mm512_mask_blend_ps(mask, x, _mm512_setzero_ps());
+  x = psub(x, p16f_1);
+  e = psub(e, _mm512_mask_blend_ps(mask, p16f_1, _mm512_setzero_ps()));
+  x = padd(x, tmp);
+
+  Packet16f x2 = pmul(x, x);
+  Packet16f x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant of degree 8 in three parts, probably
+  // to improve instruction-level parallelism.
+  Packet16f y, y1, y2;
+  y = pmadd(p16f_cephes_log_p0, x, p16f_cephes_log_p1);
+  y1 = pmadd(p16f_cephes_log_p3, x, p16f_cephes_log_p4);
+  y2 = pmadd(p16f_cephes_log_p6, x, p16f_cephes_log_p7);
+  y = pmadd(y, x, p16f_cephes_log_p2);
+  y1 = pmadd(y1, x, p16f_cephes_log_p5);
+  y2 = pmadd(y2, x, p16f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  y1 = pmul(e, p16f_cephes_log_q1);
+  tmp = pmul(x2, p16f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p16f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+
+  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
+  return _mm512_mask_blend_ps(iszero_mask, p16f_minus_inf,
+                              _mm512_mask_blend_ps(invalid_mask, p16f_nan, x));
+}
+#endif
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+pexp<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(127, 127.0f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(exp_hi, 88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet16f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_LOG2EF, 1.44269504088896341f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p5, 5.0000001201E-1f);
+
+  // Clamp x.
+  Packet16f x = pmax(pmin(_x, p16f_exp_hi), p16f_exp_lo);
+
+  // Express exp(x) as exp(m*ln(2) + r), start by extracting
+  // m = floor(x/ln(2) + 0.5).
+  Packet16f m = _mm512_floor_ps(pmadd(x, p16f_cephes_LOG2EF, p16f_half));
+
+  // Get r = x - m*ln(2). Note that we can do this without losing more than one
+  // ulp precision due to the FMA instruction.
+  _EIGEN_DECLARE_CONST_Packet16f(nln2, -0.6931471805599453f);
+  Packet16f r = _mm512_fmadd_ps(m, p16f_nln2, x);
+  Packet16f r2 = pmul(r, r);
+
+  // TODO(gonnet): Split into odd/even polynomials and try to exploit
+  //               instruction-level parallelism.
+  Packet16f y = p16f_cephes_exp_p0;
+  y = pmadd(y, r, p16f_cephes_exp_p1);
+  y = pmadd(y, r, p16f_cephes_exp_p2);
+  y = pmadd(y, r, p16f_cephes_exp_p3);
+  y = pmadd(y, r, p16f_cephes_exp_p4);
+  y = pmadd(y, r, p16f_cephes_exp_p5);
+  y = pmadd(y, r2, r);
+  y = padd(y, p16f_1);
+
+  // Build emm0 = 2^m.
+  Packet16i emm0 = _mm512_cvttps_epi32(padd(m, p16f_127));
+  emm0 = _mm512_slli_epi32(emm0, 23);
+
+  // Return 2^m * exp(r).
+  return pmax(pmul(y, _mm512_castsi512_ps(emm0)), _x);
+}
+
+/*template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+pexp<Packet8d>(const Packet8d& _x) {
+  Packet8d x = _x;
+
+  _EIGEN_DECLARE_CONST_Packet8d(1, 1.0);
+  _EIGEN_DECLARE_CONST_Packet8d(2, 2.0);
+
+  _EIGEN_DECLARE_CONST_Packet8d(exp_hi, 709.437);
+  _EIGEN_DECLARE_CONST_Packet8d(exp_lo, -709.436139303);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_LOG2EF, 1.4426950408889634073599);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p0, 1.26177193074810590878e-4);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p1, 3.02994407707441961300e-2);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q0, 3.00198505138664455042e-6);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q1, 2.52448340349684104192e-3);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q2, 2.27265548208155028766e-1);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q3, 2.00000000000000000009e0);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C1, 0.693145751953125);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+  // clamp x
+  x = pmax(pmin(x, p8d_exp_hi), p8d_exp_lo);
+
+  // Express exp(x) as exp(g + n*log(2)).
+  const Packet8d n =
+      _mm512_mul_round_pd(p8d_cephes_LOG2EF, x, _MM_FROUND_TO_NEAREST_INT);
+
+  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+  // digits right.
+  const Packet8d nC1 = pmul(n, p8d_cephes_exp_C1);
+  const Packet8d nC2 = pmul(n, p8d_cephes_exp_C2);
+  x = psub(x, nC1);
+  x = psub(x, nC2);
+
+  const Packet8d x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial of the rational interpolant.
+  Packet8d px = p8d_cephes_exp_p0;
+  px = pmadd(px, x2, p8d_cephes_exp_p1);
+  px = pmadd(px, x2, p8d_cephes_exp_p2);
+  px = pmul(px, x);
+
+  // Evaluate the denominator polynomial of the rational interpolant.
+  Packet8d qx = p8d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p8d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p8d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p8d_cephes_exp_q3);
+
+  // I don't really get this bit, copied from the SSE2 routines, so...
+  // TODO(gonnet): Figure out what is going on here, perhaps find a better
+  // rational interpolant?
+  x = _mm512_div_pd(px, psub(qx, px));
+  x = pmadd(p8d_2, x, p8d_1);
+
+  // Build e=2^n.
+  const Packet8d e = _mm512_castsi512_pd(_mm512_slli_epi64(
+      _mm512_add_epi64(_mm512_cvtpd_epi64(n), _mm512_set1_epi64(1023)), 52));
+
+  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+  // non-finite values in the input.
+  return pmax(pmul(x, e), _x);
+  }*/
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. The main advantage of this approach is not just speed, but
+// also the fact that it can be inlined and pipelined with other computations,
+// further reducing its effective latency.
+#if EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+psqrt<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
+
+  Packet16f neg_half = pmul(_x, p16f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask16 non_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_GE_OQ);
+  Packet16f x = _mm512_mask_blend_ps(non_zero_mask, _mm512_rsqrt14_ps(_x),
+                                     _mm512_setzero_ps());
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+
+  // Multiply the original _x by it's reciprocal square root to extract the
+  // square root.
+  return pmul(_x, x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+psqrt<Packet8d>(const Packet8d& _x) {
+  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
+  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
+
+  Packet8d neg_half = pmul(_x, p8d_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask8 non_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_GE_OQ);
+  Packet8d x = _mm512_mask_blend_pd(non_zero_mask, _mm512_rsqrt14_pd(_x),
+                                    _mm512_setzero_pd());
+
+  // Do a first step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Do a second step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Multiply the original _x by it's reciprocal square root to extract the
+  // square root.
+  return pmul(_x, x);
+}
+#else
+template <>
+EIGEN_STRONG_INLINE Packet16f psqrt<Packet16f>(const Packet16f& x) {
+  return _mm512_sqrt_ps(x);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d psqrt<Packet8d>(const Packet8d& x) {
+  return _mm512_sqrt_pd(x);
+}
+#endif
+
+// Functions for rsqrt.
+// Almost identical to the sqrt routine, just leave out the last multiplication
+// and fill in NaN/Inf where needed. Note that this function only exists as an
+// iterative version for doubles since there is no instruction for diretly
+// computing the reciprocal square root in AVX-512.
+#ifdef EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+prsqrt<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
+
+  Packet16f neg_half = pmul(_x, p16f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask16 le_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_LT_OQ);
+  Packet16f x = _mm512_mask_blend_ps(le_zero_mask, _mm512_setzero_ps(),
+                                     _mm512_rsqrt14_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  __mmask16 neg_mask = _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_LT_OQ);
+  Packet16f infs_and_nans = _mm512_mask_blend_ps(
+      neg_mask, p16f_nan,
+      _mm512_mask_blend_ps(le_zero_mask, p16f_inf, _mm512_setzero_ps()));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm512_mask_blend_ps(le_zero_mask, infs_and_nans, x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+prsqrt<Packet8d>(const Packet8d& _x) {
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(inf, 0x7ff0000000000000LL);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(nan, 0x7ff1000000000000LL);
+  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
+  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
+
+  Packet8d neg_half = pmul(_x, p8d_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask8 le_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_LT_OQ);
+  Packet8d x = _mm512_mask_blend_pd(le_zero_mask, _mm512_setzero_pd(),
+                                    _mm512_rsqrt14_pd(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  __mmask8 neg_mask = _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_LT_OQ);
+  Packet8d infs_and_nans = _mm512_mask_blend_pd(
+      neg_mask, p8d_nan,
+      _mm512_mask_blend_pd(le_zero_mask, p8d_inf, _mm512_setzero_pd()));
+
+  // Do a first step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Do a second step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm512_mask_blend_pd(le_zero_mask, infs_and_nans, x);
+}
+#else
+template <>
+EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
+  return _mm512_rsqrt28_ps(x);
+}
+#endif
+#endif
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
diff --git a/vendor/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h
new file mode 100644
index 0000000..f6500a1
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h
@@ -0,0 +1,1316 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner (benoit.steiner.goog at 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_PACKET_MATH_AVX512_H
+#define EIGEN_PACKET_MATH_AVX512_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+#endif
+
+typedef __m512 Packet16f;
+typedef __m512i Packet16i;
+typedef __m512d Packet8d;
+
+template <>
+struct is_arithmetic<__m512> {
+  enum { value = true };
+};
+template <>
+struct is_arithmetic<__m512i> {
+  enum { value = true };
+};
+template <>
+struct is_arithmetic<__m512d> {
+  enum { value = true };
+};
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet16f type;
+  typedef Packet8f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+    HasLog = 1,
+#endif
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+#endif
+    HasDiv = 1
+  };
+ };
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet8d type;
+  typedef Packet4d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 1,
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+    HasSqrt = 1,
+    HasRsqrt = EIGEN_FAST_MATH,
+#endif
+    HasDiv = 1
+  };
+};
+
+/* TODO Implement AVX512 for integers
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet16i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8
+  };
+};
+*/
+
+template <>
+struct unpacket_traits<Packet16f> {
+  typedef float type;
+  typedef Packet8f half;
+  enum { size = 16, alignment=Aligned64 };
+};
+template <>
+struct unpacket_traits<Packet8d> {
+  typedef double type;
+  typedef Packet4d half;
+  enum { size = 8, alignment=Aligned64 };
+};
+template <>
+struct unpacket_traits<Packet16i> {
+  typedef int type;
+  typedef Packet8i half;
+  enum { size = 16, alignment=Aligned64 };
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pset1<Packet16f>(const float& from) {
+  return _mm512_set1_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pset1<Packet8d>(const double& from) {
+  return _mm512_set1_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pset1<Packet16i>(const int& from) {
+  return _mm512_set1_epi32(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pload1<Packet16f>(const float* from) {
+  return _mm512_broadcastss_ps(_mm_load_ps1(from));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pload1<Packet8d>(const double* from) {
+  return _mm512_broadcastsd_pd(_mm_load_pd1(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f plset<Packet16f>(const float& a) {
+  return _mm512_add_ps(
+      _mm512_set1_ps(a),
+      _mm512_set_ps(15.0f, 14.0f, 13.0f, 12.0f, 11.0f, 10.0f, 9.0f, 8.0f, 7.0f, 6.0f, 5.0f,
+                    4.0f, 3.0f, 2.0f, 1.0f, 0.0f));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d plset<Packet8d>(const double& a) {
+  return _mm512_add_pd(_mm512_set1_pd(a),
+                       _mm512_set_pd(7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0, 0.0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f padd<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_add_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d padd<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_add_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f psub<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_sub_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d psub<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_sub_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pnegate(const Packet16f& a) {
+  return _mm512_sub_ps(_mm512_set1_ps(0.0), a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pnegate(const Packet8d& a) {
+  return _mm512_sub_pd(_mm512_set1_pd(0.0), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pconj(const Packet16f& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pconj(const Packet8d& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pconj(const Packet16i& a) {
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmul<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_mul_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmul<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_mul_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pdiv<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_div_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pdiv<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_div_pd(a, b);
+}
+
+#ifdef __FMA__
+template <>
+EIGEN_STRONG_INLINE Packet16f pmadd(const Packet16f& a, const Packet16f& b,
+                                    const Packet16f& c) {
+  return _mm512_fmadd_ps(a, b, c);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmadd(const Packet8d& a, const Packet8d& b,
+                                   const Packet8d& c) {
+  return _mm512_fmadd_pd(a, b, c);
+}
+#endif
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmin<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_min_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmin<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_min_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmax<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_max_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmax<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_max_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pand<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_and_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pand<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_and_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_and_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_and_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet16f por<Packet16f>(const Packet16f& a,
+                                             const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_or_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8d por<Packet8d>(const Packet8d& a,
+                                           const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_or_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_or_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_or_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pxor<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_xor_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pxor<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_xor_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pandnot<Packet16f>(const Packet16f& a,
+                                                 const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_andnot_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pandnot<Packet8d>(const Packet8d& a,
+                                               const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_andnot_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pload<Packet16f>(const float* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pload<Packet8d>(const double* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pload<Packet16i>(const int* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_si512(
+      reinterpret_cast<const __m512i*>(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f ploadu<Packet16f>(const float* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploadu<Packet8d>(const double* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i ploadu<Packet16i>(const int* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_si512(
+      reinterpret_cast<const __m512i*>(from));
+}
+
+// Loads 8 floats from memory a returns the packet
+// {a0, a0  a1, a1, a2, a2, a3, a3, a4, a4, a5, a5, a6, a6, a7, a7}
+template <>
+EIGEN_STRONG_INLINE Packet16f ploaddup<Packet16f>(const float* from) {
+  Packet8f lane0 = _mm256_broadcast_ps((const __m128*)(const void*)from);
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  lane0 = _mm256_blend_ps(
+      lane0, _mm256_castps128_ps256(_mm_permute_ps(
+                 _mm256_castps256_ps128(lane0), _MM_SHUFFLE(1, 0, 1, 0))),
+      15);
+  // then we can perform a consistent permutation on the global register to get
+  // everything in shape:
+  lane0 = _mm256_permute_ps(lane0, _MM_SHUFFLE(3, 3, 2, 2));
+
+  Packet8f lane1 = _mm256_broadcast_ps((const __m128*)(const void*)(from + 4));
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  lane1 = _mm256_blend_ps(
+      lane1, _mm256_castps128_ps256(_mm_permute_ps(
+                 _mm256_castps256_ps128(lane1), _MM_SHUFFLE(1, 0, 1, 0))),
+      15);
+  // then we can perform a consistent permutation on the global register to get
+  // everything in shape:
+  lane1 = _mm256_permute_ps(lane1, _MM_SHUFFLE(3, 3, 2, 2));
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  Packet16f res = _mm512_undefined_ps();
+  return _mm512_insertf32x8(res, lane0, 0);
+  return _mm512_insertf32x8(res, lane1, 1);
+  return res;
+#else
+  Packet16f res = _mm512_undefined_ps();
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 0), 0);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 1), 1);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 0), 2);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 1), 3);
+  return res;
+#endif
+}
+// Loads 4 doubles from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3,
+// a3}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploaddup<Packet8d>(const double* from) {
+  Packet4d lane0 = _mm256_broadcast_pd((const __m128d*)(const void*)from);
+  lane0 = _mm256_permute_pd(lane0, 3 << 2);
+
+  Packet4d lane1 = _mm256_broadcast_pd((const __m128d*)(const void*)(from + 2));
+  lane1 = _mm256_permute_pd(lane1, 3 << 2);
+
+  Packet8d res = _mm512_undefined_pd();
+  res = _mm512_insertf64x4(res, lane0, 0);
+  return _mm512_insertf64x4(res, lane1, 1);
+}
+
+// Loads 4 floats from memory a returns the packet
+// {a0, a0  a0, a0, a1, a1, a1, a1, a2, a2, a2, a2, a3, a3, a3, a3}
+template <>
+EIGEN_STRONG_INLINE Packet16f ploadquad<Packet16f>(const float* from) {
+  Packet16f tmp = _mm512_undefined_ps();
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from), 0);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 1), 1);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 2), 2);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 3), 3);
+  return tmp;
+}
+// Loads 2 doubles from memory a returns the packet
+// {a0, a0  a0, a0, a1, a1, a1, a1}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploadquad<Packet8d>(const double* from) {
+  Packet8d tmp = _mm512_undefined_pd();
+  Packet2d tmp0 = _mm_load_pd1(from);
+  Packet2d tmp1 = _mm_load_pd1(from + 1);
+  Packet4d lane0 = _mm256_broadcastsd_pd(tmp0);
+  Packet4d lane1 = _mm256_broadcastsd_pd(tmp1);
+  tmp = _mm512_insertf64x4(tmp, lane0, 0);
+  return _mm512_insertf64x4(tmp, lane1, 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet16f& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_ps(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet8d& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_pd(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet16i& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_storeu_si512(reinterpret_cast<__m512i*>(to),
+                                                from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet16f& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_ps(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet8d& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_pd(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet16i& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_si512(
+      reinterpret_cast<__m512i*>(to), from);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet16f pgather<float, Packet16f>(const float* from,
+                                                             Index stride) {
+  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_multiplier =
+      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
+  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
+
+  return _mm512_i32gather_ps(indices, from, 4);
+}
+template <>
+EIGEN_DEVICE_FUNC inline Packet8d pgather<double, Packet8d>(const double* from,
+                                                            Index stride) {
+  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
+  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
+
+  return _mm512_i32gather_pd(indices, from, 8);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<float, Packet16f>(float* to,
+                                                         const Packet16f& from,
+                                                         Index stride) {
+  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_multiplier =
+      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
+  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
+  _mm512_i32scatter_ps(to, indices, from, 4);
+}
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<double, Packet8d>(double* to,
+                                                         const Packet8d& from,
+                                                         Index stride) {
+  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
+  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
+  _mm512_i32scatter_pd(to, indices, from, 8);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet16f>(float* to, const float& a) {
+  Packet16f pa = pset1<Packet16f>(a);
+  pstore(to, pa);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet8d>(double* to, const double& a) {
+  Packet8d pa = pset1<Packet8d>(a);
+  pstore(to, pa);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet16i>(int* to, const int& a) {
+  Packet16i pa = pset1<Packet16i>(a);
+  pstore(to, pa);
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template <>
+EIGEN_STRONG_INLINE float pfirst<Packet16f>(const Packet16f& a) {
+  return _mm_cvtss_f32(_mm512_extractf32x4_ps(a, 0));
+}
+template <>
+EIGEN_STRONG_INLINE double pfirst<Packet8d>(const Packet8d& a) {
+  return _mm_cvtsd_f64(_mm256_extractf128_pd(_mm512_extractf64x4_pd(a, 0), 0));
+}
+template <>
+EIGEN_STRONG_INLINE int pfirst<Packet16i>(const Packet16i& a) {
+  return _mm_extract_epi32(_mm512_extracti32x4_epi32(a, 0), 0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f preverse(const Packet16f& a)
+{
+  return _mm512_permutexvar_ps(_mm512_set_epi32(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8d preverse(const Packet8d& a)
+{
+  return _mm512_permutexvar_pd(_mm512_set_epi32(0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0, 5, 0, 6, 0, 7), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pabs(const Packet16f& a)
+{
+  // _mm512_abs_ps intrinsic not found, so hack around it
+  return (__m512)_mm512_and_si512((__m512i)a, _mm512_set1_epi32(0x7fffffff));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pabs(const Packet8d& a) {
+  // _mm512_abs_ps intrinsic not found, so hack around it
+  return (__m512d)_mm512_and_si512((__m512i)a,
+                                   _mm512_set1_epi64(0x7fffffffffffffff));
+}
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+// AVX512F does not define _mm512_extractf32x8_ps to extract _m256 from _m512
+#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                           \
+  __m256 OUTPUT##_0 = _mm512_extractf32x8_ps(INPUT, 0) __m256 OUTPUT##_1 = \
+      _mm512_extractf32x8_ps(INPUT, 1)
+#else
+#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                \
+  __m256 OUTPUT##_0 = _mm256_insertf128_ps(                     \
+      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 0)), \
+      _mm512_extractf32x4_ps(INPUT, 1), 1);                     \
+  __m256 OUTPUT##_1 = _mm256_insertf128_ps(                     \
+      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 2)), \
+      _mm512_extractf32x4_ps(INPUT, 3), 1);
+#endif
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB) \
+  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTA, 0);        \
+  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTB, 1);
+#else
+#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB)                    \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 0), 0); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 1), 1); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 0), 2); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 1), 3);
+#endif
+template<> EIGEN_STRONG_INLINE Packet16f preduxp<Packet16f>(const Packet16f*
+vecs)
+{
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[0], vecs0);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[1], vecs1);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[2], vecs2);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[3], vecs3);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[4], vecs4);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[5], vecs5);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[6], vecs6);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[7], vecs7);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[8], vecs8);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[9], vecs9);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[10], vecs10);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[11], vecs11);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[12], vecs12);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[13], vecs13);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[14], vecs14);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[15], vecs15);
+
+  __m256 hsum1 = _mm256_hadd_ps(vecs0_0, vecs1_0);
+  __m256 hsum2 = _mm256_hadd_ps(vecs2_0, vecs3_0);
+  __m256 hsum3 = _mm256_hadd_ps(vecs4_0, vecs5_0);
+  __m256 hsum4 = _mm256_hadd_ps(vecs6_0, vecs7_0);
+
+  __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  __m256 perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  __m256 perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  __m256 perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  __m256 perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  __m256 sum1 = _mm256_add_ps(perm1, hsum5);
+  __m256 sum2 = _mm256_add_ps(perm2, hsum6);
+  __m256 sum3 = _mm256_add_ps(perm3, hsum7);
+  __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+
+  __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
+
+  hsum1 = _mm256_hadd_ps(vecs0_1, vecs1_1);
+  hsum2 = _mm256_hadd_ps(vecs2_1, vecs3_1);
+  hsum3 = _mm256_hadd_ps(vecs4_1, vecs5_1);
+  hsum4 = _mm256_hadd_ps(vecs6_1, vecs7_1);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  final = padd(final, _mm256_blend_ps(blend1, blend2, 0xf0));
+
+  hsum1 = _mm256_hadd_ps(vecs8_0, vecs9_0);
+  hsum2 = _mm256_hadd_ps(vecs10_0, vecs11_0);
+  hsum3 = _mm256_hadd_ps(vecs12_0, vecs13_0);
+  hsum4 = _mm256_hadd_ps(vecs14_0, vecs15_0);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  __m256 final_1 = _mm256_blend_ps(blend1, blend2, 0xf0);
+
+  hsum1 = _mm256_hadd_ps(vecs8_1, vecs9_1);
+  hsum2 = _mm256_hadd_ps(vecs10_1, vecs11_1);
+  hsum3 = _mm256_hadd_ps(vecs12_1, vecs13_1);
+  hsum4 = _mm256_hadd_ps(vecs14_1, vecs15_1);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  final_1 = padd(final_1, _mm256_blend_ps(blend1, blend2, 0xf0));
+
+  __m512 final_output;
+
+  EIGEN_INSERT_8f_INTO_16f(final_output, final, final_1);
+  return final_output;
+}
+
+template<> EIGEN_STRONG_INLINE Packet8d preduxp<Packet8d>(const Packet8d* vecs)
+{
+  Packet4d vecs0_0 = _mm512_extractf64x4_pd(vecs[0], 0);
+  Packet4d vecs0_1 = _mm512_extractf64x4_pd(vecs[0], 1);
+
+  Packet4d vecs1_0 = _mm512_extractf64x4_pd(vecs[1], 0);
+  Packet4d vecs1_1 = _mm512_extractf64x4_pd(vecs[1], 1);
+
+  Packet4d vecs2_0 = _mm512_extractf64x4_pd(vecs[2], 0);
+  Packet4d vecs2_1 = _mm512_extractf64x4_pd(vecs[2], 1);
+
+  Packet4d vecs3_0 = _mm512_extractf64x4_pd(vecs[3], 0);
+  Packet4d vecs3_1 = _mm512_extractf64x4_pd(vecs[3], 1);
+
+  Packet4d vecs4_0 = _mm512_extractf64x4_pd(vecs[4], 0);
+  Packet4d vecs4_1 = _mm512_extractf64x4_pd(vecs[4], 1);
+
+  Packet4d vecs5_0 = _mm512_extractf64x4_pd(vecs[5], 0);
+  Packet4d vecs5_1 = _mm512_extractf64x4_pd(vecs[5], 1);
+
+  Packet4d vecs6_0 = _mm512_extractf64x4_pd(vecs[6], 0);
+  Packet4d vecs6_1 = _mm512_extractf64x4_pd(vecs[6], 1);
+
+  Packet4d vecs7_0 = _mm512_extractf64x4_pd(vecs[7], 0);
+  Packet4d vecs7_1 = _mm512_extractf64x4_pd(vecs[7], 1);
+
+  Packet4d tmp0, tmp1;
+
+  tmp0 = _mm256_hadd_pd(vecs0_0, vecs1_0);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs2_0, vecs3_0);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  __m256d final_0 = _mm256_blend_pd(tmp0, tmp1, 0xC);
+
+  tmp0 = _mm256_hadd_pd(vecs0_1, vecs1_1);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs2_1, vecs3_1);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  final_0 = padd(final_0, _mm256_blend_pd(tmp0, tmp1, 0xC));
+
+  tmp0 = _mm256_hadd_pd(vecs4_0, vecs5_0);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs6_0, vecs7_0);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  __m256d final_1 = _mm256_blend_pd(tmp0, tmp1, 0xC);
+
+  tmp0 = _mm256_hadd_pd(vecs4_1, vecs5_1);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs6_1, vecs7_1);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  final_1 = padd(final_1, _mm256_blend_pd(tmp0, tmp1, 0xC));
+
+  __m512d final_output = _mm512_insertf64x4(final_output, final_0, 0);
+
+  return _mm512_insertf64x4(final_output, final_1, 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux<Packet16f>(const Packet16f& a) {
+  //#ifdef EIGEN_VECTORIZE_AVX512DQ
+#if 0
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  Packet8f sum = padd(lane0, lane1);
+  Packet8f tmp0 = _mm256_hadd_ps(sum, _mm256_permute2f128_ps(a, a, 1));
+  tmp0 = _mm256_hadd_ps(tmp0, tmp0);
+  return pfirst(_mm256_hadd_ps(tmp0, tmp0));
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f sum = padd(padd(lane0, lane1), padd(lane2, lane3));
+  sum = _mm_hadd_ps(sum, sum);
+  sum = _mm_hadd_ps(sum, _mm_permute_ps(sum, 1));
+  return pfirst(sum);
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE double predux<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d sum = padd(lane0, lane1);
+  Packet4d tmp0 = _mm256_hadd_pd(sum, _mm256_permute2f128_pd(sum, sum, 1));
+  return pfirst(_mm256_hadd_pd(tmp0, tmp0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8f predux_downto4<Packet16f>(const Packet16f& a) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  return padd(lane0, lane1);
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f sum0 = padd(lane0, lane2);
+  Packet4f sum1 = padd(lane1, lane3);
+  return _mm256_insertf128_ps(_mm256_castps128_ps256(sum0), sum1, 1);
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet4d predux_downto4<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = padd(lane0, lane1);
+  return res;
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_mul<Packet16f>(const Packet16f& a) {
+//#ifdef EIGEN_VECTORIZE_AVX512DQ
+#if 0
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  Packet8f res = pmul(lane0, lane1);
+  res = pmul(res, _mm256_permute2f128_ps(res, res, 1));
+  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = pmul(pmul(lane0, lane1), pmul(lane2, lane3));
+  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE double predux_mul<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = pmul(lane0, lane1);
+  res = pmul(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(pmul(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_min<Packet16f>(const Packet16f& a) {
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = _mm_min_ps(_mm_min_ps(lane0, lane1), _mm_min_ps(lane2, lane3));
+  res = _mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(_mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+}
+template <>
+EIGEN_STRONG_INLINE double predux_min<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = _mm256_min_pd(lane0, lane1);
+  res = _mm256_min_pd(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(_mm256_min_pd(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_max<Packet16f>(const Packet16f& a) {
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = _mm_max_ps(_mm_max_ps(lane0, lane1), _mm_max_ps(lane2, lane3));
+  res = _mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(_mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+}
+template <>
+EIGEN_STRONG_INLINE double predux_max<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = _mm256_max_pd(lane0, lane1);
+  res = _mm256_max_pd(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(_mm256_max_pd(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <int Offset>
+struct palign_impl<Offset, Packet16f> {
+  static EIGEN_STRONG_INLINE void run(Packet16f& first,
+                                      const Packet16f& second) {
+    if (Offset != 0) {
+      __m512i first_idx = _mm512_set_epi32(
+          Offset + 15, Offset + 14, Offset + 13, Offset + 12, Offset + 11,
+          Offset + 10, Offset + 9, Offset + 8, Offset + 7, Offset + 6,
+          Offset + 5, Offset + 4, Offset + 3, Offset + 2, Offset + 1, Offset);
+
+      __m512i second_idx =
+          _mm512_set_epi32(Offset - 1, Offset - 2, Offset - 3, Offset - 4,
+                           Offset - 5, Offset - 6, Offset - 7, Offset - 8,
+                           Offset - 9, Offset - 10, Offset - 11, Offset - 12,
+                           Offset - 13, Offset - 14, Offset - 15, Offset - 16);
+
+      unsigned short mask = 0xFFFF;
+      mask <<= (16 - Offset);
+
+      first = _mm512_permutexvar_ps(first_idx, first);
+      Packet16f tmp = _mm512_permutexvar_ps(second_idx, second);
+      first = _mm512_mask_blend_ps(mask, first, tmp);
+    }
+  }
+};
+template <int Offset>
+struct palign_impl<Offset, Packet8d> {
+  static EIGEN_STRONG_INLINE void run(Packet8d& first, const Packet8d& second) {
+    if (Offset != 0) {
+      __m512i first_idx = _mm512_set_epi32(
+          0, Offset + 7, 0, Offset + 6, 0, Offset + 5, 0, Offset + 4, 0,
+          Offset + 3, 0, Offset + 2, 0, Offset + 1, 0, Offset);
+
+      __m512i second_idx = _mm512_set_epi32(
+          0, Offset - 1, 0, Offset - 2, 0, Offset - 3, 0, Offset - 4, 0,
+          Offset - 5, 0, Offset - 6, 0, Offset - 7, 0, Offset - 8);
+
+      unsigned char mask = 0xFF;
+      mask <<= (8 - Offset);
+
+      first = _mm512_permutexvar_pd(first_idx, first);
+      Packet8d tmp = _mm512_permutexvar_pd(second_idx, second);
+      first = _mm512_mask_blend_pd(mask, first, tmp);
+    }
+  }
+};
+
+
+#define PACK_OUTPUT(OUTPUT, INPUT, INDEX, STRIDE) \
+  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[INDEX], INPUT[INDEX + STRIDE]);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 16>& kernel) {
+  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T4 = _mm512_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
+  __m512 T5 = _mm512_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
+  __m512 T6 = _mm512_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
+  __m512 T7 = _mm512_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
+  __m512 T8 = _mm512_unpacklo_ps(kernel.packet[8], kernel.packet[9]);
+  __m512 T9 = _mm512_unpackhi_ps(kernel.packet[8], kernel.packet[9]);
+  __m512 T10 = _mm512_unpacklo_ps(kernel.packet[10], kernel.packet[11]);
+  __m512 T11 = _mm512_unpackhi_ps(kernel.packet[10], kernel.packet[11]);
+  __m512 T12 = _mm512_unpacklo_ps(kernel.packet[12], kernel.packet[13]);
+  __m512 T13 = _mm512_unpackhi_ps(kernel.packet[12], kernel.packet[13]);
+  __m512 T14 = _mm512_unpacklo_ps(kernel.packet[14], kernel.packet[15]);
+  __m512 T15 = _mm512_unpackhi_ps(kernel.packet[14], kernel.packet[15]);
+  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S4 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S5 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S6 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S7 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S8 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S9 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S10 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S11 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S12 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S13 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S14 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S15 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(3, 2, 3, 2));
+
+  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
+  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
+  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
+  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
+  EIGEN_EXTRACT_8f_FROM_16f(S4, S4);
+  EIGEN_EXTRACT_8f_FROM_16f(S5, S5);
+  EIGEN_EXTRACT_8f_FROM_16f(S6, S6);
+  EIGEN_EXTRACT_8f_FROM_16f(S7, S7);
+  EIGEN_EXTRACT_8f_FROM_16f(S8, S8);
+  EIGEN_EXTRACT_8f_FROM_16f(S9, S9);
+  EIGEN_EXTRACT_8f_FROM_16f(S10, S10);
+  EIGEN_EXTRACT_8f_FROM_16f(S11, S11);
+  EIGEN_EXTRACT_8f_FROM_16f(S12, S12);
+  EIGEN_EXTRACT_8f_FROM_16f(S13, S13);
+  EIGEN_EXTRACT_8f_FROM_16f(S14, S14);
+  EIGEN_EXTRACT_8f_FROM_16f(S15, S15);
+
+  PacketBlock<Packet8f, 32> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S4_0, 0x20);
+  tmp.packet[1] = _mm256_permute2f128_ps(S1_0, S5_0, 0x20);
+  tmp.packet[2] = _mm256_permute2f128_ps(S2_0, S6_0, 0x20);
+  tmp.packet[3] = _mm256_permute2f128_ps(S3_0, S7_0, 0x20);
+  tmp.packet[4] = _mm256_permute2f128_ps(S0_0, S4_0, 0x31);
+  tmp.packet[5] = _mm256_permute2f128_ps(S1_0, S5_0, 0x31);
+  tmp.packet[6] = _mm256_permute2f128_ps(S2_0, S6_0, 0x31);
+  tmp.packet[7] = _mm256_permute2f128_ps(S3_0, S7_0, 0x31);
+
+  tmp.packet[8] = _mm256_permute2f128_ps(S0_1, S4_1, 0x20);
+  tmp.packet[9] = _mm256_permute2f128_ps(S1_1, S5_1, 0x20);
+  tmp.packet[10] = _mm256_permute2f128_ps(S2_1, S6_1, 0x20);
+  tmp.packet[11] = _mm256_permute2f128_ps(S3_1, S7_1, 0x20);
+  tmp.packet[12] = _mm256_permute2f128_ps(S0_1, S4_1, 0x31);
+  tmp.packet[13] = _mm256_permute2f128_ps(S1_1, S5_1, 0x31);
+  tmp.packet[14] = _mm256_permute2f128_ps(S2_1, S6_1, 0x31);
+  tmp.packet[15] = _mm256_permute2f128_ps(S3_1, S7_1, 0x31);
+
+  // Second set of _m256 outputs
+  tmp.packet[16] = _mm256_permute2f128_ps(S8_0, S12_0, 0x20);
+  tmp.packet[17] = _mm256_permute2f128_ps(S9_0, S13_0, 0x20);
+  tmp.packet[18] = _mm256_permute2f128_ps(S10_0, S14_0, 0x20);
+  tmp.packet[19] = _mm256_permute2f128_ps(S11_0, S15_0, 0x20);
+  tmp.packet[20] = _mm256_permute2f128_ps(S8_0, S12_0, 0x31);
+  tmp.packet[21] = _mm256_permute2f128_ps(S9_0, S13_0, 0x31);
+  tmp.packet[22] = _mm256_permute2f128_ps(S10_0, S14_0, 0x31);
+  tmp.packet[23] = _mm256_permute2f128_ps(S11_0, S15_0, 0x31);
+
+  tmp.packet[24] = _mm256_permute2f128_ps(S8_1, S12_1, 0x20);
+  tmp.packet[25] = _mm256_permute2f128_ps(S9_1, S13_1, 0x20);
+  tmp.packet[26] = _mm256_permute2f128_ps(S10_1, S14_1, 0x20);
+  tmp.packet[27] = _mm256_permute2f128_ps(S11_1, S15_1, 0x20);
+  tmp.packet[28] = _mm256_permute2f128_ps(S8_1, S12_1, 0x31);
+  tmp.packet[29] = _mm256_permute2f128_ps(S9_1, S13_1, 0x31);
+  tmp.packet[30] = _mm256_permute2f128_ps(S10_1, S14_1, 0x31);
+  tmp.packet[31] = _mm256_permute2f128_ps(S11_1, S15_1, 0x31);
+
+  // Pack them into the output
+  PACK_OUTPUT(kernel.packet, tmp.packet, 0, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 1, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 2, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 3, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 4, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 5, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 6, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 7, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 8, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 9, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 10, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 11, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 12, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 13, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 14, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 15, 16);
+}
+#define PACK_OUTPUT_2(OUTPUT, INPUT, INDEX, STRIDE)         \
+  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[2 * INDEX], \
+                           INPUT[2 * INDEX + STRIDE]);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 4>& kernel) {
+  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+
+  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
+
+  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
+  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
+  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
+  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
+
+  PacketBlock<Packet8f, 8> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S1_0, 0x20);
+  tmp.packet[1] = _mm256_permute2f128_ps(S2_0, S3_0, 0x20);
+  tmp.packet[2] = _mm256_permute2f128_ps(S0_0, S1_0, 0x31);
+  tmp.packet[3] = _mm256_permute2f128_ps(S2_0, S3_0, 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_ps(S0_1, S1_1, 0x20);
+  tmp.packet[5] = _mm256_permute2f128_ps(S2_1, S3_1, 0x20);
+  tmp.packet[6] = _mm256_permute2f128_ps(S0_1, S1_1, 0x31);
+  tmp.packet[7] = _mm256_permute2f128_ps(S2_1, S3_1, 0x31);
+
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 0, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 1, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 2, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 3, 1);
+}
+
+#define PACK_OUTPUT_SQ_D(OUTPUT, INPUT, INDEX, STRIDE)                \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX], 0); \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX + STRIDE], 1);
+
+#define PACK_OUTPUT_D(OUTPUT, INPUT, INDEX, STRIDE)                         \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX)], 0); \
+  OUTPUT[INDEX] =                                                           \
+      _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX) + STRIDE], 1);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 4>& kernel) {
+  __m512d T0 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
+  __m512d T1 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0xff);
+  __m512d T2 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
+  __m512d T3 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0xff);
+
+  PacketBlock<Packet4d, 8> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
+  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
+  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
+  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
+  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
+  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
+  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
+
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 0, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 1, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 2, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 3, 1);
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 8>& kernel) {
+  __m512d T0 = _mm512_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
+  __m512d T1 = _mm512_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
+  __m512d T2 = _mm512_unpacklo_pd(kernel.packet[2], kernel.packet[3]);
+  __m512d T3 = _mm512_unpackhi_pd(kernel.packet[2], kernel.packet[3]);
+  __m512d T4 = _mm512_unpacklo_pd(kernel.packet[4], kernel.packet[5]);
+  __m512d T5 = _mm512_unpackhi_pd(kernel.packet[4], kernel.packet[5]);
+  __m512d T6 = _mm512_unpacklo_pd(kernel.packet[6], kernel.packet[7]);
+  __m512d T7 = _mm512_unpackhi_pd(kernel.packet[6], kernel.packet[7]);
+
+  PacketBlock<Packet4d, 16> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
+  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
+  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
+  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
+  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
+  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
+  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
+
+  tmp.packet[8] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
+                                         _mm512_extractf64x4_pd(T6, 0), 0x20);
+  tmp.packet[9] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
+                                         _mm512_extractf64x4_pd(T7, 0), 0x20);
+  tmp.packet[10] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
+                                          _mm512_extractf64x4_pd(T6, 0), 0x31);
+  tmp.packet[11] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
+                                          _mm512_extractf64x4_pd(T7, 0), 0x31);
+
+  tmp.packet[12] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
+                                          _mm512_extractf64x4_pd(T6, 1), 0x20);
+  tmp.packet[13] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
+                                          _mm512_extractf64x4_pd(T7, 1), 0x20);
+  tmp.packet[14] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
+                                          _mm512_extractf64x4_pd(T6, 1), 0x31);
+  tmp.packet[15] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
+                                          _mm512_extractf64x4_pd(T7, 1), 0x31);
+
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 0, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 1, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 2, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 3, 8);
+
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 4, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 5, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 6, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 7, 8);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16f pblend(const Selector<16>& /*ifPacket*/,
+                                     const Packet16f& /*thenPacket*/,
+                                     const Packet16f& /*elsePacket*/) {
+  assert(false && "To be implemented");
+  return Packet16f();
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pblend(const Selector<8>& /*ifPacket*/,
+                                    const Packet8d& /*thenPacket*/,
+                                    const Packet8d& /*elsePacket*/) {
+  assert(false && "To be implemented");
+  return Packet8d();
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_AVX512_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AltiVec/Complex.h b/vendor/eigen/Eigen/src/Core/arch/AltiVec/Complex.h
index 68d9a2b..67db2f8 100644
--- a/vendor/eigen/Eigen/src/Core/arch/AltiVec/Complex.h
+++ b/vendor/eigen/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -2,30 +2,34 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2010-2016 Konstantinos Margaritis <markos at freevec.org>
 //
 // 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_COMPLEX_ALTIVEC_H
-#define EIGEN_COMPLEX_ALTIVEC_H
+#ifndef EIGEN_COMPLEX32_ALTIVEC_H
+#define EIGEN_COMPLEX32_ALTIVEC_H
 
 namespace Eigen {
 
 namespace internal {
 
-static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_ZERO_);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
-static Packet16uc p16uc_COMPLEX_RE   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
-static Packet16uc p16uc_COMPLEX_IM   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
-static Packet16uc p16uc_COMPLEX_REV  = vec_sld(p16uc_REVERSE, p16uc_REVERSE, 8);//{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
-static Packet16uc p16uc_COMPLEX_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);//{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET_HI = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 1));//{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET_LO = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 2), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 3));//{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+#ifdef __VSX__
+#if defined(_BIG_ENDIAN)
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+#else
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+#endif
+#endif
 
 //---------- float ----------
 struct Packet2cf
 {
-  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf() : v(p4f_ZERO) {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
   Packet4f  v;
 };
@@ -33,10 +37,12 @@ struct Packet2cf
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -47,65 +53,78 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasAbs2   = 0,
     HasMin    = 0,
     HasMax    = 0,
+#ifdef __VSX__
+    HasBlend  = 1,
+#endif
     HasSetLinear = 0
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
   Packet2cf res;
-  /* On AltiVec we cannot load 64-bit registers, so wa have to take care of alignment */
-  if((ptrdiff_t(&from) % 16) == 0)
+  if((std::ptrdiff_t(&from) % 16) == 0)
     res.v = pload<Packet4f>((const float *)&from);
   else
     res.v = ploadu<Packet4f>((const float *)&from);
-  res.v = vec_perm(res.v, res.v, p16uc_PSET_HI);
+  res.v = vec_perm(res.v, res.v, p16uc_PSET64_HI);
   return res;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_add(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_sub(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>*        from) { return Packet2cf(pload<Packet4f>((const float *) from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>*       from) { return Packet2cf(ploadu<Packet4f>((const float*) from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstoreu((float*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet2cf>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<float> >((std::complex<float> *) af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v - b.v); }
 template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf((Packet4f)vec_xor((Packet4ui)a.v, p4ui_CONJ_XOR)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR))); }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   Packet4f v1, v2;
 
   // Permute and multiply the real parts of a and b
-  v1 = vec_perm(a.v, a.v, p16uc_COMPLEX_RE);
+  v1 = vec_perm(a.v, a.v, p16uc_PSET32_WODD);
   // Get the imaginary parts of a
-  v2 = vec_perm(a.v, a.v, p16uc_COMPLEX_IM);
+  v2 = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
   // multiply a_re * b 
   v1 = vec_madd(v1, b.v, p4f_ZERO);
   // multiply a_im * b and get the conjugate result
   v2 = vec_madd(v2, b.v, p4f_ZERO);
-  v2 = (Packet4f) vec_xor((Packet4ui)v2, p4ui_CONJ_XOR);
+  v2 = reinterpret_cast<Packet4f>(pxor(v2, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
   // permute back to a proper order
-  v2 = vec_perm(v2, v2, p16uc_COMPLEX_REV);
+  v2 = vec_perm(v2, v2, p16uc_COMPLEX32_REV);
   
-  return Packet2cf(vec_add(v1, v2));
+  return Packet2cf(padd<Packet4f>(v1, v2));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_or(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_xor(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v, vec_nor(b.v,b.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v, b.v)); }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from)
-{
-  return pset1<Packet2cf>(*from);
-}
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { vec_dstt((float *)addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> * addr)    { EIGEN_PPC_PREFETCH(addr); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
 {
@@ -118,26 +137,30 @@ template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Pack
 template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
 {
   Packet4f rev_a;
-  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX_REV2);
+  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX32_REV2);
   return Packet2cf(rev_a);
 }
 
 template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
 {
   Packet4f b;
-  b = (Packet4f) vec_sld(a.v, a.v, 8);
-  b = padd(a.v, b);
-  return pfirst(Packet2cf(b));
+  b = vec_sld(a.v, a.v, 8);
+  b = padd<Packet4f>(a.v, b);
+  return pfirst<Packet2cf>(Packet2cf(b));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
 {
   Packet4f b1, b2;
-  
-  b1 = (Packet4f) vec_sld(vecs[0].v, vecs[1].v, 8);
-  b2 = (Packet4f) vec_sld(vecs[1].v, vecs[0].v, 8);
-  b2 = (Packet4f) vec_sld(b2, b2, 8);
-  b2 = padd(b1, b2);
+#ifdef _BIG_ENDIAN  
+  b1 = vec_sld(vecs[0].v, vecs[1].v, 8);
+  b2 = vec_sld(vecs[1].v, vecs[0].v, 8);
+#else
+  b1 = vec_sld(vecs[1].v, vecs[0].v, 8);
+  b2 = vec_sld(vecs[0].v, vecs[1].v, 8);
+#endif
+  b2 = vec_sld(b2, b2, 8);
+  b2 = padd<Packet4f>(b1, b2);
 
   return Packet2cf(b2);
 }
@@ -146,10 +169,10 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
 {
   Packet4f b;
   Packet2cf prod;
-  b = (Packet4f) vec_sld(a.v, a.v, 8);
-  prod = pmul(a, Packet2cf(b));
+  b = vec_sld(a.v, a.v, 8);
+  prod = pmul<Packet2cf>(a, Packet2cf(b));
 
-  return pfirst(prod);
+  return pfirst<Packet2cf>(prod);
 }
 
 template<int Offset>
@@ -159,7 +182,11 @@ struct palign_impl<Offset,Packet2cf>
   {
     if (Offset==1)
     {
+#ifdef _BIG_ENDIAN
       first.v = vec_sld(first.v, second.v, 8);
+#else
+      first.v = vec_sld(second.v, first.v, 8);
+#endif
     }
   }
 };
@@ -197,21 +224,238 @@ template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
   }
 };
 
+template<> struct conj_helper<Packet4f, Packet2cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
+  { return Packet2cf(internal::pmul<Packet4f>(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cf, Packet4f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
+  { return Packet2cf(internal::pmul<Packet4f>(x.v, y)); }
+};
+
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   // TODO optimize it for AltiVec
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
-  Packet4f s = vec_madd(b.v, b.v, p4f_ZERO);
-  return Packet2cf(pdiv(res.v, vec_add(s,vec_perm(s, s, p16uc_COMPLEX_REV))));
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a, b);
+  Packet4f s = pmul<Packet4f>(b.v, b.v);
+  return Packet2cf(pdiv(res.v, padd<Packet4f>(s, vec_perm(s, s, p16uc_COMPLEX32_REV))));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
 {
-  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX_REV));
+  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX32_REV));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
+{
+  Packet4f tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+
+#ifdef __VSX__
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  Packet2cf result;
+  result.v = reinterpret_cast<Packet4f>(pblend<Packet2d>(ifPacket, reinterpret_cast<Packet2d>(thenPacket.v), reinterpret_cast<Packet2d>(elsePacket.v)));
+  return result;
+}
+#endif
+
+//---------- double ----------
+#ifdef __VSX__
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+{
+  std::complex<double> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet1cd>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+{
+  std::complex<double> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<double> >(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d a_re, a_im, v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
+  // Get the imaginary parts of a
+  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
+  // multiply a_re * b
+  v1 = vec_madd(a_re, b.v, p2d_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(a_im, b.v, p2d_ZERO);
+  v2 = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v2), reinterpret_cast<Packet4ui>(v2), 8));
+  v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1));
+
+  return Packet1cd(padd<Packet2d>(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pand(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(por(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pxor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pandnot(a.v, b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from)  { return pset1<Packet1cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> * addr)    { EIGEN_PPC_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res[2];
+  pstore<std::complex<double> >(res, a);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)        { return vecs[0]; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+template<> struct conj_helper<Packet2d, Packet1cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
+  { return Packet1cd(internal::pmul<Packet2d>(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet1cd, Packet2d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
+  { return Packet1cd(internal::pmul<Packet2d>(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for AltiVec
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = pmul<Packet2d>(b.v, b.v);
+  return Packet1cd(pdiv(res.v, padd<Packet2d>(s, vec_perm(s, s, p16uc_REVERSE64))));
 }
 
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+#endif // __VSX__
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_COMPLEX_ALTIVEC_H
+#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h
new file mode 100644
index 0000000..c5e4bed
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h
@@ -0,0 +1,322 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos at freevec.org>
+//
+// 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/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+static _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+static _EIGEN_DECLARE_CONST_Packet4i(23, 23);
+
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+/* the smallest non denormalized float number */
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000); // -1.f/0.f
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_nan,     0xffffffff);
+  
+/* natural logarithm computed for 4 simultaneous float
+  return NaN for x <= 0
+*/
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
+static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+#ifdef __VSX__
+static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
+static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
+static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+
+static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
+static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+#ifdef __POWER8_VECTOR__
+static Packet2l p2l_1023 = { 1023, 1023 };
+static Packet2ul p2ul_52 = { 52, 52 };
+#endif
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+
+  Packet4i emm0;
+
+  /* isvalid_mask is 0 if x < 0 or x is NaN. */
+  Packet4ui isvalid_mask = reinterpret_cast<Packet4ui>(vec_cmpge(x, p4f_ZERO));
+  Packet4ui iszero_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(x, p4f_ZERO));
+
+  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
+  emm0 = vec_sr(reinterpret_cast<Packet4i>(x),
+                reinterpret_cast<Packet4ui>(p4i_23));
+
+  /* keep only the fractional part */
+  x = pand(x, p4f_inv_mant_mask);
+  x = por(x, p4f_half);
+
+  emm0 = psub(emm0, p4i_0x7f);
+  Packet4f e = padd(vec_ctf(emm0, 0), p4f_1);
+
+  /* part2:
+     if( x < SQRTHF ) {
+       e -= 1;
+       x = x + x - 1.0;
+     } else { x = x - 1.0; }
+  */
+  Packet4f mask = reinterpret_cast<Packet4f>(vec_cmplt(x, p4f_cephes_SQRTHF));
+  Packet4f tmp = pand(x, mask);
+  x = psub(x, p4f_1);
+  e = psub(e, pand(p4f_1, mask));
+  x = padd(x, tmp);
+
+  Packet4f x2 = pmul(x,x);
+  Packet4f x3 = pmul(x2,x);
+
+  Packet4f y, y1, y2;
+  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
+  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
+  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
+  y  = pmadd(y , x, p4f_cephes_log_p2);
+  y1 = pmadd(y1, x, p4f_cephes_log_p5);
+  y2 = pmadd(y2, x, p4f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  y1 = pmul(e, p4f_cephes_log_q1);
+  tmp = pmul(x2, p4f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p4f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+  // negative arg will be NAN, 0 will be -INF
+  x = vec_sel(x, p4f_minus_inf, iszero_mask);
+  x = vec_sel(p4f_minus_nan, x, isvalid_mask);
+  return x;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+
+  Packet4f tmp, fx;
+  Packet4i emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+
+  // express exp(x) as exp(g + n*log(2))
+  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+
+  fx = pfloor(fx);
+
+  tmp = pmul(fx, p4f_cephes_exp_C1);
+  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  z = pmul(x,x);
+
+  Packet4f y = p4f_cephes_exp_p0;
+  y = pmadd(y, x, p4f_cephes_exp_p1);
+  y = pmadd(y, x, p4f_cephes_exp_p2);
+  y = pmadd(y, x, p4f_cephes_exp_p3);
+  y = pmadd(y, x, p4f_cephes_exp_p4);
+  y = pmadd(y, x, p4f_cephes_exp_p5);
+  y = pmadd(y, z, x);
+  y = padd(y, p4f_1);
+
+  // build 2^n
+  emm0 = vec_cts(fx, 0);
+  emm0 = vec_add(emm0, p4i_0x7f);
+  emm0 = vec_sl(emm0, reinterpret_cast<Packet4ui>(p4i_23));
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet4ui isnumber_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(y, reinterpret_cast<Packet4f>(emm0)), _x),
+                 isnumber_mask);
+}
+
+#ifndef EIGEN_COMP_CLANG
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x)
+{
+  return  vec_rsqrt(x);
+}
+#endif
+
+#ifdef __VSX__
+#ifndef EIGEN_COMP_CLANG
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x)
+{
+  return  vec_rsqrt(x);
+}
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x)
+{
+  return  vec_sqrt(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x)
+{
+  return  vec_sqrt(x);
+}
+
+// VSX support varies between different compilers and even different
+// versions of the same compiler.  For gcc version >= 4.9.3, we can use
+// vec_cts to efficiently convert Packet2d to Packet2l.  Otherwise, use
+// a slow version that works with older compilers. 
+// Update: apparently vec_cts/vec_ctf intrinsics for 64-bit doubles
+// are buggy, https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70963
+static inline Packet2l ConvertToPacket2l(const Packet2d& x) {
+#if EIGEN_GNUC_AT_LEAST(5, 4) || \
+    (EIGEN_GNUC_AT(6, 1) && __GNUC_PATCHLEVEL__ >= 1)
+  return vec_cts(x, 0);    // TODO: check clang version.
+#else
+  double tmp[2];
+  memcpy(tmp, &x, sizeof(tmp));
+  Packet2l l = { static_cast<long long>(tmp[0]),
+                 static_cast<long long>(tmp[1]) };
+  return l;
+#endif
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d pexp<Packet2d>(const Packet2d& _x)
+{
+  Packet2d x = _x;
+
+  Packet2d tmp, fx;
+  Packet2l emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(x, p2d_cephes_LOG2EF, p2d_half);
+
+  fx = pfloor(fx);
+
+  tmp = pmul(fx, p2d_cephes_exp_C1);
+  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet2d x2 = pmul(x,x);
+
+  Packet2d px = p2d_cephes_exp_p0;
+  px = pmadd(px, x2, p2d_cephes_exp_p1);
+  px = pmadd(px, x2, p2d_cephes_exp_p2);
+  px = pmul (px, x);
+
+  Packet2d qx = p2d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+  x = pdiv(px,psub(qx,px));
+  x = pmadd(p2d_2,x,p2d_1);
+
+  // build 2^n
+  emm0 = ConvertToPacket2l(fx);
+
+#ifdef __POWER8_VECTOR__ 
+  emm0 = vec_add(emm0, p2l_1023);
+  emm0 = vec_sl(emm0, p2ul_52);
+#else
+  // Code is a bit complex for POWER7.  There is actually a
+  // vec_xxsldi intrinsic but it is not supported by some gcc versions.
+  // So we shift (52-32) bits and do a word swap with zeros.
+  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
+  _EIGEN_DECLARE_CONST_Packet4i(20, 20);    // 52 - 32
+
+  Packet4i emm04i = reinterpret_cast<Packet4i>(emm0);
+  emm04i = vec_add(emm04i, p4i_1023);
+  emm04i = vec_sl(emm04i, reinterpret_cast<Packet4ui>(p4i_20));
+  static const Packet16uc perm = {
+    0x14, 0x15, 0x16, 0x17, 0x00, 0x01, 0x02, 0x03, 
+    0x1c, 0x1d, 0x1e, 0x1f, 0x08, 0x09, 0x0a, 0x0b };
+#ifdef  _BIG_ENDIAN
+  emm0 = reinterpret_cast<Packet2l>(vec_perm(p4i_ZERO, emm04i, perm));
+#else
+  emm0 = reinterpret_cast<Packet2l>(vec_perm(emm04i, p4i_ZERO, perm));
+#endif
+
+#endif
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
+                 isnumber_mask);
+}
+#endif
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
index e408996..b3f1ea1 100644
--- a/vendor/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ b/vendor/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Konstantinos Margaritis <markos at codex.gr>
+// Copyright (C) 2008-2016 Konstantinos Margaritis <markos at freevec.org>
 //
 // 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
@@ -18,13 +18,17 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
 #endif
 
-#ifndef EIGEN_HAS_FUSE_CJMADD
-#define EIGEN_HAS_FUSE_CJMADD 1
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
 #endif
 
 // NOTE Altivec has 32 registers, but Eigen only accepts a value of 8 or 16
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  32
 #endif
 
 typedef __vector float          Packet4f;
@@ -38,7 +42,7 @@ typedef __vector unsigned char  Packet16uc;
 // and it doesn't really work to declare them global, so we define macros instead
 
 #define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
-  Packet4f p4f_##NAME = (Packet4f) vec_splat_s32(X)
+  Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(vec_splat_s32(X))
 
 #define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
   Packet4i p4i_##NAME = vec_splat_s32(X)
@@ -46,60 +50,158 @@ typedef __vector unsigned char  Packet16uc;
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   Packet4f p4f_##NAME = pset1<Packet4f>(X)
 
-#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
-
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = pset1<Packet2d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = pset1<Packet2l>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(pset1<Packet4i>(X))
+
 #define DST_CHAN 1
 #define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
 
+
+// These constants are endian-agnostic
+static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0); //{ 0.0, 0.0, 0.0, 0.0}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1); //{ 1, 1, 1, 1}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16); //{ -16, -16, -16, -16}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1); //{ -1, -1, -1, -1}
+static Packet4f p4f_MZERO = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1); //{ 0x80000000, 0x80000000, 0x80000000, 0x80000000}
+#ifndef __VSX__
+static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0); //{ 1.0, 1.0, 1.0, 1.0}
+#endif
+
+static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
+static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
+
+static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
+static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+
+// Mask alignment
+#ifdef __PPC64__
+#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
+#else
+#define _EIGEN_MASK_ALIGNMENT	0xfffffff0
+#endif
+
+#define _EIGEN_ALIGNED_PTR(x)	((std::ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
+
+// Handle endianness properly while loading constants
 // Define global static constants:
-static Packet4f p4f_COUNTDOWN = { 3.0, 2.0, 1.0, 0.0 };
-static Packet4i p4i_COUNTDOWN = { 3, 2, 1, 0 };
-static Packet16uc p16uc_REVERSE = {12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3};
+#ifdef _BIG_ENDIAN
 static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
-static Packet16uc p16uc_DUPLICATE = {0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7};
-
-static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1);
-static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0);
-static Packet4f p4f_ZERO_ = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1);
+#ifdef __VSX__
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#endif
+static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+#else
+static Packet16uc p16uc_FORWARD = p16uc_REVERSE32; 
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET32_WODD = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_HALF64_0_16 = vec_sld(vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 0), (Packet16uc)p4i_ZERO, 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+#endif // _BIG_ENDIAN
+
+static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+static Packet16uc p16uc_TRANSPOSE64_HI = p16uc_PSET64_HI + p16uc_HALF64_0_16;                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = p16uc_PSET64_LO + p16uc_HALF64_0_16;                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
+
+static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+
+#ifdef _BIG_ENDIAN
+static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#else
+static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_PSET64_HI, p16uc_PSET64_LO, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#endif // _BIG_ENDIAN
+
+#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
+  #define EIGEN_PPC_PREFETCH(ADDR) __builtin_prefetch(ADDR);
+#else
+  #define EIGEN_PPC_PREFETCH(ADDR) asm( "   dcbt [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
+#endif
 
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=4,
-
-    // FIXME check the Has*
+    HasHalfPacket = 1,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
     HasSin  = 0,
     HasCos  = 0,
     HasLog  = 0,
-    HasExp  = 0,
-    HasSqrt = 0
+    HasExp  = 1,
+#ifdef __VSX__
+    HasSqrt = 1,
+#if !EIGEN_COMP_CLANG
+    HasRsqrt = 1,
+#else
+    HasRsqrt = 0,
+#endif
+#else
+    HasSqrt = 0,
+    HasRsqrt = 0,
+#endif
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
   };
 };
 template<> struct packet_traits<int>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half;
   enum {
-    // FIXME check the Has*
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size = 4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 0,
+    HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
-/*
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+
+inline std::ostream & operator <<(std::ostream & s, const Packet16uc & v)
+{
+  union {
+    Packet16uc   v;
+    unsigned char n[16];
+  } vt;
+  vt.v = v;
+  for (int i=0; i< 16; i++)
+    s << (int)vt.n[i] << ", ";
+  return s;
+}
+
 inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
 {
   union {
@@ -133,89 +235,136 @@ inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
   return s;
 }
 
-inline std::ostream & operator <<(std::ostream & s, const Packetbi & v)
+// Need to define them first or we get specialization after instantiation errors
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
 {
-  union {
-    Packet4bi v;
-    unsigned int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-*/
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  float EIGEN_ALIGN16 af[4];
-  af[0] = from;
-  Packet4f vc = vec_ld(0, af);
-  vc = vec_splat(vc, 0);
-  return vc;
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
-  int EIGEN_ALIGN16 ai[4];
-  ai[0] = from;
-  Packet4i vc = vec_ld(0, ai);
-  vc = vec_splat(vc, 0);
-  return vc;
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return vec_add(pset1<Packet4f>(a), p4f_COUNTDOWN); }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)     { return vec_add(pset1<Packet4i>(a), p4i_COUNTDOWN); }
-
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_add(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_add(a,b); }
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_sub(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_sub(a,b); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return psub<Packet4f>(p4f_ZERO, a); }
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return psub<Packet4i>(p4i_ZERO, a); }
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
+  Packet4f v = {from, from, from, from};
+  return v;
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
+  Packet4i v = {from, from, from, from};
+  return v;
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4i>(const int *a,
+                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
+{
+  a3 = pload<Packet4i>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b,p4f_ZERO); }
-/* Commented out: it's actually slower than processing it scalar
- *
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  float EIGEN_ALIGN16 af[4];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  af[2] = from[2*stride];
+  af[3] = from[3*stride];
+ return pload<Packet4f>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4i>(ai);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
 {
-  // Detailed in: http://freevec.org/content/32bit_signed_integer_multiplication_altivec
-  //Set up constants, variables
-  Packet4i a1, b1, bswap, low_prod, high_prod, prod, prod_, v1sel;
+  float EIGEN_ALIGN16 af[4];
+  pstore<float>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+  to[2*stride] = af[2];
+  to[3*stride] = af[3];
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  pstore<int>((int *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
 
-  // Get the absolute values
-  a1  = vec_abs(a);
-  b1  = vec_abs(b);
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return pset1<Packet4f>(a) + p4f_COUNTDOWN; }
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)   { return pset1<Packet4i>(a) + p4i_COUNTDOWN; }
 
-  // Get the signs using xor
-  Packet4bi sgn = (Packet4bi) vec_cmplt(vec_xor(a, b), p4i_ZERO);
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return a + b; }
 
-  // Do the multiplication for the asbolute values.
-  bswap = (Packet4i) vec_rl((Packet4ui) b1, (Packet4ui) p4i_MINUS16 );
-  low_prod = vec_mulo((Packet8i) a1, (Packet8i)b1);
-  high_prod = vec_msum((Packet8i) a1, (Packet8i) bswap, p4i_ZERO);
-  high_prod = (Packet4i) vec_sl((Packet4ui) high_prod, (Packet4ui) p4i_MINUS16);
-  prod = vec_add( low_prod, high_prod );
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return a - b; }
 
-  // NOR the product and select only the negative elements according to the sign mask
-  prod_ = vec_nor(prod, prod);
-  prod_ = vec_sel(p4i_ZERO, prod_, sgn);
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return p4f_ZERO - a; }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return p4i_ZERO - a; }
 
-  // Add 1 to the result to get the negative numbers
-  v1sel = vec_sel(p4i_ZERO, p4i_ONE, sgn);
-  prod_ = vec_add(prod_, v1sel);
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
 
-  // Merge the results back to the final vector.
-  prod = vec_sel(prod, prod_, sgn);
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b, p4f_MZERO); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return a * b; }
 
-  return prod;
-}
-*/
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
 {
-  Packet4f t, y_0, y_1, res;
+#ifndef __VSX__  // VSX actually provides a div instruction
+  Packet4f t, y_0, y_1;
 
   // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
   y_0 = vec_re(b);
@@ -224,8 +373,10 @@ template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const
   t   = vec_nmsub(y_0, b, p4f_ONE);
   y_1 = vec_madd(y_0, t, y_0);
 
-  res = vec_madd(a, y_1, p4f_ZERO);
-  return res;
+  return vec_madd(a, y_1, p4f_MZERO);
+#else
+  return vec_div(a, b);
+#endif
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
@@ -234,8 +385,8 @@ template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, co
 }
 
 // for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a, b, c); }
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return a*b + c; }
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_min(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
@@ -243,7 +394,6 @@ template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const
 template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
 
-// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
 template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
 
@@ -256,13 +406,14 @@ template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const
 template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, vec_nor(b, b)); }
 template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, vec_nor(b, b)); }
 
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return vec_floor(a); }
 
+#ifdef _BIG_ENDIAN
 template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
 {
   EIGEN_DEBUG_ALIGNED_LOAD
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
   Packet16uc MSQ, LSQ;
   Packet16uc mask;
   MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
@@ -282,25 +433,36 @@ template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
   mask = vec_lvsl(0, from);                        // create the permute mask
   return (Packet4i) vec_perm(MSQ, LSQ, mask);    // align the data
 }
+#else
+// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return (Packet4i) vec_vsx_ld((long)from & 15, (const int*) _EIGEN_ALIGNED_PTR(from));
+}
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return (Packet4f) vec_vsx_ld((long)from & 15, (const float*) _EIGEN_ALIGNED_PTR(from));
+}
+#endif
 
 template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
 {
   Packet4f p;
-  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4f>(from);
-  else                              p = ploadu<Packet4f>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE);
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4f>(from);
+  else                                  p = ploadu<Packet4f>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
 template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
 {
   Packet4i p;
-  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4i>(from);
-  else                              p = ploadu<Packet4i>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE);
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4i>(from);
+  else                                  p = ploadu<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
 
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
-
+#ifdef _BIG_ENDIAN
 template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
 {
   EIGEN_DEBUG_UNALIGNED_STORE
@@ -337,15 +499,33 @@ template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& f
   vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
   vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
 }
+#else
+// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st(from, (long)to & 15, (int*) _EIGEN_ALIGNED_PTR(to));
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st(from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+}
+#endif
 
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr)    { EIGEN_PPC_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr)    { EIGEN_PPC_PREFETCH(addr); }
 
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
 
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) { return (Packet4f)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) { return (Packet4i)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  return reinterpret_cast<Packet4f>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{
+  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32)); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vec_abs(a); }
 template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs(a); }
@@ -353,10 +533,10 @@ template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs
 template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
 {
   Packet4f b, sum;
-  b   = (Packet4f) vec_sld(a, a, 8);
-  sum = vec_add(a, b);
-  b   = (Packet4f) vec_sld(sum, sum, 4);
-  sum = vec_add(sum, b);
+  b   = vec_sld(a, a, 8);
+  sum = a + b;
+  b   = vec_sld(sum, sum, 4);
+  sum += b;
   return pfirst(sum);
 }
 
@@ -379,11 +559,11 @@ template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 
   // Now do the summation:
   // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
   // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
+  sum[1] = sum[2] + sum[3];
   // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
 
   return sum[0];
 }
@@ -392,7 +572,11 @@ template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
 {
   Packet4i sum;
   sum = vec_sums(a, p4i_ZERO);
+#ifdef _BIG_ENDIAN
   sum = vec_sld(sum, p4i_ZERO, 12);
+#else
+  sum = vec_sld(p4i_ZERO, sum, 4);
+#endif
   return pfirst(sum);
 }
 
@@ -415,11 +599,11 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
 
   // Now do the summation:
   // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
   // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
+  sum[1] = sum[2] + sum[3];
   // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
 
   return sum[0];
 }
@@ -429,8 +613,8 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
 template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 {
   Packet4f prod;
-  prod = pmul(a, (Packet4f)vec_sld(a, a, 8));
-  return pfirst(pmul(prod, (Packet4f)vec_sld(prod, prod, 4)));
+  prod = pmul(a, vec_sld(a, a, 8));
+  return pfirst(pmul(prod, vec_sld(prod, prod, 4)));
 }
 
 template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
@@ -479,8 +663,25 @@ struct palign_impl<Offset,Packet4f>
 {
   static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
   {
-    if (Offset!=0)
-      first = vec_sld(first, second, Offset*4);
+#ifdef _BIG_ENDIAN
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+#else
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(second, first, 12); break;
+    case 2:
+      first = vec_sld(second, first, 8); break;
+    case 3:
+      first = vec_sld(second, first, 4); break;
+    }
+#endif
   }
 };
 
@@ -489,11 +690,342 @@ struct palign_impl<Offset,Packet4i>
 {
   static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
   {
-    if (Offset!=0)
-      first = vec_sld(first, second, Offset*4);
+#ifdef _BIG_ENDIAN
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+#else
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(second, first, 12); break;
+    case 2:
+      first = vec_sld(second, first, 8); break;
+    case 3:
+      first = vec_sld(second, first, 4); break;
+    }
+#endif
   }
 };
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  Packet4f t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  Packet4i t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+
+//---------- double ----------
+#ifdef __VSX__
+typedef __vector double              Packet2d;
+typedef __vector unsigned long long  Packet2ul;
+typedef __vector long long           Packet2l;
+#if EIGEN_COMP_CLANG
+typedef Packet2ul                    Packet2bl;
+#else
+typedef __vector __bool long         Packet2bl;
+#endif
+
+static Packet2l  p2l_ONE  = { 1, 1 };
+static Packet2l  p2l_ZERO = reinterpret_cast<Packet2l>(p4i_ZERO);
+static Packet2d  p2d_ONE  = { 1.0, 1.0 }; 
+static Packet2d  p2d_ZERO = reinterpret_cast<Packet2d>(p4f_ZERO);
+static Packet2d  p2d_MZERO = { -0.0, -0.0 };
+
+#ifdef _BIG_ENDIAN
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ZERO), reinterpret_cast<Packet4f>(p2d_ONE), 8));
+#else
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ONE), reinterpret_cast<Packet4f>(p2d_ZERO), 8));
+#endif
+
+template<int index> Packet2d vec_splat_dbl(Packet2d& a);
+
+template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<0>(Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_HI));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<1>(Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_LO));
+}
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 1,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
+{
+  union {
+    Packet2l   v;
+    int64_t n[2];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
+{
+  union {
+    Packet2d   v;
+    double n[2];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1];
+  return s;
+}
+
+// Need to define them first or we get specialization after instantiation errors
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) {
+  Packet2d v = {from, from};
+  return v;
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+  a1 = pload<Packet2d>(a);
+  a0 = vec_splat_dbl<0>(a1);
+  a1 = vec_splat_dbl<1>(a1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec_splat_dbl<0>(a3);
+  a3 = vec_splat_dbl<1>(a3);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+ return pload<Packet2d>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  pstore<double>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return pset1<Packet2d>(a) + p2d_COUNTDOWN; }
+
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return a + b; }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return a - b; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return p2d_ZERO - a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_madd(a,b,p2d_MZERO); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_div(a,b); }
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  return (Packet2d) vec_vsx_ld((long)from & 15, (const double*) _EIGEN_ALIGNED_PTR(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  Packet2d p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet2d>(from);
+  else                                  p = ploadu<Packet2d>(from);
+  return vec_splat_dbl<0>(p);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st((Packet4f)from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_PPC_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE double  pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore<double>(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vec_abs(a); }
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  Packet2d b, sum;
+  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(a), reinterpret_cast<Packet4f>(a), 8));
+  sum = a + b;
+  return pfirst<Packet2d>(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  Packet2d v[2], sum;
+  v[0] = vecs[0] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[0]), reinterpret_cast<Packet4f>(vecs[0]), 8));
+  v[1] = vecs[1] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[1]), reinterpret_cast<Packet4f>(vecs[1]), 8));
+ 
+#ifdef _BIG_ENDIAN
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[0]), reinterpret_cast<Packet4f>(v[1]), 8));
+#else
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[1]), reinterpret_cast<Packet4f>(v[0]), 8));
+#endif
+
+  return sum;
+}
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmin(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmax(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset == 1)
+#ifdef _BIG_ENDIAN
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(first), reinterpret_cast<Packet4ui>(second), 8));
+#else
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(second), reinterpret_cast<Packet4ui>(first), 8));
+#endif
+  }
+};
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  Packet2d t0, t1;
+  t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
+  t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
+  kernel.packet[0] = t0;
+  kernel.packet[1] = t1;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  Packet2l select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2bl mask = vec_cmpeq(reinterpret_cast<Packet2d>(select), reinterpret_cast<Packet2d>(p2l_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+#endif // __VSX__
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/Complex.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/Complex.h
new file mode 100644
index 0000000..9c25365
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/Complex.h
@@ -0,0 +1,103 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog at 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_COMPLEX_CUDA_H
+#define EIGEN_COMPLEX_CUDA_H
+
+// clang-format off
+
+namespace Eigen {
+
+namespace internal {
+
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+
+// Many std::complex methods such as operator+, operator-, operator* and
+// operator/ are not constexpr. Due to this, clang does not treat them as device
+// functions and thus Eigen functors making use of these operators fail to
+// compile. Here, we manually specialize these functors for complex types when
+// building for CUDA to avoid non-constexpr methods.
+
+// Sum
+template<typename T> struct scalar_sum_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    return std::complex<T>(numext::real(a) + numext::real(b),
+                           numext::imag(a) + numext::imag(b));
+  }
+};
+
+template<typename T> struct scalar_sum_op<std::complex<T>, std::complex<T> > : scalar_sum_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Difference
+template<typename T> struct scalar_difference_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    return std::complex<T>(numext::real(a) - numext::real(b),
+                           numext::imag(a) - numext::imag(b));
+  }
+};
+
+template<typename T> struct scalar_difference_op<std::complex<T>, std::complex<T> > : scalar_difference_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Product
+template<typename T> struct scalar_product_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  enum {
+    Vectorizable = packet_traits<std::complex<T>>::HasMul
+  };
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    const T a_real = numext::real(a);
+    const T a_imag = numext::imag(a);
+    const T b_real = numext::real(b);
+    const T b_imag = numext::imag(b);
+    return std::complex<T>(a_real * b_real - a_imag * b_imag,
+                           a_real * b_imag + a_imag * b_real);
+  }
+};
+
+template<typename T> struct scalar_product_op<std::complex<T>, std::complex<T> > : scalar_product_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Quotient
+template<typename T> struct scalar_quotient_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  enum {
+    Vectorizable = packet_traits<std::complex<T>>::HasDiv
+  };
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    const T a_real = numext::real(a);
+    const T a_imag = numext::imag(a);
+    const T b_real = numext::real(b);
+    const T b_imag = numext::imag(b);
+    const T norm = T(1) / (b_real * b_real + b_imag * b_imag);
+    return std::complex<T>((a_real * b_real + a_imag * b_imag) * norm,
+                           (a_imag * b_real - a_real * b_imag) * norm);
+  }
+};
+
+template<typename T> struct scalar_quotient_op<std::complex<T>, std::complex<T> > : scalar_quotient_op<const std::complex<T>, const std::complex<T> > {};
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/Half.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/Half.h
new file mode 100644
index 0000000..294c517
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/Half.h
@@ -0,0 +1,635 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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/.
+//
+// The conversion routines are Copyright (c) Fabian Giesen, 2016.
+// The original license follows:
+//
+// Copyright (c) Fabian Giesen, 2016
+// All rights reserved.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+// Standard 16-bit float type, mostly useful for GPUs. Defines a new
+// type Eigen::half (inheriting from CUDA's __half struct) with
+// operator overloads such that it behaves basically as an arithmetic
+// type. It will be quite slow on CPUs (so it is recommended to stay
+// in fp32 for CPUs, except for simple parameter conversions, I/O
+// to disk and the likes), but fast on GPUs.
+
+
+#ifndef EIGEN_HALF_CUDA_H
+#define EIGEN_HALF_CUDA_H
+
+#if __cplusplus > 199711L
+#define EIGEN_EXPLICIT_CAST(tgt_type) explicit operator tgt_type()
+#else
+#define EIGEN_EXPLICIT_CAST(tgt_type) operator tgt_type()
+#endif
+
+
+namespace Eigen {
+
+struct half;
+
+namespace half_impl {
+
+#if !defined(EIGEN_HAS_CUDA_FP16)
+
+// Make our own __half definition that is similar to CUDA's.
+struct __half {
+  EIGEN_DEVICE_FUNC __half() {}
+  explicit EIGEN_DEVICE_FUNC __half(unsigned short raw) : x(raw) {}
+  unsigned short x;
+};
+
+#endif
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h);
+
+struct half_base : public __half {
+  EIGEN_DEVICE_FUNC half_base() {}
+  EIGEN_DEVICE_FUNC half_base(const half_base& h) : __half(h) {}
+  EIGEN_DEVICE_FUNC half_base(const __half& h) : __half(h) {}
+};
+
+} // namespace half_impl
+
+// Class definition.
+struct half : public half_impl::half_base {
+  #if !defined(EIGEN_HAS_CUDA_FP16)
+    typedef half_impl::__half __half;
+  #endif
+
+  EIGEN_DEVICE_FUNC half() {}
+
+  EIGEN_DEVICE_FUNC half(const __half& h) : half_impl::half_base(h) {}
+  EIGEN_DEVICE_FUNC half(const half& h) : half_impl::half_base(h) {}
+
+  explicit EIGEN_DEVICE_FUNC half(bool b)
+      : half_impl::half_base(half_impl::raw_uint16_to_half(b ? 0x3c00 : 0)) {}
+  template<class T>
+  explicit EIGEN_DEVICE_FUNC half(const T& val)
+      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(val))) {}
+  explicit EIGEN_DEVICE_FUNC half(float f)
+      : half_impl::half_base(half_impl::float_to_half_rtne(f)) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(bool) const {
+    // +0.0 and -0.0 become false, everything else becomes true.
+    return (x & 0x7fff) != 0;
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(signed char) const {
+    return static_cast<signed char>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned char) const {
+    return static_cast<unsigned char>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(short) const {
+    return static_cast<short>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned short) const {
+    return static_cast<unsigned short>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(int) const {
+    return static_cast<int>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned int) const {
+    return static_cast<unsigned int>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long) const {
+    return static_cast<long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long) const {
+    return static_cast<unsigned long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long long) const {
+    return static_cast<long long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long long) const {
+    return static_cast<unsigned long long>(half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(float) const {
+    return half_impl::half_to_float(*this);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(double) const {
+    return static_cast<double>(half_impl::half_to_float(*this));
+  }
+
+  EIGEN_DEVICE_FUNC half& operator=(const half& other) {
+    x = other.x;
+    return *this;
+  }
+};
+
+namespace half_impl {
+
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+
+// Intrinsics for native fp16 support. Note that on current hardware,
+// these are no faster than fp32 arithmetic (you need to use the half2
+// versions to get the ALU speed increased), but you do save the
+// conversion steps back and forth.
+
+__device__ half operator + (const half& a, const half& b) {
+  return __hadd(a, b);
+}
+__device__ half operator * (const half& a, const half& b) {
+  return __hmul(a, b);
+}
+__device__ half operator - (const half& a, const half& b) {
+  return __hsub(a, b);
+}
+__device__ half operator / (const half& a, const half& b) {
+  float num = __half2float(a);
+  float denom = __half2float(b);
+  return __float2half(num / denom);
+}
+__device__ half operator - (const half& a) {
+  return __hneg(a);
+}
+__device__ half& operator += (half& a, const half& b) {
+  a = a + b;
+  return a;
+}
+__device__ half& operator *= (half& a, const half& b) {
+  a = a * b;
+  return a;
+}
+__device__ half& operator -= (half& a, const half& b) {
+  a = a - b;
+  return a;
+}
+__device__ half& operator /= (half& a, const half& b) {
+  a = a / b;
+  return a;
+}
+__device__ bool operator == (const half& a, const half& b) {
+  return __heq(a, b);
+}
+__device__ bool operator != (const half& a, const half& b) {
+  return __hne(a, b);
+}
+__device__ bool operator < (const half& a, const half& b) {
+  return __hlt(a, b);
+}
+__device__ bool operator <= (const half& a, const half& b) {
+  return __hle(a, b);
+}
+__device__ bool operator > (const half& a, const half& b) {
+  return __hgt(a, b);
+}
+__device__ bool operator >= (const half& a, const half& b) {
+  return __hge(a, b);
+}
+
+#else  // Emulate support for half floats
+
+// Definitions for CPUs and older CUDA, mostly working through conversion
+// to/from fp32.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
+  return half(float(a) + float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
+  return half(float(a) * float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
+  return half(float(a) - float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
+  return half(float(a) / float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
+  half result;
+  result.x = a.x ^ 0x8000;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
+  a = half(float(a) + float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
+  a = half(float(a) * float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
+  a = half(float(a) - float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
+  a = half(float(a) / float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
+  return float(a) == float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
+  return float(a) != float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
+  return float(a) < float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
+  return float(a) <= float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
+  return float(a) > float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
+  return float(a) >= float(b);
+}
+
+#endif  // Emulate support for half floats
+
+// Division by an index. Do it in full float precision to avoid accuracy
+// issues in converting the denominator to half.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, Index b) {
+  return half(static_cast<float>(a) / static_cast<float>(b));
+}
+
+// Conversion routines, including fallbacks for the host or older CUDA.
+// Note that newer Intel CPUs (Haswell or newer) have vectorized versions of
+// these in hardware. If we need more performance on older/other CPUs, they are
+// also possible to vectorize directly.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x) {
+  __half h;
+  h.x = x;
+  return h;
+}
+
+union FP32 {
+  unsigned int u;
+  float f;
+};
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+  return __float2half(ff);
+
+#elif defined(EIGEN_HAS_FP16_C)
+  __half h;
+  h.x = _cvtss_sh(ff, 0);
+  return h;
+
+#else
+  FP32 f; f.f = ff;
+
+  const FP32 f32infty = { 255 << 23 };
+  const FP32 f16max = { (127 + 16) << 23 };
+  const FP32 denorm_magic = { ((127 - 15) + (23 - 10) + 1) << 23 };
+  unsigned int sign_mask = 0x80000000u;
+  __half o;
+  o.x = static_cast<unsigned short>(0x0u);
+
+  unsigned int sign = f.u & sign_mask;
+  f.u ^= sign;
+
+  // NOTE all the integer compares in this function can be safely
+  // compiled into signed compares since all operands are below
+  // 0x80000000. Important if you want fast straight SSE2 code
+  // (since there's no unsigned PCMPGTD).
+
+  if (f.u >= f16max.u) {  // result is Inf or NaN (all exponent bits set)
+    o.x = (f.u > f32infty.u) ? 0x7e00 : 0x7c00; // NaN->qNaN and Inf->Inf
+  } else {  // (De)normalized number or zero
+    if (f.u < (113 << 23)) {  // resulting FP16 is subnormal or zero
+      // use a magic value to align our 10 mantissa bits at the bottom of
+      // the float. as long as FP addition is round-to-nearest-even this
+      // just works.
+      f.f += denorm_magic.f;
+
+      // and one integer subtract of the bias later, we have our final float!
+      o.x = static_cast<unsigned short>(f.u - denorm_magic.u);
+    } else {
+      unsigned int mant_odd = (f.u >> 13) & 1; // resulting mantissa is odd
+
+      // update exponent, rounding bias part 1
+      f.u += ((unsigned int)(15 - 127) << 23) + 0xfff;
+      // rounding bias part 2
+      f.u += mant_odd;
+      // take the bits!
+      o.x = static_cast<unsigned short>(f.u >> 13);
+    }
+  }
+
+  o.x |= static_cast<unsigned short>(sign >> 16);
+  return o;
+#endif
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+  return __half2float(h);
+
+#elif defined(EIGEN_HAS_FP16_C)
+  return _cvtsh_ss(h.x);
+
+#else
+  const FP32 magic = { 113 << 23 };
+  const unsigned int shifted_exp = 0x7c00 << 13; // exponent mask after shift
+  FP32 o;
+
+  o.u = (h.x & 0x7fff) << 13;             // exponent/mantissa bits
+  unsigned int exp = shifted_exp & o.u;   // just the exponent
+  o.u += (127 - 15) << 23;                // exponent adjust
+
+  // handle exponent special cases
+  if (exp == shifted_exp) {     // Inf/NaN?
+    o.u += (128 - 16) << 23;    // extra exp adjust
+  } else if (exp == 0) {        // Zero/Denormal?
+    o.u += 1 << 23;             // extra exp adjust
+    o.f -= magic.f;             // renormalize
+  }
+
+  o.u |= (h.x & 0x8000) << 16;    // sign bit
+  return o.f;
+#endif
+}
+
+// --- standard functions ---
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const half& a) {
+  return (a.x & 0x7fff) == 0x7c00;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const half& a) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hisnan(a);
+#else
+  return (a.x & 0x7fff) > 0x7c00;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const half& a) {
+  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half abs(const half& a) {
+  half result;
+  result.x = a.x & 0x7FFF;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half exp(const half& a) {
+  return half(::expf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log(const half& a) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return Eigen::half(::hlog(a));
+#else
+  return half(::logf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log1p(const half& a) {
+  return half(numext::log1p(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log10(const half& a) {
+  return half(::log10f(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sqrt(const half& a) {
+  return half(::sqrtf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half pow(const half& a, const half& b) {
+  return half(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sin(const half& a) {
+  return half(::sinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half cos(const half& a) {
+  return half(::cosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tan(const half& a) {
+  return half(::tanf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tanh(const half& a) {
+  return half(::tanhf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half floor(const half& a) {
+  return half(::floorf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half ceil(const half& a) {
+  return half(::ceilf(float(a)));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (min)(const half& a, const half& b) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hlt(b, a) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f2 < f1 ? b : a;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (max)(const half& a, const half& b) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hlt(a, b) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f1 < f2 ? b : a;
+#endif
+}
+
+EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const half& v) {
+  os << static_cast<float>(v);
+  return os;
+}
+
+} // end namespace half_impl
+
+// import Eigen::half_impl::half into Eigen namespace
+// using half_impl::half;
+
+namespace internal {
+
+template<>
+struct random_default_impl<half, false, false>
+{
+  static inline half run(const half& x, const half& y)
+  {
+    return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));
+  }
+  static inline half run()
+  {
+    return run(half(-1.f), half(1.f));
+  }
+};
+
+template<> struct is_arithmetic<half> { enum { value = true }; };
+
+} // end namespace internal
+
+}  // end namespace Eigen
+
+namespace std {
+template<>
+struct numeric_limits<Eigen::half> {
+  static const bool is_specialized = true;
+  static const bool is_signed = true;
+  static const bool is_integer = false;
+  static const bool is_exact = false;
+  static const bool has_infinity = true;
+  static const bool has_quiet_NaN = true;
+  static const bool has_signaling_NaN = true;
+  static const float_denorm_style has_denorm = denorm_present;
+  static const bool has_denorm_loss = false;
+  static const std::float_round_style round_style = std::round_to_nearest;
+  static const bool is_iec559 = false;
+  static const bool is_bounded = false;
+  static const bool is_modulo = false;
+  static const int digits = 11;
+  static const int digits10 = 2;
+  //static const int max_digits10 = ;
+  static const int radix = 2;
+  static const int min_exponent = -13;
+  static const int min_exponent10 = -4;
+  static const int max_exponent = 16;
+  static const int max_exponent10 = 4;
+  static const bool traps = true;
+  static const bool tinyness_before = false;
+
+  static Eigen::half (min)() { return Eigen::half_impl::raw_uint16_to_half(0x400); }
+  static Eigen::half lowest() { return Eigen::half_impl::raw_uint16_to_half(0xfbff); }
+  static Eigen::half (max)() { return Eigen::half_impl::raw_uint16_to_half(0x7bff); }
+  static Eigen::half epsilon() { return Eigen::half_impl::raw_uint16_to_half(0x0800); }
+  static Eigen::half round_error() { return Eigen::half(0.5); }
+  static Eigen::half infinity() { return Eigen::half_impl::raw_uint16_to_half(0x7c00); }
+  static Eigen::half quiet_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7e00); }
+  static Eigen::half signaling_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7e00); }
+  static Eigen::half denorm_min() { return Eigen::half_impl::raw_uint16_to_half(0x1); }
+};
+}
+
+namespace Eigen {
+
+template<> struct NumTraits<Eigen::half>
+    : GenericNumTraits<Eigen::half>
+{
+  enum {
+    IsSigned = true,
+    IsInteger = false,
+    IsComplex = false,
+    RequireInitialization = false
+  };
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half epsilon() {
+    return half_impl::raw_uint16_to_half(0x0800);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half dummy_precision() { return Eigen::half(1e-2f); }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half highest() {
+    return half_impl::raw_uint16_to_half(0x7bff);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half lowest() {
+    return half_impl::raw_uint16_to_half(0xfbff);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half infinity() {
+    return half_impl::raw_uint16_to_half(0x7c00);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half quiet_NaN() {
+    return half_impl::raw_uint16_to_half(0x7c01);
+  }
+};
+
+} // end namespace Eigen
+
+// C-like standard mathematical functions and trancendentals.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half fabsh(const Eigen::half& a) {
+  Eigen::half result;
+  result.x = a.x & 0x7FFF;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half exph(const Eigen::half& a) {
+  return Eigen::half(::expf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half logh(const Eigen::half& a) {
+#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return Eigen::half(::hlog(a));
+#else
+  return Eigen::half(::logf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half sqrth(const Eigen::half& a) {
+  return Eigen::half(::sqrtf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half powh(const Eigen::half& a, const Eigen::half& b) {
+  return Eigen::half(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half floorh(const Eigen::half& a) {
+  return Eigen::half(::floorf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half ceilh(const Eigen::half& a) {
+  return Eigen::half(::ceilf(float(a)));
+}
+
+namespace std {
+
+#if __cplusplus > 199711L
+template <>
+struct hash<Eigen::half> {
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::half& a) const {
+    return static_cast<std::size_t>(a.x);
+  }
+};
+#endif
+
+} // end namespace std
+
+
+// Add the missing shfl_xor intrinsic
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor(Eigen::half var, int laneMask, int width=warpSize) {
+  return static_cast<Eigen::half>(__shfl_xor(static_cast<float>(var), laneMask, width));
+}
+#endif
+
+// ldg() has an overload for __half, but we also need one for Eigen::half.
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half __ldg(const Eigen::half* ptr) {
+  return Eigen::half_impl::raw_uint16_to_half(
+      __ldg(reinterpret_cast<const unsigned short*>(ptr)));
+}
+#endif
+
+
+#if defined(__CUDA_ARCH__)
+namespace Eigen {
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isnan)(const Eigen::half& h) {
+  return (half_impl::isnan)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isinf)(const Eigen::half& h) {
+  return (half_impl::isinf)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isfinite)(const Eigen::half& h) {
+  return (half_impl::isfinite)(h);
+}
+
+} // namespace Eigen
+}  // namespace numext
+#endif
+
+#endif // EIGEN_HALF_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h
new file mode 100644
index 0000000..0348b41
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h
@@ -0,0 +1,91 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog at 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_MATH_FUNCTIONS_CUDA_H
+#define EIGEN_MATH_FUNCTIONS_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 plog<float4>(const float4& a)
+{
+  return make_float4(logf(a.x), logf(a.y), logf(a.z), logf(a.w));
+}
+
+template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 plog<double2>(const double2& a)
+{
+  using ::log;
+  return make_double2(log(a.x), log(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 plog1p<float4>(const float4& a)
+{
+  return make_float4(log1pf(a.x), log1pf(a.y), log1pf(a.z), log1pf(a.w));
+}
+
+template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 plog1p<double2>(const double2& a)
+{
+  return make_double2(log1p(a.x), log1p(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 pexp<float4>(const float4& a)
+{
+  return make_float4(expf(a.x), expf(a.y), expf(a.z), expf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 pexp<double2>(const double2& a)
+{
+  using ::exp;
+  return make_double2(exp(a.x), exp(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 psqrt<float4>(const float4& a)
+{
+  return make_float4(sqrtf(a.x), sqrtf(a.y), sqrtf(a.z), sqrtf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 psqrt<double2>(const double2& a)
+{
+  using ::sqrt;
+  return make_double2(sqrt(a.x), sqrt(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 prsqrt<float4>(const float4& a)
+{
+  return make_float4(rsqrtf(a.x), rsqrtf(a.y), rsqrtf(a.z), rsqrtf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 prsqrt<double2>(const double2& a)
+{
+  return make_double2(rsqrt(a.x), rsqrt(a.y));
+}
+
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h
new file mode 100644
index 0000000..4dda631
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h
@@ -0,0 +1,333 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog at 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_PACKET_MATH_CUDA_H
+#define EIGEN_PACKET_MATH_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+template<> struct is_arithmetic<float4>  { enum { value = true }; };
+template<> struct is_arithmetic<double2> { enum { value = true }; };
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+  typedef float4 type;
+  typedef float4 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasIGamma = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+  };
+};
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef double2 type;
+  typedef double2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasIGamma = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+  };
+};
+
+
+template<> struct unpacket_traits<float4>  { typedef float  type; enum {size=4, alignment=Aligned16}; typedef float4 half; };
+template<> struct unpacket_traits<double2> { typedef double type; enum {size=2, alignment=Aligned16}; typedef double2 half; };
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pset1<float4>(const float&  from) {
+  return make_float4(from, from, from, from);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pset1<double2>(const double& from) {
+  return make_double2(from, from);
+}
+
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 plset<float4>(const float& a) {
+  return make_float4(a, a+1, a+2, a+3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 plset<double2>(const double& a) {
+  return make_double2(a, a+1);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 padd<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 padd<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x+b.x, a.y+b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 psub<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 psub<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x-b.x, a.y-b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pnegate(const float4& a) {
+  return make_float4(-a.x, -a.y, -a.z, -a.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pnegate(const double2& a) {
+  return make_double2(-a.x, -a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pconj(const float4& a) { return a; }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pconj(const double2& a) { return a; }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmul<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x*b.x, a.y*b.y, a.z*b.z, a.w*b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmul<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x*b.x, a.y*b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pdiv<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x/b.x, a.y/b.y, a.z/b.z, a.w/b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pdiv<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x/b.x, a.y/b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmin<float4>(const float4& a, const float4& b) {
+  return make_float4(fminf(a.x, b.x), fminf(a.y, b.y), fminf(a.z, b.z), fminf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmin<double2>(const double2& a, const double2& b) {
+  return make_double2(fmin(a.x, b.x), fmin(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmax<float4>(const float4& a, const float4& b) {
+  return make_float4(fmaxf(a.x, b.x), fmaxf(a.y, b.y), fmaxf(a.z, b.z), fmaxf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmax<double2>(const double2& a, const double2& b) {
+  return make_double2(fmax(a.x, b.x), fmax(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pload<float4>(const float* from) {
+  return *reinterpret_cast<const float4*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pload<double2>(const double* from) {
+  return *reinterpret_cast<const double2*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploadu<float4>(const float* from) {
+  return make_float4(from[0], from[1], from[2], from[3]);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploadu<double2>(const double* from) {
+  return make_double2(from[0], from[1]);
+}
+
+template<> EIGEN_STRONG_INLINE float4 ploaddup<float4>(const float*   from) {
+  return make_float4(from[0], from[0], from[1], from[1]);
+}
+template<> EIGEN_STRONG_INLINE double2 ploaddup<double2>(const double*  from) {
+  return make_double2(from[0], from[0]);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<float>(float*   to, const float4& from) {
+  *reinterpret_cast<float4*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<double>(double* to, const double2& from) {
+  *reinterpret_cast<double2*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const float4& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+  to[2] = from.z;
+  to[3] = from.w;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const double2& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Aligned>(const float* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return __ldg((const float4*)from);
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Aligned>(const double* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return __ldg((const double2*)from);
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Unaligned>(const float* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return make_float4(__ldg(from+0), __ldg(from+1), __ldg(from+2), __ldg(from+3));
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Unaligned>(const double* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return make_double2(__ldg(from+0), __ldg(from+1));
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4 pgather<float, float4>(const float* from, Index stride) {
+  return make_float4(from[0*stride], from[1*stride], from[2*stride], from[3*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline double2 pgather<double, double2>(const double* from, Index stride) {
+  return make_double2(from[0*stride], from[1*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, float4>(float* to, const float4& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+  to[stride*2] = from.z;
+  to[stride*3] = from.w;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, double2>(double* to, const double2& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  pfirst<float4>(const float4& a) {
+  return a.x;
+}
+template<> EIGEN_DEVICE_FUNC inline double pfirst<double2>(const double2& a) {
+  return a.x;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux<float4>(const float4& a) {
+  return a.x + a.y + a.z + a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux<double2>(const double2& a) {
+  return a.x + a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_max<float4>(const float4& a) {
+  return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_max<double2>(const double2& a) {
+  return fmax(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_min<float4>(const float4& a) {
+  return fminf(fminf(a.x, a.y), fminf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_min<double2>(const double2& a) {
+  return fmin(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_mul<float4>(const float4& a) {
+  return a.x * a.y * a.z * a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_mul<double2>(const double2& a) {
+  return a.x * a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4  pabs<float4>(const float4& a) {
+  return make_float4(fabsf(a.x), fabsf(a.y), fabsf(a.z), fabsf(a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double2 pabs<double2>(const double2& a) {
+  return make_double2(fabs(a.x), fabs(a.y));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<float4,4>& kernel) {
+  float tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+
+  tmp = kernel.packet[0].z;
+  kernel.packet[0].z = kernel.packet[2].x;
+  kernel.packet[2].x = tmp;
+
+  tmp = kernel.packet[0].w;
+  kernel.packet[0].w = kernel.packet[3].x;
+  kernel.packet[3].x = tmp;
+
+  tmp = kernel.packet[1].z;
+  kernel.packet[1].z = kernel.packet[2].y;
+  kernel.packet[2].y = tmp;
+
+  tmp = kernel.packet[1].w;
+  kernel.packet[1].w = kernel.packet[3].y;
+  kernel.packet[3].y = tmp;
+
+  tmp = kernel.packet[2].w;
+  kernel.packet[2].w = kernel.packet[3].z;
+  kernel.packet[3].z = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<double2,2>& kernel) {
+  double tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+}
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+
+#endif // EIGEN_PACKET_MATH_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
new file mode 100644
index 0000000..ae54225
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
@@ -0,0 +1,1123 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog at 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_PACKET_MATH_HALF_CUDA_H
+#define EIGEN_PACKET_MATH_HALF_CUDA_H
+
+
+namespace Eigen {
+namespace internal {
+
+// Most of the following operations require arch >= 3.0
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDACC__) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+
+template<> struct is_arithmetic<half2> { enum { value = true }; };
+
+template<> struct packet_traits<Eigen::half> : default_packet_traits
+{
+  typedef half2 type;
+  typedef half2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 0,
+    HasAdd    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasSqrt   = 1,
+    HasRsqrt  = 1,
+    HasExp    = 1,
+    HasLog    = 1,
+    HasLog1p  = 1
+  };
+};
+
+template<> struct unpacket_traits<half2> { typedef Eigen::half type; enum {size=2, alignment=Aligned16}; typedef half2 half; };
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pset1<half2>(const Eigen::half& from) {
+  return __half2half2(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pload<half2>(const Eigen::half* from) {
+  return *reinterpret_cast<const half2*>(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 ploadu<half2>(const Eigen::half* from) {
+  return __halves2half2(from[0], from[1]);
+}
+
+template<> EIGEN_STRONG_INLINE half2 ploaddup<half2>(const Eigen::half*  from) {
+  return __halves2half2(from[0], from[0]);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const half2& from) {
+  *reinterpret_cast<half2*>(to) = from;
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const half2& from) {
+  to[0] = __low2half(from);
+  to[1] = __high2half(from);
+}
+
+template<>
+ __device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Aligned>(const Eigen::half* from) {
+#if __CUDA_ARCH__ >= 350
+   return __ldg((const half2*)from);
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+template<>
+__device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Unaligned>(const Eigen::half* from) {
+#if __CUDA_ARCH__ >= 350
+   return __halves2half2(__ldg(from+0), __ldg(from+1));
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pgather<Eigen::half, half2>(const Eigen::half* from, Index stride) {
+  return __halves2half2(from[0*stride], from[1*stride]);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pscatter<Eigen::half, half2>(Eigen::half* to, const half2& from, Index stride) {
+  to[stride*0] = __low2half(from);
+  to[stride*1] = __high2half(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half pfirst<half2>(const half2& a) {
+  return __low2half(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pabs<half2>(const half2& a) {
+  half2 result;
+  result.x = a.x & 0x7FFF7FFF;
+  return result;
+}
+
+
+__device__ EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<half2,2>& kernel) {
+  __half a1 = __low2half(kernel.packet[0]);
+  __half a2 = __high2half(kernel.packet[0]);
+  __half b1 = __low2half(kernel.packet[1]);
+  __half b2 = __high2half(kernel.packet[1]);
+  kernel.packet[0] = __halves2half2(a1, b1);
+  kernel.packet[1] = __halves2half2(a2, b2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plset<half2>(const Eigen::half& a) {
+#if __CUDA_ARCH__ >= 530
+  return __halves2half2(a, __hadd(a, __float2half(1.0f)));
+#else
+  float f = __half2float(a) + 1.0f;
+  return __halves2half2(a, __float2half(f));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 padd<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hadd2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 + b1;
+  float r2 = a2 + b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 psub<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hsub2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 - b1;
+  float r2 = a2 - b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pnegate(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hneg2(a);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return __floats2half2_rn(-a1, -a2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pconj(const half2& a) { return a; }
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmul<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hmul2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 * b1;
+  float r2 = a2 * b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmadd<half2>(const half2& a, const half2& b, const half2& c) {
+#if __CUDA_ARCH__ >= 530
+   return __hfma2(a, b, c);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float c1 = __low2float(c);
+  float c2 = __high2float(c);
+  float r1 = a1 * b1 + c1;
+  float r2 = a2 * b2 + c2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pdiv<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 / b1;
+  float r2 = a2 / b2;
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmin<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmax<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hadd(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 + a2)));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_max<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hgt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 > a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_min<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hlt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 < a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_mul<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hmul(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 * a2)));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plog1p<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = log1pf(a1);
+  float r2 = log1pf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 530
+
+template<>  __device__ EIGEN_STRONG_INLINE
+half2 plog<half2>(const half2& a) {
+  return h2log(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 pexp<half2>(const half2& a) {
+  return h2exp(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 psqrt<half2>(const half2& a) {
+  return h2sqrt(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 prsqrt<half2>(const half2& a) {
+  return h2rsqrt(a);
+}
+
+#else
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plog<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = logf(a1);
+  float r2 = logf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pexp<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = expf(a1);
+  float r2 = expf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 psqrt<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = sqrtf(a1);
+  float r2 = sqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 prsqrt<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = rsqrtf(a1);
+  float r2 = rsqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+#endif
+
+#elif defined EIGEN_VECTORIZE_AVX512
+
+typedef struct {
+  __m256i x;
+} Packet16h;
+
+
+template<> struct is_arithmetic<Packet16h> { enum { value = true }; };
+
+template <>
+struct packet_traits<half> : default_packet_traits {
+  typedef Packet16h type;
+  // There is no half-size packet for Packet16h.
+  typedef Packet16h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet16h> { typedef Eigen::half type; enum {size=16, alignment=Aligned32}; typedef Packet16h half; };
+
+template<> EIGEN_STRONG_INLINE Packet16h pset1<Packet16h>(const Eigen::half& from) {
+  Packet16h result;
+  result.x = _mm256_set1_epi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet16h>(const Packet16h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm256_extract_epi16(from.x, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pload<Packet16h>(const Eigen::half* from) {
+  Packet16h result;
+  result.x = _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h ploadu<Packet16h>(const Eigen::half* from) {
+  Packet16h result;
+  result.x = _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet16h& from) {
+  _mm256_store_si256((__m256i*)to, from.x);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet16h& from) {
+  _mm256_storeu_si256((__m256i*)to, from.x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h
+ploadquad(const Eigen::half* from) {
+  Packet16h result;
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  unsigned short c = from[2].x;
+  unsigned short d = from[3].x;
+  result.x = _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
+  return result;
+}
+
+EIGEN_STRONG_INLINE Packet16f half2float(const Packet16h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm512_cvtph_ps(a.x);
+#else
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+  float f8(aux[8]);
+  float f9(aux[9]);
+  float fa(aux[10]);
+  float fb(aux[11]);
+  float fc(aux[12]);
+  float fd(aux[13]);
+  float fe(aux[14]);
+  float ff(aux[15]);
+
+  return _mm512_set_ps(
+      ff, fe, fd, fc, fb, fa, f9, f8, f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet16h float2half(const Packet16f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  Packet16h result;
+  result.x = _mm512_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+  return result;
+#else
+  EIGEN_ALIGN64 float aux[16];
+  pstore(aux, a);
+  half h0(aux[0]);
+  half h1(aux[1]);
+  half h2(aux[2]);
+  half h3(aux[3]);
+  half h4(aux[4]);
+  half h5(aux[5]);
+  half h6(aux[6]);
+  half h7(aux[7]);
+  half h8(aux[8]);
+  half h9(aux[9]);
+  half ha(aux[10]);
+  half hb(aux[11]);
+  half hc(aux[12]);
+  half hd(aux[13]);
+  half he(aux[14]);
+  half hf(aux[15]);
+
+  Packet16h result;
+  result.x = _mm256_set_epi16(
+      hf.x, he.x, hd.x, hc.x, hb.x, ha.x, h9.x, h8.x,
+      h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
+  return result;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& from) {
+  Packet16f from_float = half2float(from);
+  return half(predux(from_float));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pgather<Eigen::half, Packet16h>(const Eigen::half* from, Index stride)
+{
+  Packet16h result;
+  result.x = _mm256_set_epi16(
+      from[15*stride].x, from[14*stride].x, from[13*stride].x, from[12*stride].x,
+      from[11*stride].x, from[10*stride].x, from[9*stride].x, from[8*stride].x,
+      from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x,
+      from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<half, Packet16h>(half* to, const Packet16h& from, Index stride)
+{
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, from);
+  to[stride*0].x = aux[0].x;
+  to[stride*1].x = aux[1].x;
+  to[stride*2].x = aux[2].x;
+  to[stride*3].x = aux[3].x;
+  to[stride*4].x = aux[4].x;
+  to[stride*5].x = aux[5].x;
+  to[stride*6].x = aux[6].x;
+  to[stride*7].x = aux[7].x;
+  to[stride*8].x = aux[8].x;
+  to[stride*9].x = aux[9].x;
+  to[stride*10].x = aux[10].x;
+  to[stride*11].x = aux[11].x;
+  to[stride*12].x = aux[12].x;
+  to[stride*13].x = aux[13].x;
+  to[stride*14].x = aux[14].x;
+  to[stride*15].x = aux[15].x;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,16>& kernel) {
+  __m256i a = kernel.packet[0].x;
+  __m256i b = kernel.packet[1].x;
+  __m256i c = kernel.packet[2].x;
+  __m256i d = kernel.packet[3].x;
+  __m256i e = kernel.packet[4].x;
+  __m256i f = kernel.packet[5].x;
+  __m256i g = kernel.packet[6].x;
+  __m256i h = kernel.packet[7].x;
+  __m256i i = kernel.packet[8].x;
+  __m256i j = kernel.packet[9].x;
+  __m256i k = kernel.packet[10].x;
+  __m256i l = kernel.packet[11].x;
+  __m256i m = kernel.packet[12].x;
+  __m256i n = kernel.packet[13].x;
+  __m256i o = kernel.packet[14].x;
+  __m256i p = kernel.packet[15].x;
+
+  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
+  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
+  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
+  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
+  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
+  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
+  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
+  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
+
+  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
+  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
+  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
+  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
+  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
+  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
+  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
+  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
+
+  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
+  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
+  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
+  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
+  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
+  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
+  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
+  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
+
+  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
+  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
+  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
+  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
+  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
+  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
+  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
+  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
+
+  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
+  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
+  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
+  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
+  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
+  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
+  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
+  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
+  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
+  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
+  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
+  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
+  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
+  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
+  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
+  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
+
+  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
+  __m256i a_p_0 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
+  __m256i a_p_1 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
+  __m256i a_p_2 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
+  __m256i a_p_3 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
+  __m256i a_p_4 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
+  __m256i a_p_5 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
+  __m256i a_p_6 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
+  __m256i a_p_7 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
+  __m256i a_p_8 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
+  __m256i a_p_9 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
+  __m256i a_p_a = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
+  __m256i a_p_b = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
+  __m256i a_p_c = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
+  __m256i a_p_d = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
+  __m256i a_p_e = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
+  __m256i a_p_f = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
+
+  kernel.packet[0].x = a_p_0;
+  kernel.packet[1].x = a_p_1;
+  kernel.packet[2].x = a_p_2;
+  kernel.packet[3].x = a_p_3;
+  kernel.packet[4].x = a_p_4;
+  kernel.packet[5].x = a_p_5;
+  kernel.packet[6].x = a_p_6;
+  kernel.packet[7].x = a_p_7;
+  kernel.packet[8].x = a_p_8;
+  kernel.packet[9].x = a_p_9;
+  kernel.packet[10].x = a_p_a;
+  kernel.packet[11].x = a_p_b;
+  kernel.packet[12].x = a_p_c;
+  kernel.packet[13].x = a_p_d;
+  kernel.packet[14].x = a_p_e;
+  kernel.packet[15].x = a_p_f;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,8>& kernel) {
+  EIGEN_ALIGN64 half in[8][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+  pstore<half>(in[4], kernel.packet[4]);
+  pstore<half>(in[5], kernel.packet[5]);
+  pstore<half>(in[6], kernel.packet[6]);
+  pstore<half>(in[7], kernel.packet[7]);
+
+  EIGEN_ALIGN64 half out[8][16];
+
+  for (int i = 0; i < 8; ++i) {
+    for (int j = 0; j < 8; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 8; ++j) {
+      out[i][j+8] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+  kernel.packet[4] = pload<Packet16h>(out[4]);
+  kernel.packet[5] = pload<Packet16h>(out[5]);
+  kernel.packet[6] = pload<Packet16h>(out[6]);
+  kernel.packet[7] = pload<Packet16h>(out[7]);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,4>& kernel) {
+  EIGEN_ALIGN64 half in[4][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN64 half out[4][16];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][4*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][4*i+1];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+8] = in[j][4*i+2];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+12] = in[j][4*i+3];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+}
+
+
+#elif defined EIGEN_VECTORIZE_AVX
+
+typedef struct {
+  __m128i x;
+} Packet8h;
+
+
+template<> struct is_arithmetic<Packet8h> { enum { value = true }; };
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet8h type;
+  // There is no half-size packet for Packet8h.
+  typedef Packet8h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet8h> { typedef Eigen::half type; enum {size=8, alignment=Aligned16}; typedef Packet8h half; };
+
+template<> EIGEN_STRONG_INLINE Packet8h pset1<Packet8h>(const Eigen::half& from) {
+  Packet8h result;
+  result.x = _mm_set1_epi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8h>(const Packet8h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_extract_epi16(from.x, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pload<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  result.x = _mm_load_si128(reinterpret_cast<const __m128i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h ploadu<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  result.x = _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_store_si128(reinterpret_cast<__m128i*>(to), from.x);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from.x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h
+ploadquad<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  result.x = _mm_set_epi16(b, b, b, b, a, a, a, a);
+  return result;
+}
+
+EIGEN_STRONG_INLINE Packet8f half2float(const Packet8h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm256_cvtph_ps(a.x);
+#else
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+
+  return _mm256_set_ps(f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet8h float2half(const Packet8f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  Packet8h result;
+  result.x = _mm256_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+  return result;
+#else
+  EIGEN_ALIGN32 float aux[8];
+  pstore(aux, a);
+  Eigen::half h0(aux[0]);
+  Eigen::half h1(aux[1]);
+  Eigen::half h2(aux[2]);
+  Eigen::half h3(aux[3]);
+  Eigen::half h4(aux[4]);
+  Eigen::half h5(aux[5]);
+  Eigen::half h6(aux[6]);
+  Eigen::half h7(aux[7]);
+
+  Packet8h result;
+  result.x = _mm_set_epi16(h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
+  return result;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pconj(const Packet8h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pgather<Eigen::half, Packet8h>(const Eigen::half* from, Index stride)
+{
+  Packet8h result;
+  result.x = _mm_set_epi16(from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x, from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8h>(Eigen::half* to, const Packet8h& from, Index stride)
+{
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, from);
+  to[stride*0].x = aux[0].x;
+  to[stride*1].x = aux[1].x;
+  to[stride*2].x = aux[2].x;
+  to[stride*3].x = aux[3].x;
+  to[stride*4].x = aux[4].x;
+  to[stride*5].x = aux[5].x;
+  to[stride*6].x = aux[6].x;
+  to[stride*7].x = aux[7].x;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_max<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_min<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_mul<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,8>& kernel) {
+  __m128i a = kernel.packet[0].x;
+  __m128i b = kernel.packet[1].x;
+  __m128i c = kernel.packet[2].x;
+  __m128i d = kernel.packet[3].x;
+  __m128i e = kernel.packet[4].x;
+  __m128i f = kernel.packet[5].x;
+  __m128i g = kernel.packet[6].x;
+  __m128i h = kernel.packet[7].x;
+
+  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
+  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
+  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
+  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
+  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
+  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
+  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
+  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
+
+  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
+  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
+  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
+  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
+  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
+  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
+  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
+  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
+
+  __m128i a0b0c0d0e0f0g0h0 = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a1b1c1d1e1f1g1h1 = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a2b2c2d2e2f2g2h2 = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a3b3c3d3e3f3g3h3 = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a4b4c4d4e4f4g4h4 = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a5b5c5d5e5f5g5h5 = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a6b6c6d6e6f6g6h6 = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
+  __m128i a7b7c7d7e7f7g7h7 = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
+
+  kernel.packet[0].x = a0b0c0d0e0f0g0h0;
+  kernel.packet[1].x = a1b1c1d1e1f1g1h1;
+  kernel.packet[2].x = a2b2c2d2e2f2g2h2;
+  kernel.packet[3].x = a3b3c3d3e3f3g3h3;
+  kernel.packet[4].x = a4b4c4d4e4f4g4h4;
+  kernel.packet[5].x = a5b5c5d5e5f5g5h5;
+  kernel.packet[6].x = a6b6c6d6e6f6g6h6;
+  kernel.packet[7].x = a7b7c7d7e7f7g7h7;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,4>& kernel) {
+  EIGEN_ALIGN32 Eigen::half in[4][8];
+  pstore<Eigen::half>(in[0], kernel.packet[0]);
+  pstore<Eigen::half>(in[1], kernel.packet[1]);
+  pstore<Eigen::half>(in[2], kernel.packet[2]);
+  pstore<Eigen::half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN32 Eigen::half out[4][8];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet8h>(out[0]);
+  kernel.packet[1] = pload<Packet8h>(out[1]);
+  kernel.packet[2] = pload<Packet8h>(out[2]);
+  kernel.packet[3] = pload<Packet8h>(out[3]);
+}
+
+
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#elif 0
+
+typedef struct {
+  __m64 x;
+} Packet4h;
+
+
+template<> struct is_arithmetic<Packet4h> { enum { value = true }; };
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet4h type;
+  // There is no half-size packet for Packet4h.
+  typedef Packet4h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet4h> { typedef Eigen::half type; enum {size=4, alignment=Aligned16}; typedef Packet4h half; };
+
+template<> EIGEN_STRONG_INLINE Packet4h pset1<Packet4h>(const Eigen::half& from) {
+  Packet4h result;
+  result.x = _mm_set1_pi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h>(const Packet4h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_cvtsi64_si32(from.x)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pconj(const Packet4h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4h padd<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha + hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pmul<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha * hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pload<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h ploadu<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h
+ploadquad<Packet4h>(const Eigen::half* from) {
+  return pset1<Packet4h>(*from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pgather<Eigen::half, Packet4h>(const Eigen::half* from, Index stride)
+{
+  Packet4h result;
+  result.x = _mm_set_pi16(from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h>(Eigen::half* to, const Packet4h& from, Index stride)
+{
+  __int64_t a = _mm_cvtm64_si64(from.x);
+  to[stride*0].x = static_cast<unsigned short>(a);
+  to[stride*1].x = static_cast<unsigned short>(a >> 16);
+  to[stride*2].x = static_cast<unsigned short>(a >> 32);
+  to[stride*3].x = static_cast<unsigned short>(a >> 48);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet4h,4>& kernel) {
+  __m64 T0 = _mm_unpacklo_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T1 = _mm_unpacklo_pi16(kernel.packet[2].x, kernel.packet[3].x);
+  __m64 T2 = _mm_unpackhi_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T3 = _mm_unpackhi_pi16(kernel.packet[2].x, kernel.packet[3].x);
+
+  kernel.packet[0].x = _mm_unpacklo_pi32(T0, T1);
+  kernel.packet[1].x = _mm_unpackhi_pi32(T0, T1);
+  kernel.packet[2].x = _mm_unpacklo_pi32(T2, T3);
+  kernel.packet[3].x = _mm_unpackhi_pi32(T2, T3);
+}
+
+#endif
+
+}
+}
+
+#endif // EIGEN_PACKET_MATH_HALF_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h b/vendor/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h
new file mode 100644
index 0000000..aa5fbce
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h
@@ -0,0 +1,212 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog at 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_TYPE_CASTING_CUDA_H
+#define EIGEN_TYPE_CASTING_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<>
+struct scalar_cast_op<float, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const float& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __float2half(a);
+    #else
+      return Eigen::half(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<float, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<int, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const int& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __float2half(static_cast<float>(a));
+    #else
+      return Eigen::half(static_cast<float>(a));
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<int, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<Eigen::half, float> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef float result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::half& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __half2float(a);
+    #else
+      return static_cast<float>(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<Eigen::half, float> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 2,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<half2, float4>(const half2& a, const half2& b) {
+  float2 r1 = __half22float2(a);
+  float2 r2 = __half22float2(b);
+  return make_float4(r1.x, r1.y, r2.x, r2.y);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 2
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcast<float4, half2>(const float4& a) {
+  // Simply discard the second half of the input
+  return __floats2half2_rn(a.x, a.y);
+}
+
+#elif defined EIGEN_VECTORIZE_AVX512
+template <>
+struct type_casting_traits<half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16h, Packet16f>(const Packet16h& a) {
+  return half2float(a);
+}
+
+template <>
+struct type_casting_traits<float, half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16h pcast<Packet16f, Packet16h>(const Packet16f& a) {
+  return float2half(a);
+}
+
+#elif defined EIGEN_VECTORIZE_AVX
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8h, Packet8f>(const Packet8h& a) {
+  return half2float(a);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet8h pcast<Packet8f, Packet8h>(const Packet8f& a) {
+  return float2half(a);
+}
+
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#elif 0
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4h, Packet4f>(const Packet4h& a) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  Eigen::half h = raw_uint16_to_half(static_cast<unsigned short>(a64));
+  float f1 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  float f2 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  float f3 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  float f4 = static_cast<float>(h);
+  return _mm_set_ps(f4, f3, f2, f1);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4h pcast<Packet4f, Packet4h>(const Packet4f& a) {
+  EIGEN_ALIGN16 float aux[4];
+  pstore(aux, a);
+  Eigen::half h0(aux[0]);
+  Eigen::half h1(aux[1]);
+  Eigen::half h2(aux[2]);
+  Eigen::half h3(aux[3]);
+
+  Packet4h result;
+  result.x = _mm_set_pi16(h3.x, h2.x, h1.x, h0.x);
+  return result;
+}
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_CUDA_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/NEON/Complex.h b/vendor/eigen/Eigen/src/Core/arch/NEON/Complex.h
index 8d9255e..57e9b43 100644
--- a/vendor/eigen/Eigen/src/Core/arch/NEON/Complex.h
+++ b/vendor/eigen/Eigen/src/Core/arch/NEON/Complex.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos at freevec.org>
 //
 // 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
@@ -14,8 +15,21 @@ namespace Eigen {
 
 namespace internal {
 
-static uint32x4_t p4ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET4(0x00000000, 0x80000000, 0x00000000, 0x80000000);
-static uint32x2_t p2ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET2(0x00000000, 0x80000000);
+inline uint32x4_t p4ui_CONJ_XOR() {
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+  uint32x4_t ret = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+  return ret;
+#else
+  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+  return vld1q_u32( conj_XOR_DATA );
+#endif
+}
+
+inline uint32x2_t p2ui_CONJ_XOR() {
+  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000 };
+  return vld1_u32( conj_XOR_DATA );
+}
 
 //---------- float ----------
 struct Packet2cf
@@ -28,10 +42,12 @@ struct Packet2cf
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -46,7 +62,7 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
@@ -62,7 +78,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Pa
 template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 {
   Packet4ui b = vreinterpretq_u32_f32(a.v);
-  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR)));
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR())));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
@@ -71,14 +87,14 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
 
   // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
   v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
-  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  // Get the imag values of a | a1_im | a1_im | a2_im | a2_im |
   v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
   // Multiply the real a with b
   v1 = vmulq_f32(v1, b.v);
   // Multiply the imag a with b
   v2 = vmulq_f32(v2, b.v);
   // Conjugate v2 
-  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR));
+  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR()));
   // Swap real/imag elements in v2.
   v2 = vrev64q_f32(v2);
   // Add and return the result
@@ -87,7 +103,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
 
 template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+  return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
 }
 template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
@@ -110,6 +126,22 @@ template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<
 template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
 template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
 
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  Packet4f res = pset1<Packet4f>(0.f);
+  res = vsetq_lane_f32(std::real(from[0*stride]), res, 0);
+  res = vsetq_lane_f32(std::imag(from[0*stride]), res, 1);
+  res = vsetq_lane_f32(std::real(from[1*stride]), res, 2);
+  res = vsetq_lane_f32(std::imag(from[1*stride]), res, 3);
+  return Packet2cf(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  to[stride*0] = std::complex<float>(vgetq_lane_f32(from.v, 0), vgetq_lane_f32(from.v, 1));
+  to[stride*1] = std::complex<float>(vgetq_lane_f32(from.v, 2), vgetq_lane_f32(from.v, 3));
+}
+
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { EIGEN_ARM_PREFETCH((float *)addr); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
@@ -177,7 +209,7 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
   // Multiply the imag a with b
   v2 = vmul_f32(v2, a2);
   // Conjugate v2 
-  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR));
+  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR()));
   // Swap real/imag elements in v2.
   v2 = vrev64_f32(v2);
   // Add v1, v2
@@ -235,7 +267,7 @@ template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
 
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  // TODO optimize it for AltiVec
+  // TODO optimize it for NEON
   Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
   Packet4f s, rev_s;
 
@@ -246,6 +278,207 @@ template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, con
   return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
 }
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+  Packet4f tmp = vcombine_f32(vget_high_f32(kernel.packet[0].v), vget_high_f32(kernel.packet[1].v));
+  kernel.packet[0].v = vcombine_f32(vget_low_f32(kernel.packet[0].v), vget_low_f32(kernel.packet[1].v));
+  kernel.packet[1].v = tmp;
+}
+
+//---------- double ----------
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+  static uint64x2_t p2ul_CONJ_XOR = {0x0, 0x8000000000000000};
+#else
+  const uint64_t  p2ul_conj_XOR_DATA[] = { 0x0, 0x8000000000000000 };
+  static uint64x2_t p2ul_CONJ_XOR = vld1q_u64( p2ul_conj_XOR_DATA );
+#endif
+
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(padd<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(psub<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate<Packet2d>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d v1, v2;
+
+  // Get the real values of a 
+  v1 = vdupq_lane_f64(vget_low_f64(a.v), 0);
+  // Get the imag values of a
+  v2 = vdupq_lane_f64(vget_high_f64(a.v), 0);
+  // Multiply the real a with b
+  v1 = vmulq_f64(v1, b.v);
+  // Multiply the imag a with b
+  v2 = vmulq_f64(v2, b.v);
+  // Conjugate v2 
+  v2 = vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(v2), p2ul_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  v2 = preverse<Packet2d>(v2);
+  // Add and return the result
+  return Packet1cd(vaddq_f64(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ARM_PREFETCH((double *)addr); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+{
+  Packet2d res = pset1<Packet2d>(0.0);
+  res = vsetq_lane_f64(std::real(from[0*stride]), res, 0);
+  res = vsetq_lane_f64(std::imag(from[0*stride]), res, 1);
+  return Packet1cd(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+{
+  to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1));
+}
+
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res;
+  pstore<std::complex<double> >(&res, a);
+
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs) { return vecs[0]; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for NEON
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = pmul<Packet2d>(b.v, b.v);
+  Packet2d rev_s = preverse<Packet2d>(s);
+
+  return Packet1cd(pdiv(res.v, padd<Packet2d>(s,rev_s)));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vcombine_f64(vget_high_f64(kernel.packet[0].v), vget_high_f64(kernel.packet[1].v));
+  kernel.packet[0].v = vcombine_f64(vget_low_f64(kernel.packet[0].v), vget_low_f64(kernel.packet[1].v));
+  kernel.packet[1].v = tmp;
+}
+#endif // EIGEN_ARCH_ARM64
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h
new file mode 100644
index 0000000..6bb05bb
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h
@@ -0,0 +1,91 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// 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/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_NEON_H
+#define EIGEN_MATH_FUNCTIONS_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  Packet4f tmp, fx;
+
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+  x = vminq_f32(x, p4f_exp_hi);
+  x = vmaxq_f32(x, p4f_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = vmlaq_f32(p4f_half, x, p4f_cephes_LOG2EF);
+
+  /* perform a floorf */
+  tmp = vcvtq_f32_s32(vcvtq_s32_f32(fx));
+
+  /* if greater, substract 1 */
+  Packet4ui mask = vcgtq_f32(tmp, fx);
+  mask = vandq_u32(mask, vreinterpretq_u32_f32(p4f_1));
+
+  fx = vsubq_f32(tmp, vreinterpretq_f32_u32(mask));
+
+  tmp = vmulq_f32(fx, p4f_cephes_exp_C1);
+  Packet4f z = vmulq_f32(fx, p4f_cephes_exp_C2);
+  x = vsubq_f32(x, tmp);
+  x = vsubq_f32(x, z);
+
+  Packet4f y = vmulq_f32(p4f_cephes_exp_p0, x);
+  z = vmulq_f32(x, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p1);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p2);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p3);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p4);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p5);
+
+  y = vmulq_f32(y, z);
+  y = vaddq_f32(y, x);
+  y = vaddq_f32(y, p4f_1);
+
+  /* build 2^n */
+  int32x4_t mm;
+  mm = vcvtq_s32_f32(fx);
+  mm = vaddq_s32(mm, p4i_0x7f);
+  mm = vshlq_n_s32(mm, 23);
+  Packet4f pow2n = vreinterpretq_f32_s32(mm);
+
+  y = vmulq_f32(y, pow2n);
+  return y;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_NEON_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/NEON/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/NEON/PacketMath.h
index d49670e..836fbc0 100644
--- a/vendor/eigen/Eigen/src/Core/arch/NEON/PacketMath.h
+++ b/vendor/eigen/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
-// Copyright (C) 2010 Konstantinos Margaritis <markos at codex.gr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos at freevec.org>
 // Heavily based on Gael's SSE version.
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -20,43 +20,48 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
 #endif
 
-// FIXME NEON has 16 quad registers, but since the current register allocator
-// is so bad, it is much better to reduce it to 8
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#endif
+
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#if EIGEN_ARCH_ARM64
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
+#else
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16 
+#endif
 #endif
 
+typedef float32x2_t Packet2f;
 typedef float32x4_t Packet4f;
 typedef int32x4_t   Packet4i;
+typedef int32x2_t   Packet2i;
 typedef uint32x4_t  Packet4ui;
 
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   const Packet4f p4f_##NAME = pset1<Packet4f>(X)
 
 #define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
+  const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int32_t>(X))
 
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
-#if defined(__llvm__) && !defined(__clang__)
-  //Special treatment for Apple's llvm-gcc, its NEON packet types are unions
-  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {{X, Y}}
-  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {{X, Y, Z, W}}
-#else
-  //Default initializer for packets
-  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {X, Y}
-  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {X, Y, Z, W}
-#endif
-
-// arm64 does have the pld instruction. If available, let's trust the __builtin_prefetch built-in function
-// which available on LLVM and GCC (at least)
-#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || defined(__GNUC__)
+#if EIGEN_ARCH_ARM64
+  // __builtin_prefetch tends to do nothing on ARM64 compilers because the
+  // prefetch instructions there are too detailed for __builtin_prefetch to map
+  // meaningfully to them.
+  #define EIGEN_ARM_PREFETCH(ADDR)  __asm__ __volatile__("prfm pldl1keep, [%[addr]]\n" ::[addr] "r"(ADDR) : );
+#elif EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
   #define EIGEN_ARM_PREFETCH(ADDR) __builtin_prefetch(ADDR);
 #elif defined __pld
   #define EIGEN_ARM_PREFETCH(ADDR) __pld(ADDR)
-#elif !defined(__aarch64__)
-  #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ( "   pld [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
+#elif EIGEN_ARCH_ARM32
+  #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ("pld [%[addr]]\n" :: [addr] "r" (ADDR) : );
 #else
   // by default no explicit prefetching
   #define EIGEN_ARM_PREFETCH(ADDR)
@@ -65,53 +70,60 @@ typedef uint32x4_t  Packet4ui;
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half; // Packet2f intrinsics not implemented yet
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 4,
+    HasHalfPacket=0, // Packet2f intrinsics not implemented yet
    
     HasDiv  = 1,
     // FIXME check the Has*
     HasSin  = 0,
     HasCos  = 0,
     HasLog  = 0,
-    HasExp  = 0,
+    HasExp  = 1,
     HasSqrt = 0
   };
 };
-template<> struct packet_traits<int>    : default_packet_traits
+template<> struct packet_traits<int32_t>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half; // Packet2i intrinsics not implemented yet
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size=4,
+    HasHalfPacket=0 // Packet2i intrinsics not implemented yet
     // FIXME check the Has*
   };
 };
 
-#if EIGEN_GNUC_AT_MOST(4,4) && !defined(__llvm__)
+#if EIGEN_GNUC_AT_MOST(4,4) && !EIGEN_COMP_LLVM
 // workaround gcc 4.2, 4.3 and 4.4 compilatin issue
 EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
 EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_dup_f32 (const float* x) { return ::vld1_dup_f32 ((const float32_t*)x); }
 EIGEN_STRONG_INLINE void        vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
 EIGEN_STRONG_INLINE void        vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
 #endif
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4f> { typedef float   type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet4i> { typedef int32_t type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
 
 template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   { return vdupq_n_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t&    from)   { return vdupq_n_s32(from); }
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
 {
-  Packet4f countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
+  const float f[] = {0, 1, 2, 3};
+  Packet4f countdown = vld1q_f32(f);
   return vaddq_f32(pset1<Packet4f>(a), countdown);
 }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a)
 {
-  Packet4i countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
+  const int32_t i[] = {0, 1, 2, 3};
+  Packet4i countdown = vld1q_s32(i);
   return vaddq_s32(pset1<Packet4i>(a), countdown);
 }
 
@@ -132,6 +144,9 @@ template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const
 
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
 {
+#if EIGEN_ARCH_ARM64
+  return vdivq_f32(a,b);
+#else
   Packet4f inv, restep, div;
 
   // NEON does not offer a divide instruction, we have to do a reciprocal approximation
@@ -150,14 +165,51 @@ template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const
   div = vmulq_f32(a, inv);
 
   return div;
+#endif
 }
+
 template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
 { eigen_assert(false && "packet integer division are not supported by NEON");
   return pset1<Packet4i>(0);
 }
 
-// for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vmlaq_f32(c,a,b); }
+// Clang/ARM wrongly advertises __ARM_FEATURE_FMA even when it's not available,
+// then implements a slow software scalar fallback calling fmaf()!
+// Filed LLVM bug:
+//     https://llvm.org/bugs/show_bug.cgi?id=27216
+#if (defined __ARM_FEATURE_FMA) && !(EIGEN_COMP_CLANG && EIGEN_ARCH_ARM)
+// See bug 936.
+// FMA is available on VFPv4 i.e. when compiling with -mfpu=neon-vfpv4.
+// FMA is a true fused multiply-add i.e. only 1 rounding at the end, no intermediate rounding.
+// MLA is not fused i.e. does 2 roundings.
+// In addition to giving better accuracy, FMA also gives better performance here on a Krait (Nexus 4):
+// MLA: 10 GFlop/s ; FMA: 12 GFlops/s.
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vfmaq_f32(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
+#if EIGEN_COMP_CLANG && EIGEN_ARCH_ARM
+  // Clang/ARM will replace VMLA by VMUL+VADD at least for some values of -mcpu,
+  // at least -mcpu=cortex-a8 and -mcpu=cortex-a7. Since the former is the default on
+  // -march=armv7-a, that is a very common case.
+  // See e.g. this thread:
+  //     http://lists.llvm.org/pipermail/llvm-dev/2013-December/068806.html
+  // Filed LLVM bug:
+  //     https://llvm.org/bugs/show_bug.cgi?id=27219
+  Packet4f r = c;
+  asm volatile(
+    "vmla.f32 %q[r], %q[a], %q[b]"
+    : [r] "+w" (r)
+    : [a] "w" (a),
+      [b] "w" (b)
+    : );
+  return r;
+#else
+  return vmlaq_f32(c,a,b);
+#endif
+}
+#endif
+
+// No FMA instruction for int, so use MLA unconditionally.
 template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return vmlaq_s32(c,a,b); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
@@ -191,20 +243,20 @@ template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, con
 }
 template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vbicq_s32(a,b); }
 
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*   from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*    from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t*  from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
 
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)   { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*   from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int32_t* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
 
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
 {
   float32x2_t lo, hi;
   lo = vld1_dup_f32(from);
   hi = vld1_dup_f32(from+1);
   return vcombine_f32(lo, hi);
 }
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from)
 {
   int32x2_t lo, hi;
   lo = vld1_dup_s32(from);
@@ -212,18 +264,52 @@ template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
   return vcombine_s32(lo, hi);
 }
 
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<float>  (float*    to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t*  to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>  (float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
 
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  Packet4f res = pset1<Packet4f>(0.f);
+  res = vsetq_lane_f32(from[0*stride], res, 0);
+  res = vsetq_lane_f32(from[1*stride], res, 1);
+  res = vsetq_lane_f32(from[2*stride], res, 2);
+  res = vsetq_lane_f32(from[3*stride], res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride)
+{
+  Packet4i res = pset1<Packet4i>(0);
+  res = vsetq_lane_s32(from[0*stride], res, 0);
+  res = vsetq_lane_s32(from[1*stride], res, 1);
+  res = vsetq_lane_s32(from[2*stride], res, 2);
+  res = vsetq_lane_s32(from[3*stride], res, 3);
+  return res;
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_f32(from, 0);
+  to[stride*1] = vgetq_lane_f32(from, 1);
+  to[stride*2] = vgetq_lane_f32(from, 2);
+  to[stride*3] = vgetq_lane_f32(from, 3);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_s32(from, 0);
+  to[stride*1] = vgetq_lane_s32(from, 1);
+  to[stride*2] = vgetq_lane_s32(from, 2);
+  to[stride*3] = vgetq_lane_s32(from, 3);
+}
 
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { EIGEN_ARM_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>  (const float*    addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t*  addr) { EIGEN_ARM_PREFETCH(addr); }
 
 // FIXME only store the 2 first elements ?
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE float   pfirst<Packet4f>(const Packet4f& a) { float   EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE int32_t pfirst<Packet4i>(const Packet4i& a) { int32_t EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
 
 template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
   float32x2_t a_lo, a_hi;
@@ -243,6 +329,7 @@ template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
   a_hi = vget_high_s32(a_r64);
   return vcombine_s32(a_hi, a_lo);
 }
+
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
 template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
 
@@ -277,7 +364,7 @@ template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
   return sum;
 }
 
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+template<> EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a)
 {
   int32x2_t a_lo, a_hi, sum;
 
@@ -324,7 +411,7 @@ template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 
   return vget_lane_f32(prod, 0);
 }
-template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a)
 {
   int32x2_t a_lo, a_hi, prod;
 
@@ -352,7 +439,7 @@ template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
   return vget_lane_f32(min, 0);
 }
 
-template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a)
 {
   int32x2_t a_lo, a_hi, min;
 
@@ -377,7 +464,7 @@ template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
   return vget_lane_f32(max, 0);
 }
 
-template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a)
 {
   int32x2_t a_lo, a_hi, max;
 
@@ -410,9 +497,231 @@ PALIGN_NEON(0,Packet4i,vextq_s32)
 PALIGN_NEON(1,Packet4i,vextq_s32)
 PALIGN_NEON(2,Packet4i,vextq_s32)
 PALIGN_NEON(3,Packet4i,vextq_s32)
-    
+
 #undef PALIGN_NEON
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  float32x4x2_t tmp1 = vzipq_f32(kernel.packet[0], kernel.packet[1]);
+  float32x4x2_t tmp2 = vzipq_f32(kernel.packet[2], kernel.packet[3]);
+
+  kernel.packet[0] = vcombine_f32(vget_low_f32(tmp1.val[0]), vget_low_f32(tmp2.val[0]));
+  kernel.packet[1] = vcombine_f32(vget_high_f32(tmp1.val[0]), vget_high_f32(tmp2.val[0]));
+  kernel.packet[2] = vcombine_f32(vget_low_f32(tmp1.val[1]), vget_low_f32(tmp2.val[1]));
+  kernel.packet[3] = vcombine_f32(vget_high_f32(tmp1.val[1]), vget_high_f32(tmp2.val[1]));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  int32x4x2_t tmp1 = vzipq_s32(kernel.packet[0], kernel.packet[1]);
+  int32x4x2_t tmp2 = vzipq_s32(kernel.packet[2], kernel.packet[3]);
+  kernel.packet[0] = vcombine_s32(vget_low_s32(tmp1.val[0]), vget_low_s32(tmp2.val[0]));
+  kernel.packet[1] = vcombine_s32(vget_high_s32(tmp1.val[0]), vget_high_s32(tmp2.val[0]));
+  kernel.packet[2] = vcombine_s32(vget_low_s32(tmp1.val[1]), vget_low_s32(tmp2.val[1]));
+  kernel.packet[3] = vcombine_s32(vget_high_s32(tmp1.val[1]), vget_high_s32(tmp2.val[1]));
+}
+
+//---------- double ----------
+
+// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
+// Confirmed at least with __apple_build_version__ = 6000054.
+#ifdef __apple_build_version__
+// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
+// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
+// major toolchain updates.
+#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
+#else
+#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
+#endif
+
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// Bug 907: workaround missing declarations of the following two functions in the ADK
+// Defining these functions as templates ensures that if these intrinsics are
+// already defined in arm_neon.h, then our workaround doesn't cause a conflict
+// and has lower priority in overload resolution.
+template <typename T>
+uint64x2_t vreinterpretq_u64_f64(T a)
+{
+  return (uint64x2_t) a;
+}
+
+template <typename T>
+float64x2_t vreinterpretq_f64_u64(T a)
+{
+  return (float64x2_t) a;
+}
+
+typedef float64x2_t Packet2d;
+typedef float64x1_t Packet1d;
+
+template<> struct packet_traits<double>  : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket=0,
+   
+    HasDiv  = 1,
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2d> { typedef double  type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) { return vdupq_n_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
+{
+  const double countdown_raw[] = {0.0,1.0};
+  const Packet2d countdown = vld1q_f64(countdown_raw);
+  return vaddq_f64(pset1<Packet2d>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
+
+#ifdef __ARM_FEATURE_FMA
+// See bug 936. See above comment about FMA for float.
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vfmaq_f64(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vmlaq_f64(c,a,b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  return vld1q_dup_f64(from);
+}
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  Packet2d res = pset1<Packet2d>(0.0);
+  res = vsetq_lane_f64(from[0*stride], res, 0);
+  res = vsetq_lane_f64(from[1*stride], res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_f64(from, 0);
+  to[stride*1] = vgetq_lane_f64(from, 1);
+}
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) { return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
+
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+// workaround ICE, see bug 907
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) + vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  float64x2_t trn1, trn2;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  trn1 = vzip1q_f64(vecs[0], vecs[1]);
+  trn2 = vzip2q_f64(vecs[0], vecs[1]);
+
+  // Do the addition of the resulting vectors
+  return vaddq_f64(trn1, trn2);
+}
+// Other reduction functions:
+// mul
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) * vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
+#endif
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpminq_f64(a, a), 0); }
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpmaxq_f64(a, a), 0); }
+
+// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
+// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
+#define PALIGN_NEON(Offset,Type,Command) \
+template<>\
+struct palign_impl<Offset,Type>\
+{\
+    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
+    {\
+        if (Offset!=0)\
+            first = Command(first, second, Offset);\
+    }\
+};\
+
+PALIGN_NEON(0,Packet2d,vextq_f64)
+PALIGN_NEON(1,Packet2d,vextq_f64)
+#undef PALIGN_NEON
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  float64x2_t trn1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
+  float64x2_t trn2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
+
+  kernel.packet[0] = trn1;
+  kernel.packet[1] = trn2;
+}
+#endif // EIGEN_ARCH_ARM64 
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/arch/SSE/Complex.h b/vendor/eigen/Eigen/src/Core/arch/SSE/Complex.h
index 91bba5e..5607fe0 100644
--- a/vendor/eigen/Eigen/src/Core/arch/SSE/Complex.h
+++ b/vendor/eigen/Eigen/src/Core/arch/SSE/Complex.h
@@ -22,13 +22,18 @@ struct Packet2cf
   __m128  v;
 };
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -39,11 +44,13 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasAbs2   = 0,
     HasMin    = 0,
     HasMax    = 0,
-    HasSetLinear = 0
+    HasSetLinear = 0,
+    HasBlend = 1
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
@@ -60,7 +67,6 @@ template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  // TODO optimize it for SSE3 and 4
   #ifdef EIGEN_VECTORIZE_SSE3
   return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
                                  _mm_mul_ps(_mm_movehdup_ps(a.v),
@@ -104,8 +110,23 @@ template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<flo
 
 template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
 
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), Packet4f(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), Packet4f(from.v)); }
+
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  return Packet2cf(_mm_set_ps(std::imag(from[1*stride]), std::real(from[1*stride]),
+                              std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 1)));
+  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 3)));
+}
 
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 
@@ -124,7 +145,7 @@ template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Pack
   #endif
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(_mm_castps_pd(a.v)))); }
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(Packet2d(_mm_castps_pd(a.v))))); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
 {
@@ -214,7 +235,7 @@ template<> struct conj_helper<Packet4f, Packet2cf, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
-  { return Packet2cf(Eigen::internal::pmul(x, y.v)); }
+  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x, y.v)); }
 };
 
 template<> struct conj_helper<Packet2cf, Packet4f, false,false>
@@ -223,7 +244,7 @@ template<> struct conj_helper<Packet2cf, Packet4f, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
-  { return Packet2cf(Eigen::internal::pmul(x.v, y)); }
+  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x.v, y)); }
 };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
@@ -234,7 +255,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, con
   return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
 }
 
-EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/* <Packet2cf> */(const Packet2cf& x)
 {
   return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
 }
@@ -248,13 +269,18 @@ struct Packet1cd
   __m128d  v;
 };
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 {
   typedef Packet1cd type;
+  typedef Packet1cd half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 0,
     size = 1,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -268,12 +294,13 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
     HasSetLinear = 0
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1}; };
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
 
 template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
 {
   const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
@@ -282,9 +309,8 @@ template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
 
 template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
-  // TODO optimize it for SSE3 and 4
   #ifdef EIGEN_VECTORIZE_SSE3
-  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(_mm_movedup_pd(a.v), b.v),
                                  _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
                                             vec2d_swizzle1(b.v, 1, 0))));
   #else
@@ -311,8 +337,8 @@ template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<dou
 template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
 
 // FIXME force unaligned store, this is a temporary fix
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, Packet2d(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, Packet2d(from.v)); }
 
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 
@@ -410,7 +436,7 @@ template<> struct conj_helper<Packet2d, Packet1cd, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
-  { return Packet1cd(Eigen::internal::pmul(x, y.v)); }
+  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x, y.v)); }
 };
 
 template<> struct conj_helper<Packet1cd, Packet2d, false,false>
@@ -419,7 +445,7 @@ template<> struct conj_helper<Packet1cd, Packet2d, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
-  { return Packet1cd(Eigen::internal::pmul(x.v, y)); }
+  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x.v, y)); }
 };
 
 template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
@@ -430,9 +456,44 @@ template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, con
   return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
 }
 
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/* <Packet1cd> */(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+  __m128d w1 = _mm_castps_pd(kernel.packet[0].v);
+  __m128d w2 = _mm_castps_pd(kernel.packet[1].v);
+
+  __m128 tmp = _mm_castpd_ps(_mm_unpackhi_pd(w1, w2));
+  kernel.packet[0].v = _mm_castpd_ps(_mm_unpacklo_pd(w1, w2));
+  kernel.packet[1].v = tmp;
+}
+
+template<>  EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
+  return Packet2cf(_mm_castpd_ps(result));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertfirst(const Packet2cf& a, std::complex<float> b)
+{
+  return Packet2cf(_mm_loadl_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertfirst(const Packet1cd&, std::complex<double> b)
+{
+  return pset1<Packet1cd>(b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertlast(const Packet2cf& a, std::complex<float> b)
+{
+  return Packet2cf(_mm_loadh_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertlast(const Packet1cd&, std::complex<double> b)
 {
-  return Packet1cd(preverse(x.v));
+  return pset1<Packet1cd>(b);
 }
 
 } // end namespace internal
diff --git a/vendor/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
index 2b07168..7b5f948 100644
--- a/vendor/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
+++ b/vendor/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -32,7 +32,7 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
   /* the smallest non denormalized float number */
   _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
   _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000);//-1.f/0.f);
-  
+
   /* natural logarithm computed for 4 simultaneous float
     return NaN for x <= 0
   */
@@ -63,7 +63,7 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
   x = _mm_or_ps(x, p4f_half);
 
   emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
-  Packet4f e = padd(_mm_cvtepi32_ps(emm0), p4f_1);
+  Packet4f e = padd(Packet4f(_mm_cvtepi32_ps(emm0)), p4f_1);
 
   /* part2:
      if( x < SQRTHF ) {
@@ -72,9 +72,9 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
      } else { x = x - 1.0; }
   */
   Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
-  Packet4f tmp = _mm_and_ps(x, mask);
+  Packet4f tmp = pand(x, mask);
   x = psub(x, p4f_1);
-  e = psub(e, _mm_and_ps(p4f_1, mask));
+  e = psub(e, pand(p4f_1, mask));
   x = padd(x, tmp);
 
   Packet4f x2 = pmul(x,x);
@@ -444,32 +444,119 @@ Packet4f pcos<Packet4f>(const Packet4f& _x)
 
 #if EIGEN_FAST_MATH
 
-// This is based on Quake3's fast inverse square root.
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
 // For detail see here: http://www.beyond3d.com/content/articles/8/
-// It lacks 1 (or 2 bits in some rare cases) of precision, and does not handle negative, +inf, or denormalized numbers correctly.
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f psqrt<Packet4f>(const Packet4f& _x)
 {
   Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
+  Packet4f denormal_mask = _mm_and_ps(
+      _mm_cmpge_ps(_x, _mm_setzero_ps()),
+      _mm_cmplt_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())));
 
-  /* select only the inverse sqrt of non-zero inputs */
-  Packet4f non_zero_mask = _mm_cmpge_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)()));
-  Packet4f x = _mm_and_ps(non_zero_mask, _mm_rsqrt_ps(_x));
-
+  // Compute approximate reciprocal sqrt.
+  Packet4f x = _mm_rsqrt_ps(_x);
+  // Do a single step of Newton's iteration.
   x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
-  return pmul(_x,x);
+  // Flush results for denormals to zero.
+  return _mm_andnot_ps(denormal_mask, pmul(_x,x));
 }
 
 #else
 
-template<> EIGEN_STRONG_INLINE Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
+template<>EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
+
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& _x) {
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet4f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000);
+
+  Packet4f neg_half = pmul(_x, p4f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  Packet4f le_zero_mask = _mm_cmple_ps(_x, p4f_flt_min);
+  Packet4f x = _mm_andnot_ps(le_zero_mask, _mm_rsqrt_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  Packet4f neg_mask = _mm_cmplt_ps(_x, _mm_setzero_ps());
+  Packet4f zero_mask = _mm_andnot_ps(neg_mask, le_zero_mask);
+  Packet4f infs_and_nans = _mm_or_ps(_mm_and_ps(neg_mask, p4f_nan),
+                                     _mm_and_ps(zero_mask, p4f_inf));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p4f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm_or_ps(x, infs_and_nans);
+}
+
+#else
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_ps since it only provides an approximation.
+  return _mm_div_ps(pset1<Packet4f>(1.0f), _mm_sqrt_ps(x));
+}
 
 #endif
 
-template<> EIGEN_STRONG_INLINE Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
+  return _mm_div_pd(pset1<Packet2d>(1.0), _mm_sqrt_pd(x));
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& x) {
+  return internal::generic_fast_tanh_float(x);
+}
 
 } // end namespace internal
 
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sqrt(const float &x)
+{
+  return internal::pfirst(internal::Packet4f(_mm_sqrt_ss(_mm_set_ss(x))));
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sqrt(const double &x)
+{
+#if EIGEN_COMP_GNUC_STRICT
+  // This works around a GCC bug generating poor code for _mm_sqrt_pd
+  // See https://bitbucket.org/eigen/eigen/commits/14f468dba4d350d7c19c9b93072e19f7b3df563b
+  return internal::pfirst(internal::Packet2d(__builtin_ia32_sqrtsd(_mm_set_sd(x))));
+#else
+  return internal::pfirst(internal::Packet2d(_mm_sqrt_pd(_mm_set_sd(x))));
+#endif
+}
+
+} // end namespace numex
+
 } // end namespace Eigen
 
 #endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/SSE/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/SSE/PacketMath.h
index bef898b..3832de1 100644
--- a/vendor/eigen/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/vendor/eigen/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -22,9 +22,40 @@ namespace internal {
 #define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
 #endif
 
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD 1
+#endif
+#endif
+
+#if (defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW) && (__GXX_ABI_VERSION < 1004)
+// With GCC's default ABI version, a __m128 or __m256 are the same types and therefore we cannot
+// have overloads for both types without linking error.
+// One solution is to increase ABI version using -fabi-version=4 (or greater).
+// Otherwise, we workaround this inconvenience by wrapping 128bit types into the following helper
+// structure:
+template<typename T>
+struct eigen_packet_wrapper
+{
+  EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
+  EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
+    m_val = v;
+    return *this;
+  }
+  
+  T m_val;
+};
+typedef eigen_packet_wrapper<__m128>  Packet4f;
+typedef eigen_packet_wrapper<__m128i> Packet4i;
+typedef eigen_packet_wrapper<__m128d> Packet2d;
+#else
 typedef __m128  Packet4f;
 typedef __m128i Packet4i;
 typedef __m128d Packet2d;
+#endif
 
 template<> struct is_arithmetic<__m128>  { enum { value = true }; };
 template<> struct is_arithmetic<__m128i> { enum { value = true }; };
@@ -58,51 +89,85 @@ template<> struct is_arithmetic<__m128d> { enum { value = true }; };
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=4,
+    HasHalfPacket = 0,
 
     HasDiv  = 1,
     HasSin  = EIGEN_FAST_MATH,
     HasCos  = EIGEN_FAST_MATH,
     HasLog  = 1,
     HasExp  = 1,
-    HasSqrt = 1
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh  = EIGEN_FAST_MATH,
+    HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+    ,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+#endif
   };
 };
 template<> struct packet_traits<double> : default_packet_traits
 {
   typedef Packet2d type;
+  typedef Packet2d half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=2,
+    HasHalfPacket = 0,
 
     HasDiv  = 1,
     HasExp  = 1,
-    HasSqrt = 1
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+    ,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+#endif
   };
 };
+#endif
 template<> struct packet_traits<int>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half;
   enum {
-    // FIXME check the Has*
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size=4,
+
+    HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct scalar_div_cost<float,true> { enum { value = 7 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 8 }; };
+#endif
 
-#if defined(_MSC_VER) && (_MSC_VER==1500)
+#if EIGEN_COMP_MSVC==1500
 // Workaround MSVC 9 internal compiler error.
 // TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
 // TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
@@ -110,14 +175,25 @@ template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { re
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set_epi32(from,from,from,from); }
 #else
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set_ps1(from); }
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
 #endif
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
-template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+// GCC generates a shufps instruction for _mm_set1_ps/_mm_load1_ps instead of the more efficient pshufd instruction.
+// However, using inrinsics for pset1 makes gcc to generate crappy code in some cases (see bug 203)
+// Using inline assembly is also not an option because then gcc fails to reorder properly the instructions.
+// Therefore, we introduced the pload1 functions to be used in product kernels for which bug 203 does not apply.
+// Also note that with AVX, we want it to generate a vbroadcastss.
+#if EIGEN_COMP_GNUC_STRICT && (!defined __AVX__)
+template<> EIGEN_STRONG_INLINE Packet4f pload1<Packet4f>(const float *from) {
+  return vec4f_swizzle1(_mm_load_ss(from),0,0,0,0);
+}
+#endif
+  
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
 
 template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
@@ -139,7 +215,7 @@ template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
 }
 template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
 {
-  return psub(_mm_setr_epi32(0,0,0,0), a);
+  return psub(Packet4i(_mm_setr_epi32(0,0,0,0)), a);
 }
 
 template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
@@ -166,13 +242,13 @@ template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const
 
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
-{ eigen_assert(false && "packet integer division are not supported by SSE");
-  return pset1<Packet4i>(0);
-}
 
 // for some weird raisons, it has to be overloaded for packet of integers
 template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return _mm_fmadd_ps(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return _mm_fmadd_pd(a,b,c); }
+#endif
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
@@ -200,6 +276,17 @@ template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const
 #endif
 }
 
+#ifdef EIGEN_VECTORIZE_SSE4_1
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, 0); }
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) { return _mm_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) { return _mm_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return _mm_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return _mm_floor_pd(a); }
+#endif
+
 template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
@@ -218,16 +305,14 @@ template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, con
 
 template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
 template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
 
-#if defined(_MSC_VER)
+#if EIGEN_COMP_MSVC
   template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
     EIGEN_DEBUG_UNALIGNED_LOAD
-    #if (_MSC_VER==1600)
+    #if (EIGEN_COMP_MSVC==1600)
     // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
     // (i.e., it does not generate an unaligned load!!
-    // TODO On most architectures this version should also be faster than a single _mm_loadu_ps
-    // so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
     __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
     res = _mm_loadh_pi(res, (const __m64*)(from+2));
     return res;
@@ -266,46 +351,77 @@ template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
 template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
 {
   Packet4i tmp;
-  tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
+  tmp = _mm_loadl_epi64(reinterpret_cast<const __m128i*>(from));
   return vec4i_swizzle1(tmp, 0, 0, 1, 1);
 }
 
 template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
 template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
 
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE
-  _mm_storel_pd((to), from);
-  _mm_storeh_pd((to+1), from);
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+ return _mm_set_ps(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+ return _mm_set_pd(from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+ return _mm_set_epi32(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+ }
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  to[stride*0] = _mm_cvtss_f32(from);
+  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 1));
+  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 2));
+  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  to[stride*0] = _mm_cvtsd_f64(from);
+  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(from, from, 1));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  to[stride*0] = _mm_cvtsi128_si32(from);
+  to[stride*1] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 1));
+  to[stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
+  to[stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
 }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castps_pd(from)); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castsi128_pd(from)); }
 
 // some compilers might be tempted to perform multiple moves instead of using a vector path.
 template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
 {
   Packet4f pa = _mm_set_ss(a);
-  pstore(to, vec4f_swizzle1(pa,0,0,0,0));
+  pstore(to, Packet4f(vec4f_swizzle1(pa,0,0,0,0)));
 }
 // some compilers might be tempted to perform multiple moves instead of using a vector path.
 template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
 {
   Packet2d pa = _mm_set_sd(a);
-  pstore(to, vec2d_swizzle1(pa,0,0));
+  pstore(to, Packet2d(vec2d_swizzle1(pa,0,0)));
 }
 
+#ifndef EIGEN_VECTORIZE_AVX
 template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+#endif
 
-#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
+#if EIGEN_COMP_MSVC_STRICT && EIGEN_OS_WIN64
 // The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
 // Direct of the struct members fixed bug #62.
 template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
 template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
 template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
-#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+#elif EIGEN_COMP_MSVC_STRICT
 // The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
 template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
 template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
@@ -323,7 +439,6 @@ template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
 template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
 { return _mm_shuffle_epi32(a,0x1B); }
 
-
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
 {
   const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
@@ -344,6 +459,38 @@ template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
   #endif
 }
 
+// with AVX, the default implementations based on pload1 are faster
+#ifndef __AVX__
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec4f_swizzle1(a3, 0,0,0,0);
+  a1 = vec4f_swizzle1(a3, 1,1,1,1);
+  a2 = vec4f_swizzle1(a3, 2,2,2,2);
+  a3 = vec4f_swizzle1(a3, 3,3,3,3);
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+#ifdef EIGEN_VECTORIZE_SSE3
+  a0 = _mm_loaddup_pd(a+0);
+  a1 = _mm_loaddup_pd(a+1);
+  a2 = _mm_loaddup_pd(a+2);
+  a3 = _mm_loaddup_pd(a+3);
+#else
+  a1 = pload<Packet2d>(a);
+  a0 = vec2d_swizzle1(a1, 0,0);
+  a1 = vec2d_swizzle1(a1, 1,1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec2d_swizzle1(a3, 0,0);
+  a3 = vec2d_swizzle1(a3, 1,1);
+#endif
+}
+#endif
+
 EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
 {
   vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
@@ -353,47 +500,17 @@ EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
 }
 
 #ifdef EIGEN_VECTORIZE_SSE3
-// TODO implement SSE2 versions as well as integer versions
 template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 {
   return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
 }
+
 template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
 {
   return _mm_hadd_pd(vecs[0], vecs[1]);
 }
-// SSSE3 version:
-// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
-// {
-//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
-// }
-
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp0 = _mm_hadd_ps(a,a);
-  return pfirst(_mm_hadd_ps(tmp0, tmp0));
-}
 
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
-
-// SSSE3 version:
-// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
-// {
-//   Packet4i tmp0 = _mm_hadd_epi32(a,a);
-//   return pfirst(_mm_hadd_epi32(tmp0, tmp0));
-// }
 #else
-// SSE2 versions
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
-{
-  return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
-}
-
 template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 {
   Packet4f tmp0, tmp1, tmp2;
@@ -414,10 +531,45 @@ template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
 }
 #endif  // SSE3
 
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+  // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+//   Packet4f tmp = _mm_add_ps(a, vec4f_swizzle1(a,2,3,2,3));
+//   return pfirst<Packet4f>(_mm_hadd_ps(tmp, tmp));
+// #else
+  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+  return pfirst<Packet4f>(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+// #endif
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+  // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+//   return pfirst<Packet2d>(_mm_hadd_pd(a, a));
+// #else
+  return pfirst<Packet2d>(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+// #endif
+}
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i tmp0 = _mm_hadd_epi32(a,a);
+  return pfirst<Packet4i>(_mm_hadd_epi32(tmp0,tmp0));
+}
+#else
 template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
 {
   Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
-  return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
+  return pfirst(tmp) + pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1));
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
@@ -433,18 +585,18 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
   tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
   return _mm_add_epi32(tmp0, tmp2);
 }
-
+#endif
 // Other reduction functions:
 
 // mul
 template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
 {
@@ -460,14 +612,18 @@ template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
 template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
 {
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  Packet4i tmp = _mm_min_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+  return pfirst<Packet4i>(_mm_min_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
   // after some experiments, it is seems this is the fastest way to implement it
   // for GCC (eg., it does not like using std::min after the pstore !!)
   EIGEN_ALIGN16 int aux[4];
@@ -475,20 +631,25 @@ template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
   int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
   int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
   return aux0<aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
 }
 
 // max
 template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
 {
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  Packet4i tmp = _mm_max_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+  return pfirst<Packet4i>(_mm_max_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
   // after some experiments, it is seems this is the fastest way to implement it
   // for GCC (eg., it does not like using std::min after the pstore !!)
   EIGEN_ALIGN16 int aux[4];
@@ -496,9 +657,10 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
   int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
   int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
   return aux0>aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
 }
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 // template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
 // {
 //   Packet4f res = b;
@@ -606,6 +768,110 @@ struct palign_impl<Offset,Packet2d>
 };
 #endif
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  _MM_TRANSPOSE4_PS(kernel.packet[0], kernel.packet[1], kernel.packet[2], kernel.packet[3]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  __m128d tmp = _mm_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[0] = _mm_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[1] = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  __m128i T0 = _mm_unpacklo_epi32(kernel.packet[0], kernel.packet[1]);
+  __m128i T1 = _mm_unpacklo_epi32(kernel.packet[2], kernel.packet[3]);
+  __m128i T2 = _mm_unpackhi_epi32(kernel.packet[0], kernel.packet[1]);
+  __m128i T3 = _mm_unpackhi_epi32(kernel.packet[2], kernel.packet[3]);
+
+  kernel.packet[0] = _mm_unpacklo_epi64(T0, T1);
+  kernel.packet[1] = _mm_unpackhi_epi64(T0, T1);
+  kernel.packet[2] = _mm_unpacklo_epi64(T2, T3);
+  kernel.packet[3] = _mm_unpackhi_epi64(T2, T3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  const __m128i zero = _mm_setzero_si128();
+  const __m128i select = _mm_set_epi32(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m128i false_mask = _mm_cmpeq_epi32(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_epi8(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_si128(_mm_andnot_si128(false_mask, thenPacket), _mm_and_si128(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  const __m128 zero = _mm_setzero_ps();
+  const __m128 select = _mm_set_ps(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m128 false_mask = _mm_cmpeq_ps(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_ps(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_ps(_mm_andnot_ps(false_mask, thenPacket), _mm_and_ps(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  const __m128d zero = _mm_setzero_pd();
+  const __m128d select = _mm_set_pd(ifPacket.select[1], ifPacket.select[0]);
+  __m128d false_mask = _mm_cmpeq_pd(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_pd(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_pd(_mm_andnot_pd(false_mask, thenPacket), _mm_and_pd(false_mask, elsePacket));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertfirst(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_ps(a,pset1<Packet4f>(b),1);
+#else
+  return _mm_move_ss(a, _mm_load_ss(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertfirst(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_pd(a,pset1<Packet2d>(b),1);
+#else
+  return _mm_move_sd(a, _mm_load_sd(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertlast(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_ps(a,pset1<Packet4f>(b),(1<<3));
+#else
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x0,0x0,0x0,0xFFFFFFFF));
+  return _mm_or_ps(_mm_andnot_ps(mask, a), _mm_and_ps(mask, pset1<Packet4f>(b)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertlast(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_pd(a,pset1<Packet2d>(b),(1<<1));
+#else
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x0,0xFFFFFFFF,0xFFFFFFFF));
+  return _mm_or_pd(_mm_andnot_pd(mask, a), _mm_and_pd(mask, pset1<Packet2d>(b)));
+#endif
+}
+
+// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
+  return ::fmaf(a,b,c);
+}
+template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
+  return ::fma(a,b,c);
+}
+#endif
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h b/vendor/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h
new file mode 100644
index 0000000..c848932
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h
@@ -0,0 +1,77 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog at 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_TYPE_CASTING_SSE_H
+#define EIGEN_TYPE_CASTING_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <>
+struct type_casting_traits<float, int> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+  return _mm_cvttps_epi32(a);
+}
+
+
+template <>
+struct type_casting_traits<int, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+  return _mm_cvtepi32_ps(a);
+}
+
+
+template <>
+struct type_casting_traits<double, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 2,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
+  return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
+}
+
+template <>
+struct type_casting_traits<float, double> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 2
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
+  // Simply discard the second half of the input
+  return _mm_cvtps_pd(a);
+}
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_SSE_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/ZVector/Complex.h b/vendor/eigen/Eigen/src/Core/arch/ZVector/Complex.h
new file mode 100644
index 0000000..d39d2d1
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/ZVector/Complex.h
@@ -0,0 +1,394 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos at freevec.org>
+//
+// 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_COMPLEX32_ALTIVEC_H
+#define EIGEN_COMPLEX32_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_ZERO_, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_ZERO_, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  union {
+    Packet4f v;
+    Packet1cd cd[2];
+  };
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  typedef Packet2cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasBlend  = 1,
+    HasSetLinear = 0
+  };
+};
+
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float>  type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+/* Forward declaration */
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel);
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  res.cd[0] = Packet1cd(vec_ld2f((const float *)&from));
+  res.cd[1] = res.cd[0];
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet2cf>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride EIGEN_UNUSED)
+{
+  return pload<Packet1cd>(from);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<float> >((std::complex<float> *) af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride EIGEN_UNUSED)
+{
+  pstore<std::complex<double> >(to, from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(Packet4f(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd((Packet2d)vec_xor((Packet2d)a.v, (Packet2d)p2ul_CONJ_XOR2)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  Packet2cf res;
+  res.v.v4f[0] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0]))).v;
+  res.v.v4f[1] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1]))).v;
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d a_re, a_im, v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
+  // Get the imaginary parts of a
+  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
+  // multiply a_re * b
+  v1 = vec_madd(a_re, b.v, p2d_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(a_im, b.v, p2d_ZERO);
+  v2 = (Packet2d) vec_sld((Packet4ui)v2, (Packet4ui)v2, 8);
+  v2 = (Packet2d) vec_xor((Packet2d)v2, (Packet2d) p2ul_CONJ_XOR1);
+
+  return Packet1cd(v1 + v2);
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet2cf res;
+  res.v.v4f[0] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[0]))).v;
+  res.v.v4f[1] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[1]))).v;
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_or(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_xor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v, vec_nor(b.v,b.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from) {  return pset1<Packet1cd>(*from); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*      from) {  return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *     addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res;
+  pstore<std::complex<double> >(&res, a);
+
+  return res;
+}
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 res[2];
+  pstore<std::complex<float> >(res, a);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet2cf res;
+  res.cd[0] = a.cd[1];
+  res.cd[1] = a.cd[0];
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> res;
+  Packet1cd b = padd<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+{
+  return vecs[0];
+}
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  PacketBlock<Packet2cf,2> transpose;
+  transpose.packet[0] = vecs[0];
+  transpose.packet[1] = vecs[1];
+  ptranspose(transpose);
+
+  return padd<Packet2cf>(transpose.packet[0], transpose.packet[1]);
+} 
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> res;
+  Packet1cd b = pmul<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset == 1) {
+      first.cd[0] = first.cd[1];
+      first.cd[1] = second.cd[0];
+    }
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for AltiVec
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = vec_madd(b.v, b.v, p2d_ZERO_);
+  return Packet1cd(pdiv(res.v, s + vec_perm(s, s, p16uc_REVERSE64)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res;
+  res.cd[0] = pdiv<Packet1cd>(a.cd[0], b.cd[0]);
+  res.cd[1] = pdiv<Packet1cd>(a.cd[1], b.cd[1]);
+  return res;
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+{
+  Packet2cf res;
+  res.cd[0] = pcplxflip(x.cd[0]);
+  res.cd[1] = pcplxflip(x.cd[1]);
+  return res;
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
+{
+  Packet1cd tmp = kernel.packet[0].cd[1];
+  kernel.packet[0].cd[1] = kernel.packet[1].cd[0];
+  kernel.packet[1].cd[0] = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  Packet2cf result;
+  const Selector<4> ifPacket4 = { ifPacket.select[0], ifPacket.select[0], ifPacket.select[1], ifPacket.select[1] };
+  result.v = pblend<Packet4f>(ifPacket4, thenPacket.v, elsePacket.v);
+  return result;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h b/vendor/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h
new file mode 100644
index 0000000..5c7aa72
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos at freevec.org>
+//
+// 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/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
+static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
+static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+
+static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
+static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d pexp<Packet2d>(const Packet2d& _x)
+{
+  Packet2d x = _x;
+
+  Packet2d tmp, fx;
+  Packet2l emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
+
+  fx = vec_floor(fx);
+
+  tmp = pmul(fx, p2d_cephes_exp_C1);
+  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet2d x2 = pmul(x,x);
+
+  Packet2d px = p2d_cephes_exp_p0;
+  px = pmadd(px, x2, p2d_cephes_exp_p1);
+  px = pmadd(px, x2, p2d_cephes_exp_p2);
+  px = pmul (px, x);
+
+  Packet2d qx = p2d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+  x = pdiv(px,psub(qx,px));
+  x = pmadd(p2d_2,x,p2d_1);
+
+  // build 2^n
+  emm0 = vec_ctsl(fx, 0);
+
+  static const Packet2l p2l_1023 = { 1023, 1023 };
+  static const Packet2ul p2ul_52 = { 52, 52 };
+
+  emm0 = emm0 + p2l_1023;
+  emm0 = emm0 << reinterpret_cast<Packet2l>(p2ul_52);
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
+                 isnumber_mask);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& x)
+{
+  Packet4f res;
+  res.v4f[0] = pexp<Packet2d>(x.v4f[0]);
+  res.v4f[1] = pexp<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x)
+{
+  return  __builtin_s390_vfsqdb(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x)
+{
+  Packet4f res;
+  res.v4f[0] = psqrt<Packet2d>(x.v4f[0]);
+  res.v4f[1] = psqrt<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
+  return pset1<Packet2d>(1.0) / psqrt<Packet2d>(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x) {
+  Packet4f res;
+  res.v4f[0] = prsqrt<Packet2d>(x.v4f[0]);
+  res.v4f[1] = prsqrt<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/vendor/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h b/vendor/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h
new file mode 100755
index 0000000..57b01fc
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h
@@ -0,0 +1,945 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Konstantinos Margaritis <markos at freevec.org>
+//
+// 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_PACKET_MATH_ZVECTOR_H
+#define EIGEN_PACKET_MATH_ZVECTOR_H
+
+#include <stdint.h>
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  16
+#endif
+
+typedef __vector int                 Packet4i;
+typedef __vector unsigned int        Packet4ui;
+typedef __vector __bool int          Packet4bi;
+typedef __vector short int           Packet8i;
+typedef __vector unsigned char       Packet16uc;
+typedef __vector double              Packet2d;
+typedef __vector unsigned long long  Packet2ul;
+typedef __vector long long           Packet2l;
+
+typedef struct {
+	Packet2d  v4f[2];
+} Packet4f;
+
+typedef union {
+  int32_t   i[4];
+  uint32_t ui[4];
+  int64_t   l[2];
+  uint64_t ul[2];
+  double    d[2];
+  Packet4i  v4i;
+  Packet4ui v4ui;
+  Packet2l  v2l;
+  Packet2ul v2ul;
+  Packet2d  v2d;
+} Packet;
+
+// We don't want to write the same code all the time, but we need to reuse the constants
+// and it doesn't really work to declare them global, so we define macros instead
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = reinterpret_cast<Packet4i>(vec_splat_s32(X))
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = reinterpret_cast<Packet2d>(vec_splat_s64(X))
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = reinterpret_cast<Packet2l>(vec_splat_s64(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = pset1<Packet2d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = pset1<Packet2l>(X)
+
+// These constants are endian-agnostic
+//static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE, 1); //{ 1, 1, 1, 1}
+
+static _EIGEN_DECLARE_CONST_FAST_Packet2d(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet2l(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet2l(ONE, 1);
+
+static Packet2d p2d_ONE = { 1.0, 1.0 }; 
+static Packet2d p2d_ZERO_ = { -0.0, -0.0 };
+
+static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
+static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet16uc>(p2d_ZERO), reinterpret_cast<Packet16uc>(p2d_ONE), 8));
+
+static Packet16uc p16uc_PSET64_HI = { 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+
+// Mask alignment
+#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
+
+#define _EIGEN_ALIGNED_PTR(x)	((std::ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
+
+// Handle endianness properly while loading constants
+// Define global static constants:
+
+static Packet16uc p16uc_FORWARD =   { 0,1,2,3, 4,5,6,7, 8,9,10,11, 12,13,14,15 };
+static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+
+static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+/*static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+
+static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };*/
+static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+/*static Packet16uc p16uc_TRANSPOSE64_HI = vec_add(p16uc_PSET64_HI, p16uc_HALF64_0_16);                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = vec_add(p16uc_PSET64_LO, p16uc_HALF64_0_16);                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};*/
+static Packet16uc p16uc_TRANSPOSE64_HI = { 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = { 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
+
+//static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+
+//static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+
+
+#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
+  #define EIGEN_ZVECTOR_PREFETCH(ADDR) __builtin_prefetch(ADDR);
+#else
+  #define EIGEN_ZVECTOR_PREFETCH(ADDR) asm( "   pfd [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
+#endif
+
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  typedef Packet4i half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+  typedef Packet4f type;
+  typedef Packet4f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 1,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+/* Forward declaration */
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4f,4>& kernel);
+ 
+inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
+{
+  Packet vt;
+  vt.v4i = v;
+  s << vt.i[0] << ", " << vt.i[1] << ", " << vt.i[2] << ", " << vt.i[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
+{
+  Packet vt;
+  vt.v4ui = v;
+  s << vt.ui[0] << ", " << vt.ui[1] << ", " << vt.ui[2] << ", " << vt.ui[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
+{
+  Packet vt;
+  vt.v2l = v;
+  s << vt.l[0] << ", " << vt.l[1];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2ul & v)
+{
+  Packet vt;
+  vt.v2ul = v;
+  s << vt.ul[0] << ", " << vt.ul[1] ;
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
+{
+  Packet vt;
+  vt.v2d = v;
+  s << vt.d[0] << ", " << vt.d[1];
+  return s;
+}
+
+/* Helper function to simulate a vec_splat_packet4f
+ */
+template<int element> EIGEN_STRONG_INLINE Packet4f vec_splat_packet4f(const Packet4f&   from)
+{
+  Packet4f splat;
+  switch (element) {
+  case 0:
+    splat.v4f[0] = vec_splat(from.v4f[0], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 1:
+    splat.v4f[0] = vec_splat(from.v4f[0], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 2:
+    splat.v4f[0] = vec_splat(from.v4f[1], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 3:
+    splat.v4f[0] = vec_splat(from.v4f[1], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  }
+  return splat;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+  {
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+  }
+};
+
+/* This is a tricky one, we have to translate float alignment to vector elements of sizeof double
+ */
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+  {
+    switch (Offset % 4) {
+    case 1:
+      first.v4f[0] = vec_sld(first.v4f[0], first.v4f[1], 8);
+      first.v4f[1] = vec_sld(first.v4f[1], second.v4f[0], 8);
+      break;
+    case 2:
+      first.v4f[0] = first.v4f[1];
+      first.v4f[1] = second.v4f[0];
+      break;
+    case 3:
+      first.v4f[0] = vec_sld(first.v4f[1],  second.v4f[0], 8);
+      first.v4f[1] = vec_sld(second.v4f[0], second.v4f[1], 8);
+      break;
+    }
+  }
+};
+
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset == 1)
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(first), reinterpret_cast<Packet4i>(second), 8));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet *vfrom;
+  vfrom = (Packet *) from;
+  return vfrom->v4i;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet4f vfrom;
+  vfrom.v4f[0] = vec_ld2f(&from[0]);
+  vfrom.v4f[1] = vec_ld2f(&from[2]);
+  return vfrom;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet *vfrom;
+  vfrom = (Packet *) from;
+  return vfrom->v2d;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  Packet *vto;
+  vto = (Packet *) to;
+  vto->v4i = from;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_st2f(from.v4f[0], &to[0]);
+  vec_st2f(from.v4f[1], &to[2]);
+}
+
+
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  Packet *vto;
+  vto = (Packet *) to;
+  vto->v2d = from;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)
+{
+  return vec_splats(from);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) {
+  return vec_splats(from);
+}
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&    from)
+{
+  Packet4f to;
+  to.v4f[0] = pset1<Packet2d>(static_cast<const double&>(from));
+  to.v4f[1] = to.v4f[0];
+  return to;
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4i>(const int *a,
+                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
+{
+  a3 = pload<Packet4i>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat_packet4f<0>(a3);
+  a1 = vec_splat_packet4f<1>(a3);
+  a2 = vec_splat_packet4f<2>(a3);
+  a3 = vec_splat_packet4f<3>(a3);
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+  a1 = pload<Packet2d>(a);
+  a0 = vec_splat(a1, 0);
+  a1 = vec_splat(a1, 1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec_splat(a3, 0);
+  a3 = vec_splat(a3, 1);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4i>(ai);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  float EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4f>(ai);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+ return pload<Packet2d>(af);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  pstore<int>((int *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  float EIGEN_ALIGN16 ai[4];
+  pstore<float>((float *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  pstore<double>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a + b); }
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] + b.v4f[0];
+  c.v4f[1] = a.v4f[1] + b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a + b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a - b); }
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] - b.v4f[0];
+  c.v4f[1] = a.v4f[1] - b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a - b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a * b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] * b.v4f[0];
+  c.v4f[1] = a.v4f[1] * b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a * b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a / b); }
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] / b.v4f[0];
+  c.v4f[1] = a.v4f[1] / b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a / b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return (-a); }
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  Packet4f c;
+  c.v4f[0] = -a.v4f[0];
+  c.v4f[1] = -a.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return (-a); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd<Packet4i>(pmul<Packet4i>(a, b), c); }
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+{
+  Packet4f res;
+  res.v4f[0] = vec_madd(a.v4f[0], b.v4f[0], c.v4f[0]);
+  res.v4f[1] = vec_madd(a.v4f[1], b.v4f[1], c.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
+
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)    { return padd<Packet4i>(pset1<Packet4i>(a), p4i_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)  { return padd<Packet4f>(pset1<Packet4f>(a), p4f_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return padd<Packet2d>(pset1<Packet2d>(a), p2d_COUNTDOWN); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmin(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmin(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmax(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmax(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return pand<Packet4i>(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pandnot(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pandnot(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_round(a.v4f[0]);
+  res.v4f[1] = vec_round(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_ceil(a.v4f[0]);
+  res.v4f[1] = vec_ceil(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_floor(a.v4f[0]);
+  res.v4f[1] = vec_floor(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*       from) { return pload<Packet4i>(from); }
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*     from) { return pload<Packet4f>(from); }
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double*    from) { return pload<Packet2d>(from); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i p = pload<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*    from)
+{
+  Packet4f p = pload<Packet4f>(from);
+  p.v4f[1] = vec_splat(p.v4f[0], 1);
+  p.v4f[0] = vec_splat(p.v4f[0], 0);
+  return p;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  Packet2d p = pload<Packet2d>(from);
+  return vec_perm(p, p, p16uc_PSET64_HI);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*        to, const Packet4i& from) { pstore<int>(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*    to, const Packet4f& from) { pstore<float>(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { pstore<double>(to, from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int    EIGEN_ALIGN16 x[4]; pstore(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float  EIGEN_ALIGN16 x[2]; vec_st2f(a.v4f[0], &x[0]); return x[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{
+  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  Packet4f rev;
+  rev.v4f[0] = preverse<Packet2d>(a.v4f[1]);
+  rev.v4f[1] = preverse<Packet2d>(a.v4f[0]);
+  return rev;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pabs<Packet4i>(const Packet4i& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pabs<Packet2d>(const Packet2d& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = pabs(a.v4f[0]);
+  res.v4f[1] = pabs(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, sum;
+  b   = vec_sld(a, a, 8);
+  sum = padd<Packet4i>(a, b);
+  b   = vec_sld(sum, sum, 4);
+  sum = padd<Packet4i>(sum, b);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  Packet2d b, sum;
+  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8));
+  sum = padd<Packet2d>(a, b);
+  return pfirst(sum);
+}
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet2d sum;
+  sum = padd<Packet2d>(a.v4f[0], a.v4f[1]);
+  double first = predux<Packet2d>(sum);
+  return static_cast<float>(first);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = padd<Packet4i>(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = padd<Packet4i>(sum[2], sum[3]);
+  // Add the results
+  sum[0] = padd<Packet4i>(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  Packet2d v[2], sum;
+  v[0] = padd<Packet2d>(vecs[0], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[0]), reinterpret_cast<Packet4ui>(vecs[0]), 8)));
+  v[1] = padd<Packet2d>(vecs[1], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[1]), reinterpret_cast<Packet4ui>(vecs[1]), 8)));
+ 
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v[0]), reinterpret_cast<Packet4ui>(v[1]), 8));
+
+  return sum;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  PacketBlock<Packet4f,4> transpose;
+  transpose.packet[0] = vecs[0];
+  transpose.packet[1] = vecs[1];
+  transpose.packet[2] = vecs[2];
+  transpose.packet[3] = vecs[3];
+  ptranspose(transpose);
+
+  Packet4f sum = padd(transpose.packet[0], transpose.packet[1]);
+  sum = padd(sum, transpose.packet[2]);
+  sum = padd(sum, transpose.packet[3]);
+  return sum;
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return aux[0] * aux[1] * aux[2] * aux[3];
+}
+
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  // Return predux_mul<Packet2d> of the subvectors product
+  return static_cast<float>(pfirst(predux_mul(pmul(a.v4f[0], a.v4f[1]))));
+}
+
+// min
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b   = pmin<Packet4i>(a, vec_sld(a, a, 8));
+  res = pmin<Packet4i>(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmin<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmin<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmin<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
+// max
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = pmax<Packet4i>(a, vec_sld(a, a, 8));
+  res = pmax<Packet4i>(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmax<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmax<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmax<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  Packet4i t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  Packet4i t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  Packet4i t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  Packet4i t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  Packet2d t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
+  Packet2d t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
+  kernel.packet[0] = t0;
+  kernel.packet[1] = t1;
+}
+
+/* Split the Packet4f PacketBlock into 4 Packet2d PacketBlocks and transpose each one
+ */
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  PacketBlock<Packet2d,2> t0,t1,t2,t3;
+  // copy top-left 2x2 Packet2d block
+  t0.packet[0] = kernel.packet[0].v4f[0];
+  t0.packet[1] = kernel.packet[1].v4f[0];
+
+  // copy top-right 2x2 Packet2d block
+  t1.packet[0] = kernel.packet[0].v4f[1];
+  t1.packet[1] = kernel.packet[1].v4f[1];
+
+  // copy bottom-left 2x2 Packet2d block
+  t2.packet[0] = kernel.packet[2].v4f[0];
+  t2.packet[1] = kernel.packet[3].v4f[0];
+
+  // copy bottom-right 2x2 Packet2d block
+  t3.packet[0] = kernel.packet[2].v4f[1];
+  t3.packet[1] = kernel.packet[3].v4f[1];
+
+  // Transpose all 2x2 blocks
+  ptranspose(t0);
+  ptranspose(t1);
+  ptranspose(t2);
+  ptranspose(t3);
+
+  // Copy back transposed blocks, but exchange t1 and t2 due to transposition
+  kernel.packet[0].v4f[0] = t0.packet[0];
+  kernel.packet[0].v4f[1] = t2.packet[0];
+  kernel.packet[1].v4f[0] = t0.packet[1];
+  kernel.packet[1].v4f[1] = t2.packet[1];
+  kernel.packet[2].v4f[0] = t1.packet[0];
+  kernel.packet[2].v4f[1] = t3.packet[0];
+  kernel.packet[3].v4f[0] = t1.packet[1];
+  kernel.packet[3].v4f[1] = t3.packet[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  Packet2ul select_hi = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2ul select_lo = { ifPacket.select[2], ifPacket.select[3] };
+  Packet2ul mask_hi = vec_cmpeq(select_hi, reinterpret_cast<Packet2ul>(p2l_ONE));
+  Packet2ul mask_lo = vec_cmpeq(select_lo, reinterpret_cast<Packet2ul>(p2l_ONE));
+  Packet4f result;
+  result.v4f[0] = vec_sel(elsePacket.v4f[0], thenPacket.v4f[0], mask_hi);
+  result.v4f[1] = vec_sel(elsePacket.v4f[1], thenPacket.v4f[1], mask_lo);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2ul mask = vec_cmpeq(select, reinterpret_cast<Packet2ul>(p2l_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_ZVECTOR_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/AssignmentFunctors.h b/vendor/eigen/Eigen/src/Core/functors/AssignmentFunctors.h
new file mode 100644
index 0000000..4153b87
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/AssignmentFunctors.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at 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_ASSIGNMENT_FUNCTORS_H
+#define EIGEN_ASSIGNMENT_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+  
+/** \internal
+  * \brief Template functor for scalar/packet assignment
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,b); }
+};
+
+// Empty overload for void type (used by PermutationMatrix)
+template<typename DstScalar> struct assign_op<DstScalar,void> {};
+
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::Vectorizable && packet_traits<SrcScalar>::Vectorizable
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with addition
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct add_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(add_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a += b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::padd(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<add_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasAdd
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with subtraction
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct sub_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(sub_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a -= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::psub(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<sub_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with multiplication
+  *
+  */
+template<typename DstScalar, typename SrcScalar=DstScalar>
+struct mul_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(mul_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a *= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pmul(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<mul_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with diviving
+  *
+  */
+template<typename DstScalar, typename SrcScalar=DstScalar> struct div_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(div_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a /= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pdiv(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<div_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasDiv
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with swapping
+  *
+  * It works as follow. For a non-vectorized evaluation loop, we have:
+  *   for(i) func(A.coeffRef(i), B.coeff(i));
+  * where B is a SwapWrapper expression. The trick is to make SwapWrapper::coeff behaves like a non-const coeffRef.
+  * Actually, SwapWrapper might not even be needed since even if B is a plain expression, since it has to be writable
+  * B.coeff already returns a const reference to the underlying scalar value.
+  * 
+  * The case of a vectorized loop is more tricky:
+  *   for(i,j) func.assignPacket<A_Align>(&A.coeffRef(i,j), B.packet<B_Align>(i,j));
+  * Here, B must be a SwapWrapper whose packet function actually returns a proxy object holding a Scalar*,
+  * the actual alignment and Packet type.
+  *
+  */
+template<typename Scalar> struct swap_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(swap_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Scalar& a, const Scalar& b) const
+  {
+#ifdef __CUDACC__
+    // FIXME is there some kind of cuda::swap?
+    Scalar t=b; const_cast<Scalar&>(b)=a; a=t;
+#else
+    using std::swap;
+    swap(a,const_cast<Scalar&>(b));
+#endif
+  }
+};
+template<typename Scalar>
+struct functor_traits<swap_assign_op<Scalar> > {
+  enum {
+    Cost = 3 * NumTraits<Scalar>::ReadCost,
+    PacketAccess = packet_traits<Scalar>::Vectorizable
+  };
+};
+
+} // namespace internal
+
+} // namespace Eigen
+
+#endif // EIGEN_ASSIGNMENT_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/BinaryFunctors.h b/vendor/eigen/Eigen/src/Core/functors/BinaryFunctors.h
new file mode 100644
index 0000000..96747ba
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/BinaryFunctors.h
@@ -0,0 +1,482 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at 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_BINARY_FUNCTORS_H
+#define EIGEN_BINARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- associative binary functors ----------
+
+template<typename Arg1, typename Arg2>
+struct binary_op_base
+{
+  typedef Arg1 first_argument_type;
+  typedef Arg2 second_argument_type;
+};
+
+/** \internal
+  * \brief Template functor to compute the sum of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, DenseBase::sum()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_sum_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_sum_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+#else
+  scalar_sum_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::padd(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_sum_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2, // rough estimate!
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAdd && packet_traits<RhsScalar>::HasAdd
+    // TODO vectorize mixed sum
+  };
+};
+
+/** \internal
+  * \brief Template specialization to deprecate the summation of boolean expressions.
+  * This is required to solve Bug 426.
+  * \sa DenseBase::count(), DenseBase::any(), ArrayBase::cast(), MatrixBase::cast()
+  */
+template<> struct scalar_sum_op<bool,bool> : scalar_sum_op<int,int> {
+  EIGEN_DEPRECATED
+  scalar_sum_op() {}
+};
+
+
+/** \internal
+  * \brief Template functor to compute the product of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_product_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_product_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+#else
+  scalar_product_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmul(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_mul(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
+    // TODO vectorize mixed product
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the conjugate product of two scalars
+  *
+  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_conj_product_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+
+  enum {
+    Conj = NumTraits<LhsScalar>::IsComplex
+  };
+  
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_conj_product_op>::ReturnType result_type;
+  
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
+  
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = NumTraits<LhsScalar>::MulCost,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the min of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_min_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_min_op>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::mini(a, b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmin(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_min(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMin
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the max of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_max_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_max_op>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::maxi(a, b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmax(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_max(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_max_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMax
+  };
+};
+
+/** \internal
+  * \brief Template functors for comparison of two scalars
+  * \todo Implement packet-comparisons
+  */
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp> struct scalar_cmp_op;
+
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp>
+struct functor_traits<scalar_cmp_op<LhsScalar,RhsScalar, cmp> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = false
+  };
+};
+
+template<ComparisonName Cmp, typename LhsScalar, typename RhsScalar>
+struct result_of<scalar_cmp_op<LhsScalar, RhsScalar, Cmp>(LhsScalar,RhsScalar)> {
+  typedef bool type;
+};
+
+
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_EQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a==b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LT> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LE> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GT> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GE> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_UNORD> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return !(a<=b || b<=a);}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_NEQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a!=b;}
+};
+
+
+/** \internal
+  * \brief Template functor to compute the hypot of two scalars
+  *
+  * \sa MatrixBase::stableNorm(), class Redux
+  */
+template<typename Scalar>
+struct scalar_hypot_op<Scalar,Scalar> : binary_op_base<Scalar,Scalar>
+{
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
+//   typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
+  {
+    EIGEN_USING_STD_MATH(sqrt)
+    Scalar p, qp;
+    if(_x>_y)
+    {
+      p = _x;
+      qp = _y / p;
+    }
+    else
+    {
+      p = _y;
+      qp = _x / p;
+    }
+    return p * sqrt(Scalar(1) + qp*qp);
+  }
+};
+template<typename Scalar>
+struct functor_traits<scalar_hypot_op<Scalar,Scalar> > {
+  enum
+  {
+    Cost = 3 * NumTraits<Scalar>::AddCost +
+           2 * NumTraits<Scalar>::MulCost +
+           2 * scalar_div_cost<Scalar,false>::value,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the pow of two scalars
+  */
+template<typename Scalar, typename Exponent>
+struct scalar_pow_op  : binary_op_base<Scalar,Exponent>
+{
+  typedef typename ScalarBinaryOpTraits<Scalar,Exponent,scalar_pow_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_pow_op)
+#else
+  scalar_pow_op() {
+    typedef Scalar LhsScalar;
+    typedef Exponent RhsScalar;
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC
+  inline result_type operator() (const Scalar& a, const Exponent& b) const { return numext::pow(a, b); }
+};
+template<typename Scalar, typename Exponent>
+struct functor_traits<scalar_pow_op<Scalar,Exponent> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+
+
+
+//---------- non associative binary functors ----------
+
+/** \internal
+  * \brief Template functor to compute the difference of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator-
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_difference_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_difference_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+#else
+  scalar_difference_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a - b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::psub(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_difference_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasSub && packet_traits<RhsScalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the quotient of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator/()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_quotient_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_quotient_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+#else
+  scalar_quotient_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a / b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pdiv(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
+  typedef typename scalar_quotient_op<LhsScalar,RhsScalar>::result_type result_type;
+  enum {
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasDiv && packet_traits<RhsScalar>::HasDiv,
+    Cost = scalar_div_cost<result_type,PacketAccess>::value
+  };
+};
+
+
+
+/** \internal
+  * \brief Template functor to compute the and of two booleans
+  *
+  * \sa class CwiseBinaryOp, ArrayBase::operator&&
+  */
+struct scalar_boolean_and_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
+};
+template<> struct functor_traits<scalar_boolean_and_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the or of two booleans
+  *
+  * \sa class CwiseBinaryOp, ArrayBase::operator||
+  */
+struct scalar_boolean_or_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
+};
+template<> struct functor_traits<scalar_boolean_or_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+ * \brief Template functor to compute the xor of two booleans
+ *
+ * \sa class CwiseBinaryOp, ArrayBase::operator^
+ */
+struct scalar_boolean_xor_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_xor_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a ^ b; }
+};
+template<> struct functor_traits<scalar_boolean_xor_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+
+
+//---------- binary functors bound to a constant, thus appearing as a unary functor ----------
+
+// The following two classes permits to turn any binary functor into a unary one with one argument bound to a constant value.
+// They are analogues to std::binder1st/binder2nd but with the following differences:
+//  - they are compatible with packetOp
+//  - they are portable across C++ versions (the std::binder* are deprecated in C++11)
+template<typename BinaryOp> struct bind1st_op : BinaryOp {
+
+  typedef typename BinaryOp::first_argument_type  first_argument_type;
+  typedef typename BinaryOp::second_argument_type second_argument_type;
+  typedef typename BinaryOp::result_type          result_type;
+
+  bind1st_op(const first_argument_type &val) : m_value(val) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const second_argument_type& b) const { return BinaryOp::operator()(m_value,b); }
+
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& b) const
+  { return BinaryOp::packetOp(internal::pset1<Packet>(m_value), b); }
+
+  first_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind1st_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+template<typename BinaryOp> struct bind2nd_op : BinaryOp {
+
+  typedef typename BinaryOp::first_argument_type  first_argument_type;
+  typedef typename BinaryOp::second_argument_type second_argument_type;
+  typedef typename BinaryOp::result_type          result_type;
+
+  bind2nd_op(const second_argument_type &val) : m_value(val) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const first_argument_type& a) const { return BinaryOp::operator()(a,m_value); }
+
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return BinaryOp::packetOp(a,internal::pset1<Packet>(m_value)); }
+
+  second_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind2nd_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BINARY_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/NullaryFunctors.h b/vendor/eigen/Eigen/src/Core/functors/NullaryFunctors.h
new file mode 100644
index 0000000..b03be02
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/NullaryFunctors.h
@@ -0,0 +1,188 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud at 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_NULLARY_FUNCTORS_H
+#define EIGEN_NULLARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar>
+struct scalar_constant_op {
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() () const { return m_other; }
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const PacketType packetOp() const { return internal::pset1<PacketType>(m_other); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_constant_op<Scalar> >
+{ enum { Cost = 0 /* as the constant value should be loaded in register only once for the whole expression */,
+         PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
+
+template<typename Scalar> struct scalar_identity_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType row, IndexType col) const { return row==col ? Scalar(1) : Scalar(0); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_identity_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
+
+template <typename Scalar, typename Packet, bool IsInteger> struct linspaced_op_impl;
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
+{
+  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+    m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1)),
+    m_flip(numext::abs(high)<numext::abs(low))
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    if(m_flip)
+      return (i==0)? m_low : (m_high - RealScalar(m_size1-i)*m_step);
+    else
+      return (i==m_size1)? m_high : (m_low + RealScalar(i)*m_step);
+  }
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const
+  {
+    // Principle:
+    // [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
+    if(m_flip)
+    {
+      Packet pi = plset<Packet>(Scalar(i-m_size1));
+      Packet res = padd(pset1<Packet>(m_high), pmul(pset1<Packet>(m_step), pi));
+      if(i==0)
+        res = pinsertfirst(res, m_low);
+      return res;
+    }
+    else
+    {
+      Packet pi = plset<Packet>(Scalar(i));
+      Packet res = padd(pset1<Packet>(m_low), pmul(pset1<Packet>(m_step), pi));
+      if(i==m_size1-unpacket_traits<Packet>::size+1)
+        res = pinsertlast(res, m_high);
+      return res;
+    }
+  }
+
+  const Scalar m_low;
+  const Scalar m_high;
+  const Index m_size1;
+  const Scalar m_step;
+  const bool m_flip;
+};
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
+{
+  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+    m_low(low),
+    m_multiplier((high-low)/convert_index<Scalar>(num_steps<=1 ? 1 : num_steps-1)),
+    m_divisor(convert_index<Scalar>((high>=low?num_steps:-num_steps)+(high-low))/((numext::abs(high-low)+1)==0?1:(numext::abs(high-low)+1))),
+    m_use_divisor(num_steps>1 && (numext::abs(high-low)+1)<num_steps)
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar operator() (IndexType i) const
+  {
+    if(m_use_divisor) return m_low + convert_index<Scalar>(i)/m_divisor;
+    else              return m_low + convert_index<Scalar>(i)*m_multiplier;
+  }
+
+  const Scalar m_low;
+  const Scalar m_multiplier;
+  const Scalar m_divisor;
+  const bool m_use_divisor;
+};
+
+// ----- Linspace functor ----------------------------------------------------------------
+
+// Forward declaration (we default to random access which does not really give
+// us a speed gain when using packet access but it allows to use the functor in
+// nested expressions).
+template <typename Scalar, typename PacketType> struct linspaced_op;
+template <typename Scalar, typename PacketType> struct functor_traits< linspaced_op<Scalar,PacketType> >
+{
+  enum
+  {
+    Cost = 1,
+    PacketAccess =   (!NumTraits<Scalar>::IsInteger) && packet_traits<Scalar>::HasSetLinear && packet_traits<Scalar>::HasBlend,
+                  /*&& ((!NumTraits<Scalar>::IsInteger) || packet_traits<Scalar>::HasDiv),*/ // <- vectorization for integer is currently disabled
+    IsRepeatable = true
+  };
+};
+template <typename Scalar, typename PacketType> struct linspaced_op
+{
+  linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
+    : impl((num_steps==1 ? high : low),high,num_steps)
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const { return impl(i); }
+
+  template<typename Packet,typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.packetOp(i); }
+
+  // This proxy object handles the actual required temporaries and the different
+  // implementations (integer vs. floating point).
+  const linspaced_op_impl<Scalar,PacketType,NumTraits<Scalar>::IsInteger> impl;
+};
+
+// Linear access is automatically determined from the operator() prototypes available for the given functor.
+// If it exposes an operator()(i,j), then we assume the i and j coefficients are required independently
+// and linear access is not possible. In all other cases, linear access is enabled.
+// Users should not have to deal with this structure.
+template<typename Functor> struct functor_has_linear_access { enum { ret = !has_binary_operator<Functor>::value }; };
+
+// For unreliable compilers, let's specialize the has_*ary_operator
+// helpers so that at least built-in nullary functors work fine.
+#if !( (EIGEN_COMP_MSVC>1600) || (EIGEN_GNUC_AT_LEAST(4,8)) || (EIGEN_COMP_ICC>=1600))
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 1}; };
+
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_nullary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_unary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 1}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_binary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_NULLARY_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/StlFunctors.h b/vendor/eigen/Eigen/src/Core/functors/StlFunctors.h
new file mode 100644
index 0000000..6df3fa5
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/StlFunctors.h
@@ -0,0 +1,132 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at 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_STL_FUNCTORS_H
+#define EIGEN_STL_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// default functor traits for STL functors:
+
+template<typename T>
+struct functor_traits<std::multiplies<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::divides<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::plus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::minus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::negate<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_or<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_and<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_not<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::not_equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+#if (__cplusplus < 201103L) && (EIGEN_COMP_MSVC <= 1900)
+// std::binder* are deprecated since c++11 and will be removed in c++17
+template<typename T>
+struct functor_traits<std::binder2nd<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder1st<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+#endif
+
+template<typename T>
+struct functor_traits<std::unary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+#ifdef EIGEN_STDEXT_SUPPORT
+
+template<typename T0,typename T1>
+struct functor_traits<std::project1st<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::project2nd<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select2nd<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select1st<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::unary_compose<T0,T1> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
+
+template<typename T0,typename T1,typename T2>
+struct functor_traits<std::binary_compose<T0,T1,T2> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
+
+#endif // EIGEN_STDEXT_SUPPORT
+
+// allow to add new functors and specializations of functor_traits from outside Eigen.
+// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
+#ifdef EIGEN_FUNCTORS_PLUGIN
+#include EIGEN_FUNCTORS_PLUGIN
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_STL_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/TernaryFunctors.h b/vendor/eigen/Eigen/src/Core/functors/TernaryFunctors.h
new file mode 100644
index 0000000..b254e96
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/TernaryFunctors.h
@@ -0,0 +1,25 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo at 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_TERNARY_FUNCTORS_H
+#define EIGEN_TERNARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- associative ternary functors ----------
+
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TERNARY_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/functors/UnaryFunctors.h b/vendor/eigen/Eigen/src/Core/functors/UnaryFunctors.h
new file mode 100644
index 0000000..2e6a00f
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/functors/UnaryFunctors.h
@@ -0,0 +1,792 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud at 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_UNARY_FUNCTORS_H
+#define EIGEN_UNARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+  * \brief Template functor to compute the opposite of a scalar
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_opposite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pnegate(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_opposite_op<Scalar> >
+{ enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasNegate };
+};
+
+/** \internal
+  * \brief Template functor to compute the absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs
+  */
+template<typename Scalar> struct scalar_abs_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pabs(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAbs
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the score of a scalar, to chose a pivot
+  *
+  * \sa class CwiseUnaryOp
+  */
+template<typename Scalar> struct scalar_score_coeff_op : scalar_abs_op<Scalar>
+{
+  typedef void Score_is_abs;
+};
+template<typename Scalar>
+struct functor_traits<scalar_score_coeff_op<Scalar> > : functor_traits<scalar_abs_op<Scalar> > {};
+
+/* Avoid recomputing abs when we know the score and they are the same. Not a true Eigen functor.  */
+template<typename Scalar, typename=void> struct abs_knowing_score
+{
+  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  template<typename Score>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a, const Score&) const { return numext::abs(a); }
+};
+template<typename Scalar> struct abs_knowing_score<Scalar, typename scalar_score_coeff_op<Scalar>::Score_is_abs>
+{
+  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  template<typename Scal>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scal&, const result_type& a) const { return a; }
+};
+
+/** \internal
+  * \brief Template functor to compute the squared absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs2
+  */
+template<typename Scalar> struct scalar_abs2_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs2(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs2_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
+
+/** \internal
+  * \brief Template functor to compute the conjugate of a complex value
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
+  */
+template<typename Scalar> struct scalar_conjugate_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_conjugate_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+    PacketAccess = packet_traits<Scalar>::HasConj
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the phase angle of a complex
+  *
+  * \sa class CwiseUnaryOp, Cwise::arg
+  */
+template<typename Scalar> struct scalar_arg_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_arg_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using numext::arg; return arg(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::parg(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_arg_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? 5 * NumTraits<Scalar>::MulCost : NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasArg
+  };
+};
+/** \internal
+  * \brief Template functor to cast a scalar to another type
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::cast()
+  */
+template<typename Scalar, typename NewType>
+struct scalar_cast_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef NewType result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
+};
+template<typename Scalar, typename NewType>
+struct functor_traits<scalar_cast_op<Scalar,NewType> >
+{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::real(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::imag(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::real_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::imag_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the exponential of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::exp()
+  */
+template<typename Scalar> struct scalar_exp_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::exp(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_exp_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasExp,
+    // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+    // Haswell can issue 2 add/mul/madd per cycle.
+    Cost =
+    (sizeof(Scalar) == 4
+     // float: 8 pmadd, 4 pmul, 2 padd/psub, 6 other
+     ? (8 * NumTraits<Scalar>::AddCost + 6 * NumTraits<Scalar>::MulCost)
+     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
+     : (14 * NumTraits<Scalar>::AddCost +
+        6 * NumTraits<Scalar>::MulCost +
+        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#else
+    Cost =
+    (sizeof(Scalar) == 4
+     // float: 7 pmadd, 6 pmul, 4 padd/psub, 10 other
+     ? (21 * NumTraits<Scalar>::AddCost + 13 * NumTraits<Scalar>::MulCost)
+     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
+     : (23 * NumTraits<Scalar>::AddCost +
+        12 * NumTraits<Scalar>::MulCost +
+        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#endif
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::log()
+  */
+template<typename Scalar> struct scalar_log_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasLog,
+    Cost =
+    (PacketAccess
+     // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+     // 8 pmadd, 6 pmul, 8 padd/psub, 16 other, can issue 2 add/mul/madd per cycle.
+     ? (20 * NumTraits<Scalar>::AddCost + 7 * NumTraits<Scalar>::MulCost)
+#else
+     // 8 pmadd, 6 pmul, 8 padd/psub, 20 other
+     ? (36 * NumTraits<Scalar>::AddCost + 14 * NumTraits<Scalar>::MulCost)
+#endif
+     // Measured cost of std::log.
+     : sizeof(Scalar)==4 ? 40 : 85)
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of 1 plus a scalar value
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::log1p()
+  */
+template<typename Scalar> struct scalar_log1p_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log1p_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log1p(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog1p(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log1p_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasLog1p,
+    Cost = functor_traits<scalar_log_op<Scalar> >::Cost // TODO measure cost of log1p
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the base-10 logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::log10()
+  */
+template<typename Scalar> struct scalar_log10_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log10_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD_MATH(log10) return log10(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog10(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log10_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog10 }; };
+
+/** \internal
+  * \brief Template functor to compute the square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sqrt()
+  */
+template<typename Scalar> struct scalar_sqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sqrt(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_sqrt_op<Scalar> > {
+  enum {
+#if EIGEN_FAST_MATH
+    // The following numbers are based on the AVX implementation.
+    Cost = (sizeof(Scalar) == 8 ? 28
+                                // 4 pmul, 1 pmadd, 3 other
+                                : (3 * NumTraits<Scalar>::AddCost +
+                                   5 * NumTraits<Scalar>::MulCost)),
+#else
+    // The following numbers are based on min VSQRT throughput on Haswell.
+    Cost = (sizeof(Scalar) == 8 ? 28 : 14),
+#endif
+    PacketAccess = packet_traits<Scalar>::HasSqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the reciprocal square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::rsqrt()
+  */
+template<typename Scalar> struct scalar_rsqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_rsqrt_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(1)/numext::sqrt(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::prsqrt(a); }
+};
+
+template<typename Scalar>
+struct functor_traits<scalar_rsqrt_op<Scalar> >
+{ enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasRsqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cos()
+  */
+template<typename Scalar> struct scalar_cos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return numext::cos(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sin()
+  */
+template<typename Scalar> struct scalar_sin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sin(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the tan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tan()
+  */
+template<typename Scalar> struct scalar_tan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::tan(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_tan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasTan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::acos()
+  */
+template<typename Scalar> struct scalar_acos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::acos(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_acos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasACos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::asin()
+  */
+template<typename Scalar> struct scalar_asin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::asin(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_asin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasASin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the atan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::atan()
+  */
+template<typename Scalar> struct scalar_atan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_atan_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::atan(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::patan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_atan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasATan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the tanh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tanh()
+  */
+template <typename Scalar>
+struct scalar_tanh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tanh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::tanh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& x) const { return ptanh(x); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_tanh_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasTanh,
+    Cost = ( (EIGEN_FAST_MATH && is_same<Scalar,float>::value)
+// The following numbers are based on the AVX implementation,
+#ifdef EIGEN_VECTORIZE_FMA
+                // Haswell can issue 2 add/mul/madd per cycle.
+                // 9 pmadd, 2 pmul, 1 div, 2 other
+                ? (2 * NumTraits<Scalar>::AddCost +
+                   6 * NumTraits<Scalar>::MulCost +
+                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#else
+                ? (11 * NumTraits<Scalar>::AddCost +
+                   11 * NumTraits<Scalar>::MulCost +
+                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#endif
+                // This number assumes a naive implementation of tanh
+                : (6 * NumTraits<Scalar>::AddCost +
+                   3 * NumTraits<Scalar>::MulCost +
+                   2 * scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value +
+                   functor_traits<scalar_exp_op<Scalar> >::Cost))
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sinh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sinh()
+  */
+template<typename Scalar> struct scalar_sinh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sinh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sinh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psinh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sinh_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSinh
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cosh()
+  */
+template<typename Scalar> struct scalar_cosh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cosh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::cosh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcosh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cosh_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCosh
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the inverse of a scalar
+  * \sa class CwiseUnaryOp, Cwise::inverse()
+  */
+template<typename Scalar>
+struct scalar_inverse_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
+
+/** \internal
+  * \brief Template functor to compute the square of a scalar
+  * \sa class CwiseUnaryOp, Cwise::square()
+  */
+template<typename Scalar>
+struct scalar_square_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_square_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the cube of a scalar
+  * \sa class CwiseUnaryOp, Cwise::cube()
+  */
+template<typename Scalar>
+struct scalar_cube_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a*a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,pmul(a,a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cube_op<Scalar> >
+{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the rounded value of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::round()
+  */
+template<typename Scalar> struct scalar_round_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_round_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::round(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pround(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_round_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasRound
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the floor of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::floor()
+  */
+template<typename Scalar> struct scalar_floor_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_floor_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::floor(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pfloor(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_floor_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasFloor
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the ceil of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::ceil()
+  */
+template<typename Scalar> struct scalar_ceil_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_ceil_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::ceil(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pceil(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_ceil_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCeil
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute whether a scalar is NaN
+  * \sa class CwiseUnaryOp, ArrayBase::isnan()
+  */
+template<typename Scalar> struct scalar_isnan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isnan_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isnan)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isnan_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to check whether a scalar is +/-inf
+  * \sa class CwiseUnaryOp, ArrayBase::isinf()
+  */
+template<typename Scalar> struct scalar_isinf_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isinf_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isinf)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isinf_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to check whether a scalar has a finite value
+  * \sa class CwiseUnaryOp, ArrayBase::isfinite()
+  */
+template<typename Scalar> struct scalar_isfinite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isfinite_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isfinite)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isfinite_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the logical not of a boolean
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::operator!
+  */
+template<typename Scalar> struct scalar_boolean_not_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_not_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a) const { return !a; }
+};
+template<typename Scalar>
+struct functor_traits<scalar_boolean_not_op<Scalar> > {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the signum of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sign()
+  */
+template<typename Scalar,bool iscpx=(NumTraits<Scalar>::IsComplex!=0) > struct scalar_sign_op;
+template<typename Scalar>
+struct scalar_sign_op<Scalar,false> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+  {
+      return Scalar( (a>Scalar(0)) - (a<Scalar(0)) );
+  }
+  //TODO
+  //template <typename Packet>
+  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct scalar_sign_op<Scalar,true> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+  {
+    typedef typename NumTraits<Scalar>::Real real_type;
+    real_type aa = numext::abs(a);
+    if (aa==real_type(0))
+      return Scalar(0);
+    aa = real_type(1)/aa;
+    return Scalar(real(a)*aa, imag(a)*aa );
+  }
+  //TODO
+  //template <typename Packet>
+  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sign_op<Scalar> >
+{ enum {
+    Cost = 
+        NumTraits<Scalar>::IsComplex
+        ? ( 8*NumTraits<Scalar>::MulCost  ) // roughly
+        : ( 3*NumTraits<Scalar>::AddCost),
+    PacketAccess = packet_traits<Scalar>::HasSign
+  };
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_FUNCTORS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/vendor/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index bcdca5b..45230bc 100644
--- a/vendor/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -10,8 +10,9 @@
 #ifndef EIGEN_GENERAL_BLOCK_PANEL_H
 #define EIGEN_GENERAL_BLOCK_PANEL_H
 
-namespace Eigen { 
-  
+
+namespace Eigen {
+
 namespace internal {
 
 template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
@@ -24,29 +25,51 @@ inline std::ptrdiff_t manage_caching_sizes_helper(std::ptrdiff_t a, std::ptrdiff
   return a<=0 ? b : a;
 }
 
+#if EIGEN_ARCH_i386_OR_x86_64
+const std::ptrdiff_t defaultL1CacheSize = 32*1024;
+const std::ptrdiff_t defaultL2CacheSize = 256*1024;
+const std::ptrdiff_t defaultL3CacheSize = 2*1024*1024;
+#else
+const std::ptrdiff_t defaultL1CacheSize = 16*1024;
+const std::ptrdiff_t defaultL2CacheSize = 512*1024;
+const std::ptrdiff_t defaultL3CacheSize = 512*1024;
+#endif
+
 /** \internal */
-inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdiff_t* l2=0)
-{
-  static std::ptrdiff_t m_l1CacheSize = 0;
-  static std::ptrdiff_t m_l2CacheSize = 0;
-  if(m_l2CacheSize==0)
-  {
-    m_l1CacheSize = manage_caching_sizes_helper(queryL1CacheSize(),8 * 1024);
-    m_l2CacheSize = manage_caching_sizes_helper(queryTopLevelCacheSize(),1*1024*1024);
+struct CacheSizes {
+  CacheSizes(): m_l1(-1),m_l2(-1),m_l3(-1) {
+    int l1CacheSize, l2CacheSize, l3CacheSize;
+    queryCacheSizes(l1CacheSize, l2CacheSize, l3CacheSize);
+    m_l1 = manage_caching_sizes_helper(l1CacheSize, defaultL1CacheSize);
+    m_l2 = manage_caching_sizes_helper(l2CacheSize, defaultL2CacheSize);
+    m_l3 = manage_caching_sizes_helper(l3CacheSize, defaultL3CacheSize);
   }
-  
+
+  std::ptrdiff_t m_l1;
+  std::ptrdiff_t m_l2;
+  std::ptrdiff_t m_l3;
+};
+
+
+/** \internal */
+inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1, std::ptrdiff_t* l2, std::ptrdiff_t* l3)
+{
+  static CacheSizes m_cacheSizes;
+
   if(action==SetAction)
   {
     // set the cpu cache size and cache all block sizes from a global cache size in byte
     eigen_internal_assert(l1!=0 && l2!=0);
-    m_l1CacheSize = *l1;
-    m_l2CacheSize = *l2;
+    m_cacheSizes.m_l1 = *l1;
+    m_cacheSizes.m_l2 = *l2;
+    m_cacheSizes.m_l3 = *l3;
   }
   else if(action==GetAction)
   {
     eigen_internal_assert(l1!=0 && l2!=0);
-    *l1 = m_l1CacheSize;
-    *l2 = m_l2CacheSize;
+    *l1 = m_cacheSizes.m_l1;
+    *l2 = m_cacheSizes.m_l2;
+    *l3 = m_cacheSizes.m_l3;
   }
   else
   {
@@ -54,6 +77,206 @@ inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdi
   }
 }
 
+/* Helper for computeProductBlockingSizes.
+ *
+ * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+ * this function computes the blocking size parameters along the respective dimensions
+ * for matrix products and related algorithms. The blocking sizes depends on various
+ * parameters:
+ * - the L1 and L2 cache sizes,
+ * - the register level blocking sizes defined by gebp_traits,
+ * - the number of scalars that fit into a packet (when vectorization is enabled).
+ *
+ * \sa setCpuCacheSizes */
+
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+  // Explanations:
+  // Let's recall that the product algorithms form mc x kc vertical panels A' on the lhs and
+  // kc x nc blocks B' on the rhs. B' has to fit into L2/L3 cache. Moreover, A' is processed
+  // per mr x kc horizontal small panels where mr is the blocking size along the m dimension
+  // at the register level. This small horizontal panel has to stay within L1 cache.
+  std::ptrdiff_t l1, l2, l3;
+  manage_caching_sizes(GetAction, &l1, &l2, &l3);
+
+  if (num_threads > 1) {
+    typedef typename Traits::ResScalar ResScalar;
+    enum {
+      kdiv = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+      ksub = Traits::mr * Traits::nr * sizeof(ResScalar),
+      kr = 8,
+      mr = Traits::mr,
+      nr = Traits::nr
+    };
+    // Increasing k gives us more time to prefetch the content of the "C"
+    // registers. However once the latency is hidden there is no point in
+    // increasing the value of k, so we'll cap it at 320 (value determined
+    // experimentally).
+    const Index k_cache = (numext::mini<Index>)((l1-ksub)/kdiv, 320);
+    if (k_cache < k) {
+      k = k_cache - (k_cache % kr);
+      eigen_internal_assert(k > 0);
+    }
+
+    const Index n_cache = (l2-l1) / (nr * sizeof(RhsScalar) * k);
+    const Index n_per_thread = numext::div_ceil(n, num_threads);
+    if (n_cache <= n_per_thread) {
+      // Don't exceed the capacity of the l2 cache.
+      eigen_internal_assert(n_cache >= static_cast<Index>(nr));
+      n = n_cache - (n_cache % nr);
+      eigen_internal_assert(n > 0);
+    } else {
+      n = (numext::mini<Index>)(n, (n_per_thread + nr - 1) - ((n_per_thread + nr - 1) % nr));
+    }
+
+    if (l3 > l2) {
+      // l3 is shared between all cores, so we'll give each thread its own chunk of l3.
+      const Index m_cache = (l3-l2) / (sizeof(LhsScalar) * k * num_threads);
+      const Index m_per_thread = numext::div_ceil(m, num_threads);
+      if(m_cache < m_per_thread && m_cache >= static_cast<Index>(mr)) {
+        m = m_cache - (m_cache % mr);
+        eigen_internal_assert(m > 0);
+      } else {
+        m = (numext::mini<Index>)(m, (m_per_thread + mr - 1) - ((m_per_thread + mr - 1) % mr));
+      }
+    }
+  }
+  else {
+    // In unit tests we do not want to use extra large matrices,
+    // so we reduce the cache size to check the blocking strategy is not flawed
+#ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+    l1 = 9*1024;
+    l2 = 32*1024;
+    l3 = 512*1024;
+#endif
+
+    // Early return for small problems because the computation below are time consuming for small problems.
+    // Perhaps it would make more sense to consider k*n*m??
+    // Note that for very tiny problem, this function should be bypassed anyway
+    // because we use the coefficient-based implementation for them.
+    if((numext::maxi)(k,(numext::maxi)(m,n))<48)
+      return;
+
+    typedef typename Traits::ResScalar ResScalar;
+    enum {
+      k_peeling = 8,
+      k_div = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+      k_sub = Traits::mr * Traits::nr * sizeof(ResScalar)
+    };
+
+    // ---- 1st level of blocking on L1, yields kc ----
+
+    // Blocking on the third dimension (i.e., k) is chosen so that an horizontal panel
+    // of size mr x kc of the lhs plus a vertical panel of kc x nr of the rhs both fits within L1 cache.
+    // We also include a register-level block of the result (mx x nr).
+    // (In an ideal world only the lhs panel would stay in L1)
+    // Moreover, kc has to be a multiple of 8 to be compatible with loop peeling, leading to a maximum blocking size of:
+    const Index max_kc = numext::maxi<Index>(((l1-k_sub)/k_div) & (~(k_peeling-1)),1);
+    const Index old_k = k;
+    if(k>max_kc)
+    {
+      // We are really blocking on the third dimension:
+      // -> reduce blocking size to make sure the last block is as large as possible
+      //    while keeping the same number of sweeps over the result.
+      k = (k%max_kc)==0 ? max_kc
+                        : max_kc - k_peeling * ((max_kc-1-(k%max_kc))/(k_peeling*(k/max_kc+1)));
+
+      eigen_internal_assert(((old_k/k) == (old_k/max_kc)) && "the number of sweeps has to remain the same");
+    }
+
+    // ---- 2nd level of blocking on max(L2,L3), yields nc ----
+
+    // TODO find a reliable way to get the actual amount of cache per core to use for 2nd level blocking, that is:
+    //      actual_l2 = max(l2, l3/nb_core_sharing_l3)
+    // The number below is quite conservative: it is better to underestimate the cache size rather than overestimating it)
+    // For instance, it corresponds to 6MB of L3 shared among 4 cores.
+    #ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+    const Index actual_l2 = l3;
+    #else
+    const Index actual_l2 = 1572864; // == 1.5 MB
+    #endif
+
+    // Here, nc is chosen such that a block of kc x nc of the rhs fit within half of L2.
+    // The second half is implicitly reserved to access the result and lhs coefficients.
+    // When k<max_kc, then nc can arbitrarily growth. In practice, it seems to be fruitful
+    // to limit this growth: we bound nc to growth by a factor x1.5.
+    // However, if the entire lhs block fit within L1, then we are not going to block on the rows at all,
+    // and it becomes fruitful to keep the packed rhs blocks in L1 if there is enough remaining space.
+    Index max_nc;
+    const Index lhs_bytes = m * k * sizeof(LhsScalar);
+    const Index remaining_l1 = l1- k_sub - lhs_bytes;
+    if(remaining_l1 >= Index(Traits::nr*sizeof(RhsScalar))*k)
+    {
+      // L1 blocking
+      max_nc = remaining_l1 / (k*sizeof(RhsScalar));
+    }
+    else
+    {
+      // L2 blocking
+      max_nc = (3*actual_l2)/(2*2*max_kc*sizeof(RhsScalar));
+    }
+    // WARNING Below, we assume that Traits::nr is a power of two.
+    Index nc = numext::mini<Index>(actual_l2/(2*k*sizeof(RhsScalar)), max_nc) & (~(Traits::nr-1));
+    if(n>nc)
+    {
+      // We are really blocking over the columns:
+      // -> reduce blocking size to make sure the last block is as large as possible
+      //    while keeping the same number of sweeps over the packed lhs.
+      //    Here we allow one more sweep if this gives us a perfect match, thus the commented "-1"
+      n = (n%nc)==0 ? nc
+                    : (nc - Traits::nr * ((nc/*-1*/-(n%nc))/(Traits::nr*(n/nc+1))));
+    }
+    else if(old_k==k)
+    {
+      // So far, no blocking at all, i.e., kc==k, and nc==n.
+      // In this case, let's perform a blocking over the rows such that the packed lhs data is kept in cache L1/L2
+      // TODO: part of this blocking strategy is now implemented within the kernel itself, so the L1-based heuristic here should be obsolete.
+      Index problem_size = k*n*sizeof(LhsScalar);
+      Index actual_lm = actual_l2;
+      Index max_mc = m;
+      if(problem_size<=1024)
+      {
+        // problem is small enough to keep in L1
+        // Let's choose m such that lhs's block fit in 1/3 of L1
+        actual_lm = l1;
+      }
+      else if(l3!=0 && problem_size<=32768)
+      {
+        // we have both L2 and L3, and problem is small enough to be kept in L2
+        // Let's choose m such that lhs's block fit in 1/3 of L2
+        actual_lm = l2;
+        max_mc = (numext::mini<Index>)(576,max_mc);
+      }
+      Index mc = (numext::mini<Index>)(actual_lm/(3*k*sizeof(LhsScalar)), max_mc);
+      if (mc > Traits::mr) mc -= mc % Traits::mr;
+      else if (mc==0) return;
+      m = (m%mc)==0 ? mc
+                    : (mc - Traits::mr * ((mc/*-1*/-(m%mc))/(Traits::mr*(m/mc+1))));
+    }
+  }
+}
+
+template <typename Index>
+inline bool useSpecificBlockingSizes(Index& k, Index& m, Index& n)
+{
+#ifdef EIGEN_TEST_SPECIFIC_BLOCKING_SIZES
+  if (EIGEN_TEST_SPECIFIC_BLOCKING_SIZES) {
+    k = numext::mini<Index>(k, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K);
+    m = numext::mini<Index>(m, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M);
+    n = numext::mini<Index>(n, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N);
+    return true;
+  }
+#else
+  EIGEN_UNUSED_VARIABLE(k)
+  EIGEN_UNUSED_VARIABLE(m)
+  EIGEN_UNUSED_VARIABLE(n)
+#endif
+  return false;
+}
+
 /** \brief Computes the blocking parameters for a m x k times k x n matrix product
   *
   * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
@@ -62,48 +285,30 @@ inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdi
   *
   * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
   * this function computes the blocking size parameters along the respective dimensions
-  * for matrix products and related algorithms. The blocking sizes depends on various
-  * parameters:
-  * - the L1 and L2 cache sizes,
-  * - the register level blocking sizes defined by gebp_traits,
-  * - the number of scalars that fit into a packet (when vectorization is enabled).
+  * for matrix products and related algorithms.
+  *
+  * The blocking size parameters may be evaluated:
+  *   - either by a heuristic based on cache sizes;
+  *   - or using fixed prescribed values (for testing purposes).
   *
   * \sa setCpuCacheSizes */
-template<typename LhsScalar, typename RhsScalar, int KcFactor, typename SizeType>
-void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
-{
-  EIGEN_UNUSED_VARIABLE(n);
-  // Explanations:
-  // Let's recall the product algorithms form kc x nc horizontal panels B' on the rhs and
-  // mc x kc blocks A' on the lhs. A' has to fit into L2 cache. Moreover, B' is processed
-  // per kc x nr vertical small panels where nr is the blocking size along the n dimension
-  // at the register level. For vectorization purpose, these small vertical panels are unpacked,
-  // e.g., each coefficient is replicated to fit a packet. This small vertical panel has to
-  // stay in L1 cache.
-  std::ptrdiff_t l1, l2;
 
-  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-  enum {
-    kdiv = KcFactor * 2 * Traits::nr
-         * Traits::RhsProgress * sizeof(RhsScalar),
-    mr = gebp_traits<LhsScalar,RhsScalar>::mr,
-    mr_mask = (0xffffffff/mr)*mr
-  };
-
-  manage_caching_sizes(GetAction, &l1, &l2);
-  k = std::min<SizeType>(k, l1/kdiv);
-  SizeType _m = k>0 ? l2/(4 * sizeof(LhsScalar) * k) : 0;
-  if(_m<m) m = _m & mr_mask;
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+  if (!useSpecificBlockingSizes(k, m, n)) {
+    evaluateProductBlockingSizesHeuristic<LhsScalar, RhsScalar, KcFactor, Index>(k, m, n, num_threads);
+  }
 }
 
-template<typename LhsScalar, typename RhsScalar, typename SizeType>
-inline void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
+template<typename LhsScalar, typename RhsScalar, typename Index>
+inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
 {
-  computeProductBlockingSizes<LhsScalar,RhsScalar,1>(k, m, n);
+  computeProductBlockingSizes<LhsScalar,RhsScalar,1,Index>(k, m, n, num_threads);
 }
 
-#ifdef EIGEN_HAS_FUSE_CJMADD
-  #define MADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+  #define CJMADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
 #else
 
   // FIXME (a bit overkill maybe ?)
@@ -128,8 +333,8 @@ inline void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
     gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
   }
 
-  #define MADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
-//   #define MADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
+  #define CJMADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
+//   #define CJMADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
 #endif
 
 /* Vectorization logic
@@ -148,7 +353,7 @@ class gebp_traits
 public:
   typedef _LhsScalar LhsScalar;
   typedef _RhsScalar RhsScalar;
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
   enum {
     ConjLhs = _ConjLhs,
@@ -160,16 +365,22 @@ public:
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
 
-    // register block size along the N direction (must be either 2 or 4)
-    nr = NumberOfRegisters/4,
+    // register block size along the N direction must be 1 or 4
+    nr = 4,
 
     // register block size along the M direction (currently, this one cannot be modified)
-    mr = 2 * LhsPacketSize,
+    default_mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+    // we assume 16 registers
+    // See bug 992, if the scalar type is not vectorizable but that EIGEN_HAS_SINGLE_INSTRUCTION_MADD is defined,
+    // then using 3*LhsPacketSize triggers non-implemented paths in syrk.
+    mr = Vectorizable ? 3*LhsPacketSize : default_mr,
+#else
+    mr = default_mr,
+#endif
     
-    WorkSpaceFactor = nr * RhsPacketSize,
-
     LhsProgress = LhsPacketSize,
-    RhsProgress = RhsPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -186,36 +397,67 @@ public:
   {
     p = pset1<ResPacket>(ResScalar(0));
   }
-
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  {
+    pbroadcast4(b, b0, b1, b2, b3);
+  }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     pbroadcast2(b, b0, b1);
+//   }
+  
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
+  {
+    dest = pset1<RhsPacketType>(*b);
+  }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
   {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+    dest = ploadquad<RhsPacket>(b);
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = pload<RhsPacket>(b);
+    dest = pload<LhsPacketType>(a);
   }
 
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = pload<LhsPacket>(a);
+    dest = ploadu<LhsPacketType>(a);
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, AccPacket& tmp) const
+  template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, AccPacketType& tmp) const
   {
-    tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);
+    conj_helper<LhsPacketType,RhsPacketType,ConjLhs,ConjRhs> cj;
+    // It would be a lot cleaner to call pmadd all the time. Unfortunately if we
+    // let gcc allocate the register in which to store the result of the pmul
+    // (in the case where there is no FMA) gcc fails to figure out how to avoid
+    // spilling register.
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c = cj.pmadd(a,b,c);
+#else
+    tmp = b; tmp = cj.pmul(a,tmp); c = padd(c,tmp);
+#endif
   }
 
   EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
   {
     r = pmadd(c,alpha,r);
   }
+  
+  template<typename ResPacketHalf>
+  EIGEN_STRONG_INLINE void acc(const ResPacketHalf& c, const ResPacketHalf& alpha, ResPacketHalf& r) const
+  {
+    r = pmadd(c,alpha,r);
+  }
 
-protected:
-//   conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
-//   conj_helper<LhsPacket,RhsPacket,ConjLhs,ConjRhs> pcj;
 };
 
 template<typename RealScalar, bool _ConjLhs>
@@ -224,7 +466,7 @@ class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
 public:
   typedef std::complex<RealScalar> LhsScalar;
   typedef RealScalar RhsScalar;
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
   enum {
     ConjLhs = _ConjLhs,
@@ -235,12 +477,16 @@ public:
     ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-    nr = NumberOfRegisters/4,
-    mr = 2 * LhsPacketSize,
-    WorkSpaceFactor = nr*RhsPacketSize,
+    nr = 4,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+    // we assume 16 registers
+    mr = 3*LhsPacketSize,
+#else
+    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#endif
 
     LhsProgress = LhsPacketSize,
-    RhsProgress = RhsPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -258,15 +504,14 @@ public:
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
   {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+    dest = pset1<RhsPacket>(*b);
   }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
   {
-    dest = pload<RhsPacket>(b);
+    dest = pset1<RhsPacket>(*b);
   }
 
   EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
@@ -274,6 +519,21 @@ public:
     dest = pload<LhsPacket>(a);
   }
 
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploadu<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  {
+    pbroadcast4(b, b0, b1, b2, b3);
+  }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     pbroadcast2(b, b0, b1);
+//   }
+
   EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
   {
     madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
@@ -281,7 +541,12 @@ public:
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
   {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c.v = pmadd(a.v,b,c.v);
+#else
     tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
+#endif
   }
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
@@ -298,6 +563,38 @@ protected:
   conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
 };
 
+template<typename Packet>
+struct DoublePacket
+{
+  Packet first;
+  Packet second;
+};
+
+template<typename Packet>
+DoublePacket<Packet> padd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+{
+  DoublePacket<Packet> res;
+  res.first  = padd(a.first, b.first);
+  res.second = padd(a.second,b.second);
+  return res;
+}
+
+template<typename Packet>
+const DoublePacket<Packet>& predux_downto4(const DoublePacket<Packet> &a)
+{
+  return a;
+}
+
+template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typedef DoublePacket<Packet> half; };
+// template<typename Packet>
+// DoublePacket<Packet> pmadd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+// {
+//   DoublePacket<Packet> res;
+//   res.first  = padd(a.first, b.first);
+//   res.second = padd(a.second,b.second);
+//   return res;
+// }
+
 template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
 class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
 {
@@ -314,60 +611,80 @@ public:
                 && packet_traits<Scalar>::Vectorizable,
     RealPacketSize  = Vectorizable ? packet_traits<RealScalar>::size : 1,
     ResPacketSize   = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    
-    nr = 2,
-    mr = 2 * ResPacketSize,
-    WorkSpaceFactor = Vectorizable ? 2*nr*RealPacketSize : nr,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+
+    // FIXME: should depend on NumberOfRegisters
+    nr = 4,
+    mr = ResPacketSize,
 
     LhsProgress = ResPacketSize,
-    RhsProgress = Vectorizable ? 2*ResPacketSize : 1
+    RhsProgress = 1
   };
   
   typedef typename packet_traits<RealScalar>::type RealPacket;
   typedef typename packet_traits<Scalar>::type     ScalarPacket;
-  struct DoublePacket
-  {
-    RealPacket first;
-    RealPacket second;
-  };
+  typedef DoublePacket<RealPacket> DoublePacketType;
 
   typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type RhsPacket;
   typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
-  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type AccPacket;
+  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type AccPacket;
   
   EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
 
-  EIGEN_STRONG_INLINE void initAcc(DoublePacket& p)
+  EIGEN_STRONG_INLINE void initAcc(DoublePacketType& p)
   {
     p.first   = pset1<RealPacket>(RealScalar(0));
     p.second  = pset1<RealPacket>(RealScalar(0));
   }
 
-  /* Unpack the rhs coeff such that each complex coefficient is spread into
-   * two packects containing respectively the real and imaginary coefficient
-   * duplicated as many time as needed: (x+iy) => [x, ..., x] [y, ..., y]
-   */
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const Scalar* rhs, Scalar* b)
+  // Scalar path
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const
   {
-    for(DenseIndex k=0; k<n; k++)
-    {
-      if(Vectorizable)
-      {
-        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+0],             real(rhs[k]));
-        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+ResPacketSize], imag(rhs[k]));
-      }
-      else
-        b[k] = rhs[k];
-    }
+    dest = pset1<ResPacket>(*b);
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const { dest = *b; }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacket& dest) const
+  // Vectorized path
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacketType& dest) const
+  {
+    dest.first  = pset1<RealPacket>(real(*b));
+    dest.second = pset1<RealPacket>(imag(*b));
+  }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
+  {
+    loadRhs(b,dest);
+  }
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
+  {
+    eigen_internal_assert(unpacket_traits<ScalarPacket>::size<=4);
+    loadRhs(b,dest);
+  }
+  
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
   {
-    dest.first  = pload<RealPacket>((const RealScalar*)b);
-    dest.second = pload<RealPacket>((const RealScalar*)(b+ResPacketSize));
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
+    loadRhs(b+2, b2);
+    loadRhs(b+3, b3);
+  }
+  
+  // Vectorized path
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, DoublePacketType& b0, DoublePacketType& b1)
+  {
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
+  }
+  
+  // Scalar path
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsScalar& b0, RhsScalar& b1)
+  {
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
   }
 
   // nothing special here
@@ -376,7 +693,12 @@ public:
     dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacket& c, RhsPacket& /*tmp*/) const
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploadu<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacketType& c, RhsPacket& /*tmp*/) const
   {
     c.first   = padd(pmul(a,b.first), c.first);
     c.second  = padd(pmul(a,b.second),c.second);
@@ -389,7 +711,7 @@ public:
   
   EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
   
-  EIGEN_STRONG_INLINE void acc(const DoublePacket& c, const ResPacket& alpha, ResPacket& r) const
+  EIGEN_STRONG_INLINE void acc(const DoublePacketType& c, const ResPacket& alpha, ResPacket& r) const
   {
     // assemble c
     ResPacket tmp;
@@ -440,12 +762,12 @@ public:
     ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    // FIXME: should depend on NumberOfRegisters
     nr = 4,
-    mr = 2*ResPacketSize,
-    WorkSpaceFactor = nr*RhsPacketSize,
+    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*ResPacketSize,
 
     LhsProgress = ResPacketSize,
-    RhsProgress = ResPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -463,21 +785,38 @@ public:
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
   {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+    dest = pset1<RhsPacket>(*b);
   }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  
+  void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
   {
-    dest = pload<RhsPacket>(b);
+    pbroadcast4(b, b0, b1, b2, b3);
   }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     // FIXME not sure that's the best way to implement it!
+//     b0 = pload1<RhsPacket>(b+0);
+//     b1 = pload1<RhsPacket>(b+1);
+//   }
 
   EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
   {
     dest = ploaddup<LhsPacket>(a);
   }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    eigen_internal_assert(unpacket_traits<RhsPacket>::size<=4);
+    loadRhs(b,dest);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploaddup<LhsPacket>(a);
+  }
 
   EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
   {
@@ -486,7 +825,13 @@ public:
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
   {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c.v = pmadd(a,b.v,c.v);
+#else
     tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
+#endif
+    
   }
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
@@ -510,7 +855,7 @@ protected:
  *  |real |cplx | no vectorization yet, would require to pack A with duplication
  *  |cplx |real | easy vectorization
  */
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 struct gebp_kernel
 {
   typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
@@ -520,6 +865,15 @@ struct gebp_kernel
   typedef typename Traits::ResPacket ResPacket;
   typedef typename Traits::AccPacket AccPacket;
 
+  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs> SwappedTraits;
+  typedef typename SwappedTraits::ResScalar SResScalar;
+  typedef typename SwappedTraits::LhsPacket SLhsPacket;
+  typedef typename SwappedTraits::RhsPacket SRhsPacket;
+  typedef typename SwappedTraits::ResPacket SResPacket;
+  typedef typename SwappedTraits::AccPacket SAccPacket;
+
+  typedef typename DataMapper::LinearMapper LinearMapper;
+
   enum {
     Vectorizable  = Traits::Vectorizable,
     LhsProgress   = Traits::LhsProgress,
@@ -528,571 +882,788 @@ struct gebp_kernel
   };
 
   EIGEN_DONT_INLINE
-  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
-                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0, RhsScalar* unpackedB=0);
+  void operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+                  Index rows, Index depth, Index cols, ResScalar alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
 };
 
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 EIGEN_DONT_INLINE
-void gebp_kernel<LhsScalar,RhsScalar,Index,mr,nr,ConjugateLhs,ConjugateRhs>
-  ::operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
-               Index strideA, Index strideB, Index offsetA, Index offsetB, RhsScalar* unpackedB)
+void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,ConjugateRhs>
+  ::operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+               Index rows, Index depth, Index cols, ResScalar alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
   {
     Traits traits;
+    SwappedTraits straits;
     
     if(strideA==-1) strideA = depth;
     if(strideB==-1) strideB = depth;
     conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
-//     conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
-    Index packet_cols = (cols/nr) * nr;
-    const Index peeled_mc = (rows/mr)*mr;
-    // FIXME:
-    const Index peeled_mc2 = peeled_mc + (rows-peeled_mc >= LhsProgress ? LhsProgress : 0);
-    const Index peeled_kc = (depth/4)*4;
-
-    if(unpackedB==0)
-      unpackedB = const_cast<RhsScalar*>(blockB - strideB * nr * RhsProgress);
-
-    // loops on each micro vertical panel of rhs (depth x nr)
-    for(Index j2=0; j2<packet_cols; j2+=nr)
+    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+    const Index peeled_mc3 = mr>=3*Traits::LhsProgress ? (rows/(3*LhsProgress))*(3*LhsProgress) : 0;
+    const Index peeled_mc2 = mr>=2*Traits::LhsProgress ? peeled_mc3+((rows-peeled_mc3)/(2*LhsProgress))*(2*LhsProgress) : 0;
+    const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? (rows/(1*LhsProgress))*(1*LhsProgress) : 0;
+    enum { pk = 8 }; // NOTE Such a large peeling factor is important for large matrices (~ +5% when >1000 on Haswell)
+    const Index peeled_kc  = depth & ~(pk-1);
+    const Index prefetch_res_offset = 32/sizeof(ResScalar);    
+//     const Index depth2     = depth & ~1;
+
+    //---------- Process 3 * LhsProgress rows at once ----------
+    // This corresponds to 3*LhsProgress x nr register blocks.
+    // Usually, make sense only with FMA
+    if(mr>=3*Traits::LhsProgress)
     {
-      traits.unpackRhs(depth*nr,&blockB[j2*strideB+offsetB*nr],unpackedB); 
-
-      // loops on each largest micro horizontal panel of lhs (mr x depth)
-      // => we select a mr x nr micro block of res which is entirely
-      //    stored into mr/packet_size x nr registers.
-      for(Index i=0; i<peeled_mc; i+=mr)
+      // Here, the general idea is to loop on each largest micro horizontal panel of the lhs (3*Traits::LhsProgress x depth)
+      // and on each largest micro vertical panel of the rhs (depth * nr).
+      // Blocking sizes, i.e., 'depth' has been computed so that the micro horizontal panel of the lhs fit in L1.
+      // However, if depth is too small, we can extend the number of rows of these horizontal panels.
+      // This actual number of rows is computed as follow:
+      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+      // or because we are testing specific blocking sizes.
+      const Index actual_panel_rows = (3*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 3*LhsProgress) ));
+      for(Index i1=0; i1<peeled_mc3; i1+=actual_panel_rows)
       {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
-        prefetch(&blA[0]);
-
-        // gets res block as register
-        AccPacket C0, C1, C2, C3, C4, C5, C6, C7;
-                  traits.initAcc(C0);
-                  traits.initAcc(C1);
-        if(nr==4) traits.initAcc(C2);
-        if(nr==4) traits.initAcc(C3);
-                  traits.initAcc(C4);
-                  traits.initAcc(C5);
-        if(nr==4) traits.initAcc(C6);
-        if(nr==4) traits.initAcc(C7);
-
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
-        ResScalar* r1 = r0 + resStride;
-        ResScalar* r2 = r1 + resStride;
-        ResScalar* r3 = r2 + resStride;
-
-        prefetch(r0+16);
-        prefetch(r1+16);
-        prefetch(r2+16);
-        prefetch(r3+16);
-
-        // performs "inner" product
-        // TODO let's check wether the folowing peeled loop could not be
-        //      optimized via optimal prefetching from one loop to the other
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<peeled_kc; k+=4)
+        const Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc3);
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
         {
-          if(nr==2)
-          {
-            LhsPacket A0, A1;
-            RhsPacket B_0;
-            RhsPacket T0;
-            
-EIGEN_ASM_COMMENT("mybegin2");
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadLhs(&blA[3*LhsProgress], A1);
-            traits.loadRhs(&blB[2*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[4*LhsProgress], A0);
-            traits.loadLhs(&blA[5*LhsProgress], A1);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[5*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[6*LhsProgress], A0);
-            traits.loadLhs(&blA[7*LhsProgress], A1);
-            traits.loadRhs(&blB[6*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[7*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-EIGEN_ASM_COMMENT("myend");
-          }
-          else
+          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
           {
-EIGEN_ASM_COMMENT("mybegin4");
-            LhsPacket A0, A1;
-            RhsPacket B_0, B1, B2, B3;
-            RhsPacket T0;
-            
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[6*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[3*LhsProgress], A1);
-            traits.loadRhs(&blB[7*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[8*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[9*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[10*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[4*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[5*LhsProgress], A1);
-            traits.loadRhs(&blB[11*RhsProgress], B3);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[12*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[13*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[14*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[6*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[7*LhsProgress], A1);
-            traits.loadRhs(&blB[15*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.madd(A1,B3,C7,B3);
-          }
+          
+          // We selected a 3*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 3 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2,  C3,
+                    C4, C5, C6,  C7,
+                    C8, C9, C10, C11;
+          traits.initAcc(C0);  traits.initAcc(C1);  traits.initAcc(C2);  traits.initAcc(C3);
+          traits.initAcc(C4);  traits.initAcc(C5);  traits.initAcc(C6);  traits.initAcc(C7);
+          traits.initAcc(C8);  traits.initAcc(C9);  traits.initAcc(C10); traits.initAcc(C11);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(0);
+          r1.prefetch(0);
+          r2.prefetch(0);
+          r3.prefetch(0);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
+          LhsPacket A0, A1;
 
-          blB += 4*nr*RhsProgress;
-          blA += 4*mr;
-        }
-        // process remaining peeled loop
-        for(Index k=peeled_kc; k<depth; k++)
-        {
-          if(nr==2)
+          for(Index k=0; k<peeled_kc; k+=pk)
           {
-            LhsPacket A0, A1;
-            RhsPacket B_0;
-            RhsPacket T0;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX4");
+            RhsPacket B_0, T0;
+            LhsPacket A2;
+
+#define EIGEN_GEBP_ONESTEP(K) \
+            do { \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4"); \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              internal::prefetch(blA+(3*K+16)*LhsProgress); \
+              if (EIGEN_ARCH_ARM) { internal::prefetch(blB+(4*K+16)*RhsProgress); } /* Bug 953 */ \
+              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
+              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
+              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
+              traits.loadRhs(blB + (0+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C0, T0); \
+              traits.madd(A1, B_0, C4, T0); \
+              traits.madd(A2, B_0, C8, B_0); \
+              traits.loadRhs(blB + (1+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C1, T0); \
+              traits.madd(A1, B_0, C5, T0); \
+              traits.madd(A2, B_0, C9, B_0); \
+              traits.loadRhs(blB + (2+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C2,  T0); \
+              traits.madd(A1, B_0, C6,  T0); \
+              traits.madd(A2, B_0, C10, B_0); \
+              traits.loadRhs(blB + (3+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C3 , T0); \
+              traits.madd(A1, B_0, C7,  T0); \
+              traits.madd(A2, B_0, C11, B_0); \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4"); \
+            } while(false)
+
+            internal::prefetch(blB);
+            EIGEN_GEBP_ONESTEP(0);
+            EIGEN_GEBP_ONESTEP(1);
+            EIGEN_GEBP_ONESTEP(2);
+            EIGEN_GEBP_ONESTEP(3);
+            EIGEN_GEBP_ONESTEP(4);
+            EIGEN_GEBP_ONESTEP(5);
+            EIGEN_GEBP_ONESTEP(6);
+            EIGEN_GEBP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*3*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX4");
           }
-          else
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
           {
-            LhsPacket A0, A1;
-            RhsPacket B_0, B1, B2, B3;
-            RhsPacket T0;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.madd(A1,B3,C7,B3);
+            RhsPacket B_0, T0;
+            LhsPacket A2;
+            EIGEN_GEBP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 3*Traits::LhsProgress;
           }
 
-          blB += nr*RhsProgress;
-          blA += mr;
-        }
+#undef EIGEN_GEBP_ONESTEP
 
-        if(nr==4)
-        {
-          ResPacket R0, R1, R2, R3, R4, R5, R6;
+          ResPacket R0, R1, R2;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = ploadu<ResPacket>(r0);
-          R1 = ploadu<ResPacket>(r1);
-          R2 = ploadu<ResPacket>(r2);
-          R3 = ploadu<ResPacket>(r3);
-          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
-          R5 = ploadu<ResPacket>(r1 + ResPacketSize);
-          R6 = ploadu<ResPacket>(r2 + ResPacketSize);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
-          pstoreu(r0, R0);
-          R0 = ploadu<ResPacket>(r3 + ResPacketSize);
-
-          traits.acc(C1, alphav, R1);
-          traits.acc(C2, alphav, R2);
-          traits.acc(C3, alphav, R3);
-          traits.acc(C4, alphav, R4);
-          traits.acc(C5, alphav, R5);
-          traits.acc(C6, alphav, R6);
-          traits.acc(C7, alphav, R0);
-          
-          pstoreu(r1, R1);
-          pstoreu(r2, R2);
-          pstoreu(r3, R3);
-          pstoreu(r0 + ResPacketSize, R4);
-          pstoreu(r1 + ResPacketSize, R5);
-          pstoreu(r2 + ResPacketSize, R6);
-          pstoreu(r3 + ResPacketSize, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C8, alphav, R2);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r0.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r1.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r1.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r1.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C1, alphav, R0);
+          traits.acc(C5, alphav, R1);
+          traits.acc(C9, alphav, R2);
+          r1.storePacket(0 * Traits::ResPacketSize, R0);
+          r1.storePacket(1 * Traits::ResPacketSize, R1);
+          r1.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r2.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C2, alphav, R0);
+          traits.acc(C6, alphav, R1);
+          traits.acc(C10, alphav, R2);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r2.storePacket(1 * Traits::ResPacketSize, R1);
+          r2.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r3.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r3.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r3.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C3, alphav, R0);
+          traits.acc(C7, alphav, R1);
+          traits.acc(C11, alphav, R2);
+          r3.storePacket(0 * Traits::ResPacketSize, R0);
+          r3.storePacket(1 * Traits::ResPacketSize, R1);
+          r3.storePacket(2 * Traits::ResPacketSize, R2);          
+          }
         }
-        else
+
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
         {
-          ResPacket R0, R1, R4;
+          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
+          {
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C4, C8;
+          traits.initAcc(C0);
+          traits.initAcc(C4);
+          traits.initAcc(C8);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2);
+          r0.prefetch(0);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0, A1, A2;
+          
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX1");
+            RhsPacket B_0;
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do { \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1"); \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
+              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
+              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);   \
+              traits.madd(A0, B_0, C0, B_0); \
+              traits.madd(A1, B_0, C4, B_0); \
+              traits.madd(A2, B_0, C8, B_0); \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1"); \
+            } while(false)
+        
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*RhsProgress;
+            blA += pk*3*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX1");
+          }
+
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 3*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0, R1, R2;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = ploadu<ResPacket>(r0);
-          R1 = ploadu<ResPacket>(r1);
-          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
-          pstoreu(r0, R0);
-          R0 = ploadu<ResPacket>(r1 + ResPacketSize);
-          traits.acc(C1, alphav, R1);
-          traits.acc(C4, alphav, R4);
-          traits.acc(C5, alphav, R0);
-          pstoreu(r1, R1);
-          pstoreu(r0 + ResPacketSize, R4);
-          pstoreu(r1 + ResPacketSize, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C8, alphav, R2);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r0.storePacket(2 * Traits::ResPacketSize, R2);          
+          }
         }
-        
       }
-      
-      if(rows-peeled_mc>=LhsProgress)
+    }
+
+    //---------- Process 2 * LhsProgress rows at once ----------
+    if(mr>=2*Traits::LhsProgress)
+    {
+      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+      // or because we are testing specific blocking sizes.
+      Index actual_panel_rows = (2*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 2*LhsProgress) ));
+
+      for(Index i1=peeled_mc3; i1<peeled_mc2; i1+=actual_panel_rows)
       {
-        Index i = peeled_mc;
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
-        prefetch(&blA[0]);
-
-        // gets res block as register
-        AccPacket C0, C1, C2, C3;
-                  traits.initAcc(C0);
-                  traits.initAcc(C1);
-        if(nr==4) traits.initAcc(C2);
-        if(nr==4) traits.initAcc(C3);
-
-        // performs "inner" product
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<peeled_kc; k+=4)
+        Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc2);
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
         {
-          if(nr==2)
+          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
           {
-            LhsPacket A0;
-            RhsPacket B_0, B1;
+          
+          // We selected a 2*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 2 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2, C3,
+                    C4, C5, C6, C7;
+          traits.initAcc(C0); traits.initAcc(C1); traits.initAcc(C2); traits.initAcc(C3);
+          traits.initAcc(C4); traits.initAcc(C5); traits.initAcc(C6); traits.initAcc(C7);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(prefetch_res_offset);
+          r1.prefetch(prefetch_res_offset);
+          r2.prefetch(prefetch_res_offset);
+          r3.prefetch(prefetch_res_offset);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
+          LhsPacket A0, A1;
 
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[2*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[1*LhsProgress], A0);
-            traits.loadRhs(&blB[3*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[6*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[3*LhsProgress], A0);
-            traits.loadRhs(&blB[7*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-          }
-          else
+          for(Index k=0; k<peeled_kc; k+=pk)
           {
-            LhsPacket A0;
-            RhsPacket B_0, B1, B2, B3;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[6*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-            traits.loadLhs(&blA[1*LhsProgress], A0);
-            traits.loadRhs(&blB[7*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[8*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[9*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[10*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadRhs(&blB[11*RhsProgress], B3);
-
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[12*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[13*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[14*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-
-            traits.loadLhs(&blA[3*LhsProgress], A0);
-            traits.loadRhs(&blB[15*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.madd(A0,B3,C3,B3);
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX4");
+            RhsPacket B_0, B1, B2, B3, T0;
+
+   #define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                    \
+              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                    \
+              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
+              traits.madd(A0, B_0, C0, T0);                                     \
+              traits.madd(A1, B_0, C4, B_0);                                    \
+              traits.madd(A0, B1,  C1, T0);                                     \
+              traits.madd(A1, B1,  C5, B1);                                     \
+              traits.madd(A0, B2,  C2, T0);                                     \
+              traits.madd(A1, B2,  C6, B2);                                     \
+              traits.madd(A0, B3,  C3, T0);                                     \
+              traits.madd(A1, B3,  C7, B3);                                     \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4");          \
+            } while(false)
+            
+            internal::prefetch(blB+(48+0));
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            internal::prefetch(blB+(48+16));
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*(2*Traits::LhsProgress);
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX4");
           }
-
-          blB += nr*4*RhsProgress;
-          blA += 4*LhsProgress;
-        }
-        // process remaining peeled loop
-        for(Index k=peeled_kc; k<depth; k++)
-        {
-          if(nr==2)
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
           {
-            LhsPacket A0;
-            RhsPacket B_0, B1;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
+            RhsPacket B_0, B1, B2, B3, T0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 2*Traits::LhsProgress;
           }
-          else
-          {
-            LhsPacket A0;
-            RhsPacket B_0, B1, B2, B3;
+#undef EIGEN_GEBGP_ONESTEP
 
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
+          ResPacket R0, R1, R2, R3;
+          ResPacket alphav = pset1<ResPacket>(alpha);
 
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.madd(A0,B3,C3,B3);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r1.loadPacket(0 * Traits::ResPacketSize);
+          R3 = r1.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C1, alphav, R2);
+          traits.acc(C5, alphav, R3);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r1.storePacket(0 * Traits::ResPacketSize, R2);
+          r1.storePacket(1 * Traits::ResPacketSize, R3);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r3.loadPacket(0 * Traits::ResPacketSize);
+          R3 = r3.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C2,  alphav, R0);
+          traits.acc(C6,  alphav, R1);
+          traits.acc(C3,  alphav, R2);
+          traits.acc(C7,  alphav, R3);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r2.storePacket(1 * Traits::ResPacketSize, R1);
+          r3.storePacket(0 * Traits::ResPacketSize, R2);
+          r3.storePacket(1 * Traits::ResPacketSize, R3);
           }
-
-          blB += nr*RhsProgress;
-          blA += LhsProgress;
         }
+      
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
+        {
+          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
+          {
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+          prefetch(&blA[0]);
 
-        ResPacket R0, R1, R2, R3;
-        ResPacket alphav = pset1<ResPacket>(alpha);
-
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
-        ResScalar* r1 = r0 + resStride;
-        ResScalar* r2 = r1 + resStride;
-        ResScalar* r3 = r2 + resStride;
+          // gets res block as register
+          AccPacket C0, C4;
+          traits.initAcc(C0);
+          traits.initAcc(C4);
 
-                  R0 = ploadu<ResPacket>(r0);
-                  R1 = ploadu<ResPacket>(r1);
-        if(nr==4) R2 = ploadu<ResPacket>(r2);
-        if(nr==4) R3 = ploadu<ResPacket>(r3);
+          LinearMapper r0 = res.getLinearMapper(i, j2);
+          r0.prefetch(prefetch_res_offset);
 
-                  traits.acc(C0, alphav, R0);
-                  traits.acc(C1, alphav, R1);
-        if(nr==4) traits.acc(C2, alphav, R2);
-        if(nr==4) traits.acc(C3, alphav, R3);
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0, A1;
 
-                  pstoreu(r0, R0);
-                  pstoreu(r1, R1);
-        if(nr==4) pstoreu(r2, R2);
-        if(nr==4) pstoreu(r3, R3);
-      }
-      for(Index i=peeled_mc2; i<rows; i++)
-      {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA];
-        prefetch(&blA[0]);
-
-        // gets a 1 x nr res block as registers
-        ResScalar C0(0), C1(0), C2(0), C3(0);
-        // TODO directly use blockB ???
-        const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-        for(Index k=0; k<depth; k++)
-        {
-          if(nr==2)
+          for(Index k=0; k<peeled_kc; k+=pk)
           {
-            LhsScalar A0;
-            RhsScalar B_0, B1;
-
-            A0 = blA[k];
-            B_0 = blB[0];
-            B1 = blB[1];
-            MADD(cj,A0,B_0,C0,B_0);
-            MADD(cj,A0,B1,C1,B1);
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX1");
+            RhsPacket B_0, B1;
+        
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                  \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX1");          \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                      \
+              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                      \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                       \
+              traits.madd(A0, B_0, C0, B1);                                       \
+              traits.madd(A1, B_0, C4, B_0);                                      \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX1");            \
+            } while(false)
+        
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*RhsProgress;
+            blA += pk*2*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX1");
           }
-          else
+
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
           {
-            LhsScalar A0;
-            RhsScalar B_0, B1, B2, B3;
-
-            A0 = blA[k];
-            B_0 = blB[0];
-            B1 = blB[1];
-            B2 = blB[2];
-            B3 = blB[3];
-
-            MADD(cj,A0,B_0,C0,B_0);
-            MADD(cj,A0,B1,C1,B1);
-            MADD(cj,A0,B2,C2,B2);
-            MADD(cj,A0,B3,C3,B3);
+            RhsPacket B_0, B1;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 2*Traits::LhsProgress;
           }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0, R1;
+          ResPacket alphav = pset1<ResPacket>(alpha);
 
-          blB += nr;
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C4, alphav, R1);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          }
         }
-                  res[(j2+0)*resStride + i] += alpha*C0;
-                  res[(j2+1)*resStride + i] += alpha*C1;
-        if(nr==4) res[(j2+2)*resStride + i] += alpha*C2;
-        if(nr==4) res[(j2+3)*resStride + i] += alpha*C3;
       }
     }
-    // process remaining rhs/res columns one at a time
-    // => do the same but with nr==1
-    for(Index j2=packet_cols; j2<cols; j2++)
+    //---------- Process 1 * LhsProgress rows at once ----------
+    if(mr>=1*Traits::LhsProgress)
     {
-      // unpack B
-      traits.unpackRhs(depth, &blockB[j2*strideB+offsetB], unpackedB);
-
-      for(Index i=0; i<peeled_mc; i+=mr)
+      // loops on each largest micro horizontal panel of lhs (1*LhsProgress x depth)
+      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*LhsProgress)
       {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
-        prefetch(&blA[0]);
+        // loops on each largest micro vertical panel of rhs (depth * nr)
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
+        {
+          // We select a 1*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 1 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2, C3;
+          traits.initAcc(C0);
+          traits.initAcc(C1);
+          traits.initAcc(C2);
+          traits.initAcc(C3);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(prefetch_res_offset);
+          r1.prefetch(prefetch_res_offset);
+          r2.prefetch(prefetch_res_offset);
+          r3.prefetch(prefetch_res_offset);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
+          LhsPacket A0;
+
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX4");
+            RhsPacket B_0, B1, B2, B3;
+               
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX4");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
+              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
+              traits.madd(A0, B_0, C0, B_0);                                    \
+              traits.madd(A0, B1,  C1, B1);                                     \
+              traits.madd(A0, B2,  C2, B2);                                     \
+              traits.madd(A0, B3,  C3, B3);                                     \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX4");          \
+            } while(false)
+            
+            internal::prefetch(blB+(48+0));
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            internal::prefetch(blB+(48+16));
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*1*LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX4");
+          }
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0, B1, B2, B3;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 1*LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
 
-        // TODO move the res loads to the stores
+          ResPacket R0, R1;
+          ResPacket alphav = pset1<ResPacket>(alpha);
 
-        // get res block as registers
-        AccPacket C0, C4;
-        traits.initAcc(C0);
-        traits.initAcc(C4);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r1.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C1,  alphav, R1);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r1.storePacket(0 * Traits::ResPacketSize, R1);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r3.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C2,  alphav, R0);
+          traits.acc(C3,  alphav, R1);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r3.storePacket(0 * Traits::ResPacketSize, R1);
+        }
 
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<depth; k++)
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
         {
-          LhsPacket A0, A1;
-          RhsPacket B_0;
-          RhsPacket T0;
-
-          traits.loadLhs(&blA[0*LhsProgress], A0);
-          traits.loadLhs(&blA[1*LhsProgress], A1);
-          traits.loadRhs(&blB[0*RhsProgress], B_0);
-          traits.madd(A0,B_0,C0,T0);
-          traits.madd(A1,B_0,C4,B_0);
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+          prefetch(&blA[0]);
 
-          blB += RhsProgress;
-          blA += 2*LhsProgress;
-        }
-        ResPacket R0, R4;
-        ResPacket alphav = pset1<ResPacket>(alpha);
+          // gets res block as register
+          AccPacket C0;
+          traits.initAcc(C0);
 
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
+          LinearMapper r0 = res.getLinearMapper(i, j2);
 
-        R0 = ploadu<ResPacket>(r0);
-        R4 = ploadu<ResPacket>(r0+ResPacketSize);
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0;
 
-        traits.acc(C0, alphav, R0);
-        traits.acc(C4, alphav, R4);
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX1");
+            RhsPacket B_0;
+        
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX1");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                     \
+              traits.madd(A0, B_0, C0, B_0);                                    \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX1");          \
+            } while(false);
+
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*RhsProgress;
+            blA += pk*1*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX1");
+          }
 
-        pstoreu(r0,               R0);
-        pstoreu(r0+ResPacketSize, R4);
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 1*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+        }
       }
-      if(rows-peeled_mc>=LhsProgress)
+    }
+    //---------- Process remaining rows, 1 at once ----------
+    if(peeled_mc1<rows)
+    {
+      // loop on each panel of the rhs
+      for(Index j2=0; j2<packet_cols4; j2+=nr)
       {
-        Index i = peeled_mc;
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
-        prefetch(&blA[0]);
-
-        AccPacket C0;
-        traits.initAcc(C0);
-
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<depth; k++)
+        // loop on each row of the lhs (1*LhsProgress x depth)
+        for(Index i=peeled_mc1; i<rows; i+=1)
         {
-          LhsPacket A0;
-          RhsPacket B_0;
-          traits.loadLhs(blA, A0);
-          traits.loadRhs(blB, B_0);
-          traits.madd(A0, B_0, C0, B_0);
-          blB += RhsProgress;
-          blA += LhsProgress;
+          const LhsScalar* blA = &blockA[i*strideA+offsetA];
+          prefetch(&blA[0]);
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+
+          // The following piece of code wont work for 512 bit registers
+          // Moreover, if LhsProgress==8 it assumes that there is a half packet of the same size
+          // as nr (which is currently 4) for the return type.
+          typedef typename unpacket_traits<SResPacket>::half SResPacketHalf;
+          if ((SwappedTraits::LhsProgress % 4) == 0 &&
+              (SwappedTraits::LhsProgress <= 8) &&
+              (SwappedTraits::LhsProgress!=8 || unpacket_traits<SResPacketHalf>::size==nr))
+          {
+            SAccPacket C0, C1, C2, C3;
+            straits.initAcc(C0);
+            straits.initAcc(C1);
+            straits.initAcc(C2);
+            straits.initAcc(C3);
+
+            const Index spk   = (std::max)(1,SwappedTraits::LhsProgress/4);
+            const Index endk  = (depth/spk)*spk;
+            const Index endk4 = (depth/(spk*4))*(spk*4);
+
+            Index k=0;
+            for(; k<endk4; k+=4*spk)
+            {
+              SLhsPacket A0,A1;
+              SRhsPacket B_0,B_1;
+
+              straits.loadLhsUnaligned(blB+0*SwappedTraits::LhsProgress, A0);
+              straits.loadLhsUnaligned(blB+1*SwappedTraits::LhsProgress, A1);
+
+              straits.loadRhsQuad(blA+0*spk, B_0);
+              straits.loadRhsQuad(blA+1*spk, B_1);
+              straits.madd(A0,B_0,C0,B_0);
+              straits.madd(A1,B_1,C1,B_1);
+
+              straits.loadLhsUnaligned(blB+2*SwappedTraits::LhsProgress, A0);
+              straits.loadLhsUnaligned(blB+3*SwappedTraits::LhsProgress, A1);
+              straits.loadRhsQuad(blA+2*spk, B_0);
+              straits.loadRhsQuad(blA+3*spk, B_1);
+              straits.madd(A0,B_0,C2,B_0);
+              straits.madd(A1,B_1,C3,B_1);
+
+              blB += 4*SwappedTraits::LhsProgress;
+              blA += 4*spk;
+            }
+            C0 = padd(padd(C0,C1),padd(C2,C3));
+            for(; k<endk; k+=spk)
+            {
+              SLhsPacket A0;
+              SRhsPacket B_0;
+
+              straits.loadLhsUnaligned(blB, A0);
+              straits.loadRhsQuad(blA, B_0);
+              straits.madd(A0,B_0,C0,B_0);
+
+              blB += SwappedTraits::LhsProgress;
+              blA += spk;
+            }
+            if(SwappedTraits::LhsProgress==8)
+            {
+              // Special case where we have to first reduce the accumulation register C0
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
+
+              SResPacketHalf R = res.template gatherPacket<SResPacketHalf>(i, j2);
+              SResPacketHalf alphav = pset1<SResPacketHalf>(alpha);
+
+              if(depth-endk>0)
+              {
+                // We have to handle the last row of the rhs which corresponds to a half-packet
+                SLhsPacketHalf a0;
+                SRhsPacketHalf b0;
+                straits.loadLhsUnaligned(blB, a0);
+                straits.loadRhs(blA, b0);
+                SAccPacketHalf c0 = predux_downto4(C0);
+                straits.madd(a0,b0,c0,b0);
+                straits.acc(c0, alphav, R);
+              }
+              else
+              {
+                straits.acc(predux_downto4(C0), alphav, R);
+              }
+              res.scatterPacket(i, j2, R);
+            }
+            else
+            {
+              SResPacket R = res.template gatherPacket<SResPacket>(i, j2);
+              SResPacket alphav = pset1<SResPacket>(alpha);
+              straits.acc(C0, alphav, R);
+              res.scatterPacket(i, j2, R);
+            }
+          }
+          else // scalar path
+          {
+            // get a 1 x 4 res block as registers
+            ResScalar C0(0), C1(0), C2(0), C3(0);
+
+            for(Index k=0; k<depth; k++)
+            {
+              LhsScalar A0;
+              RhsScalar B_0, B_1;
+
+              A0 = blA[k];
+
+              B_0 = blB[0];
+              B_1 = blB[1];
+              CJMADD(cj,A0,B_0,C0,  B_0);
+              CJMADD(cj,A0,B_1,C1,  B_1);
+              
+              B_0 = blB[2];
+              B_1 = blB[3];
+              CJMADD(cj,A0,B_0,C2,  B_0);
+              CJMADD(cj,A0,B_1,C3,  B_1);
+              
+              blB += 4;
+            }
+            res(i, j2 + 0) += alpha * C0;
+            res(i, j2 + 1) += alpha * C1;
+            res(i, j2 + 2) += alpha * C2;
+            res(i, j2 + 3) += alpha * C3;
+          }
         }
-
-        ResPacket alphav = pset1<ResPacket>(alpha);
-        ResPacket R0 = ploadu<ResPacket>(&res[(j2+0)*resStride + i]);
-        traits.acc(C0, alphav, R0);
-        pstoreu(&res[(j2+0)*resStride + i], R0);
       }
-      for(Index i=peeled_mc2; i<rows; i++)
+      // remaining columns
+      for(Index j2=packet_cols4; j2<cols; j2++)
       {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA];
-        prefetch(&blA[0]);
-
-        // gets a 1 x 1 res block as registers
-        ResScalar C0(0);
-        // FIXME directly use blockB ??
-        const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-        for(Index k=0; k<depth; k++)
+        // loop on each row of the lhs (1*LhsProgress x depth)
+        for(Index i=peeled_mc1; i<rows; i+=1)
         {
-          LhsScalar A0 = blA[k];
-          RhsScalar B_0 = blB[k];
-          MADD(cj, A0, B_0, C0, B_0);
+          const LhsScalar* blA = &blockA[i*strideA+offsetA];
+          prefetch(&blA[0]);
+          // gets a 1 x 1 res block as registers
+          ResScalar C0(0);
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          for(Index k=0; k<depth; k++)
+          {
+            LhsScalar A0 = blA[k];
+            RhsScalar B_0 = blB[k];
+            CJMADD(cj, A0, B_0, C0, B_0);
+          }
+          res(i, j2) += alpha * C0;
         }
-        res[(j2+0)*resStride + i] += alpha*C0;
       }
     }
   }
@@ -1114,81 +1685,193 @@ EIGEN_ASM_COMMENT("mybegin4");
 //
 //  32 33 34 35 ...
 //  36 36 38 39 ...
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
 {
-  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows, Index stride=0, Index offset=0);
+  typedef typename DataMapper::LinearMapper LinearMapper;
+  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, Pack1, Pack2, StorageOrder, Conjugate, PanelMode>
-  ::operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
 {
   typedef typename packet_traits<Scalar>::type Packet;
   enum { PacketSize = packet_traits<Scalar>::size };
 
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  eigen_assert( (StorageOrder==RowMajor) || ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) );
+  eigen_assert( ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) || (Pack1<=4) );
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  const_blas_data_mapper<Scalar, Index, StorageOrder> lhs(_lhs,lhsStride);
   Index count = 0;
-  Index peeled_mc = (rows/Pack1)*Pack1;
-  for(Index i=0; i<peeled_mc; i+=Pack1)
+
+  const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+  const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+  const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+  const Index peeled_mc0 = Pack2>=1*PacketSize ? peeled_mc1
+                         : Pack2>1             ? (rows/Pack2)*Pack2 : 0;
+
+  Index i=0;
+
+  // Pack 3 packets
+  if(Pack1>=3*PacketSize)
   {
-    if(PanelMode) count += Pack1 * offset;
+    for(; i<peeled_mc3; i+=3*PacketSize)
+    {
+      if(PanelMode) count += (3*PacketSize) * offset;
 
-    if(StorageOrder==ColMajor)
+      for(Index k=0; k<depth; k++)
+      {
+        Packet A, B, C;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        B = lhs.loadPacket(i+1*PacketSize, k);
+        C = lhs.loadPacket(i+2*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(C)); count+=PacketSize;
+      }
+      if(PanelMode) count += (3*PacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack 2 packets
+  if(Pack1>=2*PacketSize)
+  {
+    for(; i<peeled_mc2; i+=2*PacketSize)
     {
+      if(PanelMode) count += (2*PacketSize) * offset;
+
       for(Index k=0; k<depth; k++)
       {
-        Packet A, B, C, D;
-        if(Pack1>=1*PacketSize) A = ploadu<Packet>(&lhs(i+0*PacketSize, k));
-        if(Pack1>=2*PacketSize) B = ploadu<Packet>(&lhs(i+1*PacketSize, k));
-        if(Pack1>=3*PacketSize) C = ploadu<Packet>(&lhs(i+2*PacketSize, k));
-        if(Pack1>=4*PacketSize) D = ploadu<Packet>(&lhs(i+3*PacketSize, k));
-        if(Pack1>=1*PacketSize) { pstore(blockA+count, cj.pconj(A)); count+=PacketSize; }
-        if(Pack1>=2*PacketSize) { pstore(blockA+count, cj.pconj(B)); count+=PacketSize; }
-        if(Pack1>=3*PacketSize) { pstore(blockA+count, cj.pconj(C)); count+=PacketSize; }
-        if(Pack1>=4*PacketSize) { pstore(blockA+count, cj.pconj(D)); count+=PacketSize; }
+        Packet A, B;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        B = lhs.loadPacket(i+1*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
       }
+      if(PanelMode) count += (2*PacketSize) * (stride-offset-depth);
     }
-    else
+  }
+  // Pack 1 packets
+  if(Pack1>=1*PacketSize)
+  {
+    for(; i<peeled_mc1; i+=1*PacketSize)
     {
+      if(PanelMode) count += (1*PacketSize) * offset;
+
+      for(Index k=0; k<depth; k++)
+      {
+        Packet A;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A));
+        count+=PacketSize;
+      }
+      if(PanelMode) count += (1*PacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack scalars
+  if(Pack2<PacketSize && Pack2>1)
+  {
+    for(; i<peeled_mc0; i+=Pack2)
+    {
+      if(PanelMode) count += Pack2 * offset;
+
       for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack2; w++)
+          blockA[count++] = cj(lhs(i+w, k));
+
+      if(PanelMode) count += Pack2 * (stride-offset-depth);
+    }
+  }
+  for(; i<rows; i++)
+  {
+    if(PanelMode) count += offset;
+    for(Index k=0; k<depth; k++)
+      blockA[count++] = cj(lhs(i, k));
+    if(PanelMode) count += (stride-offset-depth);
+  }
+}
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+{
+  typedef typename DataMapper::LinearMapper LinearMapper;
+  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size };
+
+  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
+  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+  Index count = 0;
+
+//   const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+//   const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+//   const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+
+  int pack = Pack1;
+  Index i = 0;
+  while(pack>0)
+  {
+    Index remaining_rows = rows-i;
+    Index peeled_mc = i+(remaining_rows/pack)*pack;
+    for(; i<peeled_mc; i+=pack)
+    {
+      if(PanelMode) count += pack * offset;
+
+      const Index peeled_k = (depth/PacketSize)*PacketSize;
+      Index k=0;
+      if(pack>=PacketSize)
+      {
+        for(; k<peeled_k; k+=PacketSize)
+        {
+          for (Index m = 0; m < pack; m += PacketSize)
+          {
+            PacketBlock<Packet> kernel;
+            for (int p = 0; p < PacketSize; ++p) kernel.packet[p] = lhs.loadPacket(i+p+m, k);
+            ptranspose(kernel);
+            for (int p = 0; p < PacketSize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
+          }
+          count += PacketSize*pack;
+        }
+      }
+      for(; k<depth; k++)
       {
-        // TODO add a vectorized transpose here
         Index w=0;
-        for(; w<Pack1-3; w+=4)
+        for(; w<pack-3; w+=4)
         {
           Scalar a(cj(lhs(i+w+0, k))),
-                  b(cj(lhs(i+w+1, k))),
-                  c(cj(lhs(i+w+2, k))),
-                  d(cj(lhs(i+w+3, k)));
+                 b(cj(lhs(i+w+1, k))),
+                 c(cj(lhs(i+w+2, k))),
+                 d(cj(lhs(i+w+3, k)));
           blockA[count++] = a;
           blockA[count++] = b;
           blockA[count++] = c;
           blockA[count++] = d;
         }
-        if(Pack1%4)
-          for(;w<Pack1;++w)
+        if(pack%4)
+          for(;w<pack;++w)
             blockA[count++] = cj(lhs(i+w, k));
       }
+
+      if(PanelMode) count += pack * (stride-offset-depth);
     }
-    if(PanelMode) count += Pack1 * (stride-offset-depth);
-  }
-  if(rows-peeled_mc>=Pack2)
-  {
-    if(PanelMode) count += Pack2*offset;
-    for(Index k=0; k<depth; k++)
-      for(Index w=0; w<Pack2; w++)
-        blockA[count++] = cj(lhs(peeled_mc+w, k));
-    if(PanelMode) count += Pack2 * (stride-offset-depth);
-    peeled_mc += Pack2;
+
+    pack -= PacketSize;
+    if(pack<Pack2 && (pack+PacketSize)!=Pack2)
+      pack = Pack2;
   }
-  for(Index i=peeled_mc; i<rows; i++)
+
+  for(; i<rows; i++)
   {
     if(PanelMode) count += offset;
     for(Index k=0; k<depth; k++)
@@ -1204,53 +1887,123 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, Pack1, Pack2, StorageOrder,
 //  4  5  6  7   16 17 18 19   25 28
 //  8  9 10 11   20 21 22 23   26 29
 //  .  .  .  .    .  .  .  .    .  .
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
 {
   typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename DataMapper::LinearMapper LinearMapper;
   enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride=0, Index offset=0);
+  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
 {
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS COLMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols = (cols/nr) * nr;
+  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
   Index count = 0;
-  for(Index j2=0; j2<packet_cols; j2+=nr)
+  const Index peeled_k = (depth/PacketSize)*PacketSize;
+//   if(nr>=8)
+//   {
+//     for(Index j2=0; j2<packet_cols8; j2+=8)
+//     {
+//       // skip what we have before
+//       if(PanelMode) count += 8 * offset;
+//       const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+//       const Scalar* b1 = &rhs[(j2+1)*rhsStride];
+//       const Scalar* b2 = &rhs[(j2+2)*rhsStride];
+//       const Scalar* b3 = &rhs[(j2+3)*rhsStride];
+//       const Scalar* b4 = &rhs[(j2+4)*rhsStride];
+//       const Scalar* b5 = &rhs[(j2+5)*rhsStride];
+//       const Scalar* b6 = &rhs[(j2+6)*rhsStride];
+//       const Scalar* b7 = &rhs[(j2+7)*rhsStride];
+//       Index k=0;
+//       if(PacketSize==8) // TODO enbale vectorized transposition for PacketSize==4
+//       {
+//         for(; k<peeled_k; k+=PacketSize) {
+//           PacketBlock<Packet> kernel;
+//           for (int p = 0; p < PacketSize; ++p) {
+//             kernel.packet[p] = ploadu<Packet>(&rhs[(j2+p)*rhsStride+k]);
+//           }
+//           ptranspose(kernel);
+//           for (int p = 0; p < PacketSize; ++p) {
+//             pstoreu(blockB+count, cj.pconj(kernel.packet[p]));
+//             count+=PacketSize;
+//           }
+//         }
+//       }
+//       for(; k<depth; k++)
+//       {
+//         blockB[count+0] = cj(b0[k]);
+//         blockB[count+1] = cj(b1[k]);
+//         blockB[count+2] = cj(b2[k]);
+//         blockB[count+3] = cj(b3[k]);
+//         blockB[count+4] = cj(b4[k]);
+//         blockB[count+5] = cj(b5[k]);
+//         blockB[count+6] = cj(b6[k]);
+//         blockB[count+7] = cj(b7[k]);
+//         count += 8;
+//       }
+//       // skip what we have after
+//       if(PanelMode) count += 8 * (stride-offset-depth);
+//     }
+//   }
+
+  if(nr>=4)
   {
-    // skip what we have before
-    if(PanelMode) count += nr * offset;
-    const Scalar* b0 = &rhs[(j2+0)*rhsStride];
-    const Scalar* b1 = &rhs[(j2+1)*rhsStride];
-    const Scalar* b2 = &rhs[(j2+2)*rhsStride];
-    const Scalar* b3 = &rhs[(j2+3)*rhsStride];
-    for(Index k=0; k<depth; k++)
+    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
     {
-                blockB[count+0] = cj(b0[k]);
-                blockB[count+1] = cj(b1[k]);
-      if(nr==4) blockB[count+2] = cj(b2[k]);
-      if(nr==4) blockB[count+3] = cj(b3[k]);
-      count += nr;
+      // skip what we have before
+      if(PanelMode) count += 4 * offset;
+      const LinearMapper dm0 = rhs.getLinearMapper(0, j2 + 0);
+      const LinearMapper dm1 = rhs.getLinearMapper(0, j2 + 1);
+      const LinearMapper dm2 = rhs.getLinearMapper(0, j2 + 2);
+      const LinearMapper dm3 = rhs.getLinearMapper(0, j2 + 3);
+
+      Index k=0;
+      if((PacketSize%4)==0) // TODO enable vectorized transposition for PacketSize==2 ??
+      {
+        for(; k<peeled_k; k+=PacketSize) {
+          PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
+          kernel.packet[0] = dm0.loadPacket(k);
+          kernel.packet[1%PacketSize] = dm1.loadPacket(k);
+          kernel.packet[2%PacketSize] = dm2.loadPacket(k);
+          kernel.packet[3%PacketSize] = dm3.loadPacket(k);
+          ptranspose(kernel);
+          pstoreu(blockB+count+0*PacketSize, cj.pconj(kernel.packet[0]));
+          pstoreu(blockB+count+1*PacketSize, cj.pconj(kernel.packet[1%PacketSize]));
+          pstoreu(blockB+count+2*PacketSize, cj.pconj(kernel.packet[2%PacketSize]));
+          pstoreu(blockB+count+3*PacketSize, cj.pconj(kernel.packet[3%PacketSize]));
+          count+=4*PacketSize;
+        }
+      }
+      for(; k<depth; k++)
+      {
+        blockB[count+0] = cj(dm0(k));
+        blockB[count+1] = cj(dm1(k));
+        blockB[count+2] = cj(dm2(k));
+        blockB[count+3] = cj(dm3(k));
+        count += 4;
+      }
+      // skip what we have after
+      if(PanelMode) count += 4 * (stride-offset-depth);
     }
-    // skip what we have after
-    if(PanelMode) count += nr * (stride-offset-depth);
   }
 
   // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols; j2<cols; ++j2)
+  for(Index j2=packet_cols4; j2<cols; ++j2)
   {
     if(PanelMode) count += offset;
-    const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+    const LinearMapper dm0 = rhs.getLinearMapper(0, j2);
     for(Index k=0; k<depth; k++)
     {
-      blockB[count] = cj(b0[k]);
+      blockB[count] = cj(dm0(k));
       count += 1;
     }
     if(PanelMode) count += (stride-offset-depth);
@@ -1258,48 +2011,93 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, Pan
 }
 
 // this version is optimized for row major matrices
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
 {
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename DataMapper::LinearMapper LinearMapper;
   enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride=0, Index offset=0);
+  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
 {
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols = (cols/nr) * nr;
+  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
   Index count = 0;
-  for(Index j2=0; j2<packet_cols; j2+=nr)
+
+//   if(nr>=8)
+//   {
+//     for(Index j2=0; j2<packet_cols8; j2+=8)
+//     {
+//       // skip what we have before
+//       if(PanelMode) count += 8 * offset;
+//       for(Index k=0; k<depth; k++)
+//       {
+//         if (PacketSize==8) {
+//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+//           pstoreu(blockB+count, cj.pconj(A));
+//         } else if (PacketSize==4) {
+//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+//           Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
+//           pstoreu(blockB+count, cj.pconj(A));
+//           pstoreu(blockB+count+PacketSize, cj.pconj(B));
+//         } else {
+//           const Scalar* b0 = &rhs[k*rhsStride + j2];
+//           blockB[count+0] = cj(b0[0]);
+//           blockB[count+1] = cj(b0[1]);
+//           blockB[count+2] = cj(b0[2]);
+//           blockB[count+3] = cj(b0[3]);
+//           blockB[count+4] = cj(b0[4]);
+//           blockB[count+5] = cj(b0[5]);
+//           blockB[count+6] = cj(b0[6]);
+//           blockB[count+7] = cj(b0[7]);
+//         }
+//         count += 8;
+//       }
+//       // skip what we have after
+//       if(PanelMode) count += 8 * (stride-offset-depth);
+//     }
+//   }
+  if(nr>=4)
   {
-    // skip what we have before
-    if(PanelMode) count += nr * offset;
-    for(Index k=0; k<depth; k++)
+    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
     {
-      const Scalar* b0 = &rhs[k*rhsStride + j2];
-                blockB[count+0] = cj(b0[0]);
-                blockB[count+1] = cj(b0[1]);
-      if(nr==4) blockB[count+2] = cj(b0[2]);
-      if(nr==4) blockB[count+3] = cj(b0[3]);
-      count += nr;
+      // skip what we have before
+      if(PanelMode) count += 4 * offset;
+      for(Index k=0; k<depth; k++)
+      {
+        if (PacketSize==4) {
+          Packet A = rhs.loadPacket(k, j2);
+          pstoreu(blockB+count, cj.pconj(A));
+          count += PacketSize;
+        } else {
+          const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
+          blockB[count+0] = cj(dm0(0));
+          blockB[count+1] = cj(dm0(1));
+          blockB[count+2] = cj(dm0(2));
+          blockB[count+3] = cj(dm0(3));
+          count += 4;
+        }
+      }
+      // skip what we have after
+      if(PanelMode) count += 4 * (stride-offset-depth);
     }
-    // skip what we have after
-    if(PanelMode) count += nr * (stride-offset-depth);
   }
   // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols; j2<cols; ++j2)
+  for(Index j2=packet_cols4; j2<cols; ++j2)
   {
     if(PanelMode) count += offset;
-    const Scalar* b0 = &rhs[j2];
     for(Index k=0; k<depth; k++)
     {
-      blockB[count] = cj(b0[k*rhsStride]);
+      blockB[count] = cj(rhs(k, j2));
       count += 1;
     }
     if(PanelMode) count += stride-offset-depth;
@@ -1312,8 +2110,8 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, Pan
   * \sa setCpuCacheSize */
 inline std::ptrdiff_t l1CacheSize()
 {
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
   return l1;
 }
 
@@ -1321,19 +2119,29 @@ inline std::ptrdiff_t l1CacheSize()
   * \sa setCpuCacheSize */
 inline std::ptrdiff_t l2CacheSize()
 {
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
   return l2;
 }
 
+/** \returns the currently set level 3 cpu cache size (in bytes) used to estimate the ideal blocking size paramete\
+rs.                                                                                                                
+* \sa setCpuCacheSize */
+inline std::ptrdiff_t l3CacheSize()
+{
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+  return l3;
+}
+
 /** Set the cpu L1 and L2 cache sizes (in bytes).
   * These values are use to adjust the size of the blocks
   * for the algorithms working per blocks.
   *
   * \sa computeProductBlockingSizes */
-inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2)
+inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2, std::ptrdiff_t l3)
 {
-  internal::manage_caching_sizes(SetAction, &l1, &l2);
+  internal::manage_caching_sizes(SetAction, &l1, &l2, &l3);
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
index cfd2f00..6440e1d 100644
--- a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
 #define EIGEN_GENERAL_MATRIX_MATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -23,7 +23,9 @@ template<
   typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
 struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef gebp_traits<RhsScalar,LhsScalar> Traits;
+
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(
     Index rows, Index cols, Index depth,
     const LhsScalar* lhs, Index lhsStride,
@@ -51,42 +53,44 @@ template<
 struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
 {
 
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 static void run(Index rows, Index cols, Index depth,
   const LhsScalar* _lhs, Index lhsStride,
   const RhsScalar* _rhs, Index rhsStride,
-  ResScalar* res, Index resStride,
+  ResScalar* _res, Index resStride,
   ResScalar alpha,
   level3_blocking<LhsScalar,RhsScalar>& blocking,
   GemmParallelInfo<Index>* info = 0)
 {
-  const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-  const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
-  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+  typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+  typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+  typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+  LhsMapper lhs(_lhs,lhsStride);
+  RhsMapper rhs(_rhs,rhsStride);
+  ResMapper res(_res, resStride);
 
   Index kc = blocking.kc();                   // cache block size along the K direction
   Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-  //Index nc = blocking.nc(); // cache block size along the N direction
+  Index nc = (std::min)(cols,blocking.nc());  // cache block size along the N direction
 
-  gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-  gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
-  gebp_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+  gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+  gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+  gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
 
 #ifdef EIGEN_HAS_OPENMP
   if(info)
   {
     // this is the parallel version!
-    Index tid = omp_get_thread_num();
-    Index threads = omp_get_num_threads();
-    
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, 0);
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, w, sizeW, 0);
-    
-    RhsScalar* blockB = blocking.blockB();
-    eigen_internal_assert(blockB!=0);
+    int tid = omp_get_thread_num();
+    int threads = omp_get_num_threads();
+
+    LhsScalar* blockA = blocking.blockA();
+    eigen_internal_assert(blockA!=0);
+
+    std::size_t sizeB = kc*nc;
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, 0);
 
     // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
     for(Index k=0; k<depth; k+=kc)
@@ -94,56 +98,56 @@ static void run(Index rows, Index cols, Index depth,
       const Index actual_kc = (std::min)(k+kc,depth)-k; // => rows of B', and cols of the A'
 
       // In order to reduce the chance that a thread has to wait for the other,
-      // let's start by packing A'.
-      pack_lhs(blockA, &lhs(0,k), lhsStride, actual_kc, mc);
+      // let's start by packing B'.
+      pack_rhs(blockB, rhs.getSubMapper(k,0), actual_kc, nc);
 
-      // Pack B_k to B' in a parallel fashion:
-      // each thread packs the sub block B_k,j to B'_j where j is the thread id.
+      // Pack A_k to A' in a parallel fashion:
+      // each thread packs the sub block A_k,i to A'_i where i is the thread id.
 
-      // However, before copying to B'_j, we have to make sure that no other thread is still using it,
+      // However, before copying to A'_i, we have to make sure that no other thread is still using it,
       // i.e., we test that info[tid].users equals 0.
       // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
       while(info[tid].users!=0) {}
       info[tid].users += threads;
 
-      pack_rhs(blockB+info[tid].rhs_start*actual_kc, &rhs(k,info[tid].rhs_start), rhsStride, actual_kc, info[tid].rhs_length);
+      pack_lhs(blockA+info[tid].lhs_start*actual_kc, lhs.getSubMapper(info[tid].lhs_start,k), actual_kc, info[tid].lhs_length);
 
-      // Notify the other threads that the part B'_j is ready to go.
+      // Notify the other threads that the part A'_i is ready to go.
       info[tid].sync = k;
 
-      // Computes C_i += A' * B' per B'_j
-      for(Index shift=0; shift<threads; ++shift)
+      // Computes C_i += A' * B' per A'_i
+      for(int shift=0; shift<threads; ++shift)
       {
-        Index j = (tid+shift)%threads;
+        int i = (tid+shift)%threads;
 
-        // At this point we have to make sure that B'_j has been updated by the thread j,
+        // At this point we have to make sure that A'_i has been updated by the thread i,
         // we use testAndSetOrdered to mimic a volatile access.
         // However, no need to wait for the B' part which has been updated by the current thread!
-        if(shift>0)
-          while(info[j].sync!=k) {}
+        if (shift>0) {
+          while(info[i].sync!=k) {
+          }
+        }
 
-        gebp(res+info[j].rhs_start*resStride, resStride, blockA, blockB+info[j].rhs_start*actual_kc, mc, actual_kc, info[j].rhs_length, alpha, -1,-1,0,0, w);
+        gebp(res.getSubMapper(info[i].lhs_start, 0), blockA+info[i].lhs_start*actual_kc, blockB, info[i].lhs_length, actual_kc, nc, alpha);
       }
 
-      // Then keep going as usual with the remaining A'
-      for(Index i=mc; i<rows; i+=mc)
+      // Then keep going as usual with the remaining B'
+      for(Index j=nc; j<cols; j+=nc)
       {
-        const Index actual_mc = (std::min)(i+mc,rows)-i;
+        const Index actual_nc = (std::min)(j+nc,cols)-j;
 
-        // pack A_i,k to A'
-        pack_lhs(blockA, &lhs(i,k), lhsStride, actual_kc, actual_mc);
+        // pack B_k,j to B'
+        pack_rhs(blockB, rhs.getSubMapper(k,j), actual_kc, actual_nc);
 
-        // C_i += A' * B'
-        gebp(res+i, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1,-1,0,0, w);
+        // C_j += A' * B'
+        gebp(res.getSubMapper(0, j), blockA, blockB, rows, actual_kc, actual_nc, alpha);
       }
 
-      // Release all the sub blocks B'_j of B' for the current thread,
+      // Release all the sub blocks A'_i of A' for the current thread,
       // i.e., we simply decrement the number of users by 1
-      for(Index j=0; j<threads; ++j)
-      {
+      for(Index i=0; i<threads; ++i)
         #pragma omp atomic
-        info[j].users -= 1;
-      }
+        info[i].users -= 1;
     }
   }
   else
@@ -153,38 +157,42 @@ static void run(Index rows, Index cols, Index depth,
 
     // this is the sequential version!
     std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = kc*nc;
 
     ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockW, sizeW, blocking.blockW());
+
+    const bool pack_rhs_once = mc!=rows && kc==depth && nc==cols;
 
     // For each horizontal panel of the rhs, and corresponding panel of the lhs...
-    // (==GEMM_VAR1)
-    for(Index k2=0; k2<depth; k2+=kc)
+    for(Index i2=0; i2<rows; i2+=mc)
     {
-      const Index actual_kc = (std::min)(k2+kc,depth)-k2;
-
-      // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
-      // => Pack rhs's panel into a sequential chunk of memory (L2 caching)
-      // Note that this panel will be read as many times as the number of blocks in the lhs's
-      // vertical panel which is, in practice, a very low number.
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+      const Index actual_mc = (std::min)(i2+mc,rows)-i2;
 
-      // For each mc x kc block of the lhs's vertical panel...
-      // (==GEPP_VAR1)
-      for(Index i2=0; i2<rows; i2+=mc)
+      for(Index k2=0; k2<depth; k2+=kc)
       {
-        const Index actual_mc = (std::min)(i2+mc,rows)-i2;
-
-        // We pack the lhs's block into a sequential chunk of memory (L1 caching)
-        // Note that this block will be read a very high number of times, which is equal to the number of
-        // micro vertical panel of the large rhs's panel (e.g., cols/4 times).
-        pack_lhs(blockA, &lhs(i2,k2), lhsStride, actual_kc, actual_mc);
-
-        // Everything is packed, we can now call the block * panel kernel:
-        gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+        const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+
+        // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
+        // => Pack lhs's panel into a sequential chunk of memory (L2/L3 caching)
+        // Note that this panel will be read as many times as the number of blocks in the rhs's
+        // horizontal panel which is, in practice, a very low number.
+        pack_lhs(blockA, lhs.getSubMapper(i2,k2), actual_kc, actual_mc);
+
+        // For each kc x nc block of the rhs's horizontal panel...
+        for(Index j2=0; j2<cols; j2+=nc)
+        {
+          const Index actual_nc = (std::min)(j2+nc,cols)-j2;
+
+          // We pack the rhs's block into a sequential chunk of memory (L2 caching)
+          // Note that this block will be read a very high number of times, which is equal to the number of
+          // micro horizontal panel of the large rhs's panel (e.g., rows/12 times).
+          if((!pack_rhs_once) || i2==0)
+            pack_rhs(blockB, rhs.getSubMapper(k2,j2), actual_kc, actual_nc);
+
+          // Everything is packed, we can now call the panel * block kernel:
+          gebp(res.getSubMapper(i2, j2), blockA, blockB, actual_mc, actual_kc, actual_nc, alpha);
+        }
       }
     }
   }
@@ -193,26 +201,21 @@ static void run(Index rows, Index cols, Index depth,
 };
 
 /*********************************************************************************
-*  Specialization of GeneralProduct<> for "large" GEMM, i.e.,
+*  Specialization of generic_product_impl for "large" GEMM, i.e.,
 *  implementation of the high level wrapper to general_matrix_matrix_product
 **********************************************************************************/
 
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,GemmProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs> >
-{};
-
 template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
 struct gemm_functor
 {
-  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha,
-                  BlockingType& blocking)
+  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha, BlockingType& blocking)
     : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
   {}
 
-  void initParallelSession() const
+  void initParallelSession(Index num_threads) const
   {
-    m_blocking.allocateB();
+    m_blocking.initParallel(m_lhs.rows(), m_rhs.cols(), m_lhs.cols(), num_threads);
+    m_blocking.allocateA();
   }
 
   void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
@@ -221,12 +224,14 @@ struct gemm_functor
       cols = m_rhs.cols();
 
     Gemm::run(rows, cols, m_lhs.cols(),
-              /*(const Scalar*)*/&m_lhs.coeffRef(row,0), m_lhs.outerStride(),
-              /*(const Scalar*)*/&m_rhs.coeffRef(0,col), m_rhs.outerStride(),
+              &m_lhs.coeffRef(row,0), m_lhs.outerStride(),
+              &m_rhs.coeffRef(0,col), m_rhs.outerStride(),
               (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
               m_actualAlpha, m_blocking, info);
   }
 
+  typedef typename Gemm::Traits Traits;
+
   protected:
     const Lhs& m_lhs;
     const Rhs& m_rhs;
@@ -247,29 +252,27 @@ class level3_blocking
   protected:
     LhsScalar* m_blockA;
     RhsScalar* m_blockB;
-    RhsScalar* m_blockW;
 
-    DenseIndex m_mc;
-    DenseIndex m_nc;
-    DenseIndex m_kc;
+    Index m_mc;
+    Index m_nc;
+    Index m_kc;
 
   public:
 
     level3_blocking()
-      : m_blockA(0), m_blockB(0), m_blockW(0), m_mc(0), m_nc(0), m_kc(0)
+      : m_blockA(0), m_blockB(0), m_mc(0), m_nc(0), m_kc(0)
     {}
 
-    inline DenseIndex mc() const { return m_mc; }
-    inline DenseIndex nc() const { return m_nc; }
-    inline DenseIndex kc() const { return m_kc; }
+    inline Index mc() const { return m_mc; }
+    inline Index nc() const { return m_nc; }
+    inline Index kc() const { return m_kc; }
 
     inline LhsScalar* blockA() { return m_blockA; }
     inline RhsScalar* blockB() { return m_blockB; }
-    inline RhsScalar* blockW() { return m_blockW; }
 };
 
 template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
-class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true /* == FiniteAtCompileTime */>
   : public level3_blocking<
       typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
       typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
@@ -284,29 +287,38 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
     enum {
       SizeA = ActualRows * MaxDepth,
-      SizeB = ActualCols * MaxDepth,
-      SizeW = MaxDepth * Traits::WorkSpaceFactor
+      SizeB = ActualCols * MaxDepth
     };
 
-    EIGEN_ALIGN16 LhsScalar m_staticA[SizeA];
-    EIGEN_ALIGN16 RhsScalar m_staticB[SizeB];
-    EIGEN_ALIGN16 RhsScalar m_staticW[SizeW];
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
+    EIGEN_ALIGN_MAX LhsScalar m_staticA[SizeA];
+    EIGEN_ALIGN_MAX RhsScalar m_staticB[SizeB];
+#else
+    EIGEN_ALIGN_MAX char m_staticA[SizeA * sizeof(LhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+    EIGEN_ALIGN_MAX char m_staticB[SizeB * sizeof(RhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+#endif
 
   public:
 
-    gemm_blocking_space(DenseIndex /*rows*/, DenseIndex /*cols*/, DenseIndex /*depth*/)
+    gemm_blocking_space(Index /*rows*/, Index /*cols*/, Index /*depth*/, Index /*num_threads*/, bool /*full_rows = false*/)
     {
       this->m_mc = ActualRows;
       this->m_nc = ActualCols;
       this->m_kc = MaxDepth;
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
       this->m_blockA = m_staticA;
       this->m_blockB = m_staticB;
-      this->m_blockW = m_staticW;
+#else
+      this->m_blockA = reinterpret_cast<LhsScalar*>((internal::UIntPtr(m_staticA) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+      this->m_blockB = reinterpret_cast<RhsScalar*>((internal::UIntPtr(m_staticB) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+#endif
     }
 
+    void initParallel(Index, Index, Index, Index)
+    {}
+
     inline void allocateA() {}
     inline void allocateB() {}
-    inline void allocateW() {}
     inline void allocateAll() {}
 };
 
@@ -323,22 +335,42 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
     typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
 
-    DenseIndex m_sizeA;
-    DenseIndex m_sizeB;
-    DenseIndex m_sizeW;
+    Index m_sizeA;
+    Index m_sizeB;
 
   public:
 
-    gemm_blocking_space(DenseIndex rows, DenseIndex cols, DenseIndex depth)
+    gemm_blocking_space(Index rows, Index cols, Index depth, Index num_threads, bool l3_blocking)
+    {
+      this->m_mc = Transpose ? cols : rows;
+      this->m_nc = Transpose ? rows : cols;
+      this->m_kc = depth;
+
+      if(l3_blocking)
+      {
+        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc, num_threads);
+      }
+      else  // no l3 blocking
+      {
+        Index n = this->m_nc;
+        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, n, num_threads);
+      }
+
+      m_sizeA = this->m_mc * this->m_kc;
+      m_sizeB = this->m_kc * this->m_nc;
+    }
+
+    void initParallel(Index rows, Index cols, Index depth, Index num_threads)
     {
       this->m_mc = Transpose ? cols : rows;
       this->m_nc = Transpose ? rows : cols;
       this->m_kc = depth;
 
-      computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc);
+      eigen_internal_assert(this->m_blockA==0 && this->m_blockB==0);
+      Index m = this->m_mc;
+      computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, m, this->m_nc, num_threads);
       m_sizeA = this->m_mc * this->m_kc;
       m_sizeB = this->m_kc * this->m_nc;
-      m_sizeW = this->m_kc*Traits::WorkSpaceFactor;
     }
 
     void allocateA()
@@ -353,81 +385,108 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
         this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
     }
 
-    void allocateW()
-    {
-      if(this->m_blockW==0)
-        this->m_blockW = aligned_new<RhsScalar>(m_sizeW);
-    }
-
     void allocateAll()
     {
       allocateA();
       allocateB();
-      allocateW();
     }
 
     ~gemm_blocking_space()
     {
       aligned_delete(this->m_blockA, m_sizeA);
       aligned_delete(this->m_blockB, m_sizeB);
-      aligned_delete(this->m_blockW, m_sizeW);
     }
 };
 
 } // end namespace internal
 
+namespace internal {
+
 template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, GemmProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct> >
 {
-    enum {
-      MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
-    };
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-    
-    typedef typename  Lhs::Scalar LhsScalar;
-    typedef typename  Rhs::Scalar RhsScalar;
-    typedef           Scalar      ResScalar;
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  typedef typename Lhs::Scalar LhsScalar;
+  typedef typename Rhs::Scalar RhsScalar;
 
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {
-#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG))
-      typedef internal::scalar_product_op<LhsScalar,RhsScalar> BinOp;
-      EIGEN_CHECK_BINARY_COMPATIBILIY(BinOp,LhsScalar,RhsScalar);
-#endif
-    }
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
 
-    template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
-    {
-      eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
-      if(m_lhs.cols()==0 || m_lhs.rows()==0 || m_rhs.cols()==0)
-        return;
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
 
-      typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-      typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+  enum {
+    MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
+  };
 
-      Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                                 * RhsBlasTraits::extractScalarFactor(m_rhs);
+  typedef generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> lazyproduct;
 
-      typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
-              Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+  template<typename Dst>
+  static void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::evalTo(dst, lhs, rhs);
+    else
+    {
+      dst.setZero();
+      scaleAndAddTo(dst, lhs, rhs, Scalar(1));
+    }
+  }
 
-      typedef internal::gemm_functor<
-        Scalar, Index,
-        internal::general_matrix_matrix_product<
-          Index,
-          LhsScalar, (_ActualLhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
-          RhsScalar, (_ActualRhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
-          (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
-        _ActualLhsType, _ActualRhsType, Dest, BlockingType> GemmFunctor;
+  template<typename Dst>
+  static void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::addTo(dst, lhs, rhs);
+    else
+      scaleAndAddTo(dst,lhs, rhs, Scalar(1));
+  }
 
-      BlockingType blocking(dst.rows(), dst.cols(), lhs.cols());
+  template<typename Dst>
+  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::subTo(dst, lhs, rhs);
+    else
+      scaleAndAddTo(dst, lhs, rhs, Scalar(-1));
+  }
 
-      internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>(GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), this->rows(), this->cols(), Dest::Flags&RowMajorBit);
-    }
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& a_lhs, const Rhs& a_rhs, const Scalar& alpha)
+  {
+    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
+    if(a_lhs.cols()==0 || a_lhs.rows()==0 || a_rhs.cols()==0)
+      return;
+
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
+            Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+
+    typedef internal::gemm_functor<
+      Scalar, Index,
+      internal::general_matrix_matrix_product<
+        Index,
+        LhsScalar, (ActualLhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
+        RhsScalar, (ActualRhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
+        (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+      ActualLhsTypeCleaned, ActualRhsTypeCleaned, Dest, BlockingType> GemmFunctor;
+
+    BlockingType blocking(dst.rows(), dst.cols(), lhs.cols(), 1, true);
+    internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>
+        (GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), a_lhs.rows(), a_rhs.cols(), a_lhs.cols(), Dest::Flags&RowMajorBit);
+  }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
index 5c37639..e844e37 100644
--- a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -20,7 +20,7 @@ namespace internal {
 /**********************************************************************
 * This file implements a general A * B product while
 * evaluating only one triangular part of the product.
-* This is more general version of self adjoint product (C += A A^T)
+* This is a more general version of self adjoint product (C += A A^T)
 * as the level 3 SYRK Blas routine.
 **********************************************************************/
 
@@ -40,15 +40,16 @@ template <typename Index, typename LhsScalar, int LhsStorageOrder, bool Conjugat
                           typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
 struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
-                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride, const ResScalar& alpha)
+                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride,
+                                      const ResScalar& alpha, level3_blocking<RhsScalar,LhsScalar>& blocking)
   {
     general_matrix_matrix_triangular_product<Index,
         RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
         LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
         ColMajor, UpLo==Lower?Upper:Lower>
-      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha);
+      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking);
   }
 };
 
@@ -56,32 +57,36 @@ template <typename Index, typename LhsScalar, int LhsStorageOrder, bool Conjugat
                           typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
 struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
-                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* res, Index resStride, const ResScalar& alpha)
+                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* _res, Index resStride,
+                                      const ResScalar& alpha, level3_blocking<LhsScalar,RhsScalar>& blocking)
   {
-    const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
 
-    Index kc = depth; // cache block size along the K direction
-    Index mc = size;  // cache block size along the M direction
-    Index nc = size;  // cache block size along the N direction
-    computeProductBlockingSizes<LhsScalar,RhsScalar>(kc, mc, nc);
+    typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
+
+    Index kc = blocking.kc();
+    Index mc = (std::min)(size,blocking.mc());
+
     // !!! mc must be a multiple of nr:
     if(mc > Traits::nr)
       mc = (mc/Traits::nr)*Traits::nr;
 
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*size;
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, allocatedBlockB, sizeB, 0);
-    RhsScalar* blockB = allocatedBlockB + sizeW;
-    
-    gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
-    gebp_kernel <LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*size;
+
+    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
+
+    gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
     tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
 
     for(Index k2=0; k2<depth; k2+=kc)
@@ -89,29 +94,30 @@ struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,
       const Index actual_kc = (std::min)(k2+kc,depth)-k2;
 
       // note that the actual rhs is the transpose/adjoint of mat
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, size);
+      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, size);
 
       for(Index i2=0; i2<size; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,size)-i2;
 
-        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
         // the selected actual_mc * size panel of res is split into three different part:
         //  1 - before the diagonal => processed with gebp or skipped
         //  2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
         //  3 - after the diagonal => processed with gebp or skipped
         if (UpLo==Lower)
-          gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, (std::min)(size,i2), alpha,
-               -1, -1, 0, 0, allocatedBlockB);
+          gebp(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc,
+               (std::min)(size,i2), alpha, -1, -1, 0, 0);
+
 
-        sybb(res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha, allocatedBlockB);
+        sybb(_res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
 
         if (UpLo==Upper)
         {
           Index j2 = i2+actual_mc;
-          gebp(res+resStride*j2+i2, resStride, blockA, blockB+actual_kc*j2, actual_mc, actual_kc, (std::max)(Index(0), size-j2), alpha,
-               -1, -1, 0, 0, allocatedBlockB);
+          gebp(res.getSubMapper(i2, j2), blockA, blockB+actual_kc*j2, actual_mc,
+               actual_kc, (std::max)(Index(0), size-j2), alpha, -1, -1, 0, 0);
         }
       }
     }
@@ -132,14 +138,17 @@ struct tribb_kernel
 {
   typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
   typedef typename Traits::ResScalar ResScalar;
-  
+
   enum {
-    BlockSize  = EIGEN_PLAIN_ENUM_MAX(mr,nr)
+    BlockSize  = meta_least_common_multiple<EIGEN_PLAIN_ENUM_MAX(mr,nr),EIGEN_PLAIN_ENUM_MIN(mr,nr)>::ret
   };
-  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha, RhsScalar* workspace)
+  void operator()(ResScalar* _res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
   {
-    gebp_kernel<LhsScalar, RhsScalar, Index, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
-    Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer;
+    typedef blas_data_mapper<ResScalar, Index, ColMajor> ResMapper;
+    ResMapper res(_res, resStride);
+    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+
+    Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer((internal::constructor_without_unaligned_array_assert()));
 
     // let's process the block per panel of actual_mc x BlockSize,
     // again, each is split into three parts, etc.
@@ -149,20 +158,20 @@ struct tribb_kernel
       const RhsScalar* actual_b = blockB+j*depth;
 
       if(UpLo==Upper)
-        gebp_kernel(res+j*resStride, resStride, blockA, actual_b, j, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0);
 
       // selfadjoint micro block
       {
         Index i = j;
         buffer.setZero();
         // 1 - apply the kernel on the temporary buffer
-        gebp_kernel(buffer.data(), BlockSize, blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(ResMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0);
         // 2 - triangular accumulation
         for(Index j1=0; j1<actualBlockSize; ++j1)
         {
-          ResScalar* r = res + (j+j1)*resStride + i;
+          ResScalar* r = &res(i, j + j1);
           for(Index i1=UpLo==Lower ? j1 : 0;
               UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
             r[i1] += buffer(i1,j1);
@@ -172,8 +181,8 @@ struct tribb_kernel
       if(UpLo==Lower)
       {
         Index i = j+actualBlockSize;
-        gebp_kernel(res+j*resStride+i, resStride, blockA+depth*i, actual_b, size-i, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i, 
+                    depth, actualBlockSize, alpha, -1, -1, 0, 0);
       }
     }
   }
@@ -190,10 +199,9 @@ struct general_product_to_triangular_selector;
 template<typename MatrixType, typename ProductType, int UpLo>
 struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 {
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha)
+  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     
     typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
     typedef internal::blas_traits<Lhs> LhsBlasTraits;
@@ -209,6 +217,9 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 
     Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
 
+    if(!beta)
+      mat.template triangularView<UpLo>().setZero();
+
     enum {
       StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
       UseLhsDirectly = _ActualLhs::InnerStrideAtCompileTime==1,
@@ -236,10 +247,8 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 template<typename MatrixType, typename ProductType, int UpLo>
 struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
 {
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha)
+  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
   {
-    typedef typename MatrixType::Index Index;
-    
     typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
     typedef internal::blas_traits<Lhs> LhsBlasTraits;
     typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
@@ -254,23 +263,47 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
 
     typename ProductType::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
 
+    if(!beta)
+      mat.template triangularView<UpLo>().setZero();
+
+    enum {
+      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+      LhsIsRowMajor = _ActualLhs::Flags&RowMajorBit ? 1 : 0,
+      RhsIsRowMajor = _ActualRhs::Flags&RowMajorBit ? 1 : 0,
+      SkipDiag = (UpLo&(UnitDiag|ZeroDiag))!=0
+    };
+
+    Index size = mat.cols();
+    if(SkipDiag)
+      size--;
+    Index depth = actualLhs.cols();
+
+    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,typename Lhs::Scalar,typename Rhs::Scalar,
+          MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualRhs::MaxColsAtCompileTime> BlockingType;
+
+    BlockingType blocking(size, size, depth, 1, false);
+
     internal::general_matrix_matrix_triangular_product<Index,
-      typename Lhs::Scalar, _ActualLhs::Flags&RowMajorBit ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      typename Rhs::Scalar, _ActualRhs::Flags&RowMajorBit ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
-      ::run(mat.cols(), actualLhs.cols(),
-            &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &actualRhs.coeffRef(0,0), actualRhs.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha);
+      typename Lhs::Scalar, LhsIsRowMajor ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      typename Rhs::Scalar, RhsIsRowMajor ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      IsRowMajor ? RowMajor : ColMajor, UpLo&(Lower|Upper)>
+      ::run(size, depth,
+            &actualLhs.coeffRef(SkipDiag&&(UpLo&Lower)==Lower ? 1 : 0,0), actualLhs.outerStride(),
+            &actualRhs.coeffRef(0,SkipDiag&&(UpLo&Upper)==Upper ? 1 : 0), actualRhs.outerStride(),
+            mat.data() + (SkipDiag ? (bool(IsRowMajor) != ((UpLo&Lower)==Lower) ? 1 : mat.outerStride() ) : 0), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
 template<typename MatrixType, unsigned int UpLo>
-template<typename ProductDerived, typename _Lhs, typename _Rhs>
-TriangularView<MatrixType,UpLo>& TriangularView<MatrixType,UpLo>::assignProduct(const ProductBase<ProductDerived, _Lhs,_Rhs>& prod, const Scalar& alpha)
+template<typename ProductType>
+TriangularView<MatrixType,UpLo>& TriangularViewImpl<MatrixType,UpLo,Dense>::_assignProduct(const ProductType& prod, const Scalar& alpha, bool beta)
 {
-  general_product_to_triangular_selector<MatrixType, ProductDerived, UpLo, (_Lhs::ColsAtCompileTime==1) || (_Rhs::RowsAtCompileTime==1)>::run(m_matrix.const_cast_derived(), prod.derived(), alpha);
+  EIGEN_STATIC_ASSERT((UpLo&UnitDiag)==0, WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED);
+  eigen_assert(derived().nestedExpression().rows() == prod.rows() && derived().cols() == prod.cols());
+  
+  general_product_to_triangular_selector<MatrixType, ProductType, UpLo, internal::traits<ProductType>::InnerSize==1>::run(derived().nestedExpression().const_cast_derived(), prod, alpha, beta);
   
-  return *this;
+  return derived();
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
new file mode 100644
index 0000000..41e18ff
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
@@ -0,0 +1,141 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Level 3 BLAS SYRK/HERK implementation.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Index, typename Scalar, int AStorageOrder, bool ConjugateA, int ResStorageOrder, int  UpLo>
+struct general_matrix_matrix_rankupdate :
+       general_matrix_matrix_triangular_product<
+         Index,Scalar,AStorageOrder,ConjugateA,Scalar,AStorageOrder,ConjugateA,ResStorageOrder,UpLo,BuiltIn> {};
+
+
+// try to go to BLAS specialization
+#define EIGEN_BLAS_RANKUPDATE_SPECIALIZE(Scalar) \
+template <typename Index, int LhsStorageOrder, bool ConjugateLhs, \
+                          int RhsStorageOrder, bool ConjugateRhs, int  UpLo> \
+struct general_matrix_matrix_triangular_product<Index,Scalar,LhsStorageOrder,ConjugateLhs, \
+               Scalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Specialized> { \
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const Scalar* lhs, Index lhsStride, \
+                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar, Scalar>& blocking) \
+  { \
+    if ( lhs==rhs && ((UpLo&(Lower|Upper)==UpLo)) ) { \
+      general_matrix_matrix_rankupdate<Index,Scalar,LhsStorageOrder,ConjugateLhs,ColMajor,UpLo> \
+      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
+    } else { \
+      general_matrix_matrix_triangular_product<Index, \
+        Scalar, LhsStorageOrder, ConjugateLhs, \
+        Scalar, RhsStorageOrder, ConjugateRhs, \
+        ColMajor, UpLo, BuiltIn> \
+      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
+    } \
+  } \
+};
+
+EIGEN_BLAS_RANKUPDATE_SPECIALIZE(double)
+EIGEN_BLAS_RANKUPDATE_SPECIALIZE(float)
+// TODO handle complex cases
+// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(dcomplex)
+// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(scomplex)
+
+// SYRK for float/double
+#define EIGEN_BLAS_RANKUPDATE_R(EIGTYPE, BLASTYPE, BLASFUNC) \
+template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
+struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
+  enum { \
+    IsLower = (UpLo&Lower) == Lower, \
+    LowUp = IsLower ? Lower : Upper, \
+    conjA = ((AStorageOrder==ColMajor) && ConjugateA) ? 1 : 0 \
+  }; \
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
+                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+  /* typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs;*/ \
+\
+   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
+   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'T':'N'); \
+   EIGTYPE beta(1); \
+   BLASFUNC(&uplo, &trans, &n, &k, &numext::real_ref(alpha), lhs, &lda, &numext::real_ref(beta), res, &ldc); \
+  } \
+};
+
+// HERK for complex data
+#define EIGEN_BLAS_RANKUPDATE_C(EIGTYPE, BLASTYPE, RTYPE, BLASFUNC) \
+template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
+struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
+  enum { \
+    IsLower = (UpLo&Lower) == Lower, \
+    LowUp = IsLower ? Lower : Upper, \
+    conjA = (((AStorageOrder==ColMajor) && ConjugateA) || ((AStorageOrder==RowMajor) && !ConjugateA)) ? 1 : 0 \
+  }; \
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
+                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, AStorageOrder> MatrixType; \
+\
+   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
+   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'C':'N'); \
+   RTYPE alpha_, beta_; \
+   const EIGTYPE* a_ptr; \
+\
+   alpha_ = alpha.real(); \
+   beta_ = 1.0; \
+/* Copy with conjugation in some cases*/ \
+   MatrixType a; \
+   if (conjA) { \
+     Map<const MatrixType, 0, OuterStride<> > mapA(lhs,n,k,OuterStride<>(lhsStride)); \
+     a = mapA.conjugate(); \
+     lda = a.outerStride(); \
+     a_ptr = a.data(); \
+   } else a_ptr=lhs; \
+   BLASFUNC(&uplo, &trans, &n, &k, &alpha_, (BLASTYPE*)a_ptr, &lda, &beta_, (BLASTYPE*)res, &ldc); \
+  } \
+};
+
+
+EIGEN_BLAS_RANKUPDATE_R(double, double, dsyrk_)
+EIGEN_BLAS_RANKUPDATE_R(float,  float,  ssyrk_)
+
+// TODO hanlde complex cases
+// EIGEN_BLAS_RANKUPDATE_C(dcomplex, double, double, zherk_)
+// EIGEN_BLAS_RANKUPDATE_C(scomplex, float,  float, cherk_)
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
new file mode 100644
index 0000000..7a3bdbf
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
@@ -0,0 +1,115 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   General matrix-matrix product functionality based on ?GEMM.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/**********************************************************************
+* This file implements general matrix-matrix multiplication using BLAS
+* gemm function via partial specialization of
+* general_matrix_matrix_product::run(..) method for float, double,
+* std::complex<float> and std::complex<double> types
+**********************************************************************/
+
+// gemm specialization
+
+#define GEMM_SPECIALIZATION(EIGTYPE, EIGPREFIX, BLASTYPE, BLASPREFIX) \
+template< \
+  typename Index, \
+  int LhsStorageOrder, bool ConjugateLhs, \
+  int RhsStorageOrder, bool ConjugateRhs> \
+struct general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor> \
+{ \
+typedef gebp_traits<EIGTYPE,EIGTYPE> Traits; \
+\
+static void run(Index rows, Index cols, Index depth, \
+  const EIGTYPE* _lhs, Index lhsStride, \
+  const EIGTYPE* _rhs, Index rhsStride, \
+  EIGTYPE* res, Index resStride, \
+  EIGTYPE alpha, \
+  level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/, \
+  GemmParallelInfo<Index>* /*info = 0*/) \
+{ \
+  using std::conj; \
+\
+  char transa, transb; \
+  BlasIndex m, n, k, lda, ldb, ldc; \
+  const EIGTYPE *a, *b; \
+  EIGTYPE beta(1); \
+  MatrixX##EIGPREFIX a_tmp, b_tmp; \
+\
+/* Set transpose options */ \
+  transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
+  transb = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
+\
+/* Set m, n, k */ \
+  m = convert_index<BlasIndex>(rows);  \
+  n = convert_index<BlasIndex>(cols);  \
+  k = convert_index<BlasIndex>(depth); \
+\
+/* Set lda, ldb, ldc */ \
+  lda = convert_index<BlasIndex>(lhsStride); \
+  ldb = convert_index<BlasIndex>(rhsStride); \
+  ldc = convert_index<BlasIndex>(resStride); \
+\
+/* Set a, b, c */ \
+  if ((LhsStorageOrder==ColMajor) && (ConjugateLhs)) { \
+    Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,m,k,OuterStride<>(lhsStride)); \
+    a_tmp = lhs.conjugate(); \
+    a = a_tmp.data(); \
+    lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+  } else a = _lhs; \
+\
+  if ((RhsStorageOrder==ColMajor) && (ConjugateRhs)) { \
+    Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,k,n,OuterStride<>(rhsStride)); \
+    b_tmp = rhs.conjugate(); \
+    b = b_tmp.data(); \
+    ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+  } else b = _rhs; \
+\
+  BLASPREFIX##gemm_(&transa, &transb, &m, &n, &k, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
+}};
+
+GEMM_SPECIALIZATION(double,   d,  double, d)
+GEMM_SPECIALIZATION(float,    f,  float,  s)
+GEMM_SPECIALIZATION(dcomplex, cd, double, z)
+GEMM_SPECIALIZATION(scomplex, cf, float,  c)
+
+} // end namespase internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector.h
index 0938770..3c1a7fc 100644
--- a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector.h
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
 #define EIGEN_GENERAL_MATRIX_VECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -26,11 +26,39 @@ namespace internal {
  *  |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
  *  |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
  *  |cplx |real |real | optimal case, vectorization possible via real-cplx mul
+ *
+ * Accesses to the matrix coefficients follow the following logic:
+ *
+ * - if all columns have the same alignment then
+ *   - if the columns have the same alignment as the result vector, then easy! (-> AllAligned case)
+ *   - otherwise perform unaligned loads only (-> NoneAligned case)
+ * - otherwise
+ *   - if even columns have the same alignment then
+ *     // odd columns are guaranteed to have the same alignment too
+ *     - if even or odd columns have the same alignment as the result, then
+ *       // for a register size of 2 scalars, this is guarantee to be the case (e.g., SSE with double)
+ *       - perform half aligned and half unaligned loads (-> EvenAligned case)
+ *     - otherwise perform unaligned loads only (-> NoneAligned case)
+ *   - otherwise, if the register size is 4 scalars (e.g., SSE with float) then
+ *     - one over 4 consecutive columns is guaranteed to be aligned with the result vector,
+ *       perform simple aligned loads for this column and aligned loads plus re-alignment for the other. (-> FirstAligned case)
+ *       // this re-alignment is done by the palign function implemented for SSE in Eigen/src/Core/arch/SSE/PacketMath.h
+ *   - otherwise,
+ *     // if we get here, this means the register size is greater than 4 (e.g., AVX with floats),
+ *     // we currently fall back to the NoneAligned case
+ *
+ * The same reasoning apply for the transposed case.
+ *
+ * The last case (PacketSize>4) could probably be improved by generalizing the FirstAligned case, but since we do not support AVX yet...
+ * One might also wonder why in the EvenAligned case we perform unaligned loads instead of using the aligned-loads plus re-alignment
+ * strategy as in the FirstAligned case. The reason is that we observed that unaligned loads on a 8 byte boundary are not too slow
+ * compared to unaligned loads on a 4 byte boundary.
+ *
  */
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
 enum {
   Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
@@ -50,31 +78,35 @@ typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
 
 EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr, RhsScalar alpha);
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
+  RhsScalar alpha);
 };
 
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>::run(
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr, RhsScalar alpha)
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
+  RhsScalar alpha)
 {
-  EIGEN_UNUSED_VARIABLE(resIncr)
+  EIGEN_UNUSED_VARIABLE(resIncr);
   eigen_internal_assert(resIncr==1);
   #ifdef _EIGEN_ACCUMULATE_PACKETS
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
+  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) \
     pstore(&res[j], \
       padd(pload<ResPacket>(&res[j]), \
         padd( \
-          padd(pcj.pmul(EIGEN_CAT(ploa , A0)<LhsPacket>(&lhs0[j]),    ptmp0), \
-                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs1[j]),   ptmp1)), \
-          padd(pcj.pmul(EIGEN_CAT(ploa , A2)<LhsPacket>(&lhs2[j]),    ptmp2), \
-                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs3[j]),   ptmp3)) )))
+      padd(pcj.pmul(lhs0.template load<LhsPacket, Alignment0>(j),    ptmp0), \
+      pcj.pmul(lhs1.template load<LhsPacket, Alignment13>(j),   ptmp1)),   \
+      padd(pcj.pmul(lhs2.template load<LhsPacket, Alignment2>(j),    ptmp2), \
+      pcj.pmul(lhs3.template load<LhsPacket, Alignment13>(j),   ptmp3)) )))
+
+  typedef typename LhsMapper::VectorMapper LhsScalars;
 
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
@@ -88,10 +120,12 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
   const Index ResPacketAlignedMask = ResPacketSize-1;
 //  const Index PeelAlignedMask = ResPacketSize*peels-1;
   const Index size = rows;
-  
+
+  const Index lhsStride = lhs.stride();
+
   // How many coeffs of the result do we have to skip to be aligned.
   // Here we assume data are at least aligned on the base scalar type.
-  Index alignedStart = internal::first_aligned(res,size);
+  Index alignedStart = internal::first_default_aligned(res,size);
   Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
   const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
@@ -101,19 +135,26 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
                        : FirstAligned;
 
   // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = internal::first_aligned(lhs,size);
+  const Index lhsAlignmentOffset = lhs.firstAligned(size);
 
   // find how many columns do we have to skip to be aligned with the result (if possible)
   Index skipColumns = 0;
   // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (size_t(lhs)%sizeof(LhsScalar)) || (size_t(res)%sizeof(ResScalar)) )
+  if( (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == size) || (UIntPtr(res)%sizeof(ResScalar)) )
   {
     alignedSize = 0;
     alignedStart = 0;
+    alignmentPattern = NoneAligned;
+  }
+  else if(LhsPacketSize > 4)
+  {
+    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+    // Currently, it seems to be better to perform unaligned loads anyway
+    alignmentPattern = NoneAligned;
   }
   else if (LhsPacketSize>1)
   {
-    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
+  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
 
     while (skipColumns<LhsPacketSize &&
           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
@@ -130,10 +171,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
       // note that the skiped columns are processed later.
     }
 
-    eigen_internal_assert(  (alignmentPattern==NoneAligned)
+    /*    eigen_internal_assert(  (alignmentPattern==NoneAligned)
                       || (skipColumns + columnsAtOnce >= cols)
                       || LhsPacketSize > size
-                      || (size_t(lhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);
+                      || (size_t(firstLhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);*/
   }
   else if(Vectorizable)
   {
@@ -142,20 +183,20 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
     alignmentPattern = AllAligned;
   }
 
-  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
-  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
+  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
 
   Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
   for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
   {
-    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[i*rhsIncr]),
-              ptmp1 = pset1<RhsPacket>(alpha*rhs[(i+offset1)*rhsIncr]),
-              ptmp2 = pset1<RhsPacket>(alpha*rhs[(i+2)*rhsIncr]),
-              ptmp3 = pset1<RhsPacket>(alpha*rhs[(i+offset3)*rhsIncr]);
+    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(i, 0)),
+              ptmp1 = pset1<RhsPacket>(alpha*rhs(i+offset1, 0)),
+              ptmp2 = pset1<RhsPacket>(alpha*rhs(i+2, 0)),
+              ptmp3 = pset1<RhsPacket>(alpha*rhs(i+offset3, 0));
 
     // this helps a lot generating better binary code
-    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
-                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+    const LhsScalars lhs0 = lhs.getVectorMapper(0, i+0),   lhs1 = lhs.getVectorMapper(0, i+offset1),
+                     lhs2 = lhs.getVectorMapper(0, i+2),   lhs3 = lhs.getVectorMapper(0, i+offset3);
 
     if (Vectorizable)
     {
@@ -163,10 +204,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
       // process initial unaligned coeffs
       for (Index j=0; j<alignedStart; ++j)
       {
-        res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
-        res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
-        res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
-        res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+        res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+        res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+        res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+        res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
       }
 
       if (alignedSize>alignedStart)
@@ -175,11 +216,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
         {
           case AllAligned:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
             break;
           case EvenAligned:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
             break;
           case FirstAligned:
           {
@@ -189,28 +230,28 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
               LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
               ResPacket T0, T1;
 
-              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
-              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
-              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
 
               for (; j<peeledSize; j+=peels*ResPacketSize)
               {
-                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
-                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
-                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
+                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
+                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
 
-                A00 = pload<LhsPacket>(&lhs0[j]);
-                A10 = pload<LhsPacket>(&lhs0[j+LhsPacketSize]);
+                A00 = lhs0.template load<LhsPacket, Aligned>(j);
+                A10 = lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize);
                 T0  = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
                 T1  = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
 
                 T0  = pcj.pmadd(A01, ptmp1, T0);
-                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
                 T0  = pcj.pmadd(A02, ptmp2, T0);
-                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
                 T0  = pcj.pmadd(A03, ptmp3, T0);
                 pstore(&res[j],T0);
-                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
                 T1  = pcj.pmadd(A11, ptmp1, T1);
                 T1  = pcj.pmadd(A12, ptmp2, T1);
                 T1  = pcj.pmadd(A13, ptmp3, T1);
@@ -218,12 +259,12 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
               }
             }
             for (; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
             break;
           }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
             break;
         }
       }
@@ -232,10 +273,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
     /* process remaining coeffs (or all if there is no explicit vectorization) */
     for (Index j=alignedSize; j<size; ++j)
     {
-      res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
-      res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
-      res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
-      res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+      res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+      res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+      res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+      res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
     }
   }
 
@@ -246,27 +287,27 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
   {
     for (Index k=start; k<end; ++k)
     {
-      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[k*rhsIncr]);
-      const LhsScalar* lhs0 = lhs + k*lhsStride;
+      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(k, 0));
+      const LhsScalars lhs0 = lhs.getVectorMapper(0, k);
 
       if (Vectorizable)
       {
         /* explicit vectorization */
         // process first unaligned result's coeffs
         for (Index j=0; j<alignedStart; ++j)
-          res[j] += cj.pmul(lhs0[j], pfirst(ptmp0));
+          res[j] += cj.pmul(lhs0(j), pfirst(ptmp0));
         // process aligned result's coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+        if (lhs0.template aligned<LhsPacket>(alignedStart))
           for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(pload<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(i), ptmp0, pload<ResPacket>(&res[i])));
         else
           for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(i), ptmp0, pload<ResPacket>(&res[i])));
       }
 
       // process remaining scalars (or all if no explicit vectorization)
       for (Index i=alignedSize; i<size; ++i)
-        res[i] += cj.pmul(lhs0[i], pfirst(ptmp0));
+        res[i] += cj.pmul(lhs0(i), pfirst(ptmp0));
     }
     if (skipColumns)
     {
@@ -290,10 +331,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
  *  - alpha is always a complex (or converted to a complex)
  *  - no vectorization
  */
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
 enum {
   Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
@@ -310,73 +351,84 @@ typedef typename packet_traits<ResScalar>::type  _ResPacket;
 typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
 typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
 typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-  
+
 EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr,
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
   ResScalar alpha);
 };
 
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>::run(
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
   ResScalar* res, Index resIncr,
   ResScalar alpha)
 {
-  EIGEN_UNUSED_VARIABLE(rhsIncr);
-  eigen_internal_assert(rhsIncr==1);
+  eigen_internal_assert(rhs.stride()==1);
+
   #ifdef _EIGEN_ACCUMULATE_PACKETS
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
 
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
-    RhsPacket b = pload<RhsPacket>(&rhs[j]); \
-    ptmp0 = pcj.pmadd(EIGEN_CAT(ploa,A0) <LhsPacket>(&lhs0[j]), b, ptmp0); \
-    ptmp1 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs1[j]), b, ptmp1); \
-    ptmp2 = pcj.pmadd(EIGEN_CAT(ploa,A2) <LhsPacket>(&lhs2[j]), b, ptmp2); \
-    ptmp3 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs3[j]), b, ptmp3); }
+  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) {\
+    RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);  \
+    ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Alignment0>(j), b, ptmp0); \
+    ptmp1 = pcj.pmadd(lhs1.template load<LhsPacket, Alignment13>(j), b, ptmp1); \
+    ptmp2 = pcj.pmadd(lhs2.template load<LhsPacket, Alignment2>(j), b, ptmp2); \
+    ptmp3 = pcj.pmadd(lhs3.template load<LhsPacket, Alignment13>(j), b, ptmp3); }
 
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
 
+  typedef typename LhsMapper::VectorMapper LhsScalars;
+
   enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
   const Index rowsAtOnce = 4;
   const Index peels = 2;
   const Index RhsPacketAlignedMask = RhsPacketSize-1;
   const Index LhsPacketAlignedMask = LhsPacketSize-1;
-//   const Index PeelAlignedMask = RhsPacketSize*peels-1;
   const Index depth = cols;
+  const Index lhsStride = lhs.stride();
 
   // How many coeffs of the result do we have to skip to be aligned.
   // Here we assume data are at least aligned on the base scalar type
   // if that's not the case then vectorization is discarded, see below.
-  Index alignedStart = internal::first_aligned(rhs, depth);
+  Index alignedStart = rhs.firstAligned(depth);
   Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
   const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
   const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
   Index alignmentPattern = alignmentStep==0 ? AllAligned
-                         : alignmentStep==(LhsPacketSize/2) ? EvenAligned
-                         : FirstAligned;
+                           : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                           : FirstAligned;
 
   // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = internal::first_aligned(lhs,depth);
+  const Index lhsAlignmentOffset = lhs.firstAligned(depth);
+  const Index rhsAlignmentOffset = rhs.firstAligned(rows);
 
   // find how many rows do we have to skip to be aligned with rhs (if possible)
   Index skipRows = 0;
   // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) || (size_t(lhs)%sizeof(LhsScalar)) || (size_t(rhs)%sizeof(RhsScalar)) )
+  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) ||
+      (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == depth) ||
+      (rhsAlignmentOffset < 0) || (rhsAlignmentOffset == rows) )
   {
     alignedSize = 0;
     alignedStart = 0;
+    alignmentPattern = NoneAligned;
+  }
+  else if(LhsPacketSize > 4)
+  {
+    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+    alignmentPattern = NoneAligned;
   }
   else if (LhsPacketSize>1)
   {
-    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
+  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
 
     while (skipRows<LhsPacketSize &&
            alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
@@ -392,11 +444,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
       skipRows = (std::min)(skipRows,Index(rows));
       // note that the skiped columns are processed later.
     }
-    eigen_internal_assert(  alignmentPattern==NoneAligned
+    /*    eigen_internal_assert(  alignmentPattern==NoneAligned
                       || LhsPacketSize==1
                       || (skipRows + rowsAtOnce >= rows)
                       || LhsPacketSize > depth
-                      || (size_t(lhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);
+                      || (size_t(firstLhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);*/
   }
   else if(Vectorizable)
   {
@@ -405,18 +457,19 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
     alignmentPattern = AllAligned;
   }
 
-  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
-  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
+  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
 
   Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
   for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
   {
-    EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+    // FIXME: what is the purpose of this EIGEN_ALIGN_DEFAULT ??
+    EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
     ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
 
     // this helps the compiler generating good binary code
-    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
-                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+    const LhsScalars lhs0 = lhs.getVectorMapper(i+0, 0),    lhs1 = lhs.getVectorMapper(i+offset1, 0),
+                     lhs2 = lhs.getVectorMapper(i+2, 0),    lhs3 = lhs.getVectorMapper(i+offset3, 0);
 
     if (Vectorizable)
     {
@@ -428,9 +481,9 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
       // FIXME this loop get vectorized by the compiler !
       for (Index j=0; j<alignedStart; ++j)
       {
-        RhsScalar b = rhs[j];
-        tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
-        tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+        RhsScalar b = rhs(j, 0);
+        tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+        tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
       }
 
       if (alignedSize>alignedStart)
@@ -439,11 +492,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
         {
           case AllAligned:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
             break;
           case EvenAligned:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
             break;
           case FirstAligned:
           {
@@ -457,39 +510,39 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
                * than basic unaligned loads.
                */
               LhsPacket A01, A02, A03, A11, A12, A13;
-              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
-              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
-              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
 
               for (; j<peeledSize; j+=peels*RhsPacketSize)
               {
-                RhsPacket b = pload<RhsPacket>(&rhs[j]);
-                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
-                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
-                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+                RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);
+                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
+                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
+                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
 
-                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), b, ptmp0);
+                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), b, ptmp0);
                 ptmp1 = pcj.pmadd(A01, b, ptmp1);
-                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
                 ptmp2 = pcj.pmadd(A02, b, ptmp2);
-                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
                 ptmp3 = pcj.pmadd(A03, b, ptmp3);
-                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
 
-                b = pload<RhsPacket>(&rhs[j+RhsPacketSize]);
-                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j+LhsPacketSize]), b, ptmp0);
+                b = rhs.getVectorMapper(j+RhsPacketSize, 0).template load<RhsPacket, Aligned>(0);
+                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize), b, ptmp0);
                 ptmp1 = pcj.pmadd(A11, b, ptmp1);
                 ptmp2 = pcj.pmadd(A12, b, ptmp2);
                 ptmp3 = pcj.pmadd(A13, b, ptmp3);
               }
             }
             for (; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
             break;
           }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
             break;
         }
         tmp0 += predux(ptmp0);
@@ -503,9 +556,9 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
     // FIXME this loop get vectorized by the compiler !
     for (Index j=alignedSize; j<depth; ++j)
     {
-      RhsScalar b = rhs[j];
-      tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
-      tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+      RhsScalar b = rhs(j, 0);
+      tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+      tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
     }
     res[i*resIncr]            += alpha*tmp0;
     res[(i+offset1)*resIncr]  += alpha*tmp1;
@@ -520,30 +573,30 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
   {
     for (Index i=start; i<end; ++i)
     {
-      EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+      EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
       ResPacket ptmp0 = pset1<ResPacket>(tmp0);
-      const LhsScalar* lhs0 = lhs + i*lhsStride;
+      const LhsScalars lhs0 = lhs.getVectorMapper(i, 0);
       // process first unaligned result's coeffs
       // FIXME this loop get vectorized by the compiler !
       for (Index j=0; j<alignedStart; ++j)
-        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
 
       if (alignedSize>alignedStart)
       {
         // process aligned rhs coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+        if (lhs0.template aligned<LhsPacket>(alignedStart))
           for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
         else
           for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(ploadu<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
         tmp0 += predux(ptmp0);
       }
 
       // process remaining scalars
       // FIXME this loop get vectorized by the compiler !
       for (Index j=alignedSize; j<depth; ++j)
-        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
       res[i*resIncr] += alpha*tmp0;
     }
     if (skipRows)
diff --git a/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
new file mode 100644
index 0000000..e3a5d58
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
@@ -0,0 +1,129 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   General matrix-vector product functionality based on ?GEMV.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
+#define EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/**********************************************************************
+* This file implements general matrix-vector multiplication using BLAS
+* gemv function via partial specialization of
+* general_matrix_vector_product::run(..) method for float, double,
+* std::complex<float> and std::complex<double> types
+**********************************************************************/
+
+// gemv specialization
+
+template<typename Index, typename LhsScalar, int StorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product_gemv;
+
+#define EIGEN_BLAS_GEMV_SPECIALIZE(Scalar) \
+template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
+struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,Specialized> { \
+static void run( \
+  Index rows, Index cols, \
+  const const_blas_data_mapper<Scalar,Index,ColMajor> &lhs, \
+  const const_blas_data_mapper<Scalar,Index,RowMajor> &rhs, \
+  Scalar* res, Index resIncr, Scalar alpha) \
+{ \
+  if (ConjugateLhs) { \
+    general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,BuiltIn>::run( \
+      rows, cols, lhs, rhs, res, resIncr, alpha); \
+  } else { \
+    general_matrix_vector_product_gemv<Index,Scalar,ColMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
+      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
+  } \
+} \
+}; \
+template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
+struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,RowMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ConjugateRhs,Specialized> { \
+static void run( \
+  Index rows, Index cols, \
+  const const_blas_data_mapper<Scalar,Index,RowMajor> &lhs, \
+  const const_blas_data_mapper<Scalar,Index,ColMajor> &rhs, \
+  Scalar* res, Index resIncr, Scalar alpha) \
+{ \
+    general_matrix_vector_product_gemv<Index,Scalar,RowMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
+      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
+} \
+}; \
+
+EIGEN_BLAS_GEMV_SPECIALIZE(double)
+EIGEN_BLAS_GEMV_SPECIALIZE(float)
+EIGEN_BLAS_GEMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_GEMV_SPECIALIZE(scomplex)
+
+#define EIGEN_BLAS_GEMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASPREFIX) \
+template<typename Index, int LhsStorageOrder, bool ConjugateLhs, bool ConjugateRhs> \
+struct general_matrix_vector_product_gemv<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,ConjugateRhs> \
+{ \
+typedef Matrix<EIGTYPE,Dynamic,1,ColMajor> GEMVVector;\
+\
+static void run( \
+  Index rows, Index cols, \
+  const EIGTYPE* lhs, Index lhsStride, \
+  const EIGTYPE* rhs, Index rhsIncr, \
+  EIGTYPE* res, Index resIncr, EIGTYPE alpha) \
+{ \
+  BlasIndex m=convert_index<BlasIndex>(rows), n=convert_index<BlasIndex>(cols), \
+            lda=convert_index<BlasIndex>(lhsStride), incx=convert_index<BlasIndex>(rhsIncr), incy=convert_index<BlasIndex>(resIncr); \
+  const EIGTYPE beta(1); \
+  const EIGTYPE *x_ptr; \
+  char trans=(LhsStorageOrder==ColMajor) ? 'N' : (ConjugateLhs) ? 'C' : 'T'; \
+  if (LhsStorageOrder==RowMajor) { \
+    m = convert_index<BlasIndex>(cols); \
+    n = convert_index<BlasIndex>(rows); \
+  }\
+  GEMVVector x_tmp; \
+  if (ConjugateRhs) { \
+    Map<const GEMVVector, 0, InnerStride<> > map_x(rhs,cols,1,InnerStride<>(incx)); \
+    x_tmp=map_x.conjugate(); \
+    x_ptr=x_tmp.data(); \
+    incx=1; \
+  } else x_ptr=rhs; \
+  BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
+}\
+};
+
+EIGEN_BLAS_GEMV_SPECIALIZATION(double,   double, d)
+EIGEN_BLAS_GEMV_SPECIALIZATION(float,    float,  s)
+EIGEN_BLAS_GEMV_SPECIALIZATION(dcomplex, double, z)
+EIGEN_BLAS_GEMV_SPECIALIZATION(scomplex, float,  c)
+
+} // end namespase internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/Parallelizer.h b/vendor/eigen/Eigen/src/Core/products/Parallelizer.h
index 6937ee3..c2f084c 100644
--- a/vendor/eigen/Eigen/src/Core/products/Parallelizer.h
+++ b/vendor/eigen/Eigen/src/Core/products/Parallelizer.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_PARALLELIZER_H
 #define EIGEN_PARALLELIZER_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -49,8 +49,8 @@ inline void initParallel()
 {
   int nbt;
   internal::manage_multi_threading(GetAction, &nbt);
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
 }
 
 /** \returns the max number of threads reserved for Eigen
@@ -73,17 +73,17 @@ namespace internal {
 
 template<typename Index> struct GemmParallelInfo
 {
-  GemmParallelInfo() : sync(-1), users(0), rhs_start(0), rhs_length(0) {}
+  GemmParallelInfo() : sync(-1), users(0), lhs_start(0), lhs_length(0) {}
 
-  int volatile sync;
+  Index volatile sync;
   int volatile users;
 
-  Index rhs_start;
-  Index rhs_length;
+  Index lhs_start;
+  Index lhs_length;
 };
 
 template<bool Condition, typename Functor, typename Index>
-void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpose)
+void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth, bool transpose)
 {
   // TODO when EIGEN_USE_BLAS is defined,
   // we should still enable OMP for other scalar types
@@ -92,6 +92,7 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpos
   // the matrix product when multithreading is enabled. This is a temporary
   // fix to support row-major destination matrices. This whole
   // parallelizer mechanism has to be redisigned anyway.
+  EIGEN_UNUSED_VARIABLE(depth);
   EIGEN_UNUSED_VARIABLE(transpose);
   func(0,rows, 0,cols);
 #else
@@ -102,56 +103,56 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpos
   // - we are not already in a parallel code
   // - the sizes are large enough
 
-  // 1- are we already in a parallel session?
-  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
-  if((!Condition) || (omp_get_num_threads()>1))
-    return func(0,rows, 0,cols);
+  // compute the maximal number of threads from the size of the product:
+  // This first heuristic takes into account that the product kernel is fully optimized when working with nr columns at once.
+  Index size = transpose ? rows : cols;
+  Index pb_max_threads = std::max<Index>(1,size / Functor::Traits::nr);
 
-  Index size = transpose ? cols : rows;
+  // compute the maximal number of threads from the total amount of work:
+  double work = static_cast<double>(rows) * static_cast<double>(cols) *
+      static_cast<double>(depth);
+  double kMinTaskSize = 50000;  // FIXME improve this heuristic.
+  pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, work / kMinTaskSize));
 
-  // 2- compute the maximal number of threads from the size of the product:
-  // FIXME this has to be fine tuned
-  Index max_threads = std::max<Index>(1,size / 32);
+  // compute the number of threads we are going to use
+  Index threads = std::min<Index>(nbThreads(), pb_max_threads);
 
-  // 3 - compute the number of threads we are going to use
-  Index threads = std::min<Index>(nbThreads(), max_threads);
-
-  if(threads==1)
+  // if multi-threading is explicitely disabled, not useful, or if we already are in a parallel session,
+  // then abort multi-threading
+  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
+  if((!Condition) || (threads==1) || (omp_get_num_threads()>1))
     return func(0,rows, 0,cols);
 
   Eigen::initParallel();
-  func.initParallelSession();
+  func.initParallelSession(threads);
 
   if(transpose)
     std::swap(rows,cols);
 
-  GemmParallelInfo<Index>* info = new GemmParallelInfo<Index>[threads];
+  ei_declare_aligned_stack_constructed_variable(GemmParallelInfo<Index>,info,threads,0);
 
   #pragma omp parallel num_threads(threads)
   {
     Index i = omp_get_thread_num();
     // Note that the actual number of threads might be lower than the number of request ones.
     Index actual_threads = omp_get_num_threads();
-    
+
     Index blockCols = (cols / actual_threads) & ~Index(0x3);
-    Index blockRows = (rows / actual_threads) & ~Index(0x7);
-    
+    Index blockRows = (rows / actual_threads);
+    blockRows = (blockRows/Functor::Traits::mr)*Functor::Traits::mr;
+
     Index r0 = i*blockRows;
     Index actualBlockRows = (i+1==actual_threads) ? rows-r0 : blockRows;
 
     Index c0 = i*blockCols;
     Index actualBlockCols = (i+1==actual_threads) ? cols-c0 : blockCols;
 
-    info[i].rhs_start = c0;
-    info[i].rhs_length = actualBlockCols;
+    info[i].lhs_start = r0;
+    info[i].lhs_length = actualBlockRows;
 
-    if(transpose)
-      func(0, cols, r0, actualBlockRows, info);
-    else
-      func(r0, actualBlockRows, 0,cols, info);
+    if(transpose) func(c0, actualBlockCols, 0, rows, info);
+    else          func(0, rows, c0, actualBlockCols, info);
   }
-
-  delete[] info;
 #endif
 }
 
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
index 99cf9e0..da6f82a 100644
--- a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -15,7 +15,7 @@ namespace Eigen {
 namespace internal {
 
 // pack a selfadjoint block diagonal for use with the gebp_kernel
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder>
+template<typename Scalar, typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
 struct symm_pack_lhs
 {
   template<int BlockRows> inline
@@ -45,25 +45,32 @@ struct symm_pack_lhs
   }
   void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
   {
+    enum { PacketSize = packet_traits<Scalar>::size };
     const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
     Index count = 0;
-    Index peeled_mc = (rows/Pack1)*Pack1;
-    for(Index i=0; i<peeled_mc; i+=Pack1)
-    {
-      pack<Pack1>(blockA, lhs, cols, i, count);
-    }
-
-    if(rows-peeled_mc>=Pack2)
-    {
-      pack<Pack2>(blockA, lhs, cols, peeled_mc, count);
-      peeled_mc += Pack2;
-    }
+    //Index peeled_mc3 = (rows/Pack1)*Pack1;
+    
+    const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+    const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+    const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+    
+    if(Pack1>=3*PacketSize)
+      for(Index i=0; i<peeled_mc3; i+=3*PacketSize)
+        pack<3*PacketSize>(blockA, lhs, cols, i, count);
+    
+    if(Pack1>=2*PacketSize)
+      for(Index i=peeled_mc3; i<peeled_mc2; i+=2*PacketSize)
+        pack<2*PacketSize>(blockA, lhs, cols, i, count);
+    
+    if(Pack1>=1*PacketSize)
+      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*PacketSize)
+        pack<1*PacketSize>(blockA, lhs, cols, i, count);
 
     // do the same with mr==1
-    for(Index i=peeled_mc; i<rows; i++)
+    for(Index i=peeled_mc1; i<rows; i++)
     {
       for(Index k=0; k<i; k++)
-        blockA[count++] = lhs(i, k);              // normal
+        blockA[count++] = lhs(i, k);                   // normal
 
       blockA[count++] = numext::real(lhs(i, i));       // real (diagonal)
 
@@ -82,7 +89,8 @@ struct symm_pack_rhs
     Index end_k = k2 + rows;
     Index count = 0;
     const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
-    Index packet_cols = (cols/nr)*nr;
+    Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
 
     // first part: normal case
     for(Index j2=0; j2<k2; j2+=nr)
@@ -91,79 +99,151 @@ struct symm_pack_rhs
       {
         blockB[count+0] = rhs(k,j2+0);
         blockB[count+1] = rhs(k,j2+1);
-        if (nr==4)
+        if (nr>=4)
         {
           blockB[count+2] = rhs(k,j2+2);
           blockB[count+3] = rhs(k,j2+3);
         }
+        if (nr>=8)
+        {
+          blockB[count+4] = rhs(k,j2+4);
+          blockB[count+5] = rhs(k,j2+5);
+          blockB[count+6] = rhs(k,j2+6);
+          blockB[count+7] = rhs(k,j2+7);
+        }
         count += nr;
       }
     }
 
     // second part: diagonal block
-    for(Index j2=k2; j2<(std::min)(k2+rows,packet_cols); j2+=nr)
+    Index end8 = nr>=8 ? (std::min)(k2+rows,packet_cols8) : k2;
+    if(nr>=8)
     {
-      // again we can split vertically in three different parts (transpose, symmetric, normal)
-      // transpose
-      for(Index k=k2; k<j2; k++)
+      for(Index j2=k2; j2<end8; j2+=8)
       {
-        blockB[count+0] = numext::conj(rhs(j2+0,k));
-        blockB[count+1] = numext::conj(rhs(j2+1,k));
-        if (nr==4)
+        // again we can split vertically in three different parts (transpose, symmetric, normal)
+        // transpose
+        for(Index k=k2; k<j2; k++)
         {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
           blockB[count+2] = numext::conj(rhs(j2+2,k));
           blockB[count+3] = numext::conj(rhs(j2+3,k));
+          blockB[count+4] = numext::conj(rhs(j2+4,k));
+          blockB[count+5] = numext::conj(rhs(j2+5,k));
+          blockB[count+6] = numext::conj(rhs(j2+6,k));
+          blockB[count+7] = numext::conj(rhs(j2+7,k));
+          count += 8;
         }
-        count += nr;
-      }
-      // symmetric
-      Index h = 0;
-      for(Index k=j2; k<j2+nr; k++)
-      {
-        // normal
-        for (Index w=0 ; w<h; ++w)
-          blockB[count+w] = rhs(k,j2+w);
+        // symmetric
+        Index h = 0;
+        for(Index k=j2; k<j2+8; k++)
+        {
+          // normal
+          for (Index w=0 ; w<h; ++w)
+            blockB[count+w] = rhs(k,j2+w);
 
-        blockB[count+h] = numext::real(rhs(k,k));
+          blockB[count+h] = numext::real(rhs(k,k));
 
-        // transpose
-        for (Index w=h+1 ; w<nr; ++w)
-          blockB[count+w] = numext::conj(rhs(j2+w,k));
-        count += nr;
-        ++h;
+          // transpose
+          for (Index w=h+1 ; w<8; ++w)
+            blockB[count+w] = numext::conj(rhs(j2+w,k));
+          count += 8;
+          ++h;
+        }
+        // normal
+        for(Index k=j2+8; k<end_k; k++)
+        {
+          blockB[count+0] = rhs(k,j2+0);
+          blockB[count+1] = rhs(k,j2+1);
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+          blockB[count+4] = rhs(k,j2+4);
+          blockB[count+5] = rhs(k,j2+5);
+          blockB[count+6] = rhs(k,j2+6);
+          blockB[count+7] = rhs(k,j2+7);
+          count += 8;
+        }
       }
-      // normal
-      for(Index k=j2+nr; k<end_k; k++)
+    }
+    if(nr>=4)
+    {
+      for(Index j2=end8; j2<(std::min)(k2+rows,packet_cols4); j2+=4)
       {
-        blockB[count+0] = rhs(k,j2+0);
-        blockB[count+1] = rhs(k,j2+1);
-        if (nr==4)
+        // again we can split vertically in three different parts (transpose, symmetric, normal)
+        // transpose
+        for(Index k=k2; k<j2; k++)
+        {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
+          blockB[count+2] = numext::conj(rhs(j2+2,k));
+          blockB[count+3] = numext::conj(rhs(j2+3,k));
+          count += 4;
+        }
+        // symmetric
+        Index h = 0;
+        for(Index k=j2; k<j2+4; k++)
         {
+          // normal
+          for (Index w=0 ; w<h; ++w)
+            blockB[count+w] = rhs(k,j2+w);
+
+          blockB[count+h] = numext::real(rhs(k,k));
+
+          // transpose
+          for (Index w=h+1 ; w<4; ++w)
+            blockB[count+w] = numext::conj(rhs(j2+w,k));
+          count += 4;
+          ++h;
+        }
+        // normal
+        for(Index k=j2+4; k<end_k; k++)
+        {
+          blockB[count+0] = rhs(k,j2+0);
+          blockB[count+1] = rhs(k,j2+1);
           blockB[count+2] = rhs(k,j2+2);
           blockB[count+3] = rhs(k,j2+3);
+          count += 4;
         }
-        count += nr;
       }
     }
 
     // third part: transposed
-    for(Index j2=k2+rows; j2<packet_cols; j2+=nr)
+    if(nr>=8)
     {
-      for(Index k=k2; k<end_k; k++)
+      for(Index j2=k2+rows; j2<packet_cols8; j2+=8)
       {
-        blockB[count+0] = numext::conj(rhs(j2+0,k));
-        blockB[count+1] = numext::conj(rhs(j2+1,k));
-        if (nr==4)
+        for(Index k=k2; k<end_k; k++)
         {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
           blockB[count+2] = numext::conj(rhs(j2+2,k));
           blockB[count+3] = numext::conj(rhs(j2+3,k));
+          blockB[count+4] = numext::conj(rhs(j2+4,k));
+          blockB[count+5] = numext::conj(rhs(j2+5,k));
+          blockB[count+6] = numext::conj(rhs(j2+6,k));
+          blockB[count+7] = numext::conj(rhs(j2+7,k));
+          count += 8;
+        }
+      }
+    }
+    if(nr>=4)
+    {
+      for(Index j2=(std::max)(packet_cols8,k2+rows); j2<packet_cols4; j2+=4)
+      {
+        for(Index k=k2; k<end_k; k++)
+        {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
+          blockB[count+2] = numext::conj(rhs(j2+2,k));
+          blockB[count+3] = numext::conj(rhs(j2+3,k));
+          count += 4;
         }
-        count += nr;
       }
     }
 
     // copy the remaining columns one at a time (=> the same with nr==1)
-    for(Index j2=packet_cols; j2<cols; ++j2)
+    for(Index j2=packet_cols4; j2<cols; ++j2)
     {
       // transpose
       Index half = (std::min)(end_k,j2);
@@ -211,7 +291,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,Co
     const Scalar* lhs, Index lhsStride,
     const Scalar* rhs, Index rhsStride,
     Scalar* res,       Index resStride,
-    const Scalar& alpha)
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     product_selfadjoint_matrix<Scalar, Index,
       EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
@@ -219,7 +299,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,Co
       EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
       LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
       ColMajor>
-      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha);
+      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha, blocking);
   }
 };
 
@@ -234,7 +314,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    const Scalar& alpha);
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
@@ -244,33 +324,35 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha)
+    Scalar* _res,        Index resStride,
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = rows;
 
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
     typedef gebp_traits<Scalar,Scalar> Traits;
 
-    Index kc = size;  // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
-    // kc must smaller than mc
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, (LhsStorageOrder == RowMajor) ? ColMajor : RowMajor> LhsTransposeMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    LhsTransposeMapper lhs_transpose(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
+
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    // kc must be smaller than mc
     kc = (std::min)(kc,mc);
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
 
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
-    Scalar* blockB = allocatedBlockB + sizeW;
-
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
     symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
 
     for(Index k2=0; k2<size; k2+=kc)
     {
@@ -279,7 +361,7 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
       // we have selected one row panel of rhs and one column panel of lhs
       // pack rhs's panel into a sequential chunk of memory
       // and expand each coeff to a constant packet for further reuse
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, cols);
 
       // the select lhs's panel has to be split in three different parts:
       //  1 - the transposed panel above the diagonal block => transposed packed copy
@@ -289,9 +371,9 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
       {
         const Index actual_mc = (std::min)(i2+mc,k2)-i2;
         // transposed packed copy
-        pack_lhs_transposed(blockA, &lhs(k2, i2), lhsStride, actual_kc, actual_mc);
+        pack_lhs_transposed(blockA, lhs_transpose.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
       // the block diagonal
       {
@@ -299,16 +381,16 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
         // symmetric packed copy
         pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
 
-        gebp_kernel(res+k2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(k2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
 
       for(Index i2=k2+kc; i2<size; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,size)-i2;
-        gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
-          (blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+          (blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
     }
   }
@@ -325,7 +407,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLh
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    const Scalar& alpha);
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
@@ -335,27 +417,27 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha)
+    Scalar* _res,        Index resStride,
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = cols;
 
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-
     typedef gebp_traits<Scalar,Scalar> Traits;
 
-    Index kc = size; // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
-    Scalar* blockB = allocatedBlockB + sizeW;
-
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    ResMapper res(_res,resStride);
+
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
     symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=0; k2<size; k2+=kc)
@@ -368,9 +450,9 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
       for(Index i2=0; i2<rows; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,rows)-i2;
-        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
     }
   }
@@ -382,55 +464,58 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
 ***************************************************************************/
 
 namespace internal {
+  
 template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
-struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs> >
-{};
-}
-
-template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
-struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,RhsMode,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
-
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  
   enum {
     LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
     LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
     RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
     RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
   };
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  
+  template<typename Dest>
+  static void run(Dest &dst, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
 
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+              Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,1> BlockingType;
+
+    BlockingType blocking(lhs.rows(), rhs.cols(), lhs.cols(), 1, false);
 
     internal::product_selfadjoint_matrix<Scalar, Index,
-      EIGEN_LOGICAL_XOR(LhsIsUpper,
-                        internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
+      EIGEN_LOGICAL_XOR(LhsIsUpper,internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
       NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
-      EIGEN_LOGICAL_XOR(RhsIsUpper,
-                        internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
+      EIGEN_LOGICAL_XOR(RhsIsUpper,internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
       NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
       internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor>
       ::run(
         lhs.rows(), rhs.cols(),                 // sizes
-        &lhs.coeffRef(0,0),    lhs.outerStride(),  // lhs info
-        &rhs.coeffRef(0,0),    rhs.outerStride(),  // rhs info
+        &lhs.coeffRef(0,0), lhs.outerStride(),  // lhs info
+        &rhs.coeffRef(0,0), rhs.outerStride(),  // rhs info
         &dst.coeffRef(0,0), dst.outerStride(),  // result info
-        actualAlpha                             // alpha
+        actualAlpha, blocking                   // alpha
       );
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
new file mode 100644
index 0000000..a45238d
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
@@ -0,0 +1,275 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Self adjoint matrix * matrix product functionality based on ?SYMM/?HEMM.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
+#define EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+
+/* Optimized selfadjoint matrix * matrix (?SYMM/?HEMM) product */
+
+#define EIGEN_BLAS_SYMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
+{\
+\
+  static void run( \
+    Index rows, Index cols, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+    char side='L', uplo='L'; \
+    BlasIndex m, n, lda, ldb, ldc; \
+    const EIGTYPE *a, *b; \
+    EIGTYPE beta(1); \
+    MatrixX##EIGPREFIX b_tmp; \
+\
+/* Set transpose options */ \
+/* Set m, n, k */ \
+    m = convert_index<BlasIndex>(rows);  \
+    n = convert_index<BlasIndex>(cols);  \
+\
+/* Set lda, ldb, ldc */ \
+    lda = convert_index<BlasIndex>(lhsStride); \
+    ldb = convert_index<BlasIndex>(rhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
+\
+/* Set a, b, c */ \
+    if (LhsStorageOrder==RowMajor) uplo='U'; \
+    a = _lhs; \
+\
+    if (RhsStorageOrder==RowMajor) { \
+      Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
+      b_tmp = rhs.adjoint(); \
+      b = b_tmp.data(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+    } else b = _rhs; \
+\
+    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
+\
+  } \
+};
+
+
+#define EIGEN_BLAS_HEMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
+{\
+  static void run( \
+    Index rows, Index cols, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+    char side='L', uplo='L'; \
+    BlasIndex m, n, lda, ldb, ldc; \
+    const EIGTYPE *a, *b; \
+    EIGTYPE beta(1); \
+    MatrixX##EIGPREFIX b_tmp; \
+    Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> a_tmp; \
+\
+/* Set transpose options */ \
+/* Set m, n, k */ \
+    m = convert_index<BlasIndex>(rows); \
+    n = convert_index<BlasIndex>(cols); \
+\
+/* Set lda, ldb, ldc */ \
+    lda = convert_index<BlasIndex>(lhsStride); \
+    ldb = convert_index<BlasIndex>(rhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
+\
+/* Set a, b, c */ \
+    if (((LhsStorageOrder==ColMajor) && ConjugateLhs) || ((LhsStorageOrder==RowMajor) && (!ConjugateLhs))) { \
+      Map<const Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder>, 0, OuterStride<> > lhs(_lhs,m,m,OuterStride<>(lhsStride)); \
+      a_tmp = lhs.conjugate(); \
+      a = a_tmp.data(); \
+      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+    } else a = _lhs; \
+    if (LhsStorageOrder==RowMajor) uplo='U'; \
+\
+    if (RhsStorageOrder==ColMajor && (!ConjugateRhs)) { \
+       b = _rhs; } \
+    else { \
+      if (RhsStorageOrder==ColMajor && ConjugateRhs) { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,m,n,OuterStride<>(rhsStride)); \
+        b_tmp = rhs.conjugate(); \
+      } else \
+      if (ConjugateRhs) { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
+        b_tmp = rhs.adjoint(); \
+      } else { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
+        b_tmp = rhs.transpose(); \
+      } \
+      b = b_tmp.data(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+    } \
+\
+    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
+\
+  } \
+};
+
+EIGEN_BLAS_SYMM_L(double, double, d, d)
+EIGEN_BLAS_SYMM_L(float, float, f, s)
+EIGEN_BLAS_HEMM_L(dcomplex, double, cd, z)
+EIGEN_BLAS_HEMM_L(scomplex, float, cf, c)
+
+
+/* Optimized matrix * selfadjoint matrix (?SYMM/?HEMM) product */
+
+#define EIGEN_BLAS_SYMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
+{\
+\
+  static void run( \
+    Index rows, Index cols, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+    char side='R', uplo='L'; \
+    BlasIndex m, n, lda, ldb, ldc; \
+    const EIGTYPE *a, *b; \
+    EIGTYPE beta(1); \
+    MatrixX##EIGPREFIX b_tmp; \
+\
+/* Set m, n, k */ \
+    m = convert_index<BlasIndex>(rows);  \
+    n = convert_index<BlasIndex>(cols);  \
+\
+/* Set lda, ldb, ldc */ \
+    lda = convert_index<BlasIndex>(rhsStride); \
+    ldb = convert_index<BlasIndex>(lhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
+\
+/* Set a, b, c */ \
+    if (RhsStorageOrder==RowMajor) uplo='U'; \
+    a = _rhs; \
+\
+    if (LhsStorageOrder==RowMajor) { \
+      Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(rhsStride)); \
+      b_tmp = lhs.adjoint(); \
+      b = b_tmp.data(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+    } else b = _lhs; \
+\
+    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
+\
+  } \
+};
+
+
+#define EIGEN_BLAS_HEMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
+{\
+  static void run( \
+    Index rows, Index cols, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
+  { \
+    char side='R', uplo='L'; \
+    BlasIndex m, n, lda, ldb, ldc; \
+    const EIGTYPE *a, *b; \
+    EIGTYPE beta(1); \
+    MatrixX##EIGPREFIX b_tmp; \
+    Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> a_tmp; \
+\
+/* Set m, n, k */ \
+    m = convert_index<BlasIndex>(rows); \
+    n = convert_index<BlasIndex>(cols); \
+\
+/* Set lda, ldb, ldc */ \
+    lda = convert_index<BlasIndex>(rhsStride); \
+    ldb = convert_index<BlasIndex>(lhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
+\
+/* Set a, b, c */ \
+    if (((RhsStorageOrder==ColMajor) && ConjugateRhs) || ((RhsStorageOrder==RowMajor) && (!ConjugateRhs))) { \
+      Map<const Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder>, 0, OuterStride<> > rhs(_rhs,n,n,OuterStride<>(rhsStride)); \
+      a_tmp = rhs.conjugate(); \
+      a = a_tmp.data(); \
+      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+    } else a = _rhs; \
+    if (RhsStorageOrder==RowMajor) uplo='U'; \
+\
+    if (LhsStorageOrder==ColMajor && (!ConjugateLhs)) { \
+       b = _lhs; } \
+    else { \
+      if (LhsStorageOrder==ColMajor && ConjugateLhs) { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,m,n,OuterStride<>(lhsStride)); \
+        b_tmp = lhs.conjugate(); \
+      } else \
+      if (ConjugateLhs) { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(lhsStride)); \
+        b_tmp = lhs.adjoint(); \
+      } else { \
+        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(lhsStride)); \
+        b_tmp = lhs.transpose(); \
+      } \
+      b = b_tmp.data(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+    } \
+\
+    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
+  } \
+};
+
+EIGEN_BLAS_SYMM_R(double, double, d, d)
+EIGEN_BLAS_SYMM_R(float, float, f, s)
+EIGEN_BLAS_HEMM_R(dcomplex, double, cd, z)
+EIGEN_BLAS_HEMM_R(scomplex, float, cf, c)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
index f698f67..3fd180e 100644
--- a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -30,7 +30,7 @@ struct selfadjoint_matrix_vector_product
 static EIGEN_DONT_INLINE void run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
-  const Scalar* _rhs, Index rhsIncr,
+  const Scalar*  rhs,
   Scalar* res,
   Scalar alpha);
 };
@@ -39,11 +39,12 @@ template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool Conju
 EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
-  const Scalar* _rhs, Index rhsIncr,
+  const Scalar*  rhs,
   Scalar* res,
   Scalar alpha)
 {
   typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
   const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
 
   enum {
@@ -54,23 +55,13 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
   conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
   conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
-  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
+  conj_helper<RealScalar,Scalar,false, ConjugateRhs> cjd;
 
   conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
   conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
 
   Scalar cjAlpha = ConjugateRhs ? numext::conj(alpha) : alpha;
 
-  // FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
-  // if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
-  // this is because we need to extract packets
-  ei_declare_aligned_stack_constructed_variable(Scalar,rhs,size,rhsIncr==1 ? const_cast<Scalar*>(_rhs) : 0);  
-  if (rhsIncr!=1)
-  {
-    const Scalar* it = _rhs;
-    for (Index i=0; i<size; ++i, it+=rhsIncr)
-      rhs[i] = *it;
-  }
 
   Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
   if (FirstTriangular)
@@ -92,12 +83,11 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
     Scalar t3(0);
     Packet ptmp3 = pset1<Packet>(t3);
 
-    size_t starti = FirstTriangular ? 0 : j+2;
-    size_t endi   = FirstTriangular ? j : size;
-    size_t alignedStart = (starti) + internal::first_aligned(&res[starti], endi-starti);
-    size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
+    Index starti = FirstTriangular ? 0 : j+2;
+    Index endi   = FirstTriangular ? j : size;
+    Index alignedStart = (starti) + internal::first_default_aligned(&res[starti], endi-starti);
+    Index alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
 
-    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
     res[j]   += cjd.pmul(numext::real(A0[j]), t0);
     res[j+1] += cjd.pmul(numext::real(A1[j+1]), t1);
     if(FirstTriangular)
@@ -111,11 +101,11 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
       t2 += cj1.pmul(A0[j+1], rhs[j+1]);
     }
 
-    for (size_t i=starti; i<alignedStart; ++i)
+    for (Index i=starti; i<alignedStart; ++i)
     {
-      res[i] += t0 * A0[i] + t1 * A1[i];
-      t2 += numext::conj(A0[i]) * rhs[i];
-      t3 += numext::conj(A1[i]) * rhs[i];
+      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+      t3 += cj1.pmul(A1[i], rhs[i]);
     }
     // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
     // gcc 4.2 does this optimization automatically.
@@ -123,7 +113,7 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
     const Scalar* EIGEN_RESTRICT a1It  = A1  + alignedStart;
     const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
           Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
-    for (size_t i=alignedStart; i<alignedEnd; i+=PacketSize)
+    for (Index i=alignedStart; i<alignedEnd; i+=PacketSize)
     {
       Packet A0i = ploadu<Packet>(a0It);  a0It  += PacketSize;
       Packet A1i = ploadu<Packet>(a1It);  a1It  += PacketSize;
@@ -135,7 +125,7 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
       ptmp3 = pcj1.pmadd(A1i,  Bi, ptmp3);
       pstore(resIt,Xi); resIt += PacketSize;
     }
-    for (size_t i=alignedEnd; i<endi; i++)
+    for (Index i=alignedEnd; i<endi; i++)
     {
       res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
       t2 += cj1.pmul(A0[i], rhs[i]);
@@ -151,7 +141,6 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
     Scalar t1 = cjAlpha * rhs[j];
     Scalar t2(0);
-    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
     res[j] += cjd.pmul(numext::real(A0[j]), t1);
     for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
     {
@@ -169,45 +158,44 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 ***************************************************************************/
 
 namespace internal {
-template<typename Lhs, int LhsMode, typename Rhs>
-struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
-{};
-}
 
 template<typename Lhs, int LhsMode, typename Rhs>
-struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,0,true>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
-
-  enum {
-    LhsUpLo = LhsMode&(Upper|Lower)
-  };
-
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+  
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+  enum { LhsUpLo = LhsMode&(Upper|Lower) };
+
+  template<typename Dest>
+  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
     typedef typename Dest::Scalar ResScalar;
-    typedef typename Base::RhsScalar RhsScalar;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    typedef typename Rhs::Scalar RhsScalar;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
     
-    eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
+    eigen_assert(dest.rows()==a_lhs.rows() && dest.cols()==a_rhs.cols());
 
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
 
     enum {
       EvalToDest = (Dest::InnerStrideAtCompileTime==1),
-      UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
+      UseRhs = (ActualRhsTypeCleaned::InnerStrideAtCompileTime==1)
     };
     
     internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
-    internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+    internal::gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!UseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
                                                   EvalToDest ? dest.data() : static_dest.data());
@@ -218,7 +206,7 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
     if(!EvalToDest)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = dest.size();
+      Index size = dest.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
       MappedDest(actualDestPtr, dest.size()) = dest;
@@ -227,18 +215,19 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
     if(!UseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = rhs.size();
+      Index size = rhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
     }
       
       
-    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
+    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+                                                int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
       (
         lhs.rows(),                             // size
         &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
-        actualRhsPtr, 1,                        // rhs info
+        actualRhsPtr,                           // rhs info
         actualDestPtr,                          // result info
         actualAlpha                             // scale factor
       );
@@ -248,34 +237,24 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
   }
 };
 
-namespace internal {
-template<typename Lhs, typename Rhs, int RhsMode>
-struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
-{};
-}
-
 template<typename Lhs, typename Rhs, int RhsMode>
-struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,0,true,Rhs,RhsMode,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  enum { RhsUpLo = RhsMode&(Upper|Lower)  };
 
-  enum {
-    RhsUpLo = RhsMode&(Upper|Lower)
-  };
-
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  template<typename Dest>
+  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
     // let's simply transpose the product
     Transpose<Dest> destT(dest);
-    SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
-                             Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
+    selfadjoint_product_impl<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+                             Transpose<const Lhs>, 0, true>::run(destT, a_rhs.transpose(), a_lhs.transpose(), alpha);
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
new file mode 100644
index 0000000..38f23ac
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
@@ -0,0 +1,111 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Selfadjoint matrix-vector product functionality based on ?SYMV/HEMV.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/**********************************************************************
+* This file implements selfadjoint matrix-vector multiplication using BLAS
+**********************************************************************/
+
+// symv/hemv specialization
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs>
+struct selfadjoint_matrix_vector_product_symv :
+  selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn> {};
+
+#define EIGEN_BLAS_SYMV_SPECIALIZE(Scalar) \
+template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
+struct selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Specialized> { \
+static void run( \
+  Index size, const Scalar*  lhs, Index lhsStride, \
+  const Scalar* _rhs, Scalar* res, Scalar alpha) { \
+    enum {\
+      IsColMajor = StorageOrder==ColMajor \
+    }; \
+    if (IsColMajor == ConjugateLhs) {\
+      selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn>::run( \
+        size, lhs, lhsStride, _rhs, res, alpha);  \
+    } else {\
+      selfadjoint_matrix_vector_product_symv<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs>::run( \
+        size, lhs, lhsStride, _rhs, res, alpha);  \
+    }\
+  } \
+}; \
+
+EIGEN_BLAS_SYMV_SPECIALIZE(double)
+EIGEN_BLAS_SYMV_SPECIALIZE(float)
+EIGEN_BLAS_SYMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_SYMV_SPECIALIZE(scomplex)
+
+#define EIGEN_BLAS_SYMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASFUNC) \
+template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
+struct selfadjoint_matrix_vector_product_symv<EIGTYPE,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs> \
+{ \
+typedef Matrix<EIGTYPE,Dynamic,1,ColMajor> SYMVVector;\
+\
+static void run( \
+Index size, const EIGTYPE*  lhs, Index lhsStride, \
+const EIGTYPE* _rhs, EIGTYPE* res, EIGTYPE alpha) \
+{ \
+  enum {\
+    IsRowMajor = StorageOrder==RowMajor ? 1 : 0, \
+    IsLower = UpLo == Lower ? 1 : 0 \
+  }; \
+  BlasIndex n=convert_index<BlasIndex>(size), lda=convert_index<BlasIndex>(lhsStride), incx=1, incy=1; \
+  EIGTYPE beta(1); \
+  const EIGTYPE *x_ptr; \
+  char uplo=(IsRowMajor) ? (IsLower ? 'U' : 'L') : (IsLower ? 'L' : 'U'); \
+  SYMVVector x_tmp; \
+  if (ConjugateRhs) { \
+    Map<const SYMVVector, 0 > map_x(_rhs,size,1); \
+    x_tmp=map_x.conjugate(); \
+    x_ptr=x_tmp.data(); \
+  } else x_ptr=_rhs; \
+  BLASFUNC(&uplo, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
+}\
+};
+
+EIGEN_BLAS_SYMV_SPECIALIZATION(double,   double, dsymv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(float,    float,  ssymv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(dcomplex, double, zhemv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(scomplex, float,  chemv_)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointProduct.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointProduct.h
index 6ca4ae6..f038d68 100644
--- a/vendor/eigen/Eigen/src/Core/products/SelfadjointProduct.h
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointProduct.h
@@ -53,7 +53,6 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
   static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     typedef internal::blas_traits<OtherType> OtherBlasTraits;
     typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
     typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
@@ -86,7 +85,6 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
   static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     typedef internal::blas_traits<OtherType> OtherBlasTraits;
     typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
     typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
@@ -94,15 +92,27 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
 
     Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
 
-    enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+    enum {
+      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+      OtherIsRowMajor = _ActualOtherType::Flags&RowMajorBit ? 1 : 0
+    };
+
+    Index size = mat.cols();
+    Index depth = actualOther.cols();
+
+    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,Scalar,Scalar,
+              MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualOtherType::MaxColsAtCompileTime> BlockingType;
+
+    BlockingType blocking(size, size, depth, 1, false);
+
 
     internal::general_matrix_matrix_triangular_product<Index,
-      Scalar, _ActualOtherType::Flags&RowMajorBit ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
-      Scalar, _ActualOtherType::Flags&RowMajorBit ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
-      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
-      ::run(mat.cols(), actualOther.cols(),
+      Scalar, OtherIsRowMajor ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+      Scalar, OtherIsRowMajor ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
+      IsRowMajor ? RowMajor : ColMajor, UpLo>
+      ::run(size, depth,
             &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha);
+            mat.data(), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
diff --git a/vendor/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h b/vendor/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
index 8594a97..2ae3641 100644
--- a/vendor/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
+++ b/vendor/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -79,11 +79,11 @@ SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
   if (IsRowMajor)
     actualAlpha = numext::conj(actualAlpha);
 
-  internal::selfadjoint_rank2_update_selector<Scalar, Index,
-    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type,
-    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type,
+  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type UType;
+  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type VType;
+  internal::selfadjoint_rank2_update_selector<Scalar, Index, UType, VType,
     (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
-    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),actualU,actualV,actualAlpha);
+    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),UType(actualU),VType(actualV),actualAlpha);
 
   return *this;
 }
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
index 8110507..6ec5a8a 100644
--- a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -108,7 +108,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* _res,        Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     // strip zeros
@@ -117,30 +117,36 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     Index depth     = IsLower ? diagSize : _depth;
     Index cols      = _cols;
     
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
 
     Index kc = blocking.kc();                   // cache block size along the K direction
     Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    // The small panel size must not be larger than blocking size.
+    // Usually this should never be the case because SmallPanelWidth^2 is very small
+    // compared to L2 cache size, but let's be safe:
+    Index panelWidth = (std::min)(Index(SmallPanelWidth),(std::min)(kc,mc));
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
-    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer;
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer((internal::constructor_without_unaligned_array_assert()));
     triangularBuffer.setZero();
     if((Mode&ZeroDiag)==ZeroDiag)
       triangularBuffer.diagonal().setZero();
     else
       triangularBuffer.diagonal().setOnes();
 
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=IsLower ? depth : 0;
         IsLower ? k2>0 : k2<depth;
@@ -156,7 +162,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
         k2 = k2+actual_kc-kc;
       }
 
-      pack_rhs(blockB, &rhs(actual_k2,0), rhsStride, actual_kc, cols);
+      pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
 
       // the selected lhs's panel has to be split in three different parts:
       //  1 - the part which is zero => skip it
@@ -167,9 +173,9 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
       if(IsLower || actual_k2<rows)
       {
         // for each small vertical panels of lhs
-        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        for (Index k1=0; k1<actual_kc; k1+=panelWidth)
         {
-          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, panelWidth);
           Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
           Index startBlock   = actual_k2+k1;
           Index blockBOffset = k1;
@@ -184,20 +190,22 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
             for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
               triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
           }
-          pack_lhs(blockA, triangularBuffer.data(), triangularBuffer.outerStride(), actualPanelWidth, actualPanelWidth);
+          pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
 
-          gebp_kernel(res+startBlock, resStride, blockA, blockB, actualPanelWidth, actualPanelWidth, cols, alpha,
-                      actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+          gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
+                      actualPanelWidth, actualPanelWidth, cols, alpha,
+                      actualPanelWidth, actual_kc, 0, blockBOffset);
 
           // GEBP with remaining micro panel
           if (lengthTarget>0)
           {
             Index startTarget  = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
 
-            pack_lhs(blockA, &lhs(startTarget,startBlock), lhsStride, actualPanelWidth, lengthTarget);
+            pack_lhs(blockA, lhs.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
 
-            gebp_kernel(res+startTarget, resStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, alpha,
-                        actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+            gebp_kernel(res.getSubMapper(startTarget, 0), blockA, blockB,
+                        lengthTarget, actualPanelWidth, cols, alpha,
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
           }
         }
       }
@@ -208,10 +216,11 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
         for(Index i2=start; i2<end; i2+=mc)
         {
           const Index actual_mc = (std::min)(i2+mc,end)-i2;
-          gemm_pack_lhs<Scalar, Index, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
-            (blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+          gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+            (blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
 
-          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+          gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc,
+                      actual_kc, cols, alpha, -1, -1, 0, 0);
         }
       }
     }
@@ -249,40 +258,43 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* _res,        Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
+    const Index PacketBytes = packet_traits<Scalar>::size*sizeof(Scalar);
     // strip zeros
     Index diagSize  = (std::min)(_cols,_depth);
     Index rows      = _rows;
     Index depth     = IsLower ? _depth : diagSize;
     Index cols      = IsLower ? diagSize : _cols;
     
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
 
     Index kc = blocking.kc();                   // cache block size along the K direction
     Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
 
     std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = kc*cols+EIGEN_MAX_ALIGN_BYTES/sizeof(Scalar);
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
-    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer;
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer((internal::constructor_without_unaligned_array_assert()));
     triangularBuffer.setZero();
     if((Mode&ZeroDiag)==ZeroDiag)
       triangularBuffer.diagonal().setZero();
     else
       triangularBuffer.diagonal().setOnes();
 
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
 
     for(Index k2=IsLower ? 0 : depth;
         IsLower ? k2<depth  : k2>0;
@@ -304,8 +316,9 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
       Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
 
       Scalar* geb = blockB+ts*ts;
+      geb = geb + internal::first_aligned<PacketBytes>(geb,PacketBytes/sizeof(Scalar));
 
-      pack_rhs(geb, &rhs(actual_k2,IsLower ? 0 : k2), rhsStride, actual_kc, rs);
+      pack_rhs(geb, rhs.getSubMapper(actual_k2,IsLower ? 0 : k2), actual_kc, rs);
 
       // pack the triangular part of the rhs padding the unrolled blocks with zeros
       if(ts>0)
@@ -318,7 +331,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
           Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
           // general part
           pack_rhs_panel(blockB+j2*actual_kc,
-                         &rhs(actual_k2+panelOffset, actual_j2), rhsStride,
+                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
                          panelLength, actualPanelWidth,
                          actual_kc, panelOffset);
 
@@ -332,7 +345,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
           }
 
           pack_rhs_panel(blockB+j2*actual_kc,
-                         triangularBuffer.data(), triangularBuffer.outerStride(),
+                         RhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()),
                          actualPanelWidth, actualPanelWidth,
                          actual_kc, j2);
         }
@@ -341,7 +354,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
       for (Index i2=0; i2<rows; i2+=mc)
       {
         const Index actual_mc = (std::min)(mc,rows-i2);
-        pack_lhs(blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
 
         // triangular kernel
         if(ts>0)
@@ -352,19 +365,18 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
             Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
             Index blockOffset = IsLower ? j2 : 0;
 
-            gebp_kernel(res+i2+(actual_k2+j2)*resStride, resStride,
+            gebp_kernel(res.getSubMapper(i2, actual_k2 + j2),
                         blockA, blockB+j2*actual_kc,
                         actual_mc, panelLength, actualPanelWidth,
                         alpha,
                         actual_kc, actual_kc,  // strides
-                        blockOffset, blockOffset,// offsets
-                        blockW); // workspace
+                        blockOffset, blockOffset);// offsets
           }
         }
-        gebp_kernel(res+i2+(IsLower ? 0 : k2)*resStride, resStride,
+        gebp_kernel(res.getSubMapper(i2, IsLower ? 0 : k2),
                     blockA, geb, actual_mc, actual_kc, rs,
                     alpha,
-                    -1, -1, 0, 0, blockW);
+                    -1, -1, 0, 0);
       }
     }
   }
@@ -373,28 +385,28 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
 * Wrapper to product_triangular_matrix_matrix
 ***************************************************************************/
 
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false> >
-  : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs> >
-{};
-
 } // end namespace internal
 
+namespace internal {
 template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
-  : public ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs >
+struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &a_lhs, const Rhs &a_rhs, const typename Dest::Scalar& alpha)
   {
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typedef typename Dest::Scalar     Scalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+    
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
 
     typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
               Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
@@ -405,23 +417,25 @@ struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
     Index stripedDepth = LhsIsTriangular ? ((!IsLower) ? lhs.cols() : (std::min)(lhs.cols(),lhs.rows()))
                                          : ((IsLower)  ? rhs.rows() : (std::min)(rhs.rows(),rhs.cols()));
 
-    BlockingType blocking(stripedRows, stripedCols, stripedDepth);
+    BlockingType blocking(stripedRows, stripedCols, stripedDepth, 1, false);
 
     internal::product_triangular_matrix_matrix<Scalar, Index,
       Mode, LhsIsTriangular,
-      (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
       ::run(
         stripedRows, stripedCols, stripedDepth,   // sizes
-        &lhs.coeffRef(0,0),    lhs.outerStride(), // lhs info
-        &rhs.coeffRef(0,0),    rhs.outerStride(), // rhs info
+        &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
+        &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
         &dst.coeffRef(0,0), dst.outerStride(),    // result info
         actualAlpha, blocking
       );
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
new file mode 100644
index 0000000..aecded6
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
@@ -0,0 +1,302 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Triangular matrix * matrix product functionality based on ?TRMM.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
+#define EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+
+template <typename Scalar, typename Index,
+          int Mode, bool LhsIsTriangular,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResStorageOrder>
+struct product_triangular_matrix_matrix_trmm :
+       product_triangular_matrix_matrix<Scalar,Index,Mode,
+          LhsIsTriangular,LhsStorageOrder,ConjugateLhs,
+          RhsStorageOrder, ConjugateRhs, ResStorageOrder, BuiltIn> {};
+
+
+// try to go to BLAS specialization
+#define EIGEN_BLAS_TRMM_SPECIALIZE(Scalar, LhsIsTriangular) \
+template <typename Index, int Mode, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_triangular_matrix_matrix<Scalar,Index, Mode, LhsIsTriangular, \
+           LhsStorageOrder,ConjugateLhs, RhsStorageOrder,ConjugateRhs,ColMajor,Specialized> { \
+  static inline void run(Index _rows, Index _cols, Index _depth, const Scalar* _lhs, Index lhsStride,\
+    const Scalar* _rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar,Scalar>& blocking) { \
+      product_triangular_matrix_matrix_trmm<Scalar,Index,Mode, \
+        LhsIsTriangular,LhsStorageOrder,ConjugateLhs, \
+        RhsStorageOrder, ConjugateRhs, ColMajor>::run( \
+        _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+  } \
+};
+
+EIGEN_BLAS_TRMM_SPECIALIZE(double, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(double, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(float, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(float, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, false)
+
+// implements col-major += alpha * op(triangular) * op(general)
+#define EIGEN_BLAS_TRMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, int Mode, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
+         LhsStorageOrder,ConjugateLhs,RhsStorageOrder,ConjugateRhs,ColMajor> \
+{ \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    LowUp = IsLower ? Lower : Upper, \
+    conjA = ((LhsStorageOrder==ColMajor) && ConjugateLhs) ? 1 : 0 \
+  }; \
+\
+  static void run( \
+    Index _rows, Index _cols, Index _depth, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
+  { \
+   Index diagSize  = (std::min)(_rows,_depth); \
+   Index rows      = IsLower ? _rows : diagSize; \
+   Index depth     = IsLower ? diagSize : _depth; \
+   Index cols      = _cols; \
+\
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
+\
+/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
+   if (rows != depth) { \
+\
+     /* FIXME handle mkl_domain_get_max_threads */ \
+     /*int nthr = mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS);*/ int nthr = 1;\
+\
+     if (((nthr==1) && (((std::max)(rows,depth)-diagSize)/(double)diagSize < 0.5))) { \
+     /* Most likely no benefit to call TRMM or GEMM from BLAS */ \
+       product_triangular_matrix_matrix<EIGTYPE,Index,Mode,true, \
+       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+     /*std::cout << "TRMM_L: A is not square! Go to Eigen TRMM implementation!\n";*/ \
+     } else { \
+     /* Make sense to call GEMM */ \
+       Map<const MatrixLhs, 0, OuterStride<> > lhsMap(_lhs,rows,depth,OuterStride<>(lhsStride)); \
+       MatrixLhs aa_tmp=lhsMap.template triangularView<Mode>(); \
+       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
+       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
+       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, gemm_blocking, 0); \
+\
+     /*std::cout << "TRMM_L: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
+     } \
+     return; \
+   } \
+   char side = 'L', transa, uplo, diag = 'N'; \
+   EIGTYPE *b; \
+   const EIGTYPE *a; \
+   BlasIndex m, n, lda, ldb; \
+\
+/* Set m, n */ \
+   m = convert_index<BlasIndex>(diagSize); \
+   n = convert_index<BlasIndex>(cols); \
+\
+/* Set trans */ \
+   transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
+\
+/* Set b, ldb */ \
+   Map<const MatrixRhs, 0, OuterStride<> > rhs(_rhs,depth,cols,OuterStride<>(rhsStride)); \
+   MatrixX##EIGPREFIX b_tmp; \
+\
+   if (ConjugateRhs) b_tmp = rhs.conjugate(); else b_tmp = rhs; \
+   b = b_tmp.data(); \
+   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+\
+/* Set uplo */ \
+   uplo = IsLower ? 'L' : 'U'; \
+   if (LhsStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
+/* Set a, lda */ \
+   Map<const MatrixLhs, 0, OuterStride<> > lhs(_lhs,rows,depth,OuterStride<>(lhsStride)); \
+   MatrixLhs a_tmp; \
+\
+   if ((conjA!=0) || (SetDiag==0)) { \
+     if (conjA) a_tmp = lhs.conjugate(); else a_tmp = lhs; \
+     if (IsZeroDiag) \
+       a_tmp.diagonal().setZero(); \
+     else if (IsUnitDiag) \
+       a_tmp.diagonal().setOnes();\
+     a = a_tmp.data(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+   } else { \
+     a = _lhs; \
+     lda = convert_index<BlasIndex>(lhsStride); \
+   } \
+   /*std::cout << "TRMM_L: A is square! Go to BLAS TRMM implementation! \n";*/ \
+/* call ?trmm*/ \
+   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
+\
+/* Add op(a_triangular)*b into res*/ \
+   Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
+   res_tmp=res_tmp+b_tmp; \
+  } \
+};
+
+EIGEN_BLAS_TRMM_L(double, double, d, d)
+EIGEN_BLAS_TRMM_L(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMM_L(float, float, f, s)
+EIGEN_BLAS_TRMM_L(scomplex, float, cf, c)
+
+// implements col-major += alpha * op(general) * op(triangular)
+#define EIGEN_BLAS_TRMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template <typename Index, int Mode, \
+          int LhsStorageOrder, bool ConjugateLhs, \
+          int RhsStorageOrder, bool ConjugateRhs> \
+struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
+         LhsStorageOrder,ConjugateLhs,RhsStorageOrder,ConjugateRhs,ColMajor> \
+{ \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    LowUp = IsLower ? Lower : Upper, \
+    conjA = ((RhsStorageOrder==ColMajor) && ConjugateRhs) ? 1 : 0 \
+  }; \
+\
+  static void run( \
+    Index _rows, Index _cols, Index _depth, \
+    const EIGTYPE* _lhs, Index lhsStride, \
+    const EIGTYPE* _rhs, Index rhsStride, \
+    EIGTYPE* res,        Index resStride, \
+    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
+  { \
+   Index diagSize  = (std::min)(_cols,_depth); \
+   Index rows      = _rows; \
+   Index depth     = IsLower ? _depth : diagSize; \
+   Index cols      = IsLower ? diagSize : _cols; \
+\
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
+\
+/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
+   if (cols != depth) { \
+\
+     int nthr = 1 /*mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS)*/; \
+\
+     if ((nthr==1) && (((std::max)(cols,depth)-diagSize)/(double)diagSize < 0.5)) { \
+     /* Most likely no benefit to call TRMM or GEMM from BLAS*/ \
+       product_triangular_matrix_matrix<EIGTYPE,Index,Mode,false, \
+       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+       /*std::cout << "TRMM_R: A is not square! Go to Eigen TRMM implementation!\n";*/ \
+     } else { \
+     /* Make sense to call GEMM */ \
+       Map<const MatrixRhs, 0, OuterStride<> > rhsMap(_rhs,depth,cols, OuterStride<>(rhsStride)); \
+       MatrixRhs aa_tmp=rhsMap.template triangularView<Mode>(); \
+       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
+       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
+       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, gemm_blocking, 0); \
+\
+     /*std::cout << "TRMM_R: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
+     } \
+     return; \
+   } \
+   char side = 'R', transa, uplo, diag = 'N'; \
+   EIGTYPE *b; \
+   const EIGTYPE *a; \
+   BlasIndex m, n, lda, ldb; \
+\
+/* Set m, n */ \
+   m = convert_index<BlasIndex>(rows); \
+   n = convert_index<BlasIndex>(diagSize); \
+\
+/* Set trans */ \
+   transa = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
+\
+/* Set b, ldb */ \
+   Map<const MatrixLhs, 0, OuterStride<> > lhs(_lhs,rows,depth,OuterStride<>(lhsStride)); \
+   MatrixX##EIGPREFIX b_tmp; \
+\
+   if (ConjugateLhs) b_tmp = lhs.conjugate(); else b_tmp = lhs; \
+   b = b_tmp.data(); \
+   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
+\
+/* Set uplo */ \
+   uplo = IsLower ? 'L' : 'U'; \
+   if (RhsStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
+/* Set a, lda */ \
+   Map<const MatrixRhs, 0, OuterStride<> > rhs(_rhs,depth,cols, OuterStride<>(rhsStride)); \
+   MatrixRhs a_tmp; \
+\
+   if ((conjA!=0) || (SetDiag==0)) { \
+     if (conjA) a_tmp = rhs.conjugate(); else a_tmp = rhs; \
+     if (IsZeroDiag) \
+       a_tmp.diagonal().setZero(); \
+     else if (IsUnitDiag) \
+       a_tmp.diagonal().setOnes();\
+     a = a_tmp.data(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+   } else { \
+     a = _rhs; \
+     lda = convert_index<BlasIndex>(rhsStride); \
+   } \
+   /*std::cout << "TRMM_R: A is square! Go to BLAS TRMM implementation! \n";*/ \
+/* call ?trmm*/ \
+   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
+\
+/* Add op(a_triangular)*b into res*/ \
+   Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
+   res_tmp=res_tmp+b_tmp; \
+  } \
+};
+
+EIGEN_BLAS_TRMM_R(double, double, d, d)
+EIGEN_BLAS_TRMM_R(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMM_R(float, float, f, s)
+EIGEN_BLAS_TRMM_R(scomplex, float, cf, c)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector.h b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector.h
index 6117d5a..4b292e7 100644
--- a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector.h
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
 #define EIGEN_TRIANGULARMATRIXVECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -20,20 +20,20 @@ struct triangular_matrix_vector_product;
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
 struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   enum {
     IsLower = ((Mode&Lower)==Lower),
     HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
     HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
   };
   static EIGEN_DONT_INLINE  void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
+                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha);
 };
 
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
 EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
   ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
+        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha)
   {
     static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
     Index size = (std::min)(_rows,_cols);
@@ -43,7 +43,7 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
     typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
-    
+
     typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
     const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
     typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
@@ -51,6 +51,9 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
     typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
     ResMap res(_res,rows);
 
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
     for (Index pi=0; pi<size; pi+=PanelWidth)
     {
       Index actualPanelWidth = (std::min)(PanelWidth, size-pi);
@@ -68,19 +71,19 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
       if (r>0)
       {
         Index s = IsLower ? pi+actualPanelWidth : 0;
-        general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
             r, actualPanelWidth,
-            &lhs.coeffRef(s,pi), lhsStride,
-            &rhs.coeffRef(pi), rhsIncr,
+            LhsMapper(&lhs.coeffRef(s,pi), lhsStride),
+            RhsMapper(&rhs.coeffRef(pi), rhsIncr),
             &res.coeffRef(s), resIncr, alpha);
       }
     }
     if((!IsLower) && cols>size)
     {
-      general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+      general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
           rows, cols-size,
-          &lhs.coeffRef(0,size), lhsStride,
-          &rhs.coeffRef(size), rhsIncr,
+          LhsMapper(&lhs.coeffRef(0,size), lhsStride),
+          RhsMapper(&rhs.coeffRef(size), rhsIncr),
           _res, resIncr, alpha);
     }
   }
@@ -88,7 +91,7 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
 struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   enum {
     IsLower = ((Mode&Lower)==Lower),
     HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
@@ -118,7 +121,10 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 
     typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
     ResMap res(_res,rows,InnerStride<>(resIncr));
-    
+
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
     for (Index pi=0; pi<diagSize; pi+=PanelWidth)
     {
       Index actualPanelWidth = (std::min)(PanelWidth, diagSize-pi);
@@ -136,19 +142,19 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
       if (r>0)
       {
         Index s = IsLower ? 0 : pi + actualPanelWidth;
-        general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
             actualPanelWidth, r,
-            &lhs.coeffRef(pi,s), lhsStride,
-            &rhs.coeffRef(s), rhsIncr,
+            LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
+            RhsMapper(&rhs.coeffRef(s), rhsIncr),
             &res.coeffRef(pi), resIncr, alpha);
       }
     }
     if(IsLower && rows>diagSize)
     {
-      general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+      general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
             rows-diagSize, cols,
-            &lhs.coeffRef(diagSize,0), lhsStride,
-            &rhs.coeffRef(0), rhsIncr,
+            LhsMapper(&lhs.coeffRef(diagSize,0), lhsStride),
+            RhsMapper(&rhs.coeffRef(0), rhsIncr),
             &res.coeffRef(diagSize), resIncr, alpha);
     }
   }
@@ -157,83 +163,66 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 * Wrapper to product_triangular_vector
 ***************************************************************************/
 
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true> >
- : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true>, Lhs, Rhs> >
-{};
-
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false> >
- : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false>, Lhs, Rhs> >
-{};
-
-
-template<int StorageOrder>
+template<int Mode,int StorageOrder>
 struct trmv_selector;
 
 } // end namespace internal
 
+namespace internal {
+
 template<int Mode, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,true,Lhs,false,Rhs,true>
-  : public ProductBase<TriangularProduct<Mode,true,Lhs,false,Rhs,true>, Lhs, Rhs >
+struct triangular_product_impl<Mode,true,Lhs,false,Rhs,true>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
   
-    internal::trmv_selector<(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dst, alpha);
+    internal::trmv_selector<Mode,(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(lhs, rhs, dst, alpha);
   }
 };
 
 template<int Mode, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,false,Lhs,true,Rhs,false>
-  : public ProductBase<TriangularProduct<Mode,false,Lhs,true,Rhs,false>, Lhs, Rhs >
+struct triangular_product_impl<Mode,false,Lhs,true,Rhs,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
 
-    typedef TriangularProduct<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),true,Transpose<const Rhs>,false,Transpose<const Lhs>,true> TriangularProductTranspose;
     Transpose<Dest> dstT(dst);
-    internal::trmv_selector<(int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>::run(
-      TriangularProductTranspose(m_rhs.transpose(),m_lhs.transpose()), dstT, alpha);
+    internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
+                            (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
+            ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
   }
 };
 
+} // end namespace internal
+
 namespace internal {
 
 // TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
   
-template<> struct trmv_selector<ColMajor>
+template<int Mode> struct trmv_selector<Mode,ColMajor>
 {
-  template<int Mode, typename Lhs, typename Rhs, typename Dest>
-  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::LhsScalar   LhsScalar;
-    typedef typename ProductType::RhsScalar   RhsScalar;
-    typedef typename ProductType::Scalar      ResScalar;
-    typedef typename ProductType::RealScalar  RealScalar;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
-
-    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    typedef typename Lhs::Scalar      LhsScalar;
+    typedef typename Rhs::Scalar      RhsScalar;
+    typedef typename Dest::Scalar     ResScalar;
+    typedef typename Dest::RealScalar RealScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
+
+    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
@@ -247,7 +236,7 @@ template<> struct trmv_selector<ColMajor>
 
     bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
     bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-    
+
     RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
 
     ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
@@ -267,7 +256,7 @@ template<> struct trmv_selector<ColMajor>
       else
         MappedDest(actualDestPtr, dest.size()) = dest;
     }
-    
+
     internal::triangular_matrix_vector_product
       <Index,Mode,
        LhsScalar, LhsBlasTraits::NeedToConjugate,
@@ -288,33 +277,32 @@ template<> struct trmv_selector<ColMajor>
   }
 };
 
-template<> struct trmv_selector<RowMajor>
+template<int Mode> struct trmv_selector<Mode,RowMajor>
 {
-  template<int Mode, typename Lhs, typename Rhs, typename Dest>
-  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
-    typedef typename ProductType::LhsScalar LhsScalar;
-    typedef typename ProductType::RhsScalar RhsScalar;
-    typedef typename ProductType::Scalar    ResScalar;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::_ActualRhsType _ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    typedef typename Lhs::Scalar      LhsScalar;
+    typedef typename Rhs::Scalar      RhsScalar;
+    typedef typename Dest::Scalar     ResScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
-      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
     };
 
-    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
         DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
@@ -322,12 +310,12 @@ template<> struct trmv_selector<RowMajor>
     if(!DirectlyUseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = actualRhs.size();
+      Index size = actualRhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
     }
-    
+
     internal::triangular_matrix_vector_product
       <Index,Mode,
        LhsScalar, LhsBlasTraits::NeedToConjugate,
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
new file mode 100644
index 0000000..07bf26c
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
@@ -0,0 +1,241 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Triangular matrix-vector product functionality based on ?TRMV.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
+#define EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/**********************************************************************
+* This file implements triangular matrix-vector multiplication using BLAS
+**********************************************************************/
+
+// trmv/hemv specialization
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder>
+struct triangular_matrix_vector_product_trmv :
+  triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,StorageOrder,BuiltIn> {};
+
+#define EIGEN_BLAS_TRMV_SPECIALIZE(Scalar) \
+template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
+struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,ColMajor,Specialized> { \
+ static void run(Index _rows, Index _cols, const Scalar* _lhs, Index lhsStride, \
+                                     const Scalar* _rhs, Index rhsIncr, Scalar* _res, Index resIncr, Scalar alpha) { \
+      triangular_matrix_vector_product_trmv<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,ColMajor>::run( \
+        _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
+  } \
+}; \
+template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
+struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,RowMajor,Specialized> { \
+ static void run(Index _rows, Index _cols, const Scalar* _lhs, Index lhsStride, \
+                                     const Scalar* _rhs, Index rhsIncr, Scalar* _res, Index resIncr, Scalar alpha) { \
+      triangular_matrix_vector_product_trmv<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,RowMajor>::run( \
+        _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
+  } \
+};
+
+EIGEN_BLAS_TRMV_SPECIALIZE(double)
+EIGEN_BLAS_TRMV_SPECIALIZE(float)
+EIGEN_BLAS_TRMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_TRMV_SPECIALIZE(scomplex)
+
+// implements col-major: res += alpha * op(triangular) * vector
+#define EIGEN_BLAS_TRMV_CM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
+struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,ColMajor> { \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    LowUp = IsLower ? Lower : Upper \
+  }; \
+ static void run(Index _rows, Index _cols, const EIGTYPE* _lhs, Index lhsStride, \
+                 const EIGTYPE* _rhs, Index rhsIncr, EIGTYPE* _res, Index resIncr, EIGTYPE alpha) \
+ { \
+   if (ConjLhs || IsZeroDiag) { \
+     triangular_matrix_vector_product<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,ColMajor,BuiltIn>::run( \
+       _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
+     return; \
+   }\
+   Index size = (std::min)(_rows,_cols); \
+   Index rows = IsLower ? _rows : size; \
+   Index cols = IsLower ? size : _cols; \
+\
+   typedef VectorX##EIGPREFIX VectorRhs; \
+   EIGTYPE *x, *y;\
+\
+/* Set x*/ \
+   Map<const VectorRhs, 0, InnerStride<> > rhs(_rhs,cols,InnerStride<>(rhsIncr)); \
+   VectorRhs x_tmp; \
+   if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
+   x = x_tmp.data(); \
+\
+/* Square part handling */\
+\
+   char trans, uplo, diag; \
+   BlasIndex m, n, lda, incx, incy; \
+   EIGTYPE const *a; \
+   EIGTYPE beta(1); \
+\
+/* Set m, n */ \
+   n = convert_index<BlasIndex>(size); \
+   lda = convert_index<BlasIndex>(lhsStride); \
+   incx = 1; \
+   incy = convert_index<BlasIndex>(resIncr); \
+\
+/* Set uplo, trans and diag*/ \
+   trans = 'N'; \
+   uplo = IsLower ? 'L' : 'U'; \
+   diag = IsUnitDiag ? 'U' : 'N'; \
+\
+/* call ?TRMV*/ \
+   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
+\
+/* Add op(a_tr)rhs into res*/ \
+   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
+/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
+   if (size<(std::max)(rows,cols)) { \
+     if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
+     x = x_tmp.data(); \
+     if (size<rows) { \
+       y = _res + size*resIncr; \
+       a = _lhs + size; \
+       m = convert_index<BlasIndex>(rows-size); \
+       n = convert_index<BlasIndex>(size); \
+     } \
+     else { \
+       x += size; \
+       y = _res; \
+       a = _lhs + size*lda; \
+       m = convert_index<BlasIndex>(size); \
+       n = convert_index<BlasIndex>(cols-size); \
+     } \
+     BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
+   } \
+  } \
+};
+
+EIGEN_BLAS_TRMV_CM(double,   double, d,  d)
+EIGEN_BLAS_TRMV_CM(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMV_CM(float,    float,  f,  s)
+EIGEN_BLAS_TRMV_CM(scomplex, float,  cf, c)
+
+// implements row-major: res += alpha * op(triangular) * vector
+#define EIGEN_BLAS_TRMV_RM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
+template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
+struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,RowMajor> { \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    LowUp = IsLower ? Lower : Upper \
+  }; \
+ static void run(Index _rows, Index _cols, const EIGTYPE* _lhs, Index lhsStride, \
+                 const EIGTYPE* _rhs, Index rhsIncr, EIGTYPE* _res, Index resIncr, EIGTYPE alpha) \
+ { \
+   if (IsZeroDiag) { \
+     triangular_matrix_vector_product<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,RowMajor,BuiltIn>::run( \
+       _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
+     return; \
+   }\
+   Index size = (std::min)(_rows,_cols); \
+   Index rows = IsLower ? _rows : size; \
+   Index cols = IsLower ? size : _cols; \
+\
+   typedef VectorX##EIGPREFIX VectorRhs; \
+   EIGTYPE *x, *y;\
+\
+/* Set x*/ \
+   Map<const VectorRhs, 0, InnerStride<> > rhs(_rhs,cols,InnerStride<>(rhsIncr)); \
+   VectorRhs x_tmp; \
+   if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
+   x = x_tmp.data(); \
+\
+/* Square part handling */\
+\
+   char trans, uplo, diag; \
+   BlasIndex m, n, lda, incx, incy; \
+   EIGTYPE const *a; \
+   EIGTYPE beta(1); \
+\
+/* Set m, n */ \
+   n = convert_index<BlasIndex>(size); \
+   lda = convert_index<BlasIndex>(lhsStride); \
+   incx = 1; \
+   incy = convert_index<BlasIndex>(resIncr); \
+\
+/* Set uplo, trans and diag*/ \
+   trans = ConjLhs ? 'C' : 'T'; \
+   uplo = IsLower ? 'U' : 'L'; \
+   diag = IsUnitDiag ? 'U' : 'N'; \
+\
+/* call ?TRMV*/ \
+   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
+\
+/* Add op(a_tr)rhs into res*/ \
+   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
+/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
+   if (size<(std::max)(rows,cols)) { \
+     if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
+     x = x_tmp.data(); \
+     if (size<rows) { \
+       y = _res + size*resIncr; \
+       a = _lhs + size*lda; \
+       m = convert_index<BlasIndex>(rows-size); \
+       n = convert_index<BlasIndex>(size); \
+     } \
+     else { \
+       x += size; \
+       y = _res; \
+       a = _lhs + size; \
+       m = convert_index<BlasIndex>(size); \
+       n = convert_index<BlasIndex>(cols-size); \
+     } \
+     BLASPREFIX##gemv_(&trans, &n, &m, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
+   } \
+  } \
+};
+
+EIGEN_BLAS_TRMV_RM(double,   double, d,  d)
+EIGEN_BLAS_TRMV_RM(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMV_RM(float,    float,  f,  s)
+EIGEN_BLAS_TRMV_RM(scomplex, float,  cf, c)
+
+} // end namespase internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h b/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
index 03a23ab..223c38b 100644
--- a/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -52,10 +52,14 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index cols = otherSize;
-    const_blas_data_mapper<Scalar, Index, TriStorageOrder> tri(_tri,triStride);
-    blas_data_mapper<Scalar, Index, ColMajor> other(_other,otherStride);
+
+    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> TriMapper;
+    typedef blas_data_mapper<Scalar, Index, ColMajor> OtherMapper;
+    TriMapper tri(_tri, triStride);
+    OtherMapper other(_other, otherStride);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
+
     enum {
       SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
       IsLower = (Mode&Lower) == Lower
@@ -66,22 +70,20 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     conj_if<Conjugate> conj;
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr, ColMajor, false, true> pack_rhs;
+    gebp_kernel<Scalar, Scalar, Index, OtherMapper, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, OtherMapper, Traits::nr, ColMajor, false, true> pack_rhs;
 
     // the goal here is to subdivise the Rhs panels such that we keep some cache
     // coherence when accessing the rhs elements
-    std::ptrdiff_t l1, l2;
-    manage_caching_sizes(GetAction, &l1, &l2);
-    Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * otherStride) : 0;
+    std::ptrdiff_t l1, l2, l3;
+    manage_caching_sizes(GetAction, &l1, &l2, &l3);
+    Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * std::max<Index>(otherStride,size)) : 0;
     subcols = std::max<Index>((subcols/Traits::nr)*Traits::nr, Traits::nr);
 
     for(Index k2=IsLower ? 0 : size;
@@ -148,17 +150,17 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
           Index blockBOffset = IsLower ? k1 : lengthTarget;
 
           // update the respective rows of B from other
-          pack_rhs(blockB+actual_kc*j2, &other(startBlock,j2), otherStride, actualPanelWidth, actual_cols, actual_kc, blockBOffset);
+          pack_rhs(blockB+actual_kc*j2, other.getSubMapper(startBlock,j2), actualPanelWidth, actual_cols, actual_kc, blockBOffset);
 
           // GEBP
           if (lengthTarget>0)
           {
             Index startTarget  = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
 
-            pack_lhs(blockA, &tri(startTarget,startBlock), triStride, actualPanelWidth, lengthTarget);
+            pack_lhs(blockA, tri.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
 
-            gebp_kernel(&other(startTarget,j2), otherStride, blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
-                        actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+            gebp_kernel(other.getSubMapper(startTarget,j2), blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
           }
         }
       }
@@ -172,16 +174,16 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
           const Index actual_mc = (std::min)(mc,end-i2);
           if (actual_mc>0)
           {
-            pack_lhs(blockA, &tri(i2, IsLower ? k2 : k2-kc), triStride, actual_kc, actual_mc);
+            pack_lhs(blockA, tri.getSubMapper(i2, IsLower ? k2 : k2-kc), actual_kc, actual_mc);
 
-            gebp_kernel(_other+i2, otherStride, blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0, blockW);
+            gebp_kernel(other.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0);
           }
         }
       }
     }
   }
 
-/* Optimized triangular solver with multiple left hand sides and the trinagular matrix on the right
+/* Optimized triangular solver with multiple left hand sides and the triangular matrix on the right
  */
 template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
 struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
@@ -200,8 +202,12 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index rows = otherSize;
-    const_blas_data_mapper<Scalar, Index, TriStorageOrder> rhs(_tri,triStride);
-    blas_data_mapper<Scalar, Index, ColMajor> lhs(_other,otherStride);
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef blas_data_mapper<Scalar, Index, ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> RhsMapper;
+    LhsMapper lhs(_other, otherStride);
+    RhsMapper rhs(_tri, triStride);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
     enum {
@@ -215,17 +221,15 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*size;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     conj_if<Conjugate> conj;
-    gebp_kernel<Scalar,Scalar, Index, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+    gebp_kernel<Scalar, Scalar, Index, LhsMapper, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder,false,true> pack_rhs_panel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
 
     for(Index k2=IsLower ? size : 0;
         IsLower ? k2>0 : k2<size;
@@ -238,7 +242,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
       Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
       Scalar* geb = blockB+actual_kc*actual_kc;
 
-      if (rs>0) pack_rhs(geb, &rhs(actual_k2,startPanel), triStride, actual_kc, rs);
+      if (rs>0) pack_rhs(geb, rhs.getSubMapper(actual_k2,startPanel), actual_kc, rs);
 
       // triangular packing (we only pack the panels off the diagonal,
       // neglecting the blocks overlapping the diagonal
@@ -252,7 +256,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
 
           if (panelLength>0)
           pack_rhs_panel(blockB+j2*actual_kc,
-                         &rhs(actual_k2+panelOffset, actual_j2), triStride,
+                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
                          panelLength, actualPanelWidth,
                          actual_kc, panelOffset);
         }
@@ -280,13 +284,12 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
             // GEBP
             if(panelLength>0)
             {
-              gebp_kernel(&lhs(i2,absolute_j2), otherStride,
+              gebp_kernel(lhs.getSubMapper(i2,absolute_j2),
                           blockA, blockB+j2*actual_kc,
                           actual_mc, panelLength, actualPanelWidth,
                           Scalar(-1),
                           actual_kc, actual_kc, // strides
-                          panelOffset, panelOffset, // offsets
-                          blockW);  // workspace
+                          panelOffset, panelOffset); // offsets
             }
 
             // unblocked triangular solve
@@ -304,23 +307,23 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
               }
               if((Mode & UnitDiag)==0)
               {
-                Scalar b = conj(rhs(j,j));
+                Scalar inv_rjj = RealScalar(1)/conj(rhs(j,j));
                 for (Index i=0; i<actual_mc; ++i)
-                  r[i] /= b;
+                  r[i] *= inv_rjj;
               }
             }
 
             // pack the just computed part of lhs to A
-            pack_lhs_panel(blockA, _other+absolute_j2*otherStride+i2, otherStride,
+            pack_lhs_panel(blockA, LhsMapper(_other+absolute_j2*otherStride+i2, otherStride),
                            actualPanelWidth, actual_mc,
                            actual_kc, j2);
           }
         }
 
         if (rs>0)
-          gebp_kernel(_other+i2+startPanel*otherStride, otherStride, blockA, geb,
+          gebp_kernel(lhs.getSubMapper(i2, startPanel), blockA, geb,
                       actual_mc, actual_kc, rs, Scalar(-1),
-                      -1, -1, 0, 0, blockW);
+                      -1, -1, 0, 0);
       }
     }
   }
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h b/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
new file mode 100644
index 0000000..88c0fb7
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
@@ -0,0 +1,151 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to BLAS F77
+ *   Triangular matrix * matrix product functionality based on ?TRMM.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
+#define EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// implements LeftSide op(triangular)^-1 * general
+#define EIGEN_BLAS_TRSM_L(EIGTYPE, BLASTYPE, BLASPREFIX) \
+template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
+struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor> \
+{ \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    conjA = ((TriStorageOrder==ColMajor) && Conjugate) ? 1 : 0 \
+  }; \
+  static void run( \
+      Index size, Index otherSize, \
+      const EIGTYPE* _tri, Index triStride, \
+      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
+  { \
+   BlasIndex m = convert_index<BlasIndex>(size), n = convert_index<BlasIndex>(otherSize), lda, ldb; \
+   char side = 'L', uplo, diag='N', transa; \
+   /* Set alpha_ */ \
+   EIGTYPE alpha(1); \
+   ldb = convert_index<BlasIndex>(otherStride);\
+\
+   const EIGTYPE *a; \
+/* Set trans */ \
+   transa = (TriStorageOrder==RowMajor) ? ((Conjugate) ? 'C' : 'T') : 'N'; \
+/* Set uplo */ \
+   uplo = IsLower ? 'L' : 'U'; \
+   if (TriStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
+/* Set a, lda */ \
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, TriStorageOrder> MatrixTri; \
+   Map<const MatrixTri, 0, OuterStride<> > tri(_tri,size,size,OuterStride<>(triStride)); \
+   MatrixTri a_tmp; \
+\
+   if (conjA) { \
+     a_tmp = tri.conjugate(); \
+     a = a_tmp.data(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+   } else { \
+     a = _tri; \
+     lda = convert_index<BlasIndex>(triStride); \
+   } \
+   if (IsUnitDiag) diag='U'; \
+/* call ?trsm*/ \
+   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
+ } \
+};
+
+EIGEN_BLAS_TRSM_L(double,   double, d)
+EIGEN_BLAS_TRSM_L(dcomplex, double, z)
+EIGEN_BLAS_TRSM_L(float,    float,  s)
+EIGEN_BLAS_TRSM_L(scomplex, float,  c)
+
+
+// implements RightSide general * op(triangular)^-1
+#define EIGEN_BLAS_TRSM_R(EIGTYPE, BLASTYPE, BLASPREFIX) \
+template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
+struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor> \
+{ \
+  enum { \
+    IsLower = (Mode&Lower) == Lower, \
+    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
+    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
+    conjA = ((TriStorageOrder==ColMajor) && Conjugate) ? 1 : 0 \
+  }; \
+  static void run( \
+      Index size, Index otherSize, \
+      const EIGTYPE* _tri, Index triStride, \
+      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
+  { \
+   BlasIndex m = convert_index<BlasIndex>(otherSize), n = convert_index<BlasIndex>(size), lda, ldb; \
+   char side = 'R', uplo, diag='N', transa; \
+   /* Set alpha_ */ \
+   EIGTYPE alpha(1); \
+   ldb = convert_index<BlasIndex>(otherStride);\
+\
+   const EIGTYPE *a; \
+/* Set trans */ \
+   transa = (TriStorageOrder==RowMajor) ? ((Conjugate) ? 'C' : 'T') : 'N'; \
+/* Set uplo */ \
+   uplo = IsLower ? 'L' : 'U'; \
+   if (TriStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
+/* Set a, lda */ \
+   typedef Matrix<EIGTYPE, Dynamic, Dynamic, TriStorageOrder> MatrixTri; \
+   Map<const MatrixTri, 0, OuterStride<> > tri(_tri,size,size,OuterStride<>(triStride)); \
+   MatrixTri a_tmp; \
+\
+   if (conjA) { \
+     a_tmp = tri.conjugate(); \
+     a = a_tmp.data(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
+   } else { \
+     a = _tri; \
+     lda = convert_index<BlasIndex>(triStride); \
+   } \
+   if (IsUnitDiag) diag='U'; \
+/* call ?trsm*/ \
+   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
+   /*std::cout << "TRMS_L specialization!\n";*/ \
+ } \
+};
+
+EIGEN_BLAS_TRSM_R(double,   double, d)
+EIGEN_BLAS_TRSM_R(dcomplex, double, z)
+EIGEN_BLAS_TRSM_R(float,    float,  s)
+EIGEN_BLAS_TRSM_R(scomplex, float,  c)
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
diff --git a/vendor/eigen/Eigen/src/Core/products/TriangularSolverVector.h b/vendor/eigen/Eigen/src/Core/products/TriangularSolverVector.h
index ce4d100..b994759 100644
--- a/vendor/eigen/Eigen/src/Core/products/TriangularSolverVector.h
+++ b/vendor/eigen/Eigen/src/Core/products/TriangularSolverVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
 #define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -25,7 +25,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Co
       >::run(size, _lhs, lhsStride, rhs);
   }
 };
-    
+
 // forward and backward substitution, row-major, rhs is a vector
 template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
 struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
@@ -37,6 +37,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
   {
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
+
     typename internal::conditional<
                           Conjugate,
                           const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
@@ -58,10 +62,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         Index startRow = IsLower ? pi : pi-actualPanelWidth;
         Index startCol = IsLower ? 0 : pi;
 
-        general_matrix_vector_product<Index,LhsScalar,RowMajor,Conjugate,RhsScalar,false>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
           actualPanelWidth, r,
-          &lhs.coeffRef(startRow,startCol), lhsStride,
-          rhs + startCol, 1,
+          LhsMapper(&lhs.coeffRef(startRow,startCol), lhsStride),
+          RhsMapper(rhs + startCol, 1),
           rhs + startRow, 1,
           RhsScalar(-1));
       }
@@ -72,7 +76,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         Index s = IsLower ? pi   : i+1;
         if (k>0)
           rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
-        
+
         if(!(Mode & UnitDiag))
           rhs[i] /= cjLhs(i,i);
       }
@@ -91,6 +95,8 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
   {
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
     typename internal::conditional<Conjugate,
                                    const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
                                    const LhsMap&
@@ -122,10 +128,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         // let's directly call the low level product function because:
         // 1 - it is faster to compile
         // 2 - it is slighlty faster at runtime
-        general_matrix_vector_product<Index,LhsScalar,ColMajor,Conjugate,RhsScalar,false>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
             r, actualPanelWidth,
-            &lhs.coeffRef(endBlock,startBlock), lhsStride,
-            rhs+startBlock, 1,
+            LhsMapper(&lhs.coeffRef(endBlock,startBlock), lhsStride),
+            RhsMapper(rhs+startBlock, 1),
             rhs+endBlock, 1, RhsScalar(-1));
       }
     }
diff --git a/vendor/eigen/Eigen/src/Core/util/BlasUtil.h b/vendor/eigen/Eigen/src/Core/util/BlasUtil.h
index a28f16f..6e6ee11 100644
--- a/vendor/eigen/Eigen/src/Core/util/BlasUtil.h
+++ b/vendor/eigen/Eigen/src/Core/util/BlasUtil.h
@@ -18,13 +18,13 @@ namespace Eigen {
 namespace internal {
 
 // forward declarations
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
 struct gebp_kernel;
 
-template<typename Scalar, typename Index, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
+template<typename Scalar, typename Index, typename DataMapper, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
 struct gemm_pack_rhs;
 
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
 struct gemm_pack_lhs;
 
 template<
@@ -34,7 +34,9 @@ template<
   int ResStorageOrder>
 struct general_matrix_matrix_product;
 
-template<typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version=Specialized>
+template<typename Index,
+         typename LhsScalar, typename LhsMapper, int LhsStorageOrder, bool ConjugateLhs,
+         typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version=Specialized>
 struct general_matrix_vector_product;
 
 
@@ -42,22 +44,35 @@ template<bool Conjugate> struct conj_if;
 
 template<> struct conj_if<true> {
   template<typename T>
-  inline T operator()(const T& x) { return numext::conj(x); }
+  inline T operator()(const T& x) const { return numext::conj(x); }
   template<typename T>
-  inline T pconj(const T& x) { return internal::pconj(x); }
+  inline T pconj(const T& x) const { return internal::pconj(x); }
 };
 
 template<> struct conj_if<false> {
   template<typename T>
-  inline const T& operator()(const T& x) { return x; }
+  inline const T& operator()(const T& x) const { return x; }
   template<typename T>
-  inline const T& pconj(const T& x) { return x; }
+  inline const T& pconj(const T& x) const { return x; }
+};
+
+// Generic implementation for custom complex types.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs, bool ConjRhs>
+struct conj_helper
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType Scalar;
+
+  EIGEN_STRONG_INLINE Scalar pmadd(const LhsScalar& x, const RhsScalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const LhsScalar& x, const RhsScalar& y) const
+  { return conj_if<ConjLhs>()(x) *  conj_if<ConjRhs>()(y); }
 };
 
 template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
 {
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
 };
 
 template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
@@ -109,39 +124,142 @@ template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::comp
 };
 
 template<typename From,typename To> struct get_factor {
-  static EIGEN_STRONG_INLINE To run(const From& x) { return x; }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE To run(const From& x) { return To(x); }
 };
 
 template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE typename NumTraits<Scalar>::Real run(const Scalar& x) { return numext::real(x); }
 };
 
+
+template<typename Scalar, typename Index>
+class BlasVectorMapper {
+  public:
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasVectorMapper(Scalar *data) : m_data(data) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const {
+    return m_data[i];
+  }
+  template <typename Packet, int AlignmentType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet load(Index i) const {
+    return ploadt<Packet, AlignmentType>(m_data + i);
+  }
+
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC bool aligned(Index i) const {
+    return (UIntPtr(m_data+i)%sizeof(Packet))==0;
+  }
+
+  protected:
+  Scalar* m_data;
+};
+
+template<typename Scalar, typename Index, int AlignmentType>
+class BlasLinearMapper {
+  public:
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename packet_traits<Scalar>::half HalfPacket;
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data) : m_data(data) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
+    internal::prefetch(&operator()(i));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar& operator()(Index i) const {
+    return m_data[i];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
+    return ploadt<Packet, AlignmentType>(m_data + i);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
+    return ploadt<HalfPacket, AlignmentType>(m_data + i);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet &p) const {
+    pstoret<Scalar, Packet, AlignmentType>(m_data + i, p);
+  }
+
+  protected:
+  Scalar *m_data;
+};
+
 // Lightweight helper class to access matrix coefficients.
-// Yes, this is somehow redundant with Map<>, but this version is much much lighter,
-// and so I hope better compilation performance (time and code quality).
-template<typename Scalar, typename Index, int StorageOrder>
-class blas_data_mapper
-{
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned>
+class blas_data_mapper {
   public:
-    blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i, Index j)
-    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename packet_traits<Scalar>::half HalfPacket;
+
+  typedef BlasLinearMapper<Scalar, Index, AlignmentType> LinearMapper;
+  typedef BlasVectorMapper<Scalar, Index> VectorMapper;
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>
+  getSubMapper(Index i, Index j) const {
+    return blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>(&operator()(i, j), m_stride);
+  }
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
+    return LinearMapper(&operator()(i, j));
+  }
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const {
+    return VectorMapper(&operator()(i, j));
+  }
+
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_ALWAYS_INLINE Scalar& operator()(Index i, Index j) const {
+    return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
+    return ploadt<Packet, AlignmentType>(&operator()(i, j));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
+    return ploadt<HalfPacket, AlignmentType>(&operator()(i, j));
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
+    pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE SubPacket gatherPacket(Index i, Index j) const {
+    return pgather<Scalar, SubPacket>(&operator()(i, j), m_stride);
+  }
+
+  EIGEN_DEVICE_FUNC const Index stride() const { return m_stride; }
+  EIGEN_DEVICE_FUNC const Scalar* data() const { return m_data; }
+
+  EIGEN_DEVICE_FUNC Index firstAligned(Index size) const {
+    if (UIntPtr(m_data)%sizeof(Scalar)) {
+      return -1;
+    }
+    return internal::first_default_aligned(m_data, size);
+  }
+
   protected:
-    Scalar* EIGEN_RESTRICT m_data;
-    Index m_stride;
+  Scalar* EIGEN_RESTRICT m_data;
+  const Index m_stride;
 };
 
 // lightweight helper class to access matrix coefficients (const version)
 template<typename Scalar, typename Index, int StorageOrder>
-class const_blas_data_mapper
-{
+class const_blas_data_mapper : public blas_data_mapper<const Scalar, Index, StorageOrder> {
   public:
-    const_blas_data_mapper(const Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i, Index j) const
-    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
-  protected:
-    const Scalar* EIGEN_RESTRICT m_data;
-    Index m_stride;
+  EIGEN_ALWAYS_INLINE const_blas_data_mapper(const Scalar *data, Index stride) : blas_data_mapper<const Scalar, Index, StorageOrder>(data, stride) {}
+
+  EIGEN_ALWAYS_INLINE const_blas_data_mapper<Scalar, Index, StorageOrder> getSubMapper(Index i, Index j) const {
+    return const_blas_data_mapper<Scalar, Index, StorageOrder>(&(this->operator()(i, j)), this->m_stride);
+  }
 };
 
 
@@ -188,17 +306,33 @@ struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
 };
 
 // pop scalar multiple
-template<typename Scalar, typename NestedXpr>
-struct blas_traits<CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> >
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> >
  : blas_traits<NestedXpr>
 {
   typedef blas_traits<NestedXpr> Base;
-  typedef CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> XprType;
+  typedef CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> XprType;
   typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
   static inline Scalar extractScalarFactor(const XprType& x)
-  { return x.functor().m_other * Base::extractScalarFactor(x.nestedExpression()); }
+  { return x.lhs().functor().m_other * Base::extractScalarFactor(x.rhs()); }
 };
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline ExtractType extract(const XprType& x) { return Base::extract(x.lhs()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return Base::extractScalarFactor(x.lhs()) * x.rhs().functor().m_other; }
+};
+template<typename Scalar, typename Plain1, typename Plain2>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1>,
+                                                            const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain2> > >
+ : blas_traits<CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1> >
+{};
 
 // pop opposite
 template<typename Scalar, typename NestedXpr>
@@ -230,7 +364,7 @@ struct blas_traits<Transpose<NestedXpr> >
   enum {
     IsTransposed = Base::IsTransposed ? 0 : 1
   };
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline ExtractType extract(const XprType& x) { return ExtractType(Base::extract(x.nestedExpression())); }
   static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
 };
 
diff --git a/vendor/eigen/Eigen/src/Core/util/Constants.h b/vendor/eigen/Eigen/src/Core/util/Constants.h
index 1e6277c..7587d68 100644
--- a/vendor/eigen/Eigen/src/Core/util/Constants.h
+++ b/vendor/eigen/Eigen/src/Core/util/Constants.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -30,6 +30,14 @@ const int DynamicIndex = 0xffffff;
   */
 const int Infinity = -1;
 
+/** This value means that the cost to evaluate an expression coefficient is either very expensive or
+  * cannot be known at compile time.
+  *
+  * This value has to be positive to (1) simplify cost computation, and (2) allow to distinguish between a very expensive and very very expensive expressions.
+  * It thus must also be large enough to make sure unrolling won't happen and that sub expressions will be evaluated, but not too large to avoid overflow.
+  */
+const int HugeCost = 10000;
+
 /** \defgroup flags Flags
   * \ingroup Core_Module
   *
@@ -48,19 +56,19 @@ const int Infinity = -1;
   * for a matrix, this means that the storage order is row-major.
   * If this bit is not set, the storage order is column-major.
   * For an expression, this determines the storage order of
-  * the matrix created by evaluation of that expression. 
-  * \sa \ref TopicStorageOrders */
+  * the matrix created by evaluation of that expression.
+  * \sa \blank  \ref TopicStorageOrders */
 const unsigned int RowMajorBit = 0x1;
 
 /** \ingroup flags
-  *
   * means the expression should be evaluated by the calling expression */
 const unsigned int EvalBeforeNestingBit = 0x2;
 
 /** \ingroup flags
-  *
+  * \deprecated
   * means the expression should be evaluated before any assignment */
-const unsigned int EvalBeforeAssigningBit = 0x4;
+EIGEN_DEPRECATED
+const unsigned int EvalBeforeAssigningBit = 0x4; // FIXME deprecated
 
 /** \ingroup flags
   *
@@ -141,17 +149,46 @@ const unsigned int LvalueBit = 0x20;
   */
 const unsigned int DirectAccessBit = 0x40;
 
-/** \ingroup flags
+/** \deprecated \ingroup flags
   *
-  * means the first coefficient packet is guaranteed to be aligned */
-const unsigned int AlignedBit = 0x80;
+  * means the first coefficient packet is guaranteed to be aligned.
+  * An expression cannot has the AlignedBit without the PacketAccessBit flag.
+  * In other words, this means we are allow to perform an aligned packet access to the first element regardless
+  * of the expression kind:
+  * \code
+  * expression.packet<Aligned>(0);
+  * \endcode
+  */
+EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
 
 const unsigned int NestByRefBit = 0x100;
 
+/** \ingroup flags
+  *
+  * for an expression, this means that the storage order
+  * can be either row-major or column-major.
+  * The precise choice will be decided at evaluation time or when
+  * combined with other expressions.
+  * \sa \blank  \ref RowMajorBit, \ref TopicStorageOrders */
+const unsigned int NoPreferredStorageOrderBit = 0x200;
+
+/** \ingroup flags
+  *
+  * Means that the underlying coefficients can be accessed through pointers to the sparse (un)compressed storage format,
+  * that is, the expression provides:
+  * \code
+    inline const Scalar* valuePtr() const;
+    inline const Index* innerIndexPtr() const;
+    inline const Index* outerIndexPtr() const;
+    inline const Index* innerNonZeroPtr() const;
+    \endcode
+  */
+const unsigned int CompressedAccessBit = 0x400;
+
+
 // list of flags that are inherited by default
 const unsigned int HereditaryBits = RowMajorBit
-                                  | EvalBeforeNestingBit
-                                  | EvalBeforeAssigningBit;
+                                  | EvalBeforeNestingBit;
 
 /** \defgroup enums Enumerations
   * \ingroup Core_Module
@@ -160,9 +197,9 @@ const unsigned int HereditaryBits = RowMajorBit
   */
 
 /** \ingroup enums
-  * Enum containing possible values for the \p Mode parameter of 
-  * MatrixBase::selfadjointView() and MatrixBase::triangularView(). */
-enum {
+  * Enum containing possible values for the \c Mode or \c UpLo parameter of
+  * MatrixBase::selfadjointView() and MatrixBase::triangularView(), and selfadjoint solvers. */
+enum UpLoType {
   /** View matrix as a lower triangular matrix. */
   Lower=0x1,                      
   /** View matrix as an upper triangular matrix. */
@@ -186,12 +223,31 @@ enum {
 };
 
 /** \ingroup enums
-  * Enum for indicating whether an object is aligned or not. */
-enum { 
-  /** Object is not correctly aligned for vectorization. */
-  Unaligned=0, 
-  /** Object is aligned for vectorization. */
-  Aligned=1 
+  * Enum for indicating whether a buffer is aligned or not. */
+enum AlignmentType {
+  Unaligned=0,        /**< Data pointer has no specific alignment. */
+  Aligned8=8,         /**< Data pointer is aligned on a 8 bytes boundary. */
+  Aligned16=16,       /**< Data pointer is aligned on a 16 bytes boundary. */
+  Aligned32=32,       /**< Data pointer is aligned on a 32 bytes boundary. */
+  Aligned64=64,       /**< Data pointer is aligned on a 64 bytes boundary. */
+  Aligned128=128,     /**< Data pointer is aligned on a 128 bytes boundary. */
+  AlignedMask=255,
+  Aligned=16,         /**< \deprecated Synonym for Aligned16. */
+#if EIGEN_MAX_ALIGN_BYTES==128
+  AlignedMax = Aligned128
+#elif EIGEN_MAX_ALIGN_BYTES==64
+  AlignedMax = Aligned64
+#elif EIGEN_MAX_ALIGN_BYTES==32
+  AlignedMax = Aligned32
+#elif EIGEN_MAX_ALIGN_BYTES==16
+  AlignedMax = Aligned16
+#elif EIGEN_MAX_ALIGN_BYTES==8
+  AlignedMax = Aligned8
+#elif EIGEN_MAX_ALIGN_BYTES==0
+  AlignedMax = Unaligned
+#else
+#error Invalid value for EIGEN_MAX_ALIGN_BYTES
+#endif
 };
 
 /** \ingroup enums
@@ -217,7 +273,7 @@ enum DirectionType {
 
 /** \internal \ingroup enums
   * Enum to specify how to traverse the entries of a matrix. */
-enum {
+enum TraversalType {
   /** \internal Default traversal, no vectorization, no index-based access */
   DefaultTraversal,
   /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
@@ -239,7 +295,7 @@ enum {
 
 /** \internal \ingroup enums
   * Enum to specify whether to unroll loops when traversing over the entries of a matrix. */
-enum {
+enum UnrollingType {
   /** \internal Do not unroll loops. */
   NoUnrolling,
   /** \internal Unroll only the inner loop, but not the outer loop. */
@@ -251,7 +307,7 @@ enum {
 
 /** \internal \ingroup enums
   * Enum to specify whether to use the default (built-in) implementation or the specialization. */
-enum {
+enum SpecializedType {
   Specialized,
   BuiltIn
 };
@@ -259,7 +315,7 @@ enum {
 /** \ingroup enums
   * Enum containing possible values for the \p _Options template parameter of
   * Matrix, Array and BandMatrix. */
-enum {
+enum StorageOptions {
   /** Storage order is column major (see \ref TopicStorageOrders). */
   ColMajor = 0,
   /** Storage order is row major (see \ref TopicStorageOrders). */
@@ -272,7 +328,7 @@ enum {
 
 /** \ingroup enums
   * Enum for specifying whether to apply or solve on the left or right. */
-enum {
+enum SideType {
   /** Apply transformation on the left. */
   OnTheLeft = 1,  
   /** Apply transformation on the right. */
@@ -297,7 +353,7 @@ enum Default_t    { Default };
 
 /** \internal \ingroup enums
   * Used in AmbiVector. */
-enum {
+enum AmbiVectorMode {
   IsDense         = 0,
   IsSparse
 };
@@ -406,10 +462,16 @@ namespace Architecture
     Generic = 0x0,
     SSE = 0x1,
     AltiVec = 0x2,
+    VSX = 0x3,
+    NEON = 0x4,
 #if defined EIGEN_VECTORIZE_SSE
     Target = SSE
 #elif defined EIGEN_VECTORIZE_ALTIVEC
     Target = AltiVec
+#elif defined EIGEN_VECTORIZE_VSX
+    Target = VSX
+#elif defined EIGEN_VECTORIZE_NEON
+    Target = NEON
 #else
     Target = Generic
 #endif
@@ -417,8 +479,9 @@ namespace Architecture
 }
 
 /** \internal \ingroup enums
-  * Enum used as template parameter in GeneralProduct. */
-enum { CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
+  * Enum used as template parameter in Product and product evaluators. */
+enum ProductImplType
+{ DefaultProduct=0, LazyProduct, AliasFreeProduct, CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
 
 /** \internal \ingroup enums
   * Enum used in experimental parallel implementation. */
@@ -427,24 +490,57 @@ enum Action {GetAction, SetAction};
 /** The type used to identify a dense storage. */
 struct Dense {};
 
+/** The type used to identify a general sparse storage. */
+struct Sparse {};
+
+/** The type used to identify a general solver (factored) storage. */
+struct SolverStorage {};
+
+/** The type used to identify a permutation storage. */
+struct PermutationStorage {};
+
+/** The type used to identify a permutation storage. */
+struct TranspositionsStorage {};
+
 /** The type used to identify a matrix expression */
 struct MatrixXpr {};
 
 /** The type used to identify an array expression */
 struct ArrayXpr {};
 
+// An evaluator must define its shape. By default, it can be one of the following:
+struct DenseShape             { static std::string debugName() { return "DenseShape"; } };
+struct SolverShape            { static std::string debugName() { return "SolverShape"; } };
+struct HomogeneousShape       { static std::string debugName() { return "HomogeneousShape"; } };
+struct DiagonalShape          { static std::string debugName() { return "DiagonalShape"; } };
+struct BandShape              { static std::string debugName() { return "BandShape"; } };
+struct TriangularShape        { static std::string debugName() { return "TriangularShape"; } };
+struct SelfAdjointShape       { static std::string debugName() { return "SelfAdjointShape"; } };
+struct PermutationShape       { static std::string debugName() { return "PermutationShape"; } };
+struct TranspositionsShape    { static std::string debugName() { return "TranspositionsShape"; } };
+struct SparseShape            { static std::string debugName() { return "SparseShape"; } };
+
 namespace internal {
-  /** \internal
-  * Constants for comparison functors
-  */
-  enum ComparisonName {
-    cmp_EQ = 0,
-    cmp_LT = 1,
-    cmp_LE = 2,
-    cmp_UNORD = 3,
-    cmp_NEQ = 4
-  };
-}
+
+  // random access iterators based on coeff*() accessors.
+struct IndexBased {};
+
+// evaluator based on iterators to access coefficients. 
+struct IteratorBased {};
+
+/** \internal
+ * Constants for comparison functors
+ */
+enum ComparisonName {
+  cmp_EQ = 0,
+  cmp_LT = 1,
+  cmp_LE = 2,
+  cmp_UNORD = 3,
+  cmp_NEQ = 4,
+  cmp_GT = 5,
+  cmp_GE = 6
+};
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/Core/util/DisableStupidWarnings.h b/vendor/eigen/Eigen/src/Core/util/DisableStupidWarnings.h
index 6a0bf06..7559e12 100644
--- a/vendor/eigen/Eigen/src/Core/util/DisableStupidWarnings.h
+++ b/vendor/eigen/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -10,24 +10,31 @@
   // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
   // 4273 - QtAlignedMalloc, inconsistent DLL linkage
   // 4324 - structure was padded due to declspec(align())
+  // 4503 - decorated name length exceeded, name was truncated
   // 4512 - assignment operator could not be generated
   // 4522 - 'class' : multiple assignment operators specified
   // 4700 - uninitialized local variable 'xyz' used
+  // 4714 - function marked as __forceinline not inlined
   // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
+  // 4800 - 'type' : forcing value to bool 'true' or 'false' (performance warning)
   #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
     #pragma warning( push )
   #endif
-  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4512 4522 4700 4717 )
+  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
+
 #elif defined __INTEL_COMPILER
   // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
   //        ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
   //        typedef that may be a reference type.
   // 279  - controlling expression is constant
   //        ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
+  // 1684 - conversion from pointer to same-sized integral type (potential portability problem)
+  // 2259 - non-pointer conversion from "Eigen::Index={ptrdiff_t={long}}" to "int" may lose significant bits
   #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
     #pragma warning push
   #endif
-  #pragma warning disable 2196 279
+  #pragma warning disable 2196 279 1684 2259
+
 #elif defined __clang__
   // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
   //     this is really a stupid warning as it warns on compile-time expressions involving enums
@@ -35,6 +42,34 @@
     #pragma clang diagnostic push
   #endif
   #pragma clang diagnostic ignored "-Wconstant-logical-operand"
+
+#elif defined __GNUC__ && __GNUC__>=6
+
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma GCC diagnostic push
+  #endif
+  #pragma GCC diagnostic ignored "-Wignored-attributes"
+
+#endif
+
+#if defined __NVCC__
+  // Disable the "statement is unreachable" message
+  #pragma diag_suppress code_is_unreachable
+  // Disable the "dynamic initialization in unreachable code" message
+  #pragma diag_suppress initialization_not_reachable
+  // Disable the "invalid error number" message that we get with older versions of nvcc
+  #pragma diag_suppress 1222
+  // Disable the "calling a __host__ function from a __host__ __device__ function is not allowed" messages (yes, there are many of them and they seem to change with every version of the compiler)
+  #pragma diag_suppress 2527
+  #pragma diag_suppress 2529
+  #pragma diag_suppress 2651
+  #pragma diag_suppress 2653
+  #pragma diag_suppress 2668
+  #pragma diag_suppress 2669
+  #pragma diag_suppress 2670
+  #pragma diag_suppress 2671
+  #pragma diag_suppress 2735
+  #pragma diag_suppress 2737
 #endif
 
 #endif // not EIGEN_WARNINGS_DISABLED
diff --git a/vendor/eigen/Eigen/src/Core/util/ForwardDeclarations.h b/vendor/eigen/Eigen/src/Core/util/ForwardDeclarations.h
index f277720..ea10739 100644
--- a/vendor/eigen/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/vendor/eigen/Eigen/src/Core/util/ForwardDeclarations.h
@@ -36,6 +36,10 @@ template<typename Derived> struct accessors_level
   };
 };
 
+template<typename T> struct evaluator_traits;
+
+template< typename T> struct evaluator;
+
 } // end namespace internal
 
 template<typename T> struct NumTraits;
@@ -51,18 +55,18 @@ class DenseCoeffsBase;
 
 template<typename _Scalar, int _Rows, int _Cols,
          int _Options = AutoAlign |
-#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+#if EIGEN_GNUC_AT(3,4)
     // workaround a bug in at least gcc 3.4.6
     // the innermost ?: ternary operator is misparsed. We write it slightly
     // differently and this makes gcc 3.4.6 happy, but it's ugly.
     // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
     // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
                           : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : ColMajor ),
+                          : Eigen::ColMajor ),
 #else
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
-                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
                           : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
 #endif
          int _MaxRows = _Rows,
@@ -87,10 +91,11 @@ template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
 template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
 template<typename ViewOp,    typename MatrixType>         class CwiseUnaryView;
 template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
-template<typename BinOp,     typename Lhs, typename Rhs>  class SelfCwiseBinaryOp;
-template<typename Derived,   typename Lhs, typename Rhs>  class ProductBase;
-template<typename Lhs, typename Rhs, int Mode>            class GeneralProduct;
-template<typename Lhs, typename Rhs, int NestingFlags>    class CoeffBasedProduct;
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>  class CwiseTernaryOp;
+template<typename Decomposition, typename Rhstype>        class Solve;
+template<typename XprType>                                class Inverse;
+
+template<typename Lhs, typename Rhs, int Option = DefaultProduct> class Product;
 
 template<typename Derived> class DiagonalBase;
 template<typename _DiagonalVectorType> class DiagonalWrapper;
@@ -108,7 +113,12 @@ template<typename Derived,
          int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
 > class MapBase;
 template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
+template<int Value = Dynamic> class InnerStride;
+template<int Value = Dynamic> class OuterStride;
 template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
+template<typename Derived> class RefBase;
+template<typename PlainObjectType, int Options = 0,
+         typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
 
 template<typename Derived> class TriangularBase;
 template<typename MatrixType, unsigned int Mode> class TriangularView;
@@ -119,10 +129,10 @@ template<typename MatrixType> struct CommaInitializer;
 template<typename Derived> class ReturnByValue;
 template<typename ExpressionType> class ArrayWrapper;
 template<typename ExpressionType> class MatrixWrapper;
+template<typename Derived> class SolverBase;
+template<typename XprType> class InnerIterator;
 
 namespace internal {
-template<typename DecompositionType, typename Rhs> struct solve_retval_base;
-template<typename DecompositionType, typename Rhs> struct solve_retval;
 template<typename DecompositionType> struct kernel_retval_base;
 template<typename DecompositionType> struct kernel_retval;
 template<typename DecompositionType> struct image_retval_base;
@@ -135,6 +145,21 @@ template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynami
 
 namespace internal {
 template<typename Lhs, typename Rhs> struct product_type;
+
+template<bool> struct EnableIf;
+
+/** \internal
+  * \class product_evaluator
+  * Products need their own evaluator with more template arguments allowing for
+  * easier partial template specializations.
+  */
+template< typename T,
+          int ProductTag = internal::product_type<typename T::Lhs,typename T::Rhs>::ret,
+          typename LhsShape = typename evaluator_traits<typename T::Lhs>::Shape,
+          typename RhsShape = typename evaluator_traits<typename T::Rhs>::Shape,
+          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+          typename RhsScalar = typename traits<typename T::Rhs>::Scalar
+        > struct product_evaluator;
 }
 
 template<typename Lhs, typename Rhs,
@@ -150,9 +175,11 @@ namespace internal {
 // with optional conjugation of the arguments.
 template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
 
-template<typename Scalar> struct scalar_sum_op;
-template<typename Scalar> struct scalar_difference_op;
-template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_sum_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_difference_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_conj_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_min_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_max_op;
 template<typename Scalar> struct scalar_opposite_op;
 template<typename Scalar> struct scalar_conjugate_op;
 template<typename Scalar> struct scalar_real_op;
@@ -160,6 +187,7 @@ template<typename Scalar> struct scalar_imag_op;
 template<typename Scalar> struct scalar_abs_op;
 template<typename Scalar> struct scalar_abs2_op;
 template<typename Scalar> struct scalar_sqrt_op;
+template<typename Scalar> struct scalar_rsqrt_op;
 template<typename Scalar> struct scalar_exp_op;
 template<typename Scalar> struct scalar_log_op;
 template<typename Scalar> struct scalar_cos_op;
@@ -167,24 +195,29 @@ template<typename Scalar> struct scalar_sin_op;
 template<typename Scalar> struct scalar_acos_op;
 template<typename Scalar> struct scalar_asin_op;
 template<typename Scalar> struct scalar_tan_op;
-template<typename Scalar> struct scalar_pow_op;
 template<typename Scalar> struct scalar_inverse_op;
 template<typename Scalar> struct scalar_square_op;
 template<typename Scalar> struct scalar_cube_op;
 template<typename Scalar, typename NewType> struct scalar_cast_op;
-template<typename Scalar> struct scalar_multiple_op;
-template<typename Scalar> struct scalar_quotient1_op;
-template<typename Scalar> struct scalar_min_op;
-template<typename Scalar> struct scalar_max_op;
 template<typename Scalar> struct scalar_random_op;
-template<typename Scalar> struct scalar_add_op;
 template<typename Scalar> struct scalar_constant_op;
 template<typename Scalar> struct scalar_identity_op;
-
+template<typename Scalar,bool iscpx> struct scalar_sign_op;
+template<typename Scalar,typename ScalarExponent> struct scalar_pow_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_hypot_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
-template<typename LhsScalar,typename RhsScalar> struct scalar_multiple2_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_quotient_op;
 
+// SpecialFunctions module
+template<typename Scalar> struct scalar_lgamma_op;
+template<typename Scalar> struct scalar_digamma_op;
+template<typename Scalar> struct scalar_erf_op;
+template<typename Scalar> struct scalar_erfc_op;
+template<typename Scalar> struct scalar_igamma_op;
+template<typename Scalar> struct scalar_igammac_op;
+template<typename Scalar> struct scalar_zeta_op;
+template<typename Scalar> struct scalar_betainc_op;
+
 } // end namespace internal
 
 struct IOFormat;
@@ -192,18 +225,18 @@ struct IOFormat;
 // Array module
 template<typename _Scalar, int _Rows, int _Cols,
          int _Options = AutoAlign |
-#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+#if EIGEN_GNUC_AT(3,4)
     // workaround a bug in at least gcc 3.4.6
     // the innermost ?: ternary operator is misparsed. We write it slightly
     // differently and this makes gcc 3.4.6 happy, but it's ugly.
     // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
     // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
                           : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : ColMajor ),
+                          : Eigen::ColMajor ),
 #else
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
-                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
                           : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
 #endif
          int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
@@ -221,7 +254,9 @@ template<typename MatrixType> struct inverse_impl;
 template<typename MatrixType> class HouseholderQR;
 template<typename MatrixType> class ColPivHouseholderQR;
 template<typename MatrixType> class FullPivHouseholderQR;
+template<typename MatrixType> class CompleteOrthogonalDecomposition;
 template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
+template<typename MatrixType> class BDCSVD;
 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;
@@ -234,39 +269,16 @@ template<typename Derived> class QuaternionBase;
 template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
 template<typename Scalar,int Dim> class Translation;
-
-// Sparse module:
-template<typename Derived> class SparseMatrixBase;
-
-#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 Dim> class AlignedBox;
 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
+
+// Sparse module:
+template<typename Derived> class SparseMatrixBase;
 
 // MatrixFunctions module
 template<typename Derived> struct MatrixExponentialReturnValue;
@@ -274,7 +286,7 @@ template<typename Derived> class MatrixFunctionReturnValue;
 template<typename Derived> class MatrixSquareRootReturnValue;
 template<typename Derived> class MatrixLogarithmReturnValue;
 template<typename Derived> class MatrixPowerReturnValue;
-template<typename Derived, typename Lhs, typename Rhs> class MatrixPowerProduct;
+template<typename Derived> class MatrixComplexPowerReturnValue;
 
 namespace internal {
 template <typename Scalar>
@@ -285,18 +297,6 @@ 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/vendor/eigen/Eigen/src/Core/util/MKL_support.h b/vendor/eigen/Eigen/src/Core/util/MKL_support.h
index 1ef3b61..26b5966 100644
--- a/vendor/eigen/Eigen/src/Core/util/MKL_support.h
+++ b/vendor/eigen/Eigen/src/Core/util/MKL_support.h
@@ -49,7 +49,7 @@
   #define EIGEN_USE_LAPACKE
 #endif
 
-#if defined(EIGEN_USE_BLAS) || defined(EIGEN_USE_LAPACKE) || defined(EIGEN_USE_MKL_VML)
+#if defined(EIGEN_USE_MKL_VML)
   #define EIGEN_USE_MKL
 #endif
 
@@ -64,7 +64,6 @@
 #   ifndef EIGEN_USE_MKL
     /*If the MKL version is too old, undef everything*/
 #       undef   EIGEN_USE_MKL_ALL
-#       undef   EIGEN_USE_BLAS
 #       undef   EIGEN_USE_LAPACKE
 #       undef   EIGEN_USE_MKL_VML
 #       undef   EIGEN_USE_LAPACKE_STRICT
@@ -73,7 +72,7 @@
 #endif
 
 #if defined EIGEN_USE_MKL
-#include <mkl_lapacke.h>
+
 #define EIGEN_MKL_VML_THRESHOLD 128
 
 /* MKL_DOMAIN_BLAS, etc are defined only in 10.3 update 7 */
@@ -107,52 +106,23 @@
 #else
 #define EIGEN_MKL_DOMAIN_PARDISO MKL_PARDISO
 #endif
+#endif
 
 namespace Eigen {
 
 typedef std::complex<double> dcomplex;
 typedef std::complex<float>  scomplex;
 
-namespace internal {
-
-template<typename MKLType, typename EigenType>
-static inline void assign_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
-  mklScalar=eigenScalar;
-}
-
-template<typename MKLType, typename EigenType>
-static inline void assign_conj_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
-  mklScalar=eigenScalar;
-}
-
-template <>
-inline void assign_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=eigenScalar.imag();
-}
-
-template <>
-inline void assign_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=eigenScalar.imag();
-}
-
-template <>
-inline void assign_conj_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=-eigenScalar.imag();
-}
-
-template <>
-inline void assign_conj_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=-eigenScalar.imag();
-}
-
-} // end namespace internal
+#if defined(EIGEN_USE_MKL)
+typedef MKL_INT BlasIndex;
+#else
+typedef int BlasIndex;
+#endif
 
 } // end namespace Eigen
 
+#if defined(EIGEN_USE_BLAS)
+#include "../../misc/blas.h"
 #endif
 
 #endif // EIGEN_MKL_SUPPORT_H
diff --git a/vendor/eigen/Eigen/src/Core/util/Macros.h b/vendor/eigen/Eigen/src/Core/util/Macros.h
index e0d90eb..38d6ddb 100644
--- a/vendor/eigen/Eigen/src/Core/util/Macros.h
+++ b/vendor/eigen/Eigen/src/Core/util/Macros.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -12,14 +12,13 @@
 #define EIGEN_MACROS_H
 
 #define EIGEN_WORLD_VERSION 3
-#define EIGEN_MAJOR_VERSION 2
-#define EIGEN_MINOR_VERSION 8
+#define EIGEN_MAJOR_VERSION 3
+#define EIGEN_MINOR_VERSION 4
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
                                                                  EIGEN_MINOR_VERSION>=z))))
 
-
 // Compiler identification, EIGEN_COMP_*
 
 /// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC
@@ -29,9 +28,9 @@
   #define EIGEN_COMP_GNUC 0
 #endif
 
-/// \internal EIGEN_COMP_CLANG set to 1 if the compiler is clang (alias for __clang__)
+/// \internal EIGEN_COMP_CLANG set to major+minor version (e.g., 307 for clang 3.7) if the compiler is clang
 #if defined(__clang__)
-  #define EIGEN_COMP_CLANG 1
+  #define EIGEN_COMP_CLANG (__clang_major__*100+__clang_minor__)
 #else
   #define EIGEN_COMP_CLANG 0
 #endif
@@ -72,8 +71,17 @@
   #define EIGEN_COMP_MSVC 0
 #endif
 
-/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC
-#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC)
+// For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC:
+//  name  ver   MSC_VER
+//  2008    9      1500
+//  2010   10      1600
+//  2012   11      1700
+//  2013   12      1800
+//  2015   14      1900
+//  "15"   15      1900
+
+/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC or clang-cl
+#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC || EIGEN_COMP_LLVM || EIGEN_COMP_CLANG)
   #define EIGEN_COMP_MSVC_STRICT _MSC_VER
 #else
   #define EIGEN_COMP_MSVC_STRICT 0
@@ -100,9 +108,16 @@
   #define EIGEN_COMP_ARM 0
 #endif
 
+/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
+#if defined(__EMSCRIPTEN__)
+  #define EIGEN_COMP_EMSCRIPTEN 1
+#else
+  #define EIGEN_COMP_EMSCRIPTEN 0
+#endif
+
 
 /// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.)
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM )
+#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN)
   #define EIGEN_COMP_GNUC_STRICT 1
 #else
   #define EIGEN_COMP_GNUC_STRICT 0
@@ -299,91 +314,159 @@
 #endif
 
 
-#if EIGEN_GNUC_AT_MOST(4,3) && !defined(__clang__)
+
+#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
   // see bug 89
   #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
 #else
   #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
 #endif
 
-// 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
-// 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
-// enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
-// certain common platform (compiler+architecture combinations) to avoid these problems.
-// Only static alignment is really problematic (relies on nonstandard compiler extensions that don't
-// work everywhere, for example don't work on GCC/ARM), try to keep heap alignment even
-// when we have to disable static alignment.
-#if defined(__GNUC__) && !(defined(__i386__) || defined(__x86_64__) || defined(__powerpc__) || defined(__ppc__) || defined(__ia64__))
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+// This macro can be used to prevent from macro expansion, e.g.:
+//   std::max EIGEN_NOT_A_MACRO(a,b)
+#define EIGEN_NOT_A_MACRO
+
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
 #else
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
 #endif
 
-// static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
-#if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
- && !EIGEN_GCC3_OR_OLDER \
- && !defined(__SUNPRO_CC) \
- && !defined(__QNXNTO__)
-  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#endif
+
+// Cross compiler wrapper around LLVM's __has_builtin
+#ifdef __has_builtin
+#  define EIGEN_HAS_BUILTIN(x) __has_builtin(x)
 #else
-  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+#  define EIGEN_HAS_BUILTIN(x) 0
 #endif
 
-#ifdef EIGEN_DONT_ALIGN
-  #ifndef EIGEN_DONT_ALIGN_STATICALLY
-    #define EIGEN_DONT_ALIGN_STATICALLY
-  #endif
-  #define EIGEN_ALIGN 0
+// A Clang feature extension to determine compiler features.
+// We use it to determine 'cxx_rvalue_references'
+#ifndef __has_feature
+# define __has_feature(x) 0
+#endif
+
+// Upperbound on the C++ version to use.
+// Expected values are 03, 11, 14, 17, etc.
+// By default, let's use an arbitrarily large C++ version.
+#ifndef EIGEN_MAX_CPP_VER
+#define EIGEN_MAX_CPP_VER 99
+#endif
+
+#if EIGEN_MAX_CPP_VER>=11 && (defined(__cplusplus) && (__cplusplus >= 201103L) || EIGEN_COMP_MSVC >= 1900)
+#define EIGEN_HAS_CXX11 1
 #else
-  #define EIGEN_ALIGN 1
+#define EIGEN_HAS_CXX11 0
 #endif
 
-// EIGEN_ALIGN_STATICALLY is the true test whether we want to align arrays on the stack or not. It takes into account both the user choice to explicitly disable
-// alignment (EIGEN_DONT_ALIGN_STATICALLY) and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT). Henceforth, only EIGEN_ALIGN_STATICALLY should be used.
-#if EIGEN_ARCH_WANTS_STACK_ALIGNMENT && !defined(EIGEN_DONT_ALIGN_STATICALLY)
-  #define EIGEN_ALIGN_STATICALLY 1
+
+// Do we support r-value references?
+#ifndef EIGEN_HAS_RVALUE_REFERENCES
+#if EIGEN_MAX_CPP_VER>=11 && \
+    (__has_feature(cxx_rvalue_references) || \
+    (defined(__cplusplus) && __cplusplus >= 201103L) || \
+    (EIGEN_COMP_MSVC >= 1600))
+  #define EIGEN_HAS_RVALUE_REFERENCES 1
 #else
-  #define EIGEN_ALIGN_STATICALLY 0
-  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-  #endif
+  #define EIGEN_HAS_RVALUE_REFERENCES 0
+#endif
 #endif
 
-#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
+// Does the compiler support C99?
+#ifndef EIGEN_HAS_C99_MATH
+#if EIGEN_MAX_CPP_VER>=11 && \
+    ((defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901))       \
+  || (defined(__GNUC__) && defined(_GLIBCXX_USE_C99)) \
+  || (defined(_LIBCPP_VERSION) && !defined(_MSC_VER)))
+  #define EIGEN_HAS_C99_MATH 1
 #else
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ColMajor
+  #define EIGEN_HAS_C99_MATH 0
+#endif
 #endif
 
-#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+// Does the compiler support result_of?
+#ifndef EIGEN_HAS_STD_RESULT_OF
+#if EIGEN_MAX_CPP_VER>=11 && ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)))
+#define EIGEN_HAS_STD_RESULT_OF 1
+#else
+#define EIGEN_HAS_STD_RESULT_OF 0
+#endif
 #endif
 
-// A Clang feature extension to determine compiler features.
-// We use it to determine 'cxx_rvalue_references'
-#ifndef __has_feature
-# define __has_feature(x) 0
+// Does the compiler support variadic templates?
+#ifndef EIGEN_HAS_VARIADIC_TEMPLATES
+#if EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) \
+  && ( !defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000) )
+    // ^^ Disable the use of variadic templates when compiling with versions of nvcc older than 8.0 on ARM devices:
+    //    this prevents nvcc from crashing when compiling Eigen on Tegra X1
+#define EIGEN_HAS_VARIADIC_TEMPLATES 1
+#else
+#define EIGEN_HAS_VARIADIC_TEMPLATES 0
+#endif
 #endif
 
-// Do we support r-value references?
-#if (__has_feature(cxx_rvalue_references) || \
-     (defined(__cplusplus) && __cplusplus >= 201103L) || \
-     (defined(_MSC_VER) && _MSC_VER >= 1600))
-  #define EIGEN_HAVE_RVALUE_REFERENCES
+// Does the compiler fully support const expressions? (as in c++14)
+#ifndef EIGEN_HAS_CONSTEXPR
+
+#ifdef __CUDACC__
+// Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
+#if EIGEN_MAX_CPP_VER>=14 && (__cplusplus > 199711L && defined(__CUDACC_VER__) && (EIGEN_COMP_CLANG || __CUDACC_VER__ >= 70500))
+  #define EIGEN_HAS_CONSTEXPR 1
+#endif
+#elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (defined(__cplusplus) && __cplusplus >= 201402L) || \
+  (EIGEN_GNUC_AT_LEAST(4,8) && (__cplusplus > 199711L)))
+#define EIGEN_HAS_CONSTEXPR 1
 #endif
 
+#ifndef EIGEN_HAS_CONSTEXPR
+#define EIGEN_HAS_CONSTEXPR 0
+#endif
 
-// Cross compiler wrapper around LLVM's __has_builtin
-#ifdef __has_builtin
-#  define EIGEN_HAS_BUILTIN(x) __has_builtin(x)
-#else
-#  define EIGEN_HAS_BUILTIN(x) 0
+#endif
+
+// Does the compiler support C++11 math?
+// Let's be conservative and enable the default C++11 implementation only if we are sure it exists
+#ifndef EIGEN_HAS_CXX11_MATH
+  #if EIGEN_MAX_CPP_VER>=11 && ((__cplusplus > 201103L) || (__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC)  \
+      && (EIGEN_ARCH_i386_OR_x86_64) && (EIGEN_OS_GNULINUX || EIGEN_OS_WIN_STRICT || EIGEN_OS_MAC))
+    #define EIGEN_HAS_CXX11_MATH 1
+  #else
+    #define EIGEN_HAS_CXX11_MATH 0
+  #endif
+#endif
+
+// Does the compiler support proper C++11 containers?
+#ifndef EIGEN_HAS_CXX11_CONTAINERS
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+         ((__cplusplus > 201103L) \
+      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+      || EIGEN_COMP_MSVC >= 1900)
+    #define EIGEN_HAS_CXX11_CONTAINERS 1
+  #else
+    #define EIGEN_HAS_CXX11_CONTAINERS 0
+  #endif
+#endif
+
+// Does the compiler support C++11 noexcept?
+#ifndef EIGEN_HAS_CXX11_NOEXCEPT
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+         (__has_feature(cxx_noexcept) \
+      || (__cplusplus > 201103L) \
+      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+      || EIGEN_COMP_MSVC >= 1900)
+    #define EIGEN_HAS_CXX11_NOEXCEPT 1
+  #else
+    #define EIGEN_HAS_CXX11_NOEXCEPT 0
+  #endif
 #endif
 
 /** Allows to disable some optimizations which might affect the accuracy of the result.
   * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
   * They currently include:
-  *   - single precision Cwise::sin() and Cwise::cos() when SSE vectorization is enabled.
+  *   - single precision ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
   */
 #ifndef EIGEN_FAST_MATH
 #define EIGEN_FAST_MATH 1
@@ -395,6 +478,8 @@
 #define EIGEN_CAT2(a,b) a ## b
 #define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
 
+#define EIGEN_COMMA ,
+
 // convert a token to a string
 #define EIGEN_MAKESTRING2(a) #a
 #define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
@@ -402,7 +487,7 @@
 // EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
 // but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
 // but GCC is still doing fine with just inline.
-#if (defined _MSC_VER) || (defined __INTEL_COMPILER)
+#if EIGEN_COMP_MSVC || EIGEN_COMP_ICC
 #define EIGEN_STRONG_INLINE __forceinline
 #else
 #define EIGEN_STRONG_INLINE inline
@@ -412,24 +497,25 @@
 // attribute to maximize inlining. This should only be used when really necessary: in particular,
 // it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
 // FIXME with the always_inline attribute,
-// gcc 3.4.x reports the following compilation error:
+// gcc 3.4.x and 4.1 reports the following compilation error:
 //   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
 //    : function body not available
-#if EIGEN_GNUC_AT_LEAST(4,0)
+//   See also bug 1367
+#if EIGEN_GNUC_AT_LEAST(4,2)
 #define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
 #else
 #define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_DONT_INLINE __attribute__((noinline))
-#elif (defined _MSC_VER)
+#elif EIGEN_COMP_MSVC
 #define EIGEN_DONT_INLINE __declspec(noinline)
 #else
 #define EIGEN_DONT_INLINE
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_PERMISSIVE_EXPR __extension__
 #else
 #define EIGEN_PERMISSIVE_EXPR
@@ -498,15 +584,15 @@
 #endif
 
 #ifdef EIGEN_NO_DEBUG
-#define EIGEN_ONLY_USED_FOR_DEBUG(x) (void)x
+#define EIGEN_ONLY_USED_FOR_DEBUG(x) EIGEN_UNUSED_VARIABLE(x)
 #else
 #define EIGEN_ONLY_USED_FOR_DEBUG(x)
 #endif
 
 #ifndef EIGEN_NO_DEPRECATED_WARNING
-  #if (defined __GNUC__)
+  #if EIGEN_COMP_GNUC
     #define EIGEN_DEPRECATED __attribute__((deprecated))
-  #elif (defined _MSC_VER)
+  #elif EIGEN_COMP_MSVC
     #define EIGEN_DEPRECATED __declspec(deprecated)
   #else
     #define EIGEN_DEPRECATED
@@ -515,7 +601,7 @@
   #define EIGEN_DEPRECATED
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_UNUSED __attribute__((unused))
 #else
 #define EIGEN_UNUSED
@@ -524,19 +610,33 @@
 // Suppresses 'unused variable' warnings.
 namespace Eigen {
   namespace internal {
-    template<typename T> void ignore_unused_variable(const T&) {}
+    template<typename T> EIGEN_DEVICE_FUNC void ignore_unused_variable(const T&) {}
   }
 }
 #define EIGEN_UNUSED_VARIABLE(var) Eigen::internal::ignore_unused_variable(var);
 
 #if !defined(EIGEN_ASM_COMMENT)
-  #if (defined __GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
+  #if EIGEN_COMP_GNUC && (EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64)
     #define EIGEN_ASM_COMMENT(X)  __asm__("#" X)
   #else
     #define EIGEN_ASM_COMMENT(X)
   #endif
 #endif
 
+
+//------------------------------------------------------------------------------------------
+// Static and dynamic alignment control
+//
+// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
+// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
+// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
+// a default value is automatically computed based on architecture, compiler, and OS.
+//
+// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
+// to be used to declare statically aligned buffers.
+//------------------------------------------------------------------------------------------
+
+
 /* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
  * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
  * so that vectorization doesn't affect binary compatibility.
@@ -544,28 +644,149 @@ namespace Eigen {
  * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
  * vectorized and non-vectorized code.
  */
-#if (defined __GNUC__) || (defined __PGI) || (defined __IBMCPP__) || (defined __ARMCC_VERSION)
+#if (defined __CUDACC__)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
+#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
-#elif (defined _MSC_VER)
+#elif EIGEN_COMP_MSVC
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
-#elif (defined __SUNPRO_CC)
+#elif EIGEN_COMP_SUNCC
   // FIXME not sure about this one:
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
 #else
   #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
 #endif
 
+// If the user explicitly disable vectorization, then we also disable alignment
+#if defined(EIGEN_DONT_VECTORIZE)
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
+#elif defined(EIGEN_VECTORIZE_AVX512)
+  // 64 bytes static alignmeent is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
+#elif defined(__AVX__)
+  // 32 bytes static alignmeent is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
+#else
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
+#endif
+
+
+// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
+#define EIGEN_MIN_ALIGN_BYTES 16
+
+// Defined the boundary (in bytes) on which the data needs to be aligned. Note
+// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
+// aligned at all regardless of the value of this #define.
+
+#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN))  && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
+#endif
+
+// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprectated
+// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
+#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
+  #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
+    #undef EIGEN_MAX_STATIC_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+#endif
+
+#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
+  // 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
+  // enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
+  // certain common platform (compiler+architecture combinations) to avoid these problems.
+  // Only static alignment is really problematic (relies on nonstandard compiler extensions),
+  // try to keep heap alignment even when we have to disable static alignment.
+  #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64)
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+  #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
+  // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
+  // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
+  // 4.8 and newer seem definitely unaffected.
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+  #else
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+  #endif
+
+  // static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
+  #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
+  && !EIGEN_GCC3_OR_OLDER \
+  && !EIGEN_COMP_SUNCC \
+  && !EIGEN_OS_QNX
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+  #else
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+  #endif
+
+  #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+  #else
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+  #endif
+
+#endif
+
+// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_ALIGN_BYTES
+#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
+#undef EIGEN_MAX_STATIC_ALIGN_BYTES
+#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+  #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+#endif
+
+// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 is the true test whether we want to align arrays on the stack or not.
+// It takes into account both the user choice to explicitly enable/disable alignment (by settting EIGEN_MAX_STATIC_ALIGN_BYTES)
+// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
+// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
+
+
+// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
 #define EIGEN_ALIGN8  EIGEN_ALIGN_TO_BOUNDARY(8)
 #define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
+#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
+#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
+#else
+#define EIGEN_ALIGN_MAX
+#endif
+
+
+// Dynamic alignment control
 
-#if EIGEN_ALIGN_STATICALLY
-#define EIGEN_USER_ALIGN_TO_BOUNDARY(n) EIGEN_ALIGN_TO_BOUNDARY(n)
-#define EIGEN_USER_ALIGN16 EIGEN_ALIGN16
+#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
+#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+  #ifdef EIGEN_MAX_ALIGN_BYTES
+    #undef EIGEN_MAX_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_ALIGN_BYTES 0
+#elif !defined(EIGEN_MAX_ALIGN_BYTES)
+  #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
 #else
-#define EIGEN_USER_ALIGN_TO_BOUNDARY(n)
-#define EIGEN_USER_ALIGN16
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
 #endif
 
+
+#ifndef EIGEN_UNALIGNED_VECTORIZE
+#define EIGEN_UNALIGNED_VECTORIZE 1
+#endif
+
+//----------------------------------------------------------------------
+
+
 #ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
   #define EIGEN_RESTRICT
 #endif
@@ -591,25 +812,26 @@ namespace Eigen {
 // just an empty macro !
 #define EIGEN_EMPTY
 
-#if defined(_MSC_VER) && (_MSC_VER < 1900) && (!defined(__INTEL_COMPILER))
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =;
-#elif defined(__clang__) // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =; \
-  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
-  template <typename OtherDerived> \
-  EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
-#else
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =; \
-  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
-  { \
-    Base::operator=(other); \
-    return *this; \
-  }
+#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 ||  defined(__CUDACC_VER__)) // for older MSVC versions, as well as 1900 && CUDA 8, using the base operator is sufficient (cf Bugs 1000, 1324)
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =;
+#elif EIGEN_COMP_CLANG // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =; \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
+    template <typename OtherDerived> \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
+#else
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =; \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
+    { \
+      Base::operator=(other); \
+      return *this; \
+    }
 #endif
 
+
 /** \internal
  * \brief Macro to manually inherit assignment operators.
  * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined.
@@ -628,32 +850,12 @@ namespace Eigen {
   typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
   typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
   typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
-  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::ref_selector<Derived>::type Nested; \
   typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  typedef typename Eigen::internal::traits<Derived>::StorageIndex StorageIndex; \
   enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
         ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
         Flags = Eigen::internal::traits<Derived>::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
-        SizeAtCompileTime = Base::SizeAtCompileTime, \
-        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
-        IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
-
-
-#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
-  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
-  typedef typename Base::PacketScalar PacketScalar; \
-  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
-  typedef typename Eigen::internal::nested<Derived>::type Nested; \
-  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived>::Index Index; \
-  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
-        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
-        MaxRowsAtCompileTime = Eigen::internal::traits<Derived>::MaxRowsAtCompileTime, \
-        MaxColsAtCompileTime = Eigen::internal::traits<Derived>::MaxColsAtCompileTime, \
-        Flags = Eigen::internal::traits<Derived>::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
         SizeAtCompileTime = Base::SizeAtCompileTime, \
         MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
         IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
@@ -661,6 +863,12 @@ namespace Eigen {
   using Base::const_cast_derived;
 
 
+// FIXME Maybe the EIGEN_DENSE_PUBLIC_INTERFACE could be removed as importing PacketScalar is rarely needed
+#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+  typedef typename Base::PacketScalar PacketScalar;
+
+
 #define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
 #define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
 
@@ -686,24 +894,14 @@ namespace Eigen {
 #define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
                            : ((int)a >= (int)b) ? (int)a : (int)b)
 
-#define EIGEN_ADD_COST(a,b) int(a)==Dynamic || int(b)==Dynamic ? Dynamic : int(a)+int(b)
-
 #define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b)))
 
 #define EIGEN_IMPLIES(a,b) (!(a) || (b))
 
-#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
-  template<typename OtherDerived> \
-  EIGEN_STRONG_INLINE const CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived> \
-  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
-  { \
-    return CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived>(derived(), other.derived()); \
-  }
-
-// the expression type of a cwise product
-#define EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS) \
+// the expression type of a standard coefficient wise binary operation
+#define EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME) \
     CwiseBinaryOp< \
-      internal::scalar_product_op< \
+      EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)< \
           typename internal::traits<LHS>::Scalar, \
           typename internal::traits<RHS>::Scalar \
       >, \
@@ -711,4 +909,84 @@ namespace Eigen {
       const RHS \
     >
 
+#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,OPNAME) \
+  template<typename OtherDerived> \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME) \
+  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+  { \
+    return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME)(derived(), other.derived()); \
+  }
+
+#define EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,TYPEA,TYPEB) \
+  (Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<TYPEA,TYPEB,EIGEN_CAT(EIGEN_CAT(Eigen::internal::scalar_,OPNAME),_op)<TYPEA,TYPEB>  > >::value)
+
+#define EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(EXPR,SCALAR,OPNAME) \
+  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<typename internal::traits<EXPR>::Scalar,SCALAR>, const EXPR, \
+                const typename internal::plain_constant_type<EXPR,SCALAR>::type>
+
+#define EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(SCALAR,EXPR,OPNAME) \
+  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<SCALAR,typename internal::traits<EXPR>::Scalar>, \
+                const typename internal::plain_constant_type<EXPR,SCALAR>::type, const EXPR>
+
+// Workaround for MSVC 2010 (see ML thread "patch with compile for for MSVC 2010")
+#if EIGEN_COMP_MSVC_STRICT<=1600
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) typename internal::enable_if<true,X>::type
+#else
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) X
+#endif
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME) \
+  template <typename T> EIGEN_DEVICE_FUNC inline \
+  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type,OPNAME))\
+  (METHOD)(const T& scalar) const { \
+    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type PromotedT; \
+    return EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,PromotedT,OPNAME)(derived(), \
+           typename internal::plain_constant_type<Derived,PromotedT>::type(derived().rows(), derived().cols(), internal::scalar_constant_op<PromotedT>(scalar))); \
+  }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+  template <typename T> EIGEN_DEVICE_FUNC inline friend \
+  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type,Derived,OPNAME)) \
+  (METHOD)(const T& scalar, const StorageBaseType& matrix) { \
+    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type PromotedT; \
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(PromotedT,Derived,OPNAME)( \
+           typename internal::plain_constant_type<Derived,PromotedT>::type(matrix.derived().rows(), matrix.derived().cols(), internal::scalar_constant_op<PromotedT>(scalar)), matrix.derived()); \
+  }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP(METHOD,OPNAME) \
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME)
+
+
+#ifdef EIGEN_EXCEPTIONS
+#  define EIGEN_THROW_X(X) throw X
+#  define EIGEN_THROW throw
+#  define EIGEN_TRY try
+#  define EIGEN_CATCH(X) catch (X)
+#else
+#  ifdef __CUDA_ARCH__
+#    define EIGEN_THROW_X(X) asm("trap;")
+#    define EIGEN_THROW asm("trap;")
+#  else
+#    define EIGEN_THROW_X(X) std::abort()
+#    define EIGEN_THROW std::abort()
+#  endif
+#  define EIGEN_TRY if (true)
+#  define EIGEN_CATCH(X) else
+#endif
+
+
+#if EIGEN_HAS_CXX11_NOEXCEPT
+#   define EIGEN_INCLUDE_TYPE_TRAITS
+#   define EIGEN_NOEXCEPT noexcept
+#   define EIGEN_NOEXCEPT_IF(x) noexcept(x)
+#   define EIGEN_NO_THROW noexcept(true)
+#   define EIGEN_EXCEPTION_SPEC(X) noexcept(false)
+#else
+#   define EIGEN_NOEXCEPT
+#   define EIGEN_NOEXCEPT_IF(x)
+#   define EIGEN_NO_THROW throw()
+#   define EIGEN_EXCEPTION_SPEC(X) throw(X)
+#endif
+
 #endif // EIGEN_MACROS_H
diff --git a/vendor/eigen/Eigen/src/Core/util/Memory.h b/vendor/eigen/Eigen/src/Core/util/Memory.h
index bc1ea69..c634d7e 100644
--- a/vendor/eigen/Eigen/src/Core/util/Memory.h
+++ b/vendor/eigen/Eigen/src/Core/util/Memory.h
@@ -1,11 +1,12 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1 at gmail.com>
 // Copyright (C) 2009 Kenneth Riddile <kfriddile at yahoo.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel at gmail.com>
 // Copyright (C) 2010 Thomas Capricelli <orzel at freehackers.org>
+// Copyright (C) 2013 Pavel Holoborodko <pavel at holoborodko.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
@@ -31,7 +32,7 @@
 // page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
 // quite safe, at least within the context of glibc, to equate 64-bit with LP64.
 #if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
- && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ )
+ && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ ) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
   #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
 #else
   #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
@@ -41,15 +42,15 @@
 //   See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
 // FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
 //   See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
-#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
+#if defined(__FreeBSD__) && !(EIGEN_ARCH_ARM || EIGEN_ARCH_MIPS) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
   #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
 #else
   #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
 #endif
 
-#if defined(__APPLE__) \
- || defined(_WIN64) \
- || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED \
+#if (EIGEN_OS_MAC && (EIGEN_DEFAULT_ALIGN_BYTES == 16))     \
+ || (EIGEN_OS_WIN64 && (EIGEN_DEFAULT_ALIGN_BYTES == 16))   \
+ || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED              \
  || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
   #define EIGEN_MALLOC_ALREADY_ALIGNED 1
 #else
@@ -58,36 +59,17 @@
 
 #endif
 
-// See bug 554 (http://eigen.tuxfamily.org/bz/show_bug.cgi?id=554)
-// It seems to be unsafe to check _POSIX_ADVISORY_INFO without including unistd.h first.
-// Currently, let's include it only on unix systems:
-#if defined(__unix__) || defined(__unix)
-  #include <unistd.h>
-  #if ((defined __QNXNTO__) || (defined _GNU_SOURCE) || (defined __PGI) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
-    #define EIGEN_HAS_POSIX_MEMALIGN 1
-  #endif
-#endif
-
-#ifndef EIGEN_HAS_POSIX_MEMALIGN
-  #define EIGEN_HAS_POSIX_MEMALIGN 0
-#endif
-
-#ifdef EIGEN_VECTORIZE_SSE
-  #define EIGEN_HAS_MM_MALLOC 1
-#else
-  #define EIGEN_HAS_MM_MALLOC 0
-#endif
-
 namespace Eigen {
 
 namespace internal {
 
+EIGEN_DEVICE_FUNC 
 inline void throw_std_bad_alloc()
 {
   #ifdef EIGEN_EXCEPTIONS
     throw std::bad_alloc();
   #else
-    std::size_t huge = -1;
+    std::size_t huge = static_cast<std::size_t>(-1);
     new int[huge];
   #endif
 }
@@ -103,9 +85,9 @@ inline void throw_std_bad_alloc()
   */
 inline void* handmade_aligned_malloc(std::size_t size)
 {
-  void *original = std::malloc(size+16);
+  void *original = std::malloc(size+EIGEN_DEFAULT_ALIGN_BYTES);
   if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(15))) + 16);
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
   *(reinterpret_cast<void**>(aligned) - 1) = original;
   return aligned;
 }
@@ -118,7 +100,7 @@ inline void handmade_aligned_free(void *ptr)
 
 /** \internal
   * \brief Reallocates aligned memory.
-  * Since we know that our handmade version is based on std::realloc
+  * Since we know that our handmade version is based on std::malloc
   * we can use std::realloc to implement efficient reallocation.
   */
 inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t = 0)
@@ -126,9 +108,9 @@ inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t =
   if (ptr == 0) return handmade_aligned_malloc(size);
   void *original = *(reinterpret_cast<void**>(ptr) - 1);
   std::ptrdiff_t previous_offset = static_cast<char *>(ptr)-static_cast<char *>(original);
-  original = std::realloc(original,size+16);
+  original = std::realloc(original,size+EIGEN_DEFAULT_ALIGN_BYTES);
   if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(15))) + 16);
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
   void *previous_aligned = static_cast<char *>(original)+previous_offset;
   if(aligned!=previous_aligned)
     std::memmove(aligned, previous_aligned, size);
@@ -138,92 +120,46 @@ inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t =
 }
 
 /*****************************************************************************
-*** Implementation of generic aligned realloc (when no realloc can be used)***
-*****************************************************************************/
-
-void* aligned_malloc(std::size_t size);
-void  aligned_free(void *ptr);
-
-/** \internal
-  * \brief Reallocates aligned memory.
-  * Allows reallocation with aligned ptr types. This implementation will
-  * always create a new memory chunk and copy the old data.
-  */
-inline void* generic_aligned_realloc(void* ptr, size_t size, size_t old_size)
-{
-  if (ptr==0)
-    return aligned_malloc(size);
-
-  if (size==0)
-  {
-    aligned_free(ptr);
-    return 0;
-  }
-
-  void* newptr = aligned_malloc(size);
-  if (newptr == 0)
-  {
-    #ifdef EIGEN_HAS_ERRNO
-    errno = ENOMEM; // according to the standard
-    #endif
-    return 0;
-  }
-
-  if (ptr != 0)
-  {
-    std::memcpy(newptr, ptr, (std::min)(size,old_size));
-    aligned_free(ptr);
-  }
-
-  return newptr;
-}
-
-/*****************************************************************************
 *** Implementation of portable aligned versions of malloc/free/realloc     ***
 *****************************************************************************/
 
 #ifdef EIGEN_NO_MALLOC
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {
   eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
 }
 #elif defined EIGEN_RUNTIME_NO_MALLOC
-inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
 {
   static bool value = true;
   if (update == 1)
     value = new_value;
   return value;
 }
-inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
-inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
+EIGEN_DEVICE_FUNC inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {
   eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
 }
 #else 
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {}
 #endif
 
-/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
+/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 or 32 bytes alignment depending on the requirements.
   * On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
   */
-inline void* aligned_malloc(size_t size)
+EIGEN_DEVICE_FUNC inline void* aligned_malloc(std::size_t size)
 {
   check_that_malloc_is_allowed();
 
   void *result;
-  #if !EIGEN_ALIGN
+  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
     result = std::malloc(size);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
-    result = std::malloc(size);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    if(posix_memalign(&result, 16, size)) result = 0;
-  #elif EIGEN_HAS_MM_MALLOC
-    result = _mm_malloc(size, 16);
-  #elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-    result = _aligned_malloc(size, 16);
+    #if EIGEN_DEFAULT_ALIGN_BYTES==16
+    eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade alignd memory allocator.");
+    #endif
   #else
     result = handmade_aligned_malloc(size);
   #endif
@@ -235,50 +171,27 @@ inline void* aligned_malloc(size_t size)
 }
 
 /** \internal Frees memory allocated with aligned_malloc. */
-inline void aligned_free(void *ptr)
+EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
 {
-  #if !EIGEN_ALIGN
-    std::free(ptr);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
+  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
     std::free(ptr);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    std::free(ptr);
-  #elif EIGEN_HAS_MM_MALLOC
-    _mm_free(ptr);
-  #elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-    _aligned_free(ptr);
   #else
     handmade_aligned_free(ptr);
   #endif
 }
 
 /**
-* \internal
-* \brief Reallocates an aligned block of memory.
-* \throws std::bad_alloc on allocation failure
-**/
-inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
+  * \internal
+  * \brief Reallocates an aligned block of memory.
+  * \throws std::bad_alloc on allocation failure
+  */
+inline void* aligned_realloc(void *ptr, std::size_t new_size, std::size_t old_size)
 {
   EIGEN_UNUSED_VARIABLE(old_size);
 
   void *result;
-#if !EIGEN_ALIGN
+#if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
   result = std::realloc(ptr,new_size);
-#elif EIGEN_MALLOC_ALREADY_ALIGNED
-  result = std::realloc(ptr,new_size);
-#elif EIGEN_HAS_POSIX_MEMALIGN
-  result = generic_aligned_realloc(ptr,new_size,old_size);
-#elif EIGEN_HAS_MM_MALLOC
-  // The defined(_mm_free) is just here to verify that this MSVC version
-  // implements _mm_malloc/_mm_free based on the corresponding _aligned_
-  // functions. This may not always be the case and we just try to be safe.
-  #if defined(_MSC_VER) && (!defined(_WIN32_WCE)) && defined(_mm_free)
-    result = _aligned_realloc(ptr,new_size,16);
-  #else
-    result = generic_aligned_realloc(ptr,new_size,old_size);
-  #endif
-#elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-  result = _aligned_realloc(ptr,new_size,16);
 #else
   result = handmade_aligned_realloc(ptr,new_size,old_size);
 #endif
@@ -296,12 +209,12 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
 /** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
   * On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
   */
-template<bool Align> inline void* conditional_aligned_malloc(size_t size)
+template<bool Align> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc(std::size_t size)
 {
   return aligned_malloc(size);
 }
 
-template<> inline void* conditional_aligned_malloc<false>(size_t size)
+template<> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc<false>(std::size_t size)
 {
   check_that_malloc_is_allowed();
 
@@ -312,22 +225,22 @@ template<> inline void* conditional_aligned_malloc<false>(size_t size)
 }
 
 /** \internal Frees memory allocated with conditional_aligned_malloc */
-template<bool Align> inline void conditional_aligned_free(void *ptr)
+template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void *ptr)
 {
   aligned_free(ptr);
 }
 
-template<> inline void conditional_aligned_free<false>(void *ptr)
+template<> EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void *ptr)
 {
   std::free(ptr);
 }
 
-template<bool Align> inline void* conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
+template<bool Align> inline void* conditional_aligned_realloc(void* ptr, std::size_t new_size, std::size_t old_size)
 {
   return aligned_realloc(ptr, new_size, old_size);
 }
 
-template<> inline void* conditional_aligned_realloc<false>(void* ptr, size_t new_size, size_t)
+template<> inline void* conditional_aligned_realloc<false>(void* ptr, std::size_t new_size, std::size_t)
 {
   return std::realloc(ptr, new_size);
 }
@@ -336,33 +249,43 @@ template<> inline void* conditional_aligned_realloc<false>(void* ptr, size_t new
 *** Construction/destruction of array elements                             ***
 *****************************************************************************/
 
-/** \internal Constructs the elements of an array.
-  * The \a size parameter tells on how many objects to call the constructor of T.
-  */
-template<typename T> inline T* construct_elements_of_array(T *ptr, size_t size)
-{
-  for (size_t i=0; i < size; ++i) ::new (ptr + i) T;
-  return ptr;
-}
-
 /** \internal Destructs the elements of an array.
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline void destruct_elements_of_array(T *ptr, std::size_t size)
 {
   // always destruct an array starting from the end.
   if(ptr)
     while(size) ptr[--size].~T();
 }
 
+/** \internal Constructs the elements of an array.
+  * The \a size parameter tells on how many objects to call the constructor of T.
+  */
+template<typename T> EIGEN_DEVICE_FUNC inline T* construct_elements_of_array(T *ptr, std::size_t size)
+{
+  std::size_t i;
+  EIGEN_TRY
+  {
+      for (i = 0; i < size; ++i) ::new (ptr + i) T;
+      return ptr;
+  }
+  EIGEN_CATCH(...)
+  {
+    destruct_elements_of_array(ptr, i);
+    EIGEN_THROW;
+  }
+  return NULL;
+}
+
 /*****************************************************************************
 *** Implementation of aligned new/delete-like functions                    ***
 *****************************************************************************/
 
 template<typename T>
-EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void check_size_for_overflow(std::size_t size)
 {
-  if(size > size_t(-1) / sizeof(T))
+  if(size > std::size_t(-1) / sizeof(T))
     throw_std_bad_alloc();
 }
 
@@ -370,24 +293,42 @@ EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
   * On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
   * The default constructor of T is called.
   */
-template<typename T> inline T* aligned_new(size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline T* aligned_new(std::size_t size)
 {
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
-  return construct_elements_of_array(result, size);
+  EIGEN_TRY
+  {
+    return construct_elements_of_array(result, size);
+  }
+  EIGEN_CATCH(...)
+  {
+    aligned_free(result);
+    EIGEN_THROW;
+  }
+  return result;
 }
 
-template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new(std::size_t size)
 {
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
-  return construct_elements_of_array(result, size);
+  EIGEN_TRY
+  {
+    return construct_elements_of_array(result, size);
+  }
+  EIGEN_CATCH(...)
+  {
+    conditional_aligned_free<Align>(result);
+    EIGEN_THROW;
+  }
+  return result;
 }
 
 /** \internal Deletes objects constructed with aligned_new
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T> inline void aligned_delete(T *ptr, size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline void aligned_delete(T *ptr, std::size_t size)
 {
   destruct_elements_of_array<T>(ptr, size);
   aligned_free(ptr);
@@ -396,13 +337,13 @@ template<typename T> inline void aligned_delete(T *ptr, size_t size)
 /** \internal Deletes objects constructed with conditional_aligned_new
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr, size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete(T *ptr, std::size_t size)
 {
   destruct_elements_of_array<T>(ptr, size);
   conditional_aligned_free<Align>(ptr);
 }
 
-template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_realloc_new(T* pts, std::size_t new_size, std::size_t old_size)
 {
   check_size_for_overflow<T>(new_size);
   check_size_for_overflow<T>(old_size);
@@ -410,23 +351,43 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pt
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
   if(new_size > old_size)
-    construct_elements_of_array(result+old_size, new_size-old_size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result+old_size, new_size-old_size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
 
-template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new_auto(std::size_t size)
 {
   if(size==0)
     return 0; // short-cut. Also fixes Bug 884
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
   if(NumTraits<T>::RequireInitialization)
-    construct_elements_of_array(result, size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result, size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
-template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, size_t new_size, size_t old_size)
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, std::size_t new_size, std::size_t old_size)
 {
   check_size_for_overflow<T>(new_size);
   check_size_for_overflow<T>(old_size);
@@ -434,11 +395,21 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
   if(NumTraits<T>::RequireInitialization && (new_size > old_size))
-    construct_elements_of_array(result+old_size, new_size-old_size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result+old_size, new_size-old_size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
-template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *ptr, size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete_auto(T *ptr, std::size_t size)
 {
   if(NumTraits<T>::RequireInitialization)
     destruct_elements_of_array<T>(ptr, size);
@@ -447,51 +418,62 @@ template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *
 
 /****************************************************************************/
 
-/** \internal Returns the index of the first element of the array that is well aligned for vectorization.
+/** \internal Returns the index of the first element of the array that is well aligned with respect to the requested \a Alignment.
   *
+  * \tparam Alignment requested alignment in Bytes.
   * \param array the address of the start of the array
   * \param size the size of the array
   *
-  * \note If no element of the array is well aligned, the size of the array is returned. Typically,
-  * for example with SSE, "well aligned" means 16-byte-aligned. If vectorization is disabled or if the
+  * \note If no element of the array is well aligned or the requested alignment is not a multiple of a scalar,
+  * the size of the array is returned. For example with SSE, the requested alignment is typically 16-bytes. If
   * packet size for the given scalar type is 1, then everything is considered well-aligned.
   *
-  * \note If the scalar type is vectorizable, we rely on the following assumptions: sizeof(Scalar) is a
-  * power of 2, the packet size in bytes is also a power of 2, and is a multiple of sizeof(Scalar). On the
-  * other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
+  * \note Otherwise, if the Alignment is larger that the scalar size, we rely on the assumptions that sizeof(Scalar) is a
+  * power of 2. On the other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
   * example with Scalar=double on certain 32-bit platforms, see bug #79.
   *
   * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
+  * \sa first_default_aligned()
   */
-template<typename Scalar, typename Index>
-static inline Index first_aligned(const Scalar* array, Index size)
+template<int Alignment, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_aligned(const Scalar* array, Index size)
 {
-  static const Index PacketSize = packet_traits<Scalar>::size;
-  static const Index PacketAlignedMask = PacketSize-1;
+  const Index ScalarSize = sizeof(Scalar);
+  const Index AlignmentSize = Alignment / ScalarSize;
+  const Index AlignmentMask = AlignmentSize-1;
 
-  if(PacketSize==1)
+  if(AlignmentSize<=1)
   {
-    // Either there is no vectorization, or a packet consists of exactly 1 scalar so that all elements
-    // of the array have the same alignment.
+    // Either the requested alignment if smaller than a scalar, or it exactly match a 1 scalar
+    // so that all elements of the array have the same alignment.
     return 0;
   }
-  else if(size_t(array) & (sizeof(Scalar)-1))
+  else if( (UIntPtr(array) & (sizeof(Scalar)-1)) || (Alignment%ScalarSize)!=0)
   {
-    // There is vectorization for this scalar type, but the array is not aligned to the size of a single scalar.
+    // The array is not aligned to the size of a single scalar, or the requested alignment is not a multiple of the scalar size.
     // Consequently, no element of the array is well aligned.
     return size;
   }
   else
   {
-    return std::min<Index>( (PacketSize - (Index((size_t(array)/sizeof(Scalar))) & PacketAlignedMask))
-                           & PacketAlignedMask, size);
+    Index first = (AlignmentSize - (Index((UIntPtr(array)/sizeof(Scalar))) & AlignmentMask)) & AlignmentMask;
+    return (first < size) ? first : size;
   }
 }
 
+/** \internal Returns the index of the first element of the array that is well aligned with respect the largest packet requirement.
+   * \sa first_aligned(Scalar*,Index) and first_default_aligned(DenseBase<Derived>) */
+template<typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_default_aligned(const Scalar* array, Index size)
+{
+  typedef typename packet_traits<Scalar>::type DefaultPacketType;
+  return first_aligned<unpacket_traits<DefaultPacketType>::alignment>(array, size);
+}
+
 /** \internal Returns the smallest integer multiple of \a base and greater or equal to \a size
   */ 
 template<typename Index> 
-inline static Index first_multiple(Index size, Index base)
+inline Index first_multiple(Index size, Index base)
 {
   return ((size+base-1)/base)*base;
 }
@@ -500,21 +482,59 @@ inline static Index first_multiple(Index size, Index base)
 // use memcpy on trivial types, i.e., on types that does not require an initialization ctor.
 template<typename T, bool UseMemcpy> struct smart_copy_helper;
 
-template<typename T> void smart_copy(const T* start, const T* end, T* target)
+template<typename T> EIGEN_DEVICE_FUNC void smart_copy(const T* start, const T* end, T* target)
 {
   smart_copy_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
 }
 
 template<typename T> struct smart_copy_helper<T,true> {
-  static inline void run(const T* start, const T* end, T* target)
-  { memcpy(target, start, std::ptrdiff_t(end)-std::ptrdiff_t(start)); }
+  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
+  {
+    IntPtr size = IntPtr(end)-IntPtr(start);
+    if(size==0) return;
+    eigen_internal_assert(start!=0 && end!=0 && target!=0);
+    memcpy(target, start, size);
+  }
 };
 
 template<typename T> struct smart_copy_helper<T,false> {
-  static inline void run(const T* start, const T* end, T* target)
+  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
   { std::copy(start, end, target); }
 };
 
+// intelligent memmove. falls back to std::memmove for POD types, uses std::copy otherwise. 
+template<typename T, bool UseMemmove> struct smart_memmove_helper;
+
+template<typename T> void smart_memmove(const T* start, const T* end, T* target)
+{
+  smart_memmove_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
+}
+
+template<typename T> struct smart_memmove_helper<T,true> {
+  static inline void run(const T* start, const T* end, T* target)
+  {
+    IntPtr size = IntPtr(end)-IntPtr(start);
+    if(size==0) return;
+    eigen_internal_assert(start!=0 && end!=0 && target!=0);
+    std::memmove(target, start, size);
+  }
+};
+
+template<typename T> struct smart_memmove_helper<T,false> {
+  static inline void run(const T* start, const T* end, T* target)
+  { 
+    if (UIntPtr(target) < UIntPtr(start))
+    {
+      std::copy(start, end, target);
+    }
+    else                                 
+    {
+      std::ptrdiff_t count = (std::ptrdiff_t(end)-std::ptrdiff_t(start)) / sizeof(T);
+      std::copy_backward(start, end, target + count); 
+    }
+  }
+};
+
 
 /*****************************************************************************
 *** Implementation of runtime stack allocation (falling back to malloc)    ***
@@ -523,16 +543,16 @@ template<typename T> struct smart_copy_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__) || (defined alloca)
+  #if EIGEN_OS_LINUX || EIGEN_OS_MAC || (defined alloca)
     #define EIGEN_ALLOCA alloca
-  #elif defined(_MSC_VER)
+  #elif EIGEN_COMP_MSVC
     #define EIGEN_ALLOCA _alloca
   #endif
 #endif
 
 // This helper class construct the allocated memory, and takes care of destructing and freeing the handled data
 // at destruction time. In practice this helper class is mainly useful to avoid memory leak in case of exceptions.
-template<typename T> class aligned_stack_memory_handler
+template<typename T> class aligned_stack_memory_handler : noncopyable
 {
   public:
     /* Creates a stack_memory_handler responsible for the buffer \a ptr of size \a size.
@@ -541,7 +561,7 @@ template<typename T> class aligned_stack_memory_handler
      * In this case, the buffer elements will also be destructed when this handler will be destructed.
      * Finally, if \a dealloc is true, then the pointer \a ptr is freed.
      **/
-    aligned_stack_memory_handler(T* ptr, size_t size, bool dealloc)
+    aligned_stack_memory_handler(T* ptr, std::size_t size, bool dealloc)
       : m_ptr(ptr), m_size(size), m_deallocate(dealloc)
     {
       if(NumTraits<T>::RequireInitialization && m_ptr)
@@ -556,10 +576,34 @@ template<typename T> class aligned_stack_memory_handler
     }
   protected:
     T* m_ptr;
-    size_t m_size;
+    std::size_t m_size;
     bool m_deallocate;
 };
 
+template<typename T> class scoped_array : noncopyable
+{
+  T* m_ptr;
+public:
+  explicit scoped_array(std::ptrdiff_t size)
+  {
+    m_ptr = new T[size];
+  }
+  ~scoped_array()
+  {
+    delete[] m_ptr;
+  }
+  T& operator[](std::ptrdiff_t i) { return m_ptr[i]; }
+  const T& operator[](std::ptrdiff_t i) const { return m_ptr[i]; }
+  T* &ptr() { return m_ptr; }
+  const T* ptr() const { return m_ptr; }
+  operator const T*() const { return m_ptr; }
+};
+
+template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
+{
+  std::swap(a.ptr(),b.ptr());
+}
+    
 } // end namespace internal
 
 /** \internal
@@ -578,11 +622,13 @@ template<typename T> class aligned_stack_memory_handler
   * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
   */
 #ifdef EIGEN_ALLOCA
-
-  #if defined(__arm__) || defined(_WIN32)
-    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((reinterpret_cast<size_t>(EIGEN_ALLOCA(SIZE+16)) & ~(size_t(15))) + 16)
+  
+  #if EIGEN_DEFAULT_ALIGN_BYTES>0
+    // We always manually re-align the result of EIGEN_ALLOCA.
+    // If alloca is already aligned, the compiler should be smart enough to optimize away the re-alignment.
+    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((internal::UIntPtr(EIGEN_ALLOCA(SIZE+EIGEN_DEFAULT_ALIGN_BYTES-1)) + EIGEN_DEFAULT_ALIGN_BYTES-1) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1)))
   #else
-    #define EIGEN_ALIGNED_ALLOCA EIGEN_ALLOCA
+    #define EIGEN_ALIGNED_ALLOCA(SIZE) EIGEN_ALLOCA(SIZE)
   #endif
 
   #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
@@ -607,41 +653,33 @@ template<typename T> class aligned_stack_memory_handler
 *** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
 *****************************************************************************/
 
-#if EIGEN_ALIGN
-  #ifdef EIGEN_EXCEPTIONS
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        try { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
-        catch (...) { return 0; } \
+#if EIGEN_MAX_ALIGN_BYTES!=0
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(std::size_t size, const std::nothrow_t&) EIGEN_NO_THROW { \
+        EIGEN_TRY { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
+        EIGEN_CATCH (...) { return 0; } \
       }
-  #else
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
-      }
-  #endif
-
   #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
-      void *operator new(size_t size) { \
+      void *operator new(std::size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
       } \
-      void *operator new[](size_t size) { \
+      void *operator new[](std::size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
       } \
-      void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete(void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete(void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete(void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
       /* in-place new and delete. since (at least afaik) there is no actual   */ \
       /* memory allocated we can safely let the default implementation handle */ \
       /* this particular case. */ \
-      static void *operator new(size_t size, void *ptr) { return ::operator new(size,ptr); } \
-      static void *operator new[](size_t size, void* ptr) { return ::operator new[](size,ptr); } \
-      void operator delete(void * memory, void *ptr) throw() { return ::operator delete(memory,ptr); } \
-      void operator delete[](void * memory, void *ptr) throw() { return ::operator delete[](memory,ptr); } \
+      static void *operator new(std::size_t size, void *ptr) { return ::operator new(size,ptr); } \
+      static void *operator new[](std::size_t size, void* ptr) { return ::operator new[](size,ptr); } \
+      void operator delete(void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete(memory,ptr); } \
+      void operator delete[](void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete[](memory,ptr); } \
       /* nothrow-new (returns zero instead of std::bad_alloc) */ \
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void operator delete(void *ptr, const std::nothrow_t&) throw() { \
+      void operator delete(void *ptr, const std::nothrow_t&) EIGEN_NO_THROW { \
         Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
       } \
       typedef void eigen_aligned_operator_new_marker_type;
@@ -651,7 +689,7 @@ template<typename T> class aligned_stack_memory_handler
 
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0)))
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%EIGEN_MAX_ALIGN_BYTES==0)))
 
 /****************************************************************************/
 
@@ -669,96 +707,56 @@ template<typename T> class aligned_stack_memory_handler
 * std::map< int, Vector3f > my_map_vec3;
 * \endcode
 *
-* \sa \ref TopicStlContainers.
+* \sa \blank \ref TopicStlContainers.
 */
 template<class T>
-class aligned_allocator
+class aligned_allocator : public std::allocator<T>
 {
 public:
-    typedef size_t    size_type;
-    typedef std::ptrdiff_t difference_type;
-    typedef T*        pointer;
-    typedef const T*  const_pointer;
-    typedef T&        reference;
-    typedef const T&  const_reference;
-    typedef T         value_type;
-
-    template<class U>
-    struct rebind
-    {
-        typedef aligned_allocator<U> other;
-    };
-
-    pointer address( reference value ) const
-    {
-        return &value;
-    }
-
-    const_pointer address( const_reference value ) const
-    {
-        return &value;
-    }
-
-    aligned_allocator()
-    {
-    }
-
-    aligned_allocator( const aligned_allocator& )
-    {
-    }
-
-    template<class U>
-    aligned_allocator( const aligned_allocator<U>& )
-    {
-    }
-
-    ~aligned_allocator()
-    {
-    }
-
-    size_type max_size() const
-    {
-        return (std::numeric_limits<size_type>::max)();
-    }
+  typedef std::size_t     size_type;
+  typedef std::ptrdiff_t  difference_type;
+  typedef T*              pointer;
+  typedef const T*        const_pointer;
+  typedef T&              reference;
+  typedef const T&        const_reference;
+  typedef T               value_type;
+
+  template<class U>
+  struct rebind
+  {
+    typedef aligned_allocator<U> other;
+  };
 
-    pointer allocate( size_type num, const void* hint = 0 )
-    {
-        EIGEN_UNUSED_VARIABLE(hint);
-        internal::check_size_for_overflow<T>(num);
-        return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
-    }
+  aligned_allocator() : std::allocator<T>() {}
 
-    void construct( pointer p, const T& value )
-    {
-        ::new( p ) T( value );
-    }
+  aligned_allocator(const aligned_allocator& other) : std::allocator<T>(other) {}
 
-    void destroy( pointer p )
-    {
-        p->~T();
-    }
+  template<class U>
+  aligned_allocator(const aligned_allocator<U>& other) : std::allocator<T>(other) {}
 
-    void deallocate( pointer p, size_type /*num*/ )
-    {
-        internal::aligned_free( p );
-    }
+  ~aligned_allocator() {}
 
-    bool operator!=(const aligned_allocator<T>& ) const
-    { return false; }
+  pointer allocate(size_type num, const void* /*hint*/ = 0)
+  {
+    internal::check_size_for_overflow<T>(num);
+    return static_cast<pointer>( internal::aligned_malloc(num * sizeof(T)) );
+  }
 
-    bool operator==(const aligned_allocator<T>& ) const
-    { return true; }
+  void deallocate(pointer p, size_type /*num*/)
+  {
+    internal::aligned_free(p);
+  }
 };
 
 //---------- Cache sizes ----------
 
 #if !defined(EIGEN_NO_CPUID)
-#  if defined(__GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
-#    if defined(__PIC__) && defined(__i386__)
+#  if EIGEN_COMP_GNUC && EIGEN_ARCH_i386_OR_x86_64
+#    if defined(__PIC__) && EIGEN_ARCH_i386
        // Case for x86 with PIC
 #      define EIGEN_CPUID(abcd,func,id) \
          __asm__ __volatile__ ("xchgl %%ebx, %k1;cpuid; xchgl %%ebx,%k1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
-#    elif defined(__PIC__) && defined(__x86_64__)
+#    elif defined(__PIC__) && EIGEN_ARCH_x86_64
        // Case for x64 with PIC. In theory this is only a problem with recent gcc and with medium or large code model, not with the default small code model.
        // However, we cannot detect which code model is used, and the xchg overhead is negligible anyway.
 #      define EIGEN_CPUID(abcd,func,id) \
@@ -768,8 +766,8 @@ public:
 #      define EIGEN_CPUID(abcd,func,id) \
          __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id) );
 #    endif
-#  elif defined(_MSC_VER)
-#    if (_MSC_VER > 1500) && ( defined(_M_IX86) || defined(_M_X64) )
+#  elif EIGEN_COMP_MSVC
+#    if (EIGEN_COMP_MSVC > 1500) && EIGEN_ARCH_i386_OR_x86_64
 #      define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
 #    endif
 #  endif
diff --git a/vendor/eigen/Eigen/src/Core/util/Meta.h b/vendor/eigen/Eigen/src/Core/util/Meta.h
index 71d5871..7f63707 100644
--- a/vendor/eigen/Eigen/src/Core/util/Meta.h
+++ b/vendor/eigen/Eigen/src/Core/util/Meta.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,8 +11,27 @@
 #ifndef EIGEN_META_H
 #define EIGEN_META_H
 
+#if defined(__CUDA_ARCH__)
+#include <cfloat>
+#include <math_constants.h>
+#endif
+
+#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+#include <cstdint>
+#endif
+
 namespace Eigen {
 
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
+
+/**
+ * \brief The Index type as used for the API.
+ * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+ * \sa \blank \ref TopicPreprocessorDirectives, StorageIndex.
+ */
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE Index;
+
 namespace internal {
 
 /** \internal
@@ -22,6 +41,16 @@ namespace internal {
   * we however don't want to add a dependency to Boost.
   */
 
+// Only recent versions of ICC complain about using ptrdiff_t to hold pointers,
+// and older versions do not provide *intptr_t types.
+#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+typedef std::intptr_t  IntPtr;
+typedef std::uintptr_t UIntPtr;
+#else
+typedef std::ptrdiff_t IntPtr;
+typedef std::size_t UIntPtr;
+#endif
+
 struct true_type {  enum { value = 1 }; };
 struct false_type { enum { value = 0 }; };
 
@@ -68,6 +97,18 @@ template<> struct is_arithmetic<unsigned int>  { enum { value = true }; };
 template<> struct is_arithmetic<signed long>   { enum { value = true }; };
 template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
 
+template<typename T> struct is_integral        { enum { value = false }; };
+template<> struct is_integral<bool>            { enum { value = true }; };
+template<> struct is_integral<char>            { enum { value = true }; };
+template<> struct is_integral<signed char>     { enum { value = true }; };
+template<> struct is_integral<unsigned char>   { enum { value = true }; };
+template<> struct is_integral<signed short>    { enum { value = true }; };
+template<> struct is_integral<unsigned short>  { enum { value = true }; };
+template<> struct is_integral<signed int>      { enum { value = true }; };
+template<> struct is_integral<unsigned int>    { enum { value = true }; };
+template<> struct is_integral<signed long>     { enum { value = true }; };
+template<> struct is_integral<unsigned long>   { enum { value = true }; };
+
 template <typename T> struct add_const { typedef const T type; };
 template <typename T> struct add_const<T&> { typedef T& type; };
 
@@ -80,29 +121,163 @@ template<typename T> struct add_const_on_value_type<T*>        { typedef T const
 template<typename T> struct add_const_on_value_type<T* const>  { typedef T const* const type; };
 template<typename T> struct add_const_on_value_type<T const* const>  { typedef T const* const type; };
 
+
+template<typename From, typename To>
+struct is_convertible_impl
+{
+private:
+  struct any_conversion
+  {
+    template <typename T> any_conversion(const volatile T&);
+    template <typename T> any_conversion(T&);
+  };
+  struct yes {int a[1];};
+  struct no  {int a[2];};
+
+  static yes test(const To&, int);
+  static no  test(any_conversion, ...);
+
+public:
+  static From ms_from;
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  enum { value = sizeof(test(ms_from, 0))==sizeof(yes) };
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
+};
+
+template<typename From, typename To>
+struct is_convertible
+{
+  enum { value = is_convertible_impl<typename remove_all<From>::type,
+                                     typename remove_all<To  >::type>::value };
+};
+
 /** \internal Allows to enable/disable an overload
   * according to a compile time condition.
   */
-template<bool Condition, typename T> struct enable_if;
+template<bool Condition, typename T=void> struct enable_if;
 
 template<typename T> struct enable_if<true,T>
 { typedef T type; };
 
+#if defined(__CUDA_ARCH__)
+#if !defined(__FLT_EPSILON__)
+#define __FLT_EPSILON__ FLT_EPSILON
+#define __DBL_EPSILON__ DBL_EPSILON
+#endif
 
+namespace device {
+
+template<typename T> struct numeric_limits
+{
+  EIGEN_DEVICE_FUNC
+  static T epsilon() { return 0; }
+  static T (max)() { assert(false && "Highest not supported for this type"); }
+  static T (min)() { assert(false && "Lowest not supported for this type"); }
+  static T infinity() { assert(false && "Infinity not supported for this type"); }
+  static T quiet_NaN() { assert(false && "quiet_NaN not supported for this type"); }
+};
+template<> struct numeric_limits<float>
+{
+  EIGEN_DEVICE_FUNC
+  static float epsilon() { return __FLT_EPSILON__; }
+  EIGEN_DEVICE_FUNC
+  static float (max)() { return CUDART_MAX_NORMAL_F; }
+  EIGEN_DEVICE_FUNC
+  static float (min)() { return FLT_MIN; }
+  EIGEN_DEVICE_FUNC
+  static float infinity() { return CUDART_INF_F; }
+  EIGEN_DEVICE_FUNC
+  static float quiet_NaN() { return CUDART_NAN_F; }
+};
+template<> struct numeric_limits<double>
+{
+  EIGEN_DEVICE_FUNC
+  static double epsilon() { return __DBL_EPSILON__; }
+  EIGEN_DEVICE_FUNC
+  static double (max)() { return DBL_MAX; }
+  EIGEN_DEVICE_FUNC
+  static double (min)() { return DBL_MIN; }
+  EIGEN_DEVICE_FUNC
+  static double infinity() { return CUDART_INF; }
+  EIGEN_DEVICE_FUNC
+  static double quiet_NaN() { return CUDART_NAN; }
+};
+template<> struct numeric_limits<int>
+{
+  EIGEN_DEVICE_FUNC
+  static int epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static int (max)() { return INT_MAX; }
+  EIGEN_DEVICE_FUNC
+  static int (min)() { return INT_MIN; }
+};
+template<> struct numeric_limits<unsigned int>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned int epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned int (max)() { return UINT_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned int (min)() { return 0; }
+};
+template<> struct numeric_limits<long>
+{
+  EIGEN_DEVICE_FUNC
+  static long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static long (max)() { return LONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static long (min)() { return LONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long (max)() { return ULONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long (min)() { return 0; }
+};
+template<> struct numeric_limits<long long>
+{
+  EIGEN_DEVICE_FUNC
+  static long long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static long long (max)() { return LLONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static long long (min)() { return LLONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long long>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned long long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long long (max)() { return ULLONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long long (min)() { return 0; }
+};
+
+}
+
+#endif
 
 /** \internal
   * A base class do disable default copy ctor and copy assignement operator.
   */
 class noncopyable
 {
-  noncopyable(const noncopyable&);
-  const noncopyable& operator=(const noncopyable&);
+  EIGEN_DEVICE_FUNC noncopyable(const noncopyable&);
+  EIGEN_DEVICE_FUNC const noncopyable& operator=(const noncopyable&);
 protected:
-  noncopyable() {}
-  ~noncopyable() {}
+  EIGEN_DEVICE_FUNC noncopyable() {}
+  EIGEN_DEVICE_FUNC ~noncopyable() {}
 };
 
-
 /** \internal
   * Convenient struct to get the result type of a unary or binary functor.
   *
@@ -110,14 +285,20 @@ protected:
   * upcoming next STL generation (using a templated result member).
   * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
   */
-template<typename T> struct result_of {};
+#if EIGEN_HAS_STD_RESULT_OF
+template<typename T> struct result_of {
+  typedef typename std::result_of<T>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+#else
+template<typename T> struct result_of { };
 
 struct has_none {int a[1];};
 struct has_std_result_type {int a[2];};
 struct has_tr1_result {int a[3];};
 
 template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
-struct unary_result_of_select {typedef ArgType type;};
+struct unary_result_of_select {typedef typename internal::remove_all<ArgType>::type type;};
 
 template<typename Func, typename ArgType>
 struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
@@ -128,10 +309,10 @@ struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef ty
 template<typename Func, typename ArgType>
 struct result_of<Func(ArgType)> {
     template<typename T>
-    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
     template<typename T>
-    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
-    static has_none            testFunctor(...);
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
+    static has_none               testFunctor(...);
 
     // note that the following indirection is needed for gcc-3.3
     enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
@@ -139,7 +320,7 @@ struct result_of<Func(ArgType)> {
 };
 
 template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
-struct binary_result_of_select {typedef ArgType0 type;};
+struct binary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
 
 template<typename Func, typename ArgType0, typename ArgType1>
 struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
@@ -152,16 +333,83 @@ struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
 template<typename Func, typename ArgType0, typename ArgType1>
 struct result_of<Func(ArgType0,ArgType1)> {
     template<typename T>
-    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
     template<typename T>
-    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
-    static has_none            testFunctor(...);
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
+    static has_none               testFunctor(...);
 
     // note that the following indirection is needed for gcc-3.3
     enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
     typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
 };
 
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2, int SizeOf=sizeof(has_none)>
+struct ternary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1,ArgType2)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct result_of<Func(ArgType0,ArgType1,ArgType2)> {
+    template<typename T>
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1,ArgType2)>::type const * = 0);
+    static has_none               testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, FunctorType>::type type;
+};
+#endif
+
+struct meta_yes { char a[1]; };
+struct meta_no  { char a[2]; };
+
+// Check whether T::ReturnType does exist
+template <typename T>
+struct has_ReturnType
+{
+  template <typename C> static meta_yes testFunctor(typename C::ReturnType const *);
+  template <typename C> static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor<T>(0)) == sizeof(meta_yes) };
+};
+
+template<typename T> const T* return_ptr();
+
+template <typename T, typename IndexType=Index>
+struct has_nullary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()())>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_unary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0)))>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_binary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0),IndexType(0)))>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
 /** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
   * Usage example: \code meta_sqrt<1023>::ret \endcode
   */
@@ -185,37 +433,26 @@ class meta_sqrt
 template<int Y, int InfX, int SupX>
 class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
 
-/** \internal determines whether the product of two numeric types is allowed and what the return type is */
-template<typename T, typename U> struct scalar_product_traits
-{
-  enum { Defined = 0 };
-};
 
-template<typename T> struct scalar_product_traits<T,T>
+/** \internal Computes the least common multiple of two positive integer A and B
+  * at compile-time. It implements a naive algorithm testing all multiples of A.
+  * It thus works better if A>=B.
+  */
+template<int A, int B, int K=1, bool Done = ((A*K)%B)==0>
+struct meta_least_common_multiple
 {
-  enum {
-    // Cost = NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef T ReturnType;
+  enum { ret = meta_least_common_multiple<A,B,K+1>::ret };
 };
-
-template<typename T> struct scalar_product_traits<T,std::complex<T> >
+template<int A, int B, int K>
+struct meta_least_common_multiple<A,B,K,true>
 {
-  enum {
-    // Cost = 2*NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef std::complex<T> ReturnType;
+  enum { ret = A*K };
 };
 
-template<typename T> struct scalar_product_traits<std::complex<T>, T>
+/** \internal determines whether the product of two numeric types is allowed and what the return type is */
+template<typename T, typename U> struct scalar_product_traits
 {
-  enum {
-    // Cost = 2*NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef std::complex<T> ReturnType;
+  enum { Defined = 0 };
 };
 
 // FIXME quick workaround around current limitation of result_of
@@ -224,19 +461,31 @@ template<typename T> struct scalar_product_traits<std::complex<T>, T>
 // typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
 // };
 
-template<typename T> struct is_diagonal
-{ enum { ret = false }; };
-
-template<typename T> struct is_diagonal<DiagonalBase<T> >
-{ enum { ret = true }; };
-
-template<typename T> struct is_diagonal<DiagonalWrapper<T> >
-{ enum { ret = true }; };
+} // end namespace internal
 
-template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
-{ enum { ret = true }; };
+namespace numext {
+  
+#if defined(__CUDA_ARCH__)
+template<typename T> EIGEN_DEVICE_FUNC   void swap(T &a, T &b) { T tmp = b; b = a; a = tmp; }
+#else
+template<typename T> EIGEN_STRONG_INLINE void swap(T &a, T &b) { std::swap(a,b); }
+#endif
+
+#if defined(__CUDA_ARCH__)
+using internal::device::numeric_limits;
+#else
+using std::numeric_limits;
+#endif
+
+// Integer division with rounding up.
+// T is assumed to be an integer type with a>=0, and b>0
+template<typename T>
+T div_ceil(const T &a, const T &b)
+{
+  return (a+b-1) / b;
+}
 
-} // end namespace internal
+} // end namespace numext
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h b/vendor/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h
index 5ddfbd4..86b60f5 100644
--- a/vendor/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h
+++ b/vendor/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -8,7 +8,20 @@
     #pragma warning pop
   #elif defined __clang__
     #pragma clang diagnostic pop
+  #elif defined __GNUC__ && __GNUC__>=6
+    #pragma GCC diagnostic pop
   #endif
+
+  #if defined __NVCC__
+//    Don't reenable the diagnostic messages, as it turns out these messages need
+//    to be disabled at the point of the template instantiation (i.e the user code)
+//    otherwise they'll be triggered by nvcc.
+//    #pragma diag_default code_is_unreachable
+//    #pragma diag_default initialization_not_reachable
+//    #pragma diag_default 2651
+//    #pragma diag_default 2653
+  #endif
+
 #endif
 
 #endif // EIGEN_WARNINGS_DISABLED
diff --git a/vendor/eigen/Eigen/src/Core/util/StaticAssert.h b/vendor/eigen/Eigen/src/Core/util/StaticAssert.h
index e53d2b8..983361a 100644
--- a/vendor/eigen/Eigen/src/Core/util/StaticAssert.h
+++ b/vendor/eigen/Eigen/src/Core/util/StaticAssert.h
@@ -26,7 +26,7 @@
 
 #ifndef EIGEN_NO_STATIC_ASSERT
 
-  #if __has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600)
+  #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
 
     // if native static_assert is enabled, let's use it
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
@@ -50,6 +50,7 @@
         THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE,
         THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE,
         THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE,
+        OUT_OF_RANGE_ACCESS,
         YOU_MADE_A_PROGRAMMING_MISTAKE,
         EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT,
         EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE,
@@ -84,6 +85,7 @@
         THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY,
         YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT,
         THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS,
+        THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS,
         THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL,
         THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES,
         YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED,
@@ -92,7 +94,14 @@
         THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH,
         OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG,
         IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY,
-        STORAGE_LAYOUT_DOES_NOT_MATCH
+        STORAGE_LAYOUT_DOES_NOT_MATCH,
+        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE,
+        THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS,
+        MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY,
+        THIS_TYPE_IS_NOT_SUPPORTED,
+        STORAGE_KIND_MUST_MATCH,
+        STORAGE_INDEX_MUST_MATCH,
+        CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY
       };
     };
 
@@ -103,15 +112,15 @@
     // Specialized implementation for MSVC to avoid "conditional
     // expression is constant" warnings.  This implementation doesn't
     // appear to work under GCC, hence the multiple implementations.
-    #ifdef _MSC_VER
+    #if EIGEN_COMP_MSVC
 
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
         {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
 
@@ -159,7 +168,7 @@
 
 #define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
      ( \
-        (int(TYPE0::SizeAtCompileTime)==0 && int(TYPE1::SizeAtCompileTime)==0) \
+        (int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
     || (\
           (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
@@ -170,13 +179,8 @@
        ) \
      )
 
-#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
@@ -191,18 +195,22 @@
                           THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
 
 #define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
-      EIGEN_STATIC_ASSERT(internal::is_lvalue<Derived>::value, \
+      EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
                           THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
 
 #define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Derived>::XprKind, ArrayXpr>::value), \
+      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
                           THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
 
 #define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Derived1>::XprKind, \
-                                             typename internal::traits<Derived2>::XprKind \
+      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
+                                             typename Eigen::internal::traits<Derived2>::XprKind \
                                             >::value), \
                           YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
 
+// Check that a cost value is positive, and that is stay within a reasonable range
+// TODO this check could be enabled for internal debugging only
+#define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
+      EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
 
 #endif // EIGEN_STATIC_ASSERT_H
diff --git a/vendor/eigen/Eigen/src/Core/util/XprHelper.h b/vendor/eigen/Eigen/src/Core/util/XprHelper.h
index d05f8e5..ba5bd18 100644
--- a/vendor/eigen/Eigen/src/Core/util/XprHelper.h
+++ b/vendor/eigen/Eigen/src/Core/util/XprHelper.h
@@ -14,20 +14,77 @@
 // just a workaround because GCC seems to not really like empty structs
 // FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
 // so currently we simply disable this optimization for gcc 4.3
-#if (defined __GNUG__) && !((__GNUC__==4) && (__GNUC_MINOR__==3))
+#if EIGEN_COMP_GNUC && !EIGEN_GNUC_AT(4,3)
   #define EIGEN_EMPTY_STRUCT_CTOR(X) \
-    EIGEN_STRONG_INLINE X() {} \
-    EIGEN_STRONG_INLINE X(const X& ) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X() {} \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X(const X& ) {}
 #else
   #define EIGEN_EMPTY_STRUCT_CTOR(X)
 #endif
 
 namespace Eigen {
 
-typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
-
 namespace internal {
 
+template<typename IndexDest, typename IndexSrc>
+EIGEN_DEVICE_FUNC
+inline IndexDest convert_index(const IndexSrc& idx) {
+  // for sizeof(IndexDest)>=sizeof(IndexSrc) compilers should be able to optimize this away:
+  eigen_internal_assert(idx <= NumTraits<IndexDest>::highest() && "Index value to big for target type");
+  return IndexDest(idx);
+}
+
+
+// promote_scalar_arg is an helper used in operation between an expression and a scalar, like:
+//    expression * scalar
+// Its role is to determine how the type T of the scalar operand should be promoted given the scalar type ExprScalar of the given expression.
+// The IsSupported template parameter must be provided by the caller as: internal::has_ReturnType<ScalarBinaryOpTraits<ExprScalar,T,op> >::value using the proper order for ExprScalar and T.
+// Then the logic is as follows:
+//  - if the operation is natively supported as defined by IsSupported, then the scalar type is not promoted, and T is returned.
+//  - otherwise, NumTraits<ExprScalar>::Literal is returned if T is implicitly convertible to NumTraits<ExprScalar>::Literal AND that this does not imply a float to integer conversion.
+//  - otherwise, ExprScalar is returned if T is implicitly convertible to ExprScalar AND that this does not imply a float to integer conversion.
+//  - In all other cases, the promoted type is not defined, and the respective operation is thus invalid and not available (SFINAE).
+template<typename ExprScalar,typename T, bool IsSupported>
+struct promote_scalar_arg;
+
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,true>
+{
+  typedef T type;
+};
+
+// Recursively check safe conversion to PromotedType, and then ExprScalar if they are different.
+template<typename ExprScalar,typename T,typename PromotedType,
+  bool ConvertibleToLiteral = internal::is_convertible<T,PromotedType>::value,
+  bool IsSafe = NumTraits<T>::IsInteger || !NumTraits<PromotedType>::IsInteger>
+struct promote_scalar_arg_unsupported;
+
+// Start recursion with NumTraits<ExprScalar>::Literal
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,false> : promote_scalar_arg_unsupported<S,T,typename NumTraits<S>::Literal> {};
+
+// We found a match!
+template<typename S,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,true,true>
+{
+  typedef PromotedType type;
+};
+
+// No match, but no real-to-integer issues, and ExprScalar and current PromotedType are different,
+// so let's try to promote to ExprScalar
+template<typename ExprScalar,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<ExprScalar,T,PromotedType,false,true>
+   : promote_scalar_arg_unsupported<ExprScalar,T,ExprScalar>
+{};
+
+// Unsafe real-to-integer, let's stop.
+template<typename S,typename T, typename PromotedType, bool ConvertibleToLiteral>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,ConvertibleToLiteral,false> {};
+
+// T is not even convertible to ExprScalar, let's stop.
+template<typename S,typename T>
+struct promote_scalar_arg_unsupported<S,T,S,false,true> {};
+
 //classes inheriting no_assignment_operator don't generate a default operator=.
 class no_assignment_operator
 {
@@ -50,19 +107,19 @@ template<typename T, int Value> class variable_if_dynamic
 {
   public:
     EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
-    explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
-    static T value() { return T(Value); }
-    void setValue(T) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
 };
 
 template<typename T> class variable_if_dynamic<T, Dynamic>
 {
     T m_value;
-    variable_if_dynamic() { assert(false); }
+    EIGEN_DEVICE_FUNC variable_if_dynamic() { eigen_assert(false); }
   public:
-    explicit variable_if_dynamic(T value) : m_value(value) {}
-    T value() const { return m_value; }
-    void setValue(T value) { m_value = value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value) : m_value(value) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T value() const { return m_value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
 };
 
 /** \internal like variable_if_dynamic but for DynamicIndex
@@ -71,19 +128,19 @@ template<typename T, int Value> class variable_if_dynamicindex
 {
   public:
     EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamicindex)
-    explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
-    static T value() { return T(Value); }
-    void setValue(T) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
 };
 
 template<typename T> class variable_if_dynamicindex<T, DynamicIndex>
 {
     T m_value;
-    variable_if_dynamicindex() { assert(false); }
+    EIGEN_DEVICE_FUNC variable_if_dynamicindex() { eigen_assert(false); }
   public:
-    explicit variable_if_dynamicindex(T value) : m_value(value) {}
-    T value() const { return m_value; }
-    void setValue(T value) { m_value = value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T value) : m_value(value) {}
+    EIGEN_DEVICE_FUNC T EIGEN_STRONG_INLINE value() const { return m_value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
 };
 
 template<typename T> struct functor_traits
@@ -101,7 +158,73 @@ template<typename T> struct packet_traits;
 template<typename T> struct unpacket_traits
 {
   typedef T type;
-  enum {size=1};
+  typedef T half;
+  enum
+  {
+    size = 1,
+    alignment = 1
+  };
+};
+
+template<int Size, typename PacketType,
+         bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
+struct find_best_packet_helper;
+
+template< int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,true>
+{
+  typedef PacketType type;
+};
+
+template<int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,false>
+{
+  typedef typename find_best_packet_helper<Size,typename unpacket_traits<PacketType>::half>::type type;
+};
+
+template<typename T, int Size>
+struct find_best_packet
+{
+  typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
+};
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+template<int ArrayBytes, int AlignmentBytes,
+         bool Match     =  bool((ArrayBytes%AlignmentBytes)==0),
+         bool TryHalf   =  bool(EIGEN_MIN_ALIGN_BYTES<AlignmentBytes) >
+struct compute_default_alignment_helper
+{
+  enum { value = 0 };
+};
+
+template<int ArrayBytes, int AlignmentBytes, bool TryHalf>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, true, TryHalf> // Match
+{
+  enum { value = AlignmentBytes };
+};
+
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, false, true> // Try-half
+{
+  // current packet too large, try with an half-packet
+  enum { value = compute_default_alignment_helper<ArrayBytes, AlignmentBytes/2>::value };
+};
+#else
+// If static alignment is disabled, no need to bother.
+// This also avoids a division by zero in "bool Match =  bool((ArrayBytes%AlignmentBytes)==0)"
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper
+{
+  enum { value = 0 };
+};
+#endif
+
+template<typename T, int Size> struct compute_default_alignment {
+  enum { value = compute_default_alignment_helper<Size*sizeof(T),EIGEN_MAX_STATIC_ALIGN_BYTES>::value };
+};
+
+template<typename T> struct compute_default_alignment<T,Dynamic> {
+  enum { value = EIGEN_MAX_ALIGN_BYTES };
 };
 
 template<typename _Scalar, int _Rows, int _Cols,
@@ -127,35 +250,12 @@ template<typename _Scalar, int _Rows, int _Cols,
 template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
 class compute_matrix_flags
 {
-    enum {
-      row_major_bit = Options&RowMajor ? RowMajorBit : 0,
-      is_dynamic_size_storage = MaxRows==Dynamic || MaxCols==Dynamic,
-
-      aligned_bit =
-      (
-            ((Options&DontAlign)==0)
-        && (
-#if EIGEN_ALIGN_STATICALLY
-             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows*int(sizeof(Scalar))) % 16) == 0))
-#else
-             0
-#endif
-
-          ||
-
-#if EIGEN_ALIGN
-             is_dynamic_size_storage
-#else
-             0
-#endif
-
-          )
-      ) ? AlignedBit : 0,
-      packet_access_bit = packet_traits<Scalar>::Vectorizable && aligned_bit ? PacketAccessBit : 0
-    };
-
+    enum { row_major_bit = Options&RowMajor ? RowMajorBit : 0 };
   public:
-    enum { ret = LinearAccessBit | LvalueBit | DirectAccessBit | NestByRefBit | packet_access_bit | row_major_bit | aligned_bit };
+    // FIXME currently we still have to handle DirectAccessBit at the expression level to handle DenseCoeffsBase<>
+    // and then propagate this information to the evaluator's flags.
+    // However, I (Gael) think that DirectAccessBit should only matter at the evaluation stage.
+    enum { ret = DirectAccessBit | LvalueBit | NestByRefBit | row_major_bit };
 };
 
 template<int _Rows, int _Cols> struct size_at_compile_time
@@ -163,34 +263,43 @@ template<int _Rows, int _Cols> struct size_at_compile_time
   enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
 };
 
+template<typename XprType> struct size_of_xpr_at_compile_time
+{
+  enum { ret = size_at_compile_time<traits<XprType>::RowsAtCompileTime,traits<XprType>::ColsAtCompileTime>::ret };
+};
+
 /* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
  * whereas eval is a const reference in the case of a matrix
  */
 
 template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
-template<typename T, typename BaseClassType> struct plain_matrix_type_dense;
+template<typename T, typename BaseClassType, int Flags> struct plain_matrix_type_dense;
 template<typename T> struct plain_matrix_type<T,Dense>
 {
-  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind>::type type;
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, traits<T>::Flags>::type type;
+};
+template<typename T> struct plain_matrix_type<T,DiagonalShape>
+{
+  typedef typename T::PlainObject type;
 };
 
-template<typename T> struct plain_matrix_type_dense<T,MatrixXpr>
+template<typename T, int Flags> struct plain_matrix_type_dense<T,MatrixXpr,Flags>
 {
   typedef Matrix<typename traits<T>::Scalar,
                 traits<T>::RowsAtCompileTime,
                 traits<T>::ColsAtCompileTime,
-                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
                 traits<T>::MaxRowsAtCompileTime,
                 traits<T>::MaxColsAtCompileTime
           > type;
 };
 
-template<typename T> struct plain_matrix_type_dense<T,ArrayXpr>
+template<typename T, int Flags> struct plain_matrix_type_dense<T,ArrayXpr,Flags>
 {
   typedef Array<typename traits<T>::Scalar,
                 traits<T>::RowsAtCompileTime,
                 traits<T>::ColsAtCompileTime,
-                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
                 traits<T>::MaxRowsAtCompileTime,
                 traits<T>::MaxColsAtCompileTime
           > type;
@@ -215,6 +324,11 @@ template<typename T> struct eval<T,Dense>
 //           > type;
 };
 
+template<typename T> struct eval<T,DiagonalShape>
+{
+  typedef typename plain_matrix_type<T>::type type;
+};
+
 // for matrices, no need to evaluate, just use a const reference to avoid a useless copy
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
@@ -229,6 +343,15 @@ struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
 };
 
 
+/* similar to plain_matrix_type, but using the evaluator's Flags */
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_object_eval;
+
+template<typename T>
+struct plain_object_eval<T,Dense>
+{
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
+};
+
 
 /* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
  */
@@ -266,9 +389,6 @@ template<typename T> struct plain_matrix_type_row_major
           > type;
 };
 
-// we should be able to get rid of this one too
-template<typename T> struct must_nest_by_value { enum { ret = false }; };
-
 /** \internal The reference selector for template expressions. The idea is that we don't
   * need to use references for expressions since they are light weight proxy
   * objects which should generate no copying overhead. */
@@ -280,6 +400,12 @@ struct ref_selector
     T const&,
     const T
   >::type type;
+  
+  typedef typename conditional<
+    bool(traits<T>::Flags & NestByRefBit),
+    T &,
+    T
+  >::type non_const_type;
 };
 
 /** \internal Adds the const qualifier on the value-type of T2 if and only if T1 is a const type */
@@ -293,54 +419,41 @@ struct transfer_constness
   >::type type;
 };
 
-/** \internal Determines how a given expression should be nested into another one.
+
+// However, we still need a mechanism to detect whether an expression which is evaluated multiple time
+// has to be evaluated into a temporary.
+// That's the purpose of this new nested_eval helper:
+/** \internal Determines how a given expression should be nested when evaluated multiple times.
   * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
-  * nested into the bigger product expression. The choice is between nesting the expression b+c as-is, or
+  * evaluated into the bigger product expression. The choice is between nesting the expression b+c as-is, or
   * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
   * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
   * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
   *
-  * \param T the type of the expression being nested
-  * \param n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
-  *
-  * Note that if no evaluation occur, then the constness of T is preserved.
-  *
-  * Example. Suppose that a, b, and c are of type Matrix3d. The user forms the expression a*(b+c).
-  * b+c is an expression "sum of matrices", which we will denote by S. In order to determine how to nest it,
-  * the Product expression uses: nested<S, 3>::ret, which turns out to be Matrix3d because the internal logic of
-  * nested determined that in this case it was better to evaluate the expression b+c into a temporary. On the other hand,
-  * since a is of type Matrix3d, the Product expression nests it as nested<Matrix3d, 3>::ret, which turns out to be
-  * const Matrix3d&, because the internal logic of nested determined that since a was already a matrix, there was no point
-  * in copying it into another matrix.
+  * \tparam T the type of the expression being nested.
+  * \tparam n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
+  * \tparam PlainObject the type of the temporary if needed.
   */
-template<typename T, int n=1, typename PlainObject = typename eval<T>::type> struct nested
+template<typename T, int n, typename PlainObject = typename plain_object_eval<T>::type> struct nested_eval
 {
   enum {
-    // for the purpose of this test, to keep it reasonably simple, we arbitrarily choose a value of Dynamic values.
-    // the choice of 10000 makes it larger than any practical fixed value and even most dynamic values.
-    // in extreme cases where these assumptions would be wrong, we would still at worst suffer performance issues
-    // (poor choice of temporaries).
-    // it's important that this value can still be squared without integer overflowing.
-    DynamicAsInteger = 10000,
     ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
-    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? int(DynamicAsInteger) : int(ScalarReadCost),
-    CoeffReadCost = traits<T>::CoeffReadCost,
-    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? int(DynamicAsInteger) : int(CoeffReadCost),
-    NAsInteger = n == Dynamic ? int(DynamicAsInteger) : n,
-    CostEvalAsInteger   = (NAsInteger+1) * ScalarReadCostAsInteger + CoeffReadCostAsInteger,
-    CostNoEvalAsInteger = NAsInteger * CoeffReadCostAsInteger
+    CoeffReadCost = evaluator<T>::CoeffReadCost,  // NOTE What if an evaluator evaluate itself into a tempory?
+                                                  //      Then CoeffReadCost will be small (e.g., 1) but we still have to evaluate, especially if n>1.
+                                                  //      This situation is already taken care by the EvalBeforeNestingBit flag, which is turned ON
+                                                  //      for all evaluator creating a temporary. This flag is then propagated by the parent evaluators.
+                                                  //      Another solution could be to count the number of temps?
+    NAsInteger = n == Dynamic ? HugeCost : n,
+    CostEval   = (NAsInteger+1) * ScalarReadCost + CoeffReadCost,
+    CostNoEval = NAsInteger * CoeffReadCost,
+    Evaluate = (int(evaluator<T>::Flags) & EvalBeforeNestingBit) || (int(CostEval) < int(CostNoEval))
   };
 
-  typedef typename conditional<
-      ( (int(traits<T>::Flags) & EvalBeforeNestingBit) ||
-        int(CostEvalAsInteger) < int(CostNoEvalAsInteger)
-      ),
-      PlainObject,
-      typename ref_selector<T>::type
-  >::type type;
+  typedef typename conditional<Evaluate, PlainObject, typename ref_selector<T>::type>::type type;
 };
 
 template<typename T>
+EIGEN_DEVICE_FUNC
 inline T* const_cast_ptr(const T* ptr)
 {
   return const_cast<T*>(ptr);
@@ -364,30 +477,13 @@ struct dense_xpr_base<Derived, ArrayXpr>
   typedef ArrayBase<Derived> type;
 };
 
-/** \internal Helper base class to add a scalar multiple operator
-  * overloads for complex types */
-template<typename Derived, typename Scalar, typename OtherScalar, typename BaseType,
-         bool EnableIt = !is_same<Scalar,OtherScalar>::value >
-struct special_scalar_op_base : public BaseType
-{
-  // dummy operator* so that the
-  // "using special_scalar_op_base::operator*" compiles
-  void operator*() const;
-};
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind, typename StorageKind = typename traits<Derived>::StorageKind>
+struct generic_xpr_base;
 
-template<typename Derived,typename Scalar,typename OtherScalar, typename BaseType>
-struct special_scalar_op_base<Derived,Scalar,OtherScalar,BaseType,true>  : public BaseType
+template<typename Derived, typename XprKind>
+struct generic_xpr_base<Derived, XprKind, Dense>
 {
-  const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-  operator*(const OtherScalar& scalar) const
-  {
-    return CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-      (*static_cast<const Derived*>(this), scalar_multiple2_op<Scalar,OtherScalar>(scalar));
-  }
-
-  inline friend const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-  operator*(const OtherScalar& scalar, const Derived& matrix)
-  { return static_cast<const special_scalar_op_base&>(matrix).operator*(scalar); }
+  typedef typename dense_xpr_base<Derived,XprKind>::type type;
 };
 
 template<typename XprType, typename CastType> struct cast_return_type
@@ -405,9 +501,79 @@ template <typename A> struct promote_storage_type<A,A>
 {
   typedef A ret;
 };
+template <typename A> struct promote_storage_type<A, const A>
+{
+  typedef A ret;
+};
+template <typename A> struct promote_storage_type<const A, A>
+{
+  typedef A ret;
+};
+
+/** \internal Specify the "storage kind" of applying a coefficient-wise
+  * binary operations between two expressions of kinds A and B respectively.
+  * The template parameter Functor permits to specialize the resulting storage kind wrt to
+  * the functor.
+  * The default rules are as follows:
+  * \code
+  * A      op A      -> A
+  * A      op dense  -> dense
+  * dense  op B      -> dense
+  * sparse op dense  -> sparse
+  * dense  op sparse -> sparse
+  * \endcode
+  */
+template <typename A, typename B, typename Functor> struct cwise_promote_storage_type;
+
+template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,A,Functor>                                      { typedef A      ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Dense,Dense,Functor>                              { typedef Dense  ret; };
+template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,Dense,Functor>                                  { typedef Dense  ret; };
+template <typename B, typename Functor>                   struct cwise_promote_storage_type<Dense,B,Functor>                                  { typedef Dense  ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Sparse,Dense,Functor>                             { typedef Sparse ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Dense,Sparse,Functor>                             { typedef Sparse ret; };
+
+template <typename LhsKind, typename RhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order {
+  enum { value = LhsOrder };
+};
+
+template <typename LhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<LhsKind,Sparse,LhsOrder,RhsOrder>                { enum { value = RhsOrder }; };
+template <typename RhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<Sparse,RhsKind,LhsOrder,RhsOrder>                { enum { value = LhsOrder }; };
+template <int Order>                                      struct cwise_promote_storage_order<Sparse,Sparse,Order,Order>                       { enum { value = Order }; };
+
+
+/** \internal Specify the "storage kind" of multiplying an expression of kind A with kind B.
+  * The template parameter ProductTag permits to specialize the resulting storage kind wrt to
+  * some compile-time properties of the product: GemmProduct, GemvProduct, OuterProduct, InnerProduct.
+  * The default rules are as follows:
+  * \code
+  *  K * K            -> K
+  *  dense * K        -> dense
+  *  K * dense        -> dense
+  *  diag * K         -> K
+  *  K * diag         -> K
+  *  Perm * K         -> K
+  * K * Perm          -> K
+  * \endcode
+  */
+template <typename A, typename B, int ProductTag> struct product_promote_storage_type;
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  A,                  ProductTag> { typedef A     ret;};
+template <int ProductTag>             struct product_promote_storage_type<Dense,              Dense,              ProductTag> { typedef Dense ret;};
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  Dense,              ProductTag> { typedef Dense ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<Dense,              B,                  ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  DiagonalShape,      ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<DiagonalShape,      B,                  ProductTag> { typedef B ret; };
+template <int ProductTag>             struct product_promote_storage_type<Dense,              DiagonalShape,      ProductTag> { typedef Dense ret; };
+template <int ProductTag>             struct product_promote_storage_type<DiagonalShape,      Dense,              ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  PermutationStorage, ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<PermutationStorage, B,                  ProductTag> { typedef B ret; };
+template <int ProductTag>             struct product_promote_storage_type<Dense,              PermutationStorage, ProductTag> { typedef Dense ret; };
+template <int ProductTag>             struct product_promote_storage_type<PermutationStorage, Dense,              ProductTag> { typedef Dense ret; };
 
 /** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
-  * \param Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
+  * \tparam Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
   */
 template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
 struct plain_row_type
@@ -455,15 +621,201 @@ struct plain_diag_type
   >::type type;
 };
 
+template<typename Expr,typename Scalar = typename Expr::Scalar>
+struct plain_constant_type
+{
+  enum { Options = (traits<Expr>::Flags&RowMajorBit)?RowMajor:0 };
+
+  typedef Array<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
+                Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> array_type;
+
+  typedef Matrix<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
+                 Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> matrix_type;
+
+  typedef CwiseNullaryOp<scalar_constant_op<Scalar>, const typename conditional<is_same< typename traits<Expr>::XprKind, MatrixXpr >::value, matrix_type, array_type>::type > type;
+};
+
 template<typename ExpressionType>
 struct is_lvalue
 {
-  enum { value = !bool(is_const<ExpressionType>::value) &&
+  enum { value = (!bool(is_const<ExpressionType>::value)) &&
                  bool(traits<ExpressionType>::Flags & LvalueBit) };
 };
 
+template<typename T> struct is_diagonal
+{ enum { ret = false }; };
+
+template<typename T> struct is_diagonal<DiagonalBase<T> >
+{ enum { ret = true }; };
+
+template<typename T> struct is_diagonal<DiagonalWrapper<T> >
+{ enum { ret = true }; };
+
+template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
+{ enum { ret = true }; };
+
+template<typename S1, typename S2> struct glue_shapes;
+template<> struct glue_shapes<DenseShape,TriangularShape> { typedef TriangularShape type;  };
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<has_direct_access<T1>::ret&&has_direct_access<T2>::ret, T1>::type * = 0)
+{
+  return (mat1.data()==mat2.data()) && (mat1.innerStride()==mat2.innerStride()) && (mat1.outerStride()==mat2.outerStride());
+}
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &, const T2 &, typename enable_if<!(has_direct_access<T1>::ret&&has_direct_access<T2>::ret), T1>::type * = 0)
+{
+  return false;
+}
+
+// Internal helper defining the cost of a scalar division for the type T.
+// The default heuristic can be specialized for each scalar type and architecture.
+template<typename T,bool Vectorized=false,typename EnaleIf = void>
+struct scalar_div_cost {
+  enum { value = 8*NumTraits<T>::MulCost };
+};
+
+template<typename T,bool Vectorized>
+struct scalar_div_cost<std::complex<T>, Vectorized> {
+  enum { value = 2*scalar_div_cost<T>::value
+               + 6*NumTraits<T>::MulCost
+               + 3*NumTraits<T>::AddCost
+  };
+};
+
+
+template<bool Vectorized>
+struct scalar_div_cost<signed long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 24 }; };
+template<bool Vectorized>
+struct scalar_div_cost<unsigned long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 21 }; };
+
+
+#ifdef EIGEN_DEBUG_ASSIGN
+std::string demangle_traversal(int t)
+{
+  if(t==DefaultTraversal) return "DefaultTraversal";
+  if(t==LinearTraversal) return "LinearTraversal";
+  if(t==InnerVectorizedTraversal) return "InnerVectorizedTraversal";
+  if(t==LinearVectorizedTraversal) return "LinearVectorizedTraversal";
+  if(t==SliceVectorizedTraversal) return "SliceVectorizedTraversal";
+  return "?";
+}
+std::string demangle_unrolling(int t)
+{
+  if(t==NoUnrolling) return "NoUnrolling";
+  if(t==InnerUnrolling) return "InnerUnrolling";
+  if(t==CompleteUnrolling) return "CompleteUnrolling";
+  return "?";
+}
+std::string demangle_flags(int f)
+{
+  std::string res;
+  if(f&RowMajorBit)                 res += " | RowMajor";
+  if(f&PacketAccessBit)             res += " | Packet";
+  if(f&LinearAccessBit)             res += " | Linear";
+  if(f&LvalueBit)                   res += " | Lvalue";
+  if(f&DirectAccessBit)             res += " | Direct";
+  if(f&NestByRefBit)                res += " | NestByRef";
+  if(f&NoPreferredStorageOrderBit)  res += " | NoPreferredStorageOrderBit";
+  
+  return res;
+}
+#endif
+
 } // end namespace internal
 
+
+/** \class ScalarBinaryOpTraits
+  * \ingroup Core_Module
+  *
+  * \brief Determines whether the given binary operation of two numeric types is allowed and what the scalar return type is.
+  *
+  * This class permits to control the scalar return type of any binary operation performed on two different scalar types through (partial) template specializations.
+  *
+  * For instance, let \c U1, \c U2 and \c U3 be three user defined scalar types for which most operations between instances of \c U1 and \c U2 returns an \c U3.
+  * You can let %Eigen knows that by defining:
+    \code
+    template<typename BinaryOp>
+    struct ScalarBinaryOpTraits<U1,U2,BinaryOp> { typedef U3 ReturnType;  };
+    template<typename BinaryOp>
+    struct ScalarBinaryOpTraits<U2,U1,BinaryOp> { typedef U3 ReturnType;  };
+    \endcode
+  * You can then explicitly disable some particular operations to get more explicit error messages:
+    \code
+    template<>
+    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_max_op<U1,U2> > {};
+    \endcode
+  * Or customize the return type for individual operation:
+    \code
+    template<>
+    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_sum_op<U1,U2> > { typedef U1 ReturnType; };
+    \endcode
+  *
+  * By default, the following generic combinations are supported:
+  <table class="manual">
+  <tr><th>ScalarA</th><th>ScalarB</th><th>BinaryOp</th><th>ReturnType</th><th>Note</th></tr>
+  <tr            ><td>\c T </td><td>\c T </td><td>\c * </td><td>\c T </td><td></td></tr>
+  <tr class="alt"><td>\c NumTraits<T>::Real </td><td>\c T </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+  <tr            ><td>\c T </td><td>\c NumTraits<T>::Real </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+  </table>
+  *
+  * \sa CwiseBinaryOp
+  */
+template<typename ScalarA, typename ScalarB, typename BinaryOp=internal::scalar_product_op<ScalarA,ScalarB> >
+struct ScalarBinaryOpTraits
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  // for backward compatibility, use the hints given by the (deprecated) internal::scalar_product_traits class.
+  : internal::scalar_product_traits<ScalarA,ScalarB>
+#endif // EIGEN_PARSED_BY_DOXYGEN
+{};
+
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,T,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T, typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, BinaryOp>
+{
+  typedef T ReturnType;
+};
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, T, BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// For Matrix * Permutation
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,void,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// For Permutation * Matrix
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<void,T,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// for Permutation*Permutation
+template<typename BinaryOp>
+struct ScalarBinaryOpTraits<void,void,BinaryOp>
+{
+  typedef void ReturnType;
+};
+
+// We require Lhs and Rhs to have "compatible" scalar types.
+// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
+// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
+// add together a float matrix and a double matrix.
+#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
+  EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    
 } // end namespace Eigen
 
 #endif // EIGEN_XPRHELPER_H
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/vendor/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
index 417c729..dc5fae0 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -60,7 +60,7 @@ template<typename _MatrixType> class ComplexEigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType.
       *
@@ -104,7 +104,7 @@ template<typename _MatrixType> class ComplexEigenSolver
       * according to the specified problem \a size.
       * \sa ComplexEigenSolver()
       */
-    ComplexEigenSolver(Index size)
+    explicit ComplexEigenSolver(Index size)
             : m_eivec(size, size),
               m_eivalues(size),
               m_schur(size),
@@ -122,7 +122,8 @@ template<typename _MatrixType> class ComplexEigenSolver
       *
       * This constructor calls compute() to compute the eigendecomposition.
       */
-      ComplexEigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+    template<typename InputType>
+    explicit ComplexEigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
             : m_eivec(matrix.rows(),matrix.cols()),
               m_eivalues(matrix.cols()),
               m_schur(matrix.rows()),
@@ -130,7 +131,7 @@ template<typename _MatrixType> class ComplexEigenSolver
               m_eigenvectorsOk(false),
               m_matX(matrix.rows(),matrix.cols())
     {
-      compute(matrix, computeEigenvectors);
+      compute(matrix.derived(), computeEigenvectors);
     }
 
     /** \brief Returns the eigenvectors of given matrix.
@@ -208,7 +209,8 @@ template<typename _MatrixType> class ComplexEigenSolver
       * Example: \include ComplexEigenSolver_compute.cpp
       * Output: \verbinclude ComplexEigenSolver_compute.out
       */
-    ComplexEigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+    template<typename InputType>
+    ComplexEigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
 
     /** \brief Reports whether previous computation was successful.
       *
@@ -248,14 +250,15 @@ template<typename _MatrixType> class ComplexEigenSolver
     EigenvectorType m_matX;
 
   private:
-    void doComputeEigenvectors(const RealScalar& matrixnorm);
+    void doComputeEigenvectors(RealScalar matrixnorm);
     void sortEigenvalues(bool computeEigenvectors);
 };
 
 
 template<typename MatrixType>
+template<typename InputType>
 ComplexEigenSolver<MatrixType>& 
-ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+ComplexEigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
 {
   check_template_parameters();
   
@@ -264,13 +267,13 @@ ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEi
 
   // Do a complex Schur decomposition, A = U T U^*
   // The eigenvalues are on the diagonal of T.
-  m_schur.compute(matrix, computeEigenvectors);
+  m_schur.compute(matrix.derived(), computeEigenvectors);
 
   if(m_schur.info() == Success)
   {
     m_eivalues = m_schur.matrixT().diagonal();
     if(computeEigenvectors)
-      doComputeEigenvectors(matrix.norm());
+      doComputeEigenvectors(m_schur.matrixT().norm());
     sortEigenvalues(computeEigenvectors);
   }
 
@@ -281,10 +284,12 @@ ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEi
 
 
 template<typename MatrixType>
-void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(const RealScalar& matrixnorm)
+void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(RealScalar matrixnorm)
 {
   const Index n = m_eivalues.size();
 
+  matrixnorm = numext::maxi(matrixnorm,(std::numeric_limits<RealScalar>::min)());
+
   // Compute X such that T = X D X^(-1), where D is the diagonal of T.
   // The matrix X is unit triangular.
   m_matX = EigenvectorType::Zero(n, n);
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur.h b/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur.h
index 89e6cad..7f38919 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -63,7 +63,7 @@ template<typename _MatrixType> class ComplexSchur
     /** \brief Scalar type for matrices of type \p _MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for \p _MatrixType. 
       *
@@ -91,7 +91,7 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa compute() for an example.
       */
-    ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+    explicit ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
       : m_matT(size,size),
         m_matU(size,size),
         m_hess(size),
@@ -109,7 +109,8 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa matrixT() and matrixU() for examples.
       */
-    ComplexSchur(const MatrixType& matrix, bool computeU = true)
+    template<typename InputType>
+    explicit ComplexSchur(const EigenBase<InputType>& matrix, bool computeU = true)
       : m_matT(matrix.rows(),matrix.cols()),
         m_matU(matrix.rows(),matrix.cols()),
         m_hess(matrix.rows()),
@@ -117,7 +118,7 @@ template<typename _MatrixType> class ComplexSchur
         m_matUisUptodate(false),
         m_maxIters(-1)
     {
-      compute(matrix, computeU);
+      compute(matrix.derived(), computeU);
     }
 
     /** \brief Returns the unitary matrix in the Schur decomposition. 
@@ -186,7 +187,8 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa compute(const MatrixType&, bool, Index)
       */
-    ComplexSchur& compute(const MatrixType& matrix, bool computeU = true);
+    template<typename InputType>
+    ComplexSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
     
     /** \brief Compute Schur decomposition from a given Hessenberg matrix
      *  \param[in] matrixH Matrix in Hessenberg form H
@@ -313,14 +315,15 @@ typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::compu
 
 
 template<typename MatrixType>
-ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+template<typename InputType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
 {
   m_matUisUptodate = false;
   eigen_assert(matrix.cols() == matrix.rows());
 
   if(matrix.cols() == 1)
   {
-    m_matT = matrix.template cast<ComplexScalar>();
+    m_matT = matrix.derived().template cast<ComplexScalar>();
     if(computeU)  m_matU = ComplexMatrixType::Identity(1,1);
     m_info = Success;
     m_isInitialized = true;
@@ -328,7 +331,7 @@ ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& ma
     return *this;
   }
 
-  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix, computeU);
+  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix.derived(), computeU);
   computeFromHessenberg(m_matT, m_matU, computeU);
   return *this;
 }
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h b/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
new file mode 100644
index 0000000..4980a3e
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
@@ -0,0 +1,91 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Complex Schur needed to complex unsymmetrical eigenvalues/eigenvectors.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_COMPLEX_SCHUR_LAPACKE_H
+#define EIGEN_COMPLEX_SCHUR_LAPACKE_H
+
+namespace Eigen { 
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_SCHUR_COMPLEX(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
+ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
+ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
+{ \
+  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> MatrixType; \
+  typedef MatrixType::RealScalar RealScalar; \
+  typedef std::complex<RealScalar> ComplexScalar; \
+\
+  eigen_assert(matrix.cols() == matrix.rows()); \
+\
+  m_matUisUptodate = false; \
+  if(matrix.cols() == 1) \
+  { \
+    m_matT = matrix.derived().template cast<ComplexScalar>(); \
+    if(computeU)  m_matU = ComplexMatrixType::Identity(1,1); \
+      m_info = Success; \
+      m_isInitialized = true; \
+      m_matUisUptodate = computeU; \
+      return *this; \
+  } \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
+  char jobvs, sort='N'; \
+  LAPACK_##LAPACKE_PREFIX_U##_SELECT1 select = 0; \
+  jobvs = (computeU) ? 'V' : 'N'; \
+  m_matU.resize(n, n); \
+  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
+  m_matT = matrix; \
+  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
+  Matrix<EIGTYPE, Dynamic, Dynamic> w; \
+  w.resize(n, 1);\
+  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)w.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
+  if(info == 0) \
+    m_info = Success; \
+  else \
+    m_info = NoConvergence; \
+\
+  m_isInitialized = true; \
+  m_matUisUptodate = computeU; \
+  return *this; \
+\
+}
+
+EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, RowMajor, LAPACK_ROW_MAJOR)
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_SCHUR_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/EigenSolver.h b/vendor/eigen/Eigen/src/Eigenvalues/EigenSolver.h
index 20c59a7..f205b18 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/EigenSolver.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/EigenSolver.h
@@ -79,7 +79,7 @@ template<typename _MatrixType> class EigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType. 
       *
@@ -110,7 +110,7 @@ template<typename _MatrixType> class EigenSolver
       *
       * \sa compute() for an example.
       */
- EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
 
     /** \brief Default constructor with memory preallocation
       *
@@ -118,7 +118,7 @@ template<typename _MatrixType> class EigenSolver
       * according to the specified problem \a size.
       * \sa EigenSolver()
       */
-    EigenSolver(Index size)
+    explicit EigenSolver(Index size)
       : m_eivec(size, size),
         m_eivalues(size),
         m_isInitialized(false),
@@ -143,7 +143,8 @@ template<typename _MatrixType> class EigenSolver
       *
       * \sa compute()
       */
-    EigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+    template<typename InputType>
+    explicit EigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
       : m_eivec(matrix.rows(), matrix.cols()),
         m_eivalues(matrix.cols()),
         m_isInitialized(false),
@@ -152,7 +153,7 @@ template<typename _MatrixType> class EigenSolver
         m_matT(matrix.rows(), matrix.cols()), 
         m_tmp(matrix.cols())
     {
-      compute(matrix, computeEigenvectors);
+      compute(matrix.derived(), computeEigenvectors);
     }
 
     /** \brief Returns the eigenvectors of given matrix. 
@@ -273,12 +274,14 @@ template<typename _MatrixType> class EigenSolver
       * Example: \include EigenSolver_compute.cpp
       * Output: \verbinclude EigenSolver_compute.out
       */
-    EigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+    template<typename InputType>
+    EigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
 
+    /** \returns NumericalIssue if the input contains INF or NaN values or overflow occured. Returns Success otherwise. */
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_realSchur.info();
+      return m_info;
     }
 
     /** \brief Sets the maximum number of iterations allowed. */
@@ -309,6 +312,7 @@ template<typename _MatrixType> class EigenSolver
     EigenvalueType m_eivalues;
     bool m_isInitialized;
     bool m_eigenvectorsOk;
+    ComputationInfo m_info;
     RealSchur<MatrixType> m_realSchur;
     MatrixType m_matT;
 
@@ -320,11 +324,12 @@ template<typename MatrixType>
 MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
 {
   eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
   Index n = m_eivalues.rows();
   MatrixType matD = MatrixType::Zero(n,n);
   for (Index i=0; i<n; ++i)
   {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i))))
+    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i)), precision))
       matD.coeffRef(i,i) = numext::real(m_eivalues.coeff(i));
     else
     {
@@ -341,11 +346,12 @@ typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eige
 {
   eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
   eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
   Index n = m_eivec.cols();
   EigenvectorsType matV(n,n);
   for (Index j=0; j<n; ++j)
   {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j))) || j+1==n)
+    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j)), precision) || j+1==n)
     {
       // we have a real eigen value
       matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
@@ -368,19 +374,23 @@ typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eige
 }
 
 template<typename MatrixType>
+template<typename InputType>
 EigenSolver<MatrixType>& 
-EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+EigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
 {
   check_template_parameters();
   
   using std::sqrt;
   using std::abs;
+  using numext::isfinite;
   eigen_assert(matrix.cols() == matrix.rows());
 
   // Reduce to real Schur form.
-  m_realSchur.compute(matrix, computeEigenvectors);
+  m_realSchur.compute(matrix.derived(), computeEigenvectors);
+  
+  m_info = m_realSchur.info();
 
-  if (m_realSchur.info() == Success)
+  if (m_info == Success)
   {
     m_matT = m_realSchur.matrixT();
     if (computeEigenvectors)
@@ -394,14 +404,40 @@ EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvect
       if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0)) 
       {
         m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
+        if(!(isfinite)(m_eivalues.coeffRef(i)))
+        {
+          m_isInitialized = true;
+          m_eigenvectorsOk = false;
+          m_info = NumericalIssue;
+          return *this;
+        }
         ++i;
       }
       else
       {
         Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
-        Scalar z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        Scalar z;
+        // Compute z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        // without overflow
+        {
+          Scalar t0 = m_matT.coeff(i+1, i);
+          Scalar t1 = m_matT.coeff(i, i+1);
+          Scalar maxval = numext::maxi<Scalar>(abs(p),numext::maxi<Scalar>(abs(t0),abs(t1)));
+          t0 /= maxval;
+          t1 /= maxval;
+          Scalar p0 = p/maxval;
+          z = maxval * sqrt(abs(p0 * p0 + t0 * t1));
+        }
+        
         m_eivalues.coeffRef(i)   = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
         m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
+        if(!((isfinite)(m_eivalues.coeffRef(i)) && (isfinite)(m_eivalues.coeffRef(i+1))))
+        {
+          m_isInitialized = true;
+          m_eigenvectorsOk = false;
+          m_info = NumericalIssue;
+          return *this;
+        }
         i += 2;
       }
     }
@@ -417,26 +453,6 @@ EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvect
   return *this;
 }
 
-// Complex scalar division.
-template<typename Scalar>
-std::complex<Scalar> cdiv(const Scalar& xr, const Scalar& xi, const Scalar& yr, const Scalar& yi)
-{
-  using std::abs;
-  Scalar r,d;
-  if (abs(yr) > abs(yi))
-  {
-      r = yi/yr;
-      d = yr + r*yi;
-      return std::complex<Scalar>((xr + r*xi)/d, (xi - r*xr)/d);
-  }
-  else
-  {
-      r = yr/yi;
-      d = yi + r*yr;
-      return std::complex<Scalar>((r*xr + xi)/d, (r*xi - xr)/d);
-  }
-}
-
 
 template<typename MatrixType>
 void EigenSolver<MatrixType>::doComputeEigenvectors()
@@ -453,7 +469,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
   }
   
   // Backsubstitute to find vectors of upper triangular form
-  if (norm == 0.0)
+  if (norm == Scalar(0))
   {
     return;
   }
@@ -469,13 +485,13 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
       Scalar lastr(0), lastw(0);
       Index l = n;
 
-      m_matT.coeffRef(n,n) = 1.0;
+      m_matT.coeffRef(n,n) = Scalar(1);
       for (Index i = n-1; i >= 0; i--)
       {
         Scalar w = m_matT.coeff(i,i) - p;
         Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
 
-        if (m_eivalues.coeff(i).imag() < 0.0)
+        if (m_eivalues.coeff(i).imag() < Scalar(0))
         {
           lastw = w;
           lastr = r;
@@ -483,9 +499,9 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
         else
         {
           l = i;
-          if (m_eivalues.coeff(i).imag() == 0.0)
+          if (m_eivalues.coeff(i).imag() == Scalar(0))
           {
-            if (w != 0.0)
+            if (w != Scalar(0))
               m_matT.coeffRef(i,n) = -r / w;
             else
               m_matT.coeffRef(i,n) = -r / (eps * norm);
@@ -523,19 +539,19 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
       }
       else
       {
-        std::complex<Scalar> cc = cdiv<Scalar>(0.0,-m_matT.coeff(n-1,n),m_matT.coeff(n-1,n-1)-p,q);
+        ComplexScalar cc = ComplexScalar(Scalar(0),-m_matT.coeff(n-1,n)) / ComplexScalar(m_matT.coeff(n-1,n-1)-p,q);
         m_matT.coeffRef(n-1,n-1) = numext::real(cc);
         m_matT.coeffRef(n-1,n) = numext::imag(cc);
       }
-      m_matT.coeffRef(n,n-1) = 0.0;
-      m_matT.coeffRef(n,n) = 1.0;
+      m_matT.coeffRef(n,n-1) = Scalar(0);
+      m_matT.coeffRef(n,n) = Scalar(1);
       for (Index i = n-2; i >= 0; i--)
       {
         Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
         Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
         Scalar w = m_matT.coeff(i,i) - p;
 
-        if (m_eivalues.coeff(i).imag() < 0.0)
+        if (m_eivalues.coeff(i).imag() < Scalar(0))
         {
           lastw = w;
           lastra = ra;
@@ -546,7 +562,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
           l = i;
           if (m_eivalues.coeff(i).imag() == RealScalar(0))
           {
-            std::complex<Scalar> cc = cdiv(-ra,-sa,w,q);
+            ComplexScalar cc = ComplexScalar(-ra,-sa) / ComplexScalar(w,q);
             m_matT.coeffRef(i,n-1) = numext::real(cc);
             m_matT.coeffRef(i,n) = numext::imag(cc);
           }
@@ -557,10 +573,10 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
             Scalar y = m_matT.coeff(i+1,i);
             Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
             Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
-            if ((vr == 0.0) && (vi == 0.0))
+            if ((vr == Scalar(0)) && (vi == Scalar(0)))
               vr = eps * norm * (abs(w) + abs(q) + abs(x) + abs(y) + abs(lastw));
 
-            std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
+            ComplexScalar cc = ComplexScalar(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra) / ComplexScalar(vr,vi);
             m_matT.coeffRef(i,n-1) = numext::real(cc);
             m_matT.coeffRef(i,n) = numext::imag(cc);
             if (abs(x) > (abs(lastw) + abs(q)))
@@ -570,15 +586,14 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
             }
             else
             {
-              cc = cdiv(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n),lastw,q);
+              cc = ComplexScalar(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n)) / ComplexScalar(lastw,q);
               m_matT.coeffRef(i+1,n-1) = numext::real(cc);
               m_matT.coeffRef(i+1,n) = numext::imag(cc);
             }
           }
 
           // Overflow control
-          using std::max;
-          Scalar t = (max)(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
+          Scalar t = numext::maxi<Scalar>(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
           if ((eps * t) * t > Scalar(1))
             m_matT.block(i, n-1, size-i, 2) /= t;
 
@@ -590,7 +605,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
     }
     else
     {
-      eigen_assert(0 && "Internal bug in EigenSolver"); // this should not happen
+      eigen_assert(0 && "Internal bug in EigenSolver (INF or NaN has not been detected)"); // this should not happen
     }
   }
 
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
index 956e80d..36a91df 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
@@ -1,8 +1,9 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2012-2016 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2010,2012 Jitse Niesen <jitse at maths.leeds.ac.uk>
+// Copyright (C) 2016 Tobias Wood <tobias at spinicist.org.uk>
 //
 // 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
@@ -72,7 +73,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType. 
       *
@@ -89,7 +90,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       */
     typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> VectorType;
 
-    /** \brief Type for vector of complex scalar values eigenvalues as returned by betas().
+    /** \brief Type for vector of complex scalar values eigenvalues as returned by alphas().
       *
       * This is a column vector with entries of type #ComplexScalar.
       * The length of the vector is the size of #MatrixType.
@@ -114,7 +115,14 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       *
       * \sa compute() for an example.
       */
-    GeneralizedEigenSolver() : m_eivec(), m_alphas(), m_betas(), m_isInitialized(false), m_realQZ(), m_matS(), m_tmp() {}
+    GeneralizedEigenSolver()
+      : m_eivec(),
+        m_alphas(),
+        m_betas(),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
+        m_realQZ()
+    {}
 
     /** \brief Default constructor with memory preallocation
       *
@@ -122,14 +130,13 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * according to the specified problem \a size.
       * \sa GeneralizedEigenSolver()
       */
-    GeneralizedEigenSolver(Index size)
+    explicit GeneralizedEigenSolver(Index size)
       : m_eivec(size, size),
         m_alphas(size),
         m_betas(size),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
         m_realQZ(size),
-        m_matS(size, size),
         m_tmp(size)
     {}
 
@@ -149,10 +156,9 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       : m_eivec(A.rows(), A.cols()),
         m_alphas(A.cols()),
         m_betas(A.cols()),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
         m_realQZ(A.cols()),
-        m_matS(A.rows(), A.cols()),
         m_tmp(A.cols())
     {
       compute(A, B, computeEigenvectors);
@@ -160,22 +166,20 @@ template<typename _MatrixType> class GeneralizedEigenSolver
 
     /* \brief Returns the computed generalized eigenvectors.
       *
-      * \returns  %Matrix whose columns are the (possibly complex) eigenvectors.
+      * \returns  %Matrix whose columns are the (possibly complex) right eigenvectors.
+      * i.e. the eigenvectors that solve (A - l*B)x = 0. The ordering matches the eigenvalues.
       *
       * \pre Either the constructor 
       * GeneralizedEigenSolver(const MatrixType&,const MatrixType&, bool) or the member function
       * compute(const MatrixType&, const MatrixType& bool) has been called before, and
       * \p computeEigenvectors was set to true (the default).
       *
-      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-      * eigenvectors are normalized to have (Euclidean) norm equal to one. The
-      * matrix returned by this function is the matrix \f$ V \f$ in the
-      * generalized eigendecomposition \f$ A = B V D V^{-1} \f$, if it exists.
-      *
       * \sa eigenvalues()
       */
-//    EigenvectorsType eigenvectors() const;
+    EigenvectorsType eigenvectors() const {
+      eigen_assert(m_vectorsOkay && "Eigenvectors for GeneralizedEigenSolver were not calculated.");
+      return m_eivec;
+    }
 
     /** \brief Returns an expression of the computed generalized eigenvalues.
       *
@@ -197,7 +201,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       */
     EigenvalueType eigenvalues() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return EigenvalueType(m_alphas,m_betas);
     }
 
@@ -208,7 +212,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * \sa betas(), eigenvalues() */
     ComplexVectorType alphas() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return m_alphas;
     }
 
@@ -219,7 +223,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * \sa alphas(), eigenvalues() */
     VectorType betas() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return m_betas;
     }
 
@@ -250,7 +254,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
 
     ComputationInfo info() const
     {
-      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "EigenSolver is not initialized.");
       return m_realQZ.info();
     }
 
@@ -270,29 +274,14 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
     }
     
-    MatrixType m_eivec;
+    EigenvectorsType m_eivec;
     ComplexVectorType m_alphas;
     VectorType m_betas;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
+    bool m_valuesOkay, m_vectorsOkay;
     RealQZ<MatrixType> m_realQZ;
-    MatrixType m_matS;
-
-    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
-    ColumnVectorType m_tmp;
+    ComplexVectorType m_tmp;
 };
 
-//template<typename MatrixType>
-//typename GeneralizedEigenSolver<MatrixType>::EigenvectorsType GeneralizedEigenSolver<MatrixType>::eigenvectors() const
-//{
-//  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-//  eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-//  Index n = m_eivec.cols();
-//  EigenvectorsType matV(n,n);
-//  // TODO
-//  return matV;
-//}
-
 template<typename MatrixType>
 GeneralizedEigenSolver<MatrixType>&
 GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors)
@@ -302,46 +291,126 @@ GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixTyp
   using std::sqrt;
   using std::abs;
   eigen_assert(A.cols() == A.rows() && B.cols() == A.rows() && B.cols() == B.rows());
-
+  Index size = A.cols();
+  m_valuesOkay = false;
+  m_vectorsOkay = false;
   // Reduce to generalized real Schur form:
   // A = Q S Z and B = Q T Z
   m_realQZ.compute(A, B, computeEigenvectors);
-
   if (m_realQZ.info() == Success)
   {
-    m_matS = m_realQZ.matrixS();
+    // Resize storage
+    m_alphas.resize(size);
+    m_betas.resize(size);
     if (computeEigenvectors)
-      m_eivec = m_realQZ.matrixZ().transpose();
-  
-    // Compute eigenvalues from matS
-    m_alphas.resize(A.cols());
-    m_betas.resize(A.cols());
+    {
+      m_eivec.resize(size,size);
+      m_tmp.resize(size);
+    }
+
+    // Aliases:
+    Map<VectorType> v(reinterpret_cast<Scalar*>(m_tmp.data()), size);
+    ComplexVectorType &cv = m_tmp;
+    const MatrixType &mZ = m_realQZ.matrixZ();
+    const MatrixType &mS = m_realQZ.matrixS();
+    const MatrixType &mT = m_realQZ.matrixT();
+
     Index i = 0;
-    while (i < A.cols())
+    while (i < size)
     {
-      if (i == A.cols() - 1 || m_matS.coeff(i+1, i) == Scalar(0))
+      if (i == size - 1 || mS.coeff(i+1, i) == Scalar(0))
       {
-        m_alphas.coeffRef(i) = m_matS.coeff(i, i);
-        m_betas.coeffRef(i)  = m_realQZ.matrixT().coeff(i,i);
+        // Real eigenvalue
+        m_alphas.coeffRef(i) = mS.diagonal().coeff(i);
+        m_betas.coeffRef(i)  = mT.diagonal().coeff(i);
+        if (computeEigenvectors)
+        {
+          v.setConstant(Scalar(0.0));
+          v.coeffRef(i) = Scalar(1.0);
+          // For singular eigenvalues do nothing more
+          if(abs(m_betas.coeffRef(i)) >= (std::numeric_limits<RealScalar>::min)())
+          {
+            // Non-singular eigenvalue
+            const Scalar alpha = real(m_alphas.coeffRef(i));
+            const Scalar beta = m_betas.coeffRef(i);
+            for (Index j = i-1; j >= 0; j--)
+            {
+              const Index st = j+1;
+              const Index sz = i-j;
+              if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+              {
+                // 2x2 block
+                Matrix<Scalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( v.segment(st,sz) );
+                Matrix<Scalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+                v.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+                j--;
+              }
+              else
+              {
+                v.coeffRef(j) = -v.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum() / (beta*mS.coeffRef(j,j) - alpha*mT.coeffRef(j,j));
+              }
+            }
+          }
+          m_eivec.col(i).real().noalias() = mZ.transpose() * v;
+          m_eivec.col(i).real().normalize();
+          m_eivec.col(i).imag().setConstant(0);
+        }
         ++i;
       }
       else
       {
-        Scalar p = Scalar(0.5) * (m_matS.coeff(i, i) - m_matS.coeff(i+1, i+1));
-        Scalar z = sqrt(abs(p * p + m_matS.coeff(i+1, i) * m_matS.coeff(i, i+1)));
-        m_alphas.coeffRef(i)   = ComplexScalar(m_matS.coeff(i+1, i+1) + p, z);
-        m_alphas.coeffRef(i+1) = ComplexScalar(m_matS.coeff(i+1, i+1) + p, -z);
-
-        m_betas.coeffRef(i)   = m_realQZ.matrixT().coeff(i,i);
-        m_betas.coeffRef(i+1) = m_realQZ.matrixT().coeff(i,i);
+        // We need to extract the generalized eigenvalues of the pair of a general 2x2 block S and a positive diagonal 2x2 block T
+        // Then taking beta=T_00*T_11, we can avoid any division, and alpha is the eigenvalues of A = (U^-1 * S * U) * diag(T_11,T_00):
+
+        // T =  [a 0]
+        //      [0 b]
+        RealScalar a = mT.diagonal().coeff(i),
+                   b = mT.diagonal().coeff(i+1);
+        const RealScalar beta = m_betas.coeffRef(i) = m_betas.coeffRef(i+1) = a*b;
+
+        // ^^ NOTE: using diagonal()(i) instead of coeff(i,i) workarounds a MSVC bug.
+        Matrix<RealScalar,2,2> S2 = mS.template block<2,2>(i,i) * Matrix<Scalar,2,1>(b,a).asDiagonal();
+
+        Scalar p = Scalar(0.5) * (S2.coeff(0,0) - S2.coeff(1,1));
+        Scalar z = sqrt(abs(p * p + S2.coeff(1,0) * S2.coeff(0,1)));
+        const ComplexScalar alpha = ComplexScalar(S2.coeff(1,1) + p, (beta > 0) ? z : -z);
+        m_alphas.coeffRef(i)   = conj(alpha);
+        m_alphas.coeffRef(i+1) = alpha;
+
+        if (computeEigenvectors) {
+          // Compute eigenvector in position (i+1) and then position (i) is just the conjugate
+          cv.setZero();
+          cv.coeffRef(i+1) = Scalar(1.0);
+          // here, the "static_cast" workaound expression template issues.
+          cv.coeffRef(i) = -(static_cast<Scalar>(beta*mS.coeffRef(i,i+1)) - alpha*mT.coeffRef(i,i+1))
+                          / (static_cast<Scalar>(beta*mS.coeffRef(i,i))   - alpha*mT.coeffRef(i,i));
+          for (Index j = i-1; j >= 0; j--)
+          {
+            const Index st = j+1;
+            const Index sz = i+1-j;
+            if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+            {
+              // 2x2 block
+              Matrix<ComplexScalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( cv.segment(st,sz) );
+              Matrix<ComplexScalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+              cv.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+              j--;
+            } else {
+              cv.coeffRef(j) =  cv.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum()
+                              / (alpha*mT.coeffRef(j,j) - static_cast<Scalar>(beta*mS.coeffRef(j,j)));
+            }
+          }
+          m_eivec.col(i+1).noalias() = (mZ.transpose() * cv);
+          m_eivec.col(i+1).normalize();
+          m_eivec.col(i) = m_eivec.col(i+1).conjugate();
+        }
         i += 2;
       }
     }
-  }
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = false;//computeEigenvectors;
 
+    m_valuesOkay = true;
+    m_vectorsOkay = computeEigenvectors;
+  }
   return *this;
 }
 
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
index 07bf1ea..5f6bb82 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -50,7 +50,6 @@ class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixT
     typedef SelfAdjointEigenSolver<_MatrixType> Base;
   public:
 
-    typedef typename Base::Index Index;
     typedef _MatrixType MatrixType;
 
     /** \brief Default constructor for fixed-size matrices.
@@ -74,7 +73,7 @@ class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixT
       *
       * \sa compute() for an example
       */
-    GeneralizedSelfAdjointEigenSolver(Index size)
+    explicit GeneralizedSelfAdjointEigenSolver(Index size)
         : Base(size)
     {}
 
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/vendor/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
index 3db0c01..f647f69 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -71,7 +71,7 @@ template<typename _MatrixType> class HessenbergDecomposition
 
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Type for vector of Householder coefficients.
       *
@@ -97,7 +97,7 @@ template<typename _MatrixType> class HessenbergDecomposition
       *
       * \sa compute() for an example.
       */
-    HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
+    explicit HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
       : m_matrix(size,size),
         m_temp(size),
         m_isInitialized(false)
@@ -115,8 +115,9 @@ template<typename _MatrixType> class HessenbergDecomposition
       *
       * \sa matrixH() for an example.
       */
-    HessenbergDecomposition(const MatrixType& matrix)
-      : m_matrix(matrix),
+    template<typename InputType>
+    explicit HessenbergDecomposition(const EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
         m_temp(matrix.rows()),
         m_isInitialized(false)
     {
@@ -147,9 +148,10 @@ template<typename _MatrixType> class HessenbergDecomposition
       * Example: \include HessenbergDecomposition_compute.cpp
       * Output: \verbinclude HessenbergDecomposition_compute.out
       */
-    HessenbergDecomposition& compute(const MatrixType& matrix)
+    template<typename InputType>
+    HessenbergDecomposition& compute(const EigenBase<InputType>& matrix)
     {
-      m_matrix = matrix;
+      m_matrix = matrix.derived();
       if(matrix.rows()<2)
       {
         m_isInitialized = true;
@@ -337,7 +339,6 @@ namespace internal {
 template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
 : public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
 {
-    typedef typename MatrixType::Index Index;
   public:
     /** \brief Constructor.
       *
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/RealQZ.h b/vendor/eigen/Eigen/src/Eigenvalues/RealQZ.h
index aa3833e..b3a910d 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/RealQZ.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/RealQZ.h
@@ -67,7 +67,7 @@ namespace Eigen {
       };
       typedef typename MatrixType::Scalar Scalar;
       typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-      typedef typename MatrixType::Index Index;
+      typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
       typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
       typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
@@ -83,7 +83,7 @@ namespace Eigen {
        *
        * \sa compute() for an example.
        */
-      RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) : 
+      explicit RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) :
         m_S(size, size),
         m_T(size, size),
         m_Q(size, size),
@@ -276,7 +276,7 @@ namespace Eigen {
 
   /** \internal Look for single small sub-diagonal element S(res, res-1) and return res (or 0) */
   template<typename MatrixType>
-    inline typename MatrixType::Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
+    inline Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
     {
       using std::abs;
       Index res = iu;
@@ -294,7 +294,7 @@ namespace Eigen {
 
   /** \internal Look for single small diagonal element T(res, res) for res between f and l, and return res (or f-1)  */
   template<typename MatrixType>
-    inline typename MatrixType::Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
+    inline Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
     {
       using std::abs;
       Index res = l;
@@ -315,8 +315,8 @@ namespace Eigen {
       const Index dim=m_S.cols();
       if (abs(m_S.coeff(i+1,i))==Scalar(0))
         return;
-      Index z = findSmallDiagEntry(i,i+1);
-      if (z==i-1)
+      Index j = findSmallDiagEntry(i,i+1);
+      if (j==i-1)
       {
         // block of (S T^{-1})
         Matrix2s STi = m_T.template block<2,2>(i,i).template triangularView<Upper>().
@@ -352,7 +352,7 @@ namespace Eigen {
       }
       else
       {
-        pushDownZero(z,i,i+1);
+        pushDownZero(j,i,i+1);
       }
     }
 
@@ -552,7 +552,6 @@ namespace Eigen {
       m_T.coeffRef(l,l-1) = Scalar(0.0);
     }
 
-
   template<typename MatrixType>
     RealQZ<MatrixType>& RealQZ<MatrixType>::compute(const MatrixType& A_in, const MatrixType& B_in, bool computeQZ)
     {
@@ -616,6 +615,37 @@ namespace Eigen {
       }
       // check if we converged before reaching iterations limit
       m_info = (local_iter<m_maxIters) ? Success : NoConvergence;
+
+      // For each non triangular 2x2 diagonal block of S,
+      //    reduce the respective 2x2 diagonal block of T to positive diagonal form using 2x2 SVD.
+      // This step is not mandatory for QZ, but it does help further extraction of eigenvalues/eigenvectors,
+      // and is in par with Lapack/Matlab QZ.
+      if(m_info==Success)
+      {
+        for(Index i=0; i<dim-1; ++i)
+        {
+          if(m_S.coeff(i+1, i) != Scalar(0))
+          {
+            JacobiRotation<Scalar> j_left, j_right;
+            internal::real_2x2_jacobi_svd(m_T, i, i+1, &j_left, &j_right);
+
+            // Apply resulting Jacobi rotations
+            m_S.applyOnTheLeft(i,i+1,j_left);
+            m_S.applyOnTheRight(i,i+1,j_right);
+            m_T.applyOnTheLeft(i,i+1,j_left);
+            m_T.applyOnTheRight(i,i+1,j_right);
+            m_T(i+1,i) = m_T(i,i+1) = Scalar(0);
+
+            if(m_computeQZ) {
+              m_Q.applyOnTheRight(i,i+1,j_left.transpose());
+              m_Z.applyOnTheLeft(i,i+1,j_right.transpose());
+            }
+
+            i++;
+          }
+        }
+      }
+
       return *this;
     } // end compute
 
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/RealSchur.h b/vendor/eigen/Eigen/src/Eigenvalues/RealSchur.h
index 16d3875..f5c8604 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/RealSchur.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/RealSchur.h
@@ -64,7 +64,7 @@ template<typename _MatrixType> class RealSchur
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
     typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
@@ -80,7 +80,7 @@ template<typename _MatrixType> class RealSchur
       *
       * \sa compute() for an example.
       */
-    RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+    explicit RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
             : m_matT(size, size),
               m_matU(size, size),
               m_workspaceVector(size),
@@ -100,7 +100,8 @@ template<typename _MatrixType> class RealSchur
       * Example: \include RealSchur_RealSchur_MatrixType.cpp
       * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
       */
-    RealSchur(const MatrixType& matrix, bool computeU = true)
+    template<typename InputType>
+    explicit RealSchur(const EigenBase<InputType>& matrix, bool computeU = true)
             : m_matT(matrix.rows(),matrix.cols()),
               m_matU(matrix.rows(),matrix.cols()),
               m_workspaceVector(matrix.rows()),
@@ -109,7 +110,7 @@ template<typename _MatrixType> class RealSchur
               m_matUisUptodate(false),
               m_maxIters(-1)
     {
-      compute(matrix, computeU);
+      compute(matrix.derived(), computeU);
     }
 
     /** \brief Returns the orthogonal matrix in the Schur decomposition. 
@@ -165,7 +166,8 @@ template<typename _MatrixType> class RealSchur
       *
       * \sa compute(const MatrixType&, bool, Index)
       */
-    RealSchur& compute(const MatrixType& matrix, bool computeU = true);
+    template<typename InputType>
+    RealSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
 
     /** \brief Computes Schur decomposition of a Hessenberg matrix H = Z T Z^T
      *  \param[in] matrixH Matrix in Hessenberg form H
@@ -243,26 +245,45 @@ template<typename _MatrixType> class RealSchur
 
 
 template<typename MatrixType>
-RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+template<typename InputType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
 {
+  const Scalar considerAsZero = (std::numeric_limits<Scalar>::min)();
+
   eigen_assert(matrix.cols() == matrix.rows());
   Index maxIters = m_maxIters;
   if (maxIters == -1)
     maxIters = m_maxIterationsPerRow * matrix.rows();
 
+  Scalar scale = matrix.derived().cwiseAbs().maxCoeff();
+  if(scale<considerAsZero)
+  {
+    m_matT.setZero(matrix.rows(),matrix.cols());
+    if(computeU)
+      m_matU.setIdentity(matrix.rows(),matrix.cols());
+    m_info = Success;
+    m_isInitialized = true;
+    m_matUisUptodate = computeU;
+    return *this;
+  }
+
   // Step 1. Reduce to Hessenberg form
-  m_hess.compute(matrix);
+  m_hess.compute(matrix.derived()/scale);
 
   // Step 2. Reduce to real Schur form  
   computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
+
+  m_matT *= scale;
   
   return *this;
 }
 template<typename MatrixType>
 template<typename HessMatrixType, typename OrthMatrixType>
 RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU)
-{  
-  m_matT = matrixH; 
+{
+  using std::abs;
+
+  m_matT = matrixH;
   if(computeU)
     m_matU = matrixQ;
   
@@ -343,7 +364,7 @@ inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
 
 /** \internal Look for single small sub-diagonal element and returns its index */
 template<typename MatrixType>
-inline typename MatrixType::Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
+inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
 {
   using std::abs;
   Index res = iu;
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h b/vendor/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
new file mode 100644
index 0000000..2c22517
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
@@ -0,0 +1,77 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Real Schur needed to real unsymmetrical eigenvalues/eigenvectors.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_REAL_SCHUR_LAPACKE_H
+#define EIGEN_REAL_SCHUR_LAPACKE_H
+
+namespace Eigen { 
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_SCHUR_REAL(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
+RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
+RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
+{ \
+  eigen_assert(matrix.cols() == matrix.rows()); \
+\
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
+  char jobvs, sort='N'; \
+  LAPACK_##LAPACKE_PREFIX_U##_SELECT2 select = 0; \
+  jobvs = (computeU) ? 'V' : 'N'; \
+  m_matU.resize(n, n); \
+  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
+  m_matT = matrix; \
+  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
+  Matrix<EIGTYPE, Dynamic, Dynamic> wr, wi; \
+  wr.resize(n, 1); wi.resize(n, 1); \
+  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)wr.data(), (LAPACKE_TYPE*)wi.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
+  if(info == 0) \
+    m_info = Success; \
+  else \
+    m_info = NoConvergence; \
+\
+  m_isInitialized = true; \
+  m_matUisUptodate = computeU; \
+  return *this; \
+\
+}
+
+EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, RowMajor, LAPACK_ROW_MAJOR)
+
+} // end namespace Eigen
+
+#endif // EIGEN_REAL_SCHUR_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index 1131c8a..9ddd553 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -20,6 +20,8 @@ class GeneralizedSelfAdjointEigenSolver;
 
 namespace internal {
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
 }
 
 /** \eigenvalues_module \ingroup Eigenvalues_Module
@@ -79,7 +81,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     
     /** \brief Scalar type for matrices of type \p _MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
     
     typedef Matrix<Scalar,Size,Size,ColMajor,MaxColsAtCompileTime,MaxColsAtCompileTime> EigenvectorsType;
 
@@ -100,6 +102,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       */
     typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
     typedef Tridiagonalization<MatrixType> TridiagonalizationType;
+    typedef typename TridiagonalizationType::SubDiagonalType SubDiagonalType;
 
     /** \brief Default constructor for fixed-size matrices.
       *
@@ -111,6 +114,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
       */
+    EIGEN_DEVICE_FUNC
     SelfAdjointEigenSolver()
         : m_eivec(),
           m_eivalues(),
@@ -130,7 +134,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa compute() for an example
       */
-    SelfAdjointEigenSolver(Index size)
+    EIGEN_DEVICE_FUNC
+    explicit SelfAdjointEigenSolver(Index size)
         : m_eivec(size, size),
           m_eivalues(size),
           m_subdiag(size > 1 ? size - 1 : 1),
@@ -152,13 +157,15 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa compute(const MatrixType&, int)
       */
-    SelfAdjointEigenSolver(const MatrixType& matrix, int options = ComputeEigenvectors)
+    template<typename InputType>
+    EIGEN_DEVICE_FUNC
+    explicit SelfAdjointEigenSolver(const EigenBase<InputType>& matrix, int options = 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, options);
+      compute(matrix.derived(), options);
     }
 
     /** \brief Computes eigendecomposition of given matrix.
@@ -191,24 +198,45 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa SelfAdjointEigenSolver(const MatrixType&, int)
       */
-    SelfAdjointEigenSolver& compute(const MatrixType& matrix, int options = ComputeEigenvectors);
+    template<typename InputType>
+    EIGEN_DEVICE_FUNC
+    SelfAdjointEigenSolver& compute(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors);
     
-    /** \brief Computes eigendecomposition of given matrix using a direct algorithm
+    /** \brief Computes eigendecomposition of given matrix using a closed-form algorithm
       *
       * This is a variant of compute(const MatrixType&, int options) which
       * directly solves the underlying polynomial equation.
       * 
-      * Currently only 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
+      * Currently only 2x2 and 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
       * 
-      * This method is usually significantly faster than the QR algorithm
+      * This method is usually significantly faster than the QR iterative algorithm
       * but it might also be less accurate. It is also worth noting that
       * for 3x3 matrices it involves trigonometric operations which are
       * not necessarily available for all scalar types.
+      * 
+      * For the 3x3 case, we observed the following worst case relative error regarding the eigenvalues:
+      *   - double: 1e-8
+      *   - float:  1e-3
       *
       * \sa compute(const MatrixType&, int options)
       */
+    EIGEN_DEVICE_FUNC
     SelfAdjointEigenSolver& computeDirect(const MatrixType& matrix, int options = ComputeEigenvectors);
 
+    /**
+      *\brief Computes the eigen decomposition from a tridiagonal symmetric matrix
+      *
+      * \param[in] diag The vector containing the diagonal of the matrix.
+      * \param[in] subdiag The subdiagonal of the matrix.
+      * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+      * \returns Reference to \c *this
+      *
+      * This function assumes that the matrix has been reduced to tridiagonal form.
+      *
+      * \sa compute(const MatrixType&, int) for more information
+      */
+    SelfAdjointEigenSolver& computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options=ComputeEigenvectors);
+
     /** \brief Returns the eigenvectors of given matrix.
       *
       * \returns  A const reference to the matrix whose columns are the eigenvectors.
@@ -227,6 +255,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa eigenvalues()
       */
+    EIGEN_DEVICE_FUNC
     const EigenvectorsType& eigenvectors() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -249,6 +278,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa eigenvectors(), MatrixBase::eigenvalues()
       */
+    EIGEN_DEVICE_FUNC
     const RealVectorType& eigenvalues() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -270,9 +300,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
       *
-      * \sa operatorInverseSqrt(),
-      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      * \sa operatorInverseSqrt(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
       */
+    EIGEN_DEVICE_FUNC
     MatrixType operatorSqrt() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -295,9 +325,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
       *
-      * \sa operatorSqrt(), MatrixBase::inverse(),
-      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      * \sa operatorSqrt(), MatrixBase::inverse(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
       */
+    EIGEN_DEVICE_FUNC
     MatrixType operatorInverseSqrt() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -309,6 +339,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
       */
+    EIGEN_DEVICE_FUNC
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -322,36 +353,6 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       */
     static const int m_maxIterations = 30;
 
-    #ifdef EIGEN2_SUPPORT
-    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);
-    }
-    
-    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);
-    }
-    
-    void compute(const MatrixType& matrix, bool computeEigenvectors)
-    {
-      compute(matrix, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-
-    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-    {
-      compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-    #endif // EIGEN2_SUPPORT
-
   protected:
     static void check_template_parameters()
     {
@@ -366,6 +367,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     bool m_eigenvectorsOk;
 };
 
+namespace internal {
 /** \internal
   *
   * \eigenvalues_module \ingroup Eigenvalues_Module
@@ -373,8 +375,12 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
   * Performs a QR step on a tridiagonal symmetric matrix represented as a
   * pair of two vectors \a diag and \a subdiag.
   *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
+  * \param diag the diagonal part of the input selfadjoint tridiagonal matrix
+  * \param subdiag the sub-diagonal part of the input selfadjoint tridiagonal matrix
+  * \param start starting index of the submatrix to work on
+  * \param end last+1 index of the submatrix to work on
+  * \param matrixQ pointer to the column-major matrix holding the eigenvectors, can be 0
+  * \param n size of the input matrix
   *
   * For compilation efficiency reasons, this procedure does not use eigen expression
   * for its arguments.
@@ -382,17 +388,21 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
   * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
   * "implicit symmetric QR step with Wilkinson shift"
   */
-namespace internal {
-template<typename RealScalar, typename Scalar, typename Index>
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
 }
 
 template<typename MatrixType>
+template<typename InputType>
+EIGEN_DEVICE_FUNC
 SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::compute(const MatrixType& matrix, int options)
+::compute(const EigenBase<InputType>& a_matrix, int options)
 {
   check_template_parameters();
   
+  const InputType &matrix(a_matrix.derived());
+  
   using std::abs;
   eigen_assert(matrix.cols() == matrix.rows());
   eigen_assert((options&~(EigVecMask|GenEigMask))==0
@@ -404,7 +414,8 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 
   if(n==1)
   {
-    m_eivalues.coeffRef(0,0) = numext::real(matrix.coeff(0,0));
+    m_eivec = matrix;
+    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0));
     if(computeEigenvectors)
       m_eivec.setOnes(n,n);
     m_info = Success;
@@ -424,19 +435,74 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   mat.template triangularView<Lower>() /= scale;
   m_subdiag.resize(n-1);
   internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+
+  m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
   
+  // scale back the eigen values
+  m_eivalues *= scale;
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+template<typename MatrixType>
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options)
+{
+  //TODO : Add an option to scale the values beforehand
+  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+
+  m_eivalues = diag;
+  m_subdiag = subdiag;
+  if (computeEigenvectors)
+  {
+    m_eivec.setIdentity(diag.size(), diag.size());
+  }
+  m_info = internal::computeFromTridiagonal_impl(m_eivalues, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+namespace internal {
+/**
+  * \internal
+  * \brief Compute the eigendecomposition from a tridiagonal matrix
+  *
+  * \param[in,out] diag : On input, the diagonal of the matrix, on output the eigenvalues
+  * \param[in,out] subdiag : The subdiagonal part of the matrix (entries are modified during the decomposition)
+  * \param[in] maxIterations : the maximum number of iterations
+  * \param[in] computeEigenvectors : whether the eigenvectors have to be computed or not
+  * \param[out] eivec : The matrix to store the eigenvectors if computeEigenvectors==true. Must be allocated on input.
+  * \returns \c Success or \c NoConvergence
+  */
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
+{
+  using std::abs;
+
+  ComputationInfo info;
+  typedef typename MatrixType::Scalar Scalar;
+
+  Index n = diag.size();
   Index end = n-1;
   Index start = 0;
   Index iter = 0; // total number of iterations
-
+  
+  typedef typename DiagType::RealScalar RealScalar;
+  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
+  
   while (end>0)
   {
     for (Index i = start; i<end; ++i)
-      if (internal::isMuchSmallerThan(abs(m_subdiag[i]),(abs(diag[i])+abs(diag[i+1]))))
-        m_subdiag[i] = 0;
+      if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
+        subdiag[i] = 0;
 
     // find the largest unreduced block
-    while (end>0 && m_subdiag[end-1]==0)
+    while (end>0 && subdiag[end-1]==RealScalar(0))
     {
       end--;
     }
@@ -445,51 +511,42 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 
     // if we spent too many iterations, we give up
     iter++;
-    if(iter > m_maxIterations * n) break;
+    if(iter > maxIterations * n) break;
 
     start = end - 1;
-    while (start>0 && m_subdiag[start-1]!=0)
+    while (start>0 && subdiag[start-1]!=0)
       start--;
 
-    internal::tridiagonal_qr_step(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
+    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), subdiag.data(), start, end, computeEigenvectors ? eivec.data() : (Scalar*)0, n);
   }
-
-  if (iter <= m_maxIterations * n)
-    m_info = Success;
+  if (iter <= maxIterations * n)
+    info = Success;
   else
-    m_info = NoConvergence;
+    info = NoConvergence;
 
   // Sort eigenvalues and corresponding vectors.
   // TODO make the sort optional ?
   // TODO use a better sort algorithm !!
-  if (m_info == Success)
+  if (info == Success)
   {
     for (Index i = 0; i < n-1; ++i)
     {
       Index k;
-      m_eivalues.segment(i,n-i).minCoeff(&k);
+      diag.segment(i,n-i).minCoeff(&k);
       if (k > 0)
       {
-        std::swap(m_eivalues[i], m_eivalues[k+i]);
+        std::swap(diag[i], diag[k+i]);
         if(computeEigenvectors)
-          m_eivec.col(i).swap(m_eivec.col(k+i));
+          eivec.col(i).swap(eivec.col(k+i));
       }
     }
   }
-  
-  // scale back the eigen values
-  m_eivalues *= scale;
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
+  return info;
 }
-
-
-namespace internal {
   
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& eig, const typename SolverType::MatrixType& A, int options)
   { eig.compute(A,options); }
 };
@@ -499,21 +556,22 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   typedef typename SolverType::MatrixType MatrixType;
   typedef typename SolverType::RealVectorType VectorType;
   typedef typename SolverType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
   typedef typename SolverType::EigenvectorsType EigenvectorsType;
   
+
   /** \internal
    * Computes the roots of the characteristic polynomial of \a m.
    * For numerical stability m.trace() should be near zero and to avoid over- or underflow m should be normalized.
    */
+  EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    using std::sqrt;
-    using std::atan2;
-    using std::cos;
-    using std::sin;
-    const Scalar s_inv3 = Scalar(1.0)/Scalar(3.0);
-    const Scalar s_sqrt3 = sqrt(Scalar(3.0));
+    EIGEN_USING_STD_MATH(sqrt)
+    EIGEN_USING_STD_MATH(atan2)
+    EIGEN_USING_STD_MATH(cos)
+    EIGEN_USING_STD_MATH(sin)
+    const Scalar s_inv3 = Scalar(1)/Scalar(3);
+    const Scalar s_sqrt3 = sqrt(Scalar(3));
 
     // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0.  The
     // eigenvalues are the roots to this equation, all guaranteed to be
@@ -526,14 +584,12 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     // and in solving the equation for the roots in closed form.
     Scalar c2_over_3 = c2*s_inv3;
     Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3;
-    if(a_over_3<Scalar(0))
-      a_over_3 = Scalar(0);
+    a_over_3 = numext::maxi(a_over_3, Scalar(0));
 
     Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1));
 
     Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b;
-    if(q<Scalar(0))
-      q = Scalar(0);
+    q = numext::maxi(q, Scalar(0));
 
     // Compute the eigenvalues by solving for the roots of the polynomial.
     Scalar rho = sqrt(a_over_3);
@@ -546,6 +602,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
   {
     using std::abs;
@@ -565,6 +622,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     return true;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
     eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows());
@@ -606,7 +664,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
         Index k(0), l(2);
         if(d0 > d1)
         {
-          std::swap(k,l);
+          numext::swap(k,l);
           d0 = d1;
         }
 
@@ -650,13 +708,15 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
 };
 
 // 2x2 direct eigenvalues decomposition, code from Hauke Heibel
-template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2,false>
+template<typename SolverType> 
+struct direct_selfadjoint_eigenvalues<SolverType,2,false>
 {
   typedef typename SolverType::MatrixType MatrixType;
   typedef typename SolverType::RealVectorType VectorType;
   typedef typename SolverType::Scalar Scalar;
   typedef typename SolverType::EigenvectorsType EigenvectorsType;
   
+  EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
     using std::sqrt;
@@ -666,11 +726,12 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
     roots(1) = t1 + t0;
   }
   
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
-    using std::sqrt;
-    using std::abs;
-
+    EIGEN_USING_STD_MATH(sqrt);
+    EIGEN_USING_STD_MATH(abs);
+    
     eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
     eigen_assert((options&~(EigVecMask|GenEigMask))==0
             && (options&EigVecMask)!=EigVecMask
@@ -680,14 +741,18 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
     EigenvectorsType& eivecs = solver.m_eivec;
     VectorType& eivals = solver.m_eivalues;
   
-    // map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar scale = mat.cwiseAbs().maxCoeff();
-    scale = (std::max)(scale,Scalar(1));
-    MatrixType scaledMat = mat / scale;
-    
+    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
+    Scalar shift = mat.trace() / Scalar(2);
+    MatrixType scaledMat = mat;
+    scaledMat.coeffRef(0,1) = mat.coeff(1,0);
+    scaledMat.diagonal().array() -= shift;
+    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
+    if(scale > Scalar(0))
+      scaledMat /= scale;
+
     // Compute the eigenvalues
     computeRoots(scaledMat,eivals);
-    
+
     // compute the eigen vectors
     if(computeEigenvectors)
     {
@@ -715,10 +780,11 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
         eivecs.col(0) << eivecs.col(1).unitOrthogonal();
       }
     }
-    
+
     // Rescale back to the original size.
     eivals *= scale;
-    
+    eivals.array() += shift;
+
     solver.m_info = Success;
     solver.m_isInitialized = true;
     solver.m_eigenvectorsOk = computeEigenvectors;
@@ -728,6 +794,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
 }
 
 template<typename MatrixType>
+EIGEN_DEVICE_FUNC
 SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 ::computeDirect(const MatrixType& matrix, int options)
 {
@@ -736,7 +803,8 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 }
 
 namespace internal {
-template<typename RealScalar, typename Scalar, typename Index>
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
 {
   using std::abs;
@@ -748,14 +816,14 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta
 //   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
   // This explain the following, somewhat more complicated, version:
   RealScalar mu = diag[end];
-  if(td==0)
+  if(td==RealScalar(0))
     mu -= abs(e);
   else
   {
     RealScalar e2 = numext::abs2(subdiag[end-1]);
     RealScalar h = numext::hypot(td,e);
-    if(e2==0)  mu -= (e / (td + (td>0 ? 1 : -1))) * (e / h);
-    else       mu -= e2 / (td + (td>0 ? h : -h));
+    if(e2==RealScalar(0)) mu -= (e / (td + (td>RealScalar(0) ? RealScalar(1) : RealScalar(-1)))) * (e / h);
+    else                  mu -= e2 / (td + (td>RealScalar(0) ? h : -h));
   }
   
   RealScalar x = diag[start] - mu;
@@ -788,7 +856,8 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta
     // apply the givens rotation to the unit matrix Q = Q * G
     if (matrixQ)
     {
-      Map<Matrix<Scalar,Dynamic,Dynamic,ColMajor> > q(matrixQ,n,n);
+      // FIXME if StorageOrder == RowMajor this operation is not very efficient
+      Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
       q.applyOnTheRight(k,k+1,rot);
     }
   }
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h b/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
new file mode 100644
index 0000000..3891cf8
--- /dev/null
+++ b/vendor/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
@@ -0,0 +1,90 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Self-adjoint eigenvalues/eigenvectors.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_SAEIGENSOLVER_LAPACKE_H
+#define EIGEN_SAEIGENSOLVER_LAPACKE_H
+
+namespace Eigen { 
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_EIG_SELFADJ(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, EIGCOLROW, LAPACKE_COLROW ) \
+template<> template<typename InputType> inline \
+SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
+SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, int options) \
+{ \
+  eigen_assert(matrix.cols() == matrix.rows()); \
+  eigen_assert((options&~(EigVecMask|GenEigMask))==0 \
+          && (options&EigVecMask)!=EigVecMask \
+          && "invalid option parameter"); \
+  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors; \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), lda, matrix_order, info; \
+  m_eivalues.resize(n,1); \
+  m_subdiag.resize(n-1); \
+  m_eivec = matrix; \
+\
+  if(n==1) \
+  { \
+    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0)); \
+    if(computeEigenvectors) m_eivec.setOnes(n,n); \
+    m_info = Success; \
+    m_isInitialized = true; \
+    m_eigenvectorsOk = computeEigenvectors; \
+    return *this; \
+  } \
+\
+  lda = internal::convert_index<lapack_int>(m_eivec.outerStride()); \
+  matrix_order=LAPACKE_COLROW; \
+  char jobz, uplo='L'/*, range='A'*/; \
+  jobz = computeEigenvectors ? 'V' : 'N'; \
+\
+  info = LAPACKE_##LAPACKE_NAME( matrix_order, jobz, uplo, n, (LAPACKE_TYPE*)m_eivec.data(), lda, (LAPACKE_RTYPE*)m_eivalues.data() ); \
+  m_info = (info==0) ? Success : NoConvergence; \
+  m_isInitialized = true; \
+  m_eigenvectorsOk = computeEigenvectors; \
+  return *this; \
+}
+
+
+EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, ColMajor, LAPACK_COL_MAJOR)
+
+EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, RowMajor, LAPACK_ROW_MAJOR)
+
+} // end namespace Eigen
+
+#endif // EIGEN_SAEIGENSOLVER_H
diff --git a/vendor/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h b/vendor/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
index 192278d..1d102c1 100644
--- a/vendor/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ b/vendor/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -18,8 +18,10 @@ namespace internal {
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
 template<typename MatrixType>
 struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
+  : public traits<typename MatrixType::PlainObject>
 {
-  typedef typename MatrixType::PlainObject ReturnType;
+  typedef typename MatrixType::PlainObject ReturnType; // FIXME shall it be a BandMatrix?
+  enum { Flags = 0 };
 };
 
 template<typename MatrixType, typename CoeffVectorType>
@@ -67,7 +69,7 @@ template<typename _MatrixType> class Tridiagonalization
 
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     enum {
       Size = MatrixType::RowsAtCompileTime,
@@ -89,10 +91,8 @@ template<typename _MatrixType> class Tridiagonalization
             >::type DiagonalReturnType;
 
     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-              typename internal::add_const_on_value_type<typename Diagonal<
-                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >::RealReturnType>::type,
-              const Diagonal<
-                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >
+              typename internal::add_const_on_value_type<typename Diagonal<const MatrixType, -1>::RealReturnType>::type,
+              const Diagonal<const MatrixType, -1>
             >::type SubDiagonalReturnType;
 
     /** \brief Return type of matrixQ() */
@@ -110,7 +110,7 @@ template<typename _MatrixType> class Tridiagonalization
       *
       * \sa compute() for an example.
       */
-    Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
+    explicit Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
       : m_matrix(size,size),
         m_hCoeffs(size > 1 ? size-1 : 1),
         m_isInitialized(false)
@@ -126,8 +126,9 @@ template<typename _MatrixType> class Tridiagonalization
       * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
       * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
       */
-    Tridiagonalization(const MatrixType& matrix)
-      : m_matrix(matrix),
+    template<typename InputType>
+    explicit Tridiagonalization(const EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
         m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
         m_isInitialized(false)
     {
@@ -152,9 +153,10 @@ template<typename _MatrixType> class Tridiagonalization
       * Example: \include Tridiagonalization_compute.cpp
       * Output: \verbinclude Tridiagonalization_compute.out
       */
-    Tridiagonalization& compute(const MatrixType& matrix)
+    template<typename InputType>
+    Tridiagonalization& compute(const EigenBase<InputType>& matrix)
     {
-      m_matrix = matrix;
+      m_matrix = matrix.derived();
       m_hCoeffs.resize(matrix.rows()-1, 1);
       internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
       m_isInitialized = true;
@@ -305,7 +307,7 @@ typename Tridiagonalization<MatrixType>::DiagonalReturnType
 Tridiagonalization<MatrixType>::diagonal() const
 {
   eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  return m_matrix.diagonal();
+  return m_matrix.diagonal().real();
 }
 
 template<typename MatrixType>
@@ -313,8 +315,7 @@ typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
 Tridiagonalization<MatrixType>::subDiagonal() const
 {
   eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  Index n = m_matrix.rows();
-  return Block<const MatrixType,SizeMinusOne,SizeMinusOne>(m_matrix, 1, 0, n-1,n-1).diagonal();
+  return m_matrix.template diagonal<-1>().real();
 }
 
 namespace internal {
@@ -346,7 +347,6 @@ template<typename MatrixType, typename CoeffVectorType>
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
 {
   using numext::conj;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
   Index n = matA.rows();
@@ -367,10 +367,10 @@ void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
     hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
                                   * (conj(h) * matA.col(i).tail(remainingSize)));
 
-    hCoeffs.tail(n-i-1) += (conj(h)*Scalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
+    hCoeffs.tail(n-i-1) += (conj(h)*RealScalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
 
     matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
-      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), -1);
+      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), Scalar(-1));
 
     matA.col(i).coeffRef(i+1) = beta;
     hCoeffs.coeffRef(i) = h;
@@ -438,7 +438,6 @@ struct tridiagonalization_inplace_selector
 {
   typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
   typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
-  typedef typename MatrixType::Index Index;
   template<typename DiagonalType, typename SubDiagonalType>
   static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
   {
@@ -467,9 +466,10 @@ struct tridiagonalization_inplace_selector<MatrixType,3,false>
   static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
   {
     using std::sqrt;
+    const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
     diag[0] = mat(0,0);
     RealScalar v1norm2 = numext::abs2(mat(2,0));
-    if(v1norm2 == RealScalar(0))
+    if(v1norm2 <= tol)
     {
       diag[1] = mat(1,1);
       diag[2] = mat(2,2);
@@ -526,7 +526,6 @@ struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
 : public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
 {
-    typedef typename MatrixType::Index Index;
   public:
     /** \brief Constructor.
       *
diff --git a/vendor/eigen/Eigen/src/Geometry/AlignedBox.h b/vendor/eigen/Eigen/src/Geometry/AlignedBox.h
index 7e1cd9e..066eae4 100644
--- a/vendor/eigen/Eigen/src/Geometry/AlignedBox.h
+++ b/vendor/eigen/Eigen/src/Geometry/AlignedBox.h
@@ -34,10 +34,11 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   enum { AmbientDimAtCompileTime = _AmbientDim };
   typedef _Scalar                                   Scalar;
   typedef NumTraits<Scalar>                         ScalarTraits;
-  typedef DenseIndex                                Index;
+  typedef Eigen::Index                              Index; ///< \deprecated since Eigen 3.3
   typedef typename ScalarTraits::Real               RealScalar;
-  typedef typename ScalarTraits::NonInteger      NonInteger;
+  typedef typename ScalarTraits::NonInteger         NonInteger;
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
 
   /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
   enum CornerType
@@ -61,77 +62,76 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
 
   /** Default constructor initializing a null box. */
-  inline AlignedBox()
+  EIGEN_DEVICE_FUNC inline AlignedBox()
   { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
 
   /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
   { setEmpty(); }
 
   /** Constructs a box with extremities \a _min and \a _max.
    * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
   template<typename OtherVectorType1, typename OtherVectorType2>
-  inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
+  EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
 
   /** Constructs a box containing a single point \a p. */
   template<typename Derived>
-  inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
   { }
 
-  ~AlignedBox() {}
+  EIGEN_DEVICE_FUNC ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
 
   /** \deprecated use isEmpty() */
-  inline bool isNull() const { return isEmpty(); }
+  EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
 
   /** \deprecated use setEmpty() */
-  inline void setNull() { setEmpty(); }
+  EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); }
 
   /** \returns true if the box is empty.
    * \sa setEmpty */
-  inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
+  EIGEN_DEVICE_FUNC inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
 
   /** Makes \c *this an empty box.
    * \sa isEmpty */
-  inline void setEmpty()
+  EIGEN_DEVICE_FUNC inline void setEmpty()
   {
     m_min.setConstant( ScalarTraits::highest() );
     m_max.setConstant( ScalarTraits::lowest() );
   }
 
   /** \returns the minimal corner */
-  inline const VectorType& (min)() const { return m_min; }
+  EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; }
   /** \returns a non const reference to the minimal corner */
-  inline VectorType& (min)() { return m_min; }
+  EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; }
   /** \returns the maximal corner */
-  inline const VectorType& (max)() const { return m_max; }
+  EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; }
   /** \returns a non const reference to the maximal corner */
-  inline VectorType& (max)() { return m_max; }
+  EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
 
   /** \returns the center of the box */
-  inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
-                            const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
+  EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
   center() const
-  { return (m_min+m_max)/2; }
+  { return (m_min+m_max)/RealScalar(2); }
 
   /** \returns the lengths of the sides of the bounding box.
     * Note that this function does not get the same
     * result for integral or floating scalar types: see
     */
-  inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
+  EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
   { return m_max - m_min; }
 
   /** \returns the volume of the bounding box */
-  inline Scalar volume() const
+  EIGEN_DEVICE_FUNC inline Scalar volume() const
   { return sizes().prod(); }
 
   /** \returns an expression for the bounding box diagonal vector
     * if the length of the diagonal is needed: diagonal().norm()
     * will provide it.
     */
-  inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
+  EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
   { return sizes(); }
 
   /** \returns the vertex of the bounding box at the corner defined by
@@ -143,7 +143,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * For 3D bounding boxes, the following names are added:
     * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
     */
-  inline VectorType corner(CornerType corner) const
+  EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
   {
     EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
 
@@ -161,7 +161,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** \returns a random point inside the bounding box sampled with
    * a uniform distribution */
-  inline VectorType sample() const
+  EIGEN_DEVICE_FUNC inline VectorType sample() const
   {
     VectorType r(dim());
     for(Index d=0; d<dim(); ++d)
@@ -179,27 +179,27 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** \returns true if the point \a p is inside the box \c *this. */
   template<typename Derived>
-  inline bool contains(const MatrixBase<Derived>& p) const
+  EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const
   {
-    typename internal::nested<Derived,2>::type p_n(p.derived());
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
     return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
   }
 
   /** \returns true if the box \a b is entirely inside the box \c *this. */
-  inline bool contains(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const
   { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
 
   /** \returns true if the box \a b is intersecting the box \c *this.
    * \sa intersection, clamp */
-  inline bool intersects(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const
   { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
 
   /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
    * \sa extend(const AlignedBox&) */
   template<typename Derived>
-  inline AlignedBox& extend(const MatrixBase<Derived>& p)
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
   {
-    typename internal::nested<Derived,2>::type p_n(p.derived());
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
     m_min = m_min.cwiseMin(p_n);
     m_max = m_max.cwiseMax(p_n);
     return *this;
@@ -207,7 +207,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
    * \sa merged, extend(const MatrixBase&) */
-  inline AlignedBox& extend(const AlignedBox& b)
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
   {
     m_min = m_min.cwiseMin(b.m_min);
     m_max = m_max.cwiseMax(b.m_max);
@@ -217,7 +217,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   /** Clamps \c *this by the box \a b and returns a reference to \c *this.
    * \note If the boxes don't intersect, the resulting box is empty.
    * \sa intersection(), intersects() */
-  inline AlignedBox& clamp(const AlignedBox& b)
+  EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
   {
     m_min = m_min.cwiseMax(b.m_min);
     m_max = m_max.cwiseMin(b.m_max);
@@ -227,20 +227,20 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   /** Returns an AlignedBox that is the intersection of \a b and \c *this
    * \note If the boxes don't intersect, the resulting box is empty.
    * \sa intersects(), clamp, contains()  */
-  inline AlignedBox intersection(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
   {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
 
   /** Returns an AlignedBox that is the union of \a b and \c *this.
    * \note Merging with an empty box may result in a box bigger than \c *this. 
    * \sa extend(const AlignedBox&) */
-  inline AlignedBox merged(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
   { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
 
   /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
   template<typename Derived>
-  inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
+  EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
   {
-    const typename internal::nested<Derived,2>::type t(a_t.derived());
+    const typename internal::nested_eval<Derived,2>::type t(a_t.derived());
     m_min += t;
     m_max += t;
     return *this;
@@ -251,28 +251,28 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
     */
   template<typename Derived>
-  inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
 
   /** \returns the squared distance between the boxes \a b and \c *this,
     * and zero if the boxes intersect.
     * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
     */
-  inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) 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(const MatrixBase&), exteriorDistance(const AlignedBox&)
     */
   template<typename Derived>
-  inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
-  { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(p))); }
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
+  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
 
   /** \returns the distance between the boxes \a b and \c *this,
     * and zero if the boxes intersect.
     * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
     */
-  inline NonInteger exteriorDistance(const AlignedBox& b) const
-  { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); }
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
+  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -280,7 +280,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<AlignedBox,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AlignedBox,
            AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
   {
     return typename internal::cast_return_type<AlignedBox,
@@ -289,7 +289,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
   {
     m_min = (other.min)().template cast<Scalar>();
     m_max = (other.max)().template cast<Scalar>();
@@ -299,7 +299,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
   { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
 
 protected:
@@ -311,9 +311,9 @@ protected:
 
 template<typename Scalar,int AmbientDim>
 template<typename Derived>
-inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
 {
-  typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
+  typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.derived());
   Scalar dist2(0);
   Scalar aux;
   for (Index k=0; k<dim(); ++k)
@@ -333,7 +333,7 @@ inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const Matri
 }
 
 template<typename Scalar,int AmbientDim>
-inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
 {
   Scalar dist2(0);
   Scalar aux;
diff --git a/vendor/eigen/Eigen/src/Geometry/AngleAxis.h b/vendor/eigen/Eigen/src/Geometry/AngleAxis.h
index a8d3cdc..0af3c1b 100644
--- a/vendor/eigen/Eigen/src/Geometry/AngleAxis.h
+++ b/vendor/eigen/Eigen/src/Geometry/AngleAxis.h
@@ -69,57 +69,61 @@ protected:
 public:
 
   /** Default constructor without initialization. */
-  AngleAxis() {}
+  EIGEN_DEVICE_FUNC AngleAxis() {}
   /** Constructs and initialize the angle-axis rotation from an \a angle in radian
     * and an \a axis which \b must \b be \b normalized.
     *
     * \warning If the \a axis vector is not normalized, then the angle-axis object
     *          represents an invalid rotation. */
   template<typename Derived>
+  EIGEN_DEVICE_FUNC 
   inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
-  template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
+  /** Constructs and initialize the angle-axis rotation from a quaternion \a q.
+    * This function implicitly normalizes the quaternion \a q.
+    */
+  template<typename QuatDerived> 
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const QuaternionBase<QuatDerived>& 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; }
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
 
   /** \returns the value of the rotation angle in radian */
-  Scalar angle() const { return m_angle; }
+  EIGEN_DEVICE_FUNC Scalar angle() const { return m_angle; }
   /** \returns a read-write reference to the stored angle in radian */
-  Scalar& angle() { return m_angle; }
+  EIGEN_DEVICE_FUNC Scalar& angle() { return m_angle; }
 
   /** \returns the rotation axis */
-  const Vector3& axis() const { return m_axis; }
+  EIGEN_DEVICE_FUNC const Vector3& axis() const { return m_axis; }
   /** \returns a read-write reference to the stored rotation axis.
     *
     * \warning The rotation axis must remain a \b unit vector.
     */
-  Vector3& axis() { return m_axis; }
+  EIGEN_DEVICE_FUNC Vector3& axis() { return m_axis; }
 
   /** Concatenates two rotations */
-  inline QuaternionType operator* (const AngleAxis& other) const
+  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const AngleAxis& other) const
   { return QuaternionType(*this) * QuaternionType(other); }
 
   /** Concatenates two rotations */
-  inline QuaternionType operator* (const QuaternionType& other) const
+  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& other) const
   { return QuaternionType(*this) * other; }
 
   /** Concatenates two rotations */
-  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
+  friend EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
   { return a * QuaternionType(b); }
 
   /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  AngleAxis inverse() const
+  EIGEN_DEVICE_FUNC AngleAxis inverse() const
   { return AngleAxis(-m_angle, m_axis); }
 
   template<class QuatDerived>
-  AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
+  EIGEN_DEVICE_FUNC AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
   template<typename Derived>
-  AngleAxis& operator=(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC AngleAxis& operator=(const MatrixBase<Derived>& m);
 
   template<typename Derived>
-  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
+  EIGEN_DEVICE_FUNC AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix(void) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -127,24 +131,24 @@ public:
     * 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
+  EIGEN_DEVICE_FUNC 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)
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
   {
     m_axis = other.axis().template cast<Scalar>();
     m_angle = Scalar(other.angle());
   }
 
-  static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); }
+  EIGEN_DEVICE_FUNC static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); }
 
   /** \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, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
 };
 
@@ -156,29 +160,32 @@ typedef AngleAxis<float> AngleAxisf;
 typedef AngleAxis<double> AngleAxisd;
 
 /** Set \c *this from a \b unit quaternion.
-  * The axis is normalized.
+  *
+  * The resulting axis is normalized, and the computed angle is in the [0,pi] range.
   * 
-  * \warning As any other method dealing with quaternion, if the input quaternion
-  *          is not normalized then the result is undefined.
+  * This function implicitly normalizes the quaternion \a q.
   */
 template<typename Scalar>
 template<typename QuatDerived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
 {
-  using std::acos;
-  using std::min;
-  using std::max;
-  using std::sqrt;
-  Scalar n2 = q.vec().squaredNorm();
-  if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
+  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD_MATH(abs)
+  Scalar n = q.vec().norm();
+  if(n<NumTraits<Scalar>::epsilon())
+    n = q.vec().stableNorm();
+
+  if (n != Scalar(0))
   {
-    m_angle = Scalar(0);
-    m_axis << Scalar(1), Scalar(0), Scalar(0);
+    m_angle = Scalar(2)*atan2(n, abs(q.w()));
+    if(q.w() < 0)
+      n = -n;
+    m_axis  = q.vec() / n;
   }
   else
   {
-    m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1)));
-    m_axis = q.vec() / sqrt(n2);
+    m_angle = Scalar(0);
+    m_axis << Scalar(1), Scalar(0), Scalar(0);
   }
   return *this;
 }
@@ -187,7 +194,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
   */
 template<typename Scalar>
 template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC 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:
@@ -199,7 +206,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
 **/
 template<typename Scalar>
 template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
 {
   return *this = QuaternionType(mat);
 }
@@ -208,10 +215,10 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derive
   */
 template<typename Scalar>
 typename AngleAxis<Scalar>::Matrix3
-AngleAxis<Scalar>::toRotationMatrix(void) const
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
 {
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   Matrix3 res;
   Vector3 sin_axis  = sin(m_angle) * m_axis;
   Scalar c = cos(m_angle);
diff --git a/vendor/eigen/Eigen/src/Geometry/EulerAngles.h b/vendor/eigen/Eigen/src/Geometry/EulerAngles.h
index 82802fb..c633268 100644
--- a/vendor/eigen/Eigen/src/Geometry/EulerAngles.h
+++ b/vendor/eigen/Eigen/src/Geometry/EulerAngles.h
@@ -33,12 +33,12 @@ namespace Eigen {
   * \sa class AngleAxis
   */
 template<typename Derived>
-inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
+EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
 MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
 {
-  using std::atan2;
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
 
@@ -55,7 +55,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
     res[0] = atan2(coeff(j,i), coeff(k,i));
     if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0)))
     {
-      res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
+      if(res[0] > Scalar(0)) {
+        res[0] -= Scalar(EIGEN_PI);
+      }
+      else {
+        res[0] += Scalar(EIGEN_PI);
+      }
       Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
       res[1] = -atan2(s2, coeff(i,i));
     }
@@ -84,7 +89,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
     res[0] = atan2(coeff(j,k), coeff(k,k));
     Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm();
     if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) {
-      res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
+      if(res[0] > Scalar(0)) {
+        res[0] -= Scalar(EIGEN_PI);
+      }
+      else {
+        res[0] += Scalar(EIGEN_PI);
+      }
       res[1] = atan2(-coeff(i,k), -c2);
     }
     else
diff --git a/vendor/eigen/Eigen/src/Geometry/Homogeneous.h b/vendor/eigen/Eigen/src/Geometry/Homogeneous.h
index 372e422..5f0da1a 100644
--- a/vendor/eigen/Eigen/src/Geometry/Homogeneous.h
+++ b/vendor/eigen/Eigen/src/Geometry/Homogeneous.h
@@ -34,7 +34,7 @@ struct traits<Homogeneous<MatrixType,Direction> >
  : traits<MatrixType>
 {
   typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
@@ -48,8 +48,7 @@ struct traits<Homogeneous<MatrixType,Direction> >
     TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
     Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
           : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
-          : TmpFlags,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+          : TmpFlags
   };
 };
 
@@ -59,102 +58,117 @@ template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl
 } // end namespace internal
 
 template<typename MatrixType,int _Direction> class Homogeneous
-  : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
+  : public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator
 {
   public:
 
+    typedef MatrixType NestedExpression;
     enum { Direction = _Direction };
 
     typedef MatrixBase<Homogeneous> Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
 
-    inline Homogeneous(const MatrixType& matrix)
+    EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix)
       : m_matrix(matrix)
     {}
 
-    inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
-    inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
-
-    inline Scalar coeff(Index row, Index col) const
-    {
-      if(  (int(Direction)==Vertical   && row==m_matrix.rows())
-        || (int(Direction)==Horizontal && col==m_matrix.cols()))
-        return Scalar(1);
-      return m_matrix.coeff(row, col);
-    }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+    
+    EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; }
 
     template<typename Rhs>
-    inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
+    EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs>
     operator* (const MatrixBase<Rhs>& rhs) const
     {
       eigen_assert(int(Direction)==Horizontal);
-      return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
+      return Product<Homogeneous,Rhs>(*this,rhs.derived());
     }
 
     template<typename Lhs> friend
-    inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
+    EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous>
     operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
     {
       eigen_assert(int(Direction)==Vertical);
-      return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
+      return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
     }
 
     template<typename Scalar, int Dim, int Mode, int Options> friend
-    inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
+    EIGEN_DEVICE_FUNC inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
     operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
     {
       eigen_assert(int(Direction)==Vertical);
-      return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
+      return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
+    }
+
+    template<typename Func>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type
+    redux(const Func& func) const
+    {
+      return func(m_matrix.redux(func), Scalar(1));
     }
 
   protected:
     typename MatrixType::Nested m_matrix;
 };
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a vector expression that is one longer than the vector argument, with the value 1 symbolically appended as the last coefficient.
   *
-  * \return an expression of the equivalent homogeneous vector
+  * This can be used to convert affine coordinates to homogeneous coordinates.
   *
   * \only_for_vectors
   *
   * Example: \include MatrixBase_homogeneous.cpp
   * Output: \verbinclude MatrixBase_homogeneous.out
   *
-  * \sa class Homogeneous
+  * \sa VectorwiseOp::homogeneous(), class Homogeneous
   */
 template<typename Derived>
-inline typename MatrixBase<Derived>::HomogeneousReturnType
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType
 MatrixBase<Derived>::homogeneous() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-  return derived();
+  return HomogeneousReturnType(derived());
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \returns a matrix expression of homogeneous column (or row) vectors
+  * \returns an expression where the value 1 is symbolically appended as the final coefficient to each column (or row) of the matrix.
+  *
+  * This can be used to convert affine coordinates to homogeneous coordinates.
   *
   * Example: \include VectorwiseOp_homogeneous.cpp
   * Output: \verbinclude VectorwiseOp_homogeneous.out
   *
-  * \sa MatrixBase::homogeneous() */
+  * \sa MatrixBase::homogeneous(), class Homogeneous */
 template<typename ExpressionType, int Direction>
-inline Homogeneous<ExpressionType,Direction>
+EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction>
 VectorwiseOp<ExpressionType,Direction>::homogeneous() const
 {
-  return _expression();
+  return HomogeneousReturnType(_expression());
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \returns an expression of the homogeneous normalized vector of \c *this
+  * \brief homogeneous normalization
+  *
+  * \returns a vector expression of the N-1 first coefficients of \c *this divided by that last coefficient.
+  *
+  * This can be used to convert homogeneous coordinates to affine coordinates.
+  *
+  * It is essentially a shortcut for:
+  * \code
+    this->head(this->size()-1)/this->coeff(this->size()-1);
+    \endcode
   *
   * Example: \include MatrixBase_hnormalized.cpp
   * Output: \verbinclude MatrixBase_hnormalized.out
   *
   * \sa VectorwiseOp::hnormalized() */
 template<typename Derived>
-inline const typename MatrixBase<Derived>::HNormalizedReturnType
+EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType
 MatrixBase<Derived>::hnormalized() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
@@ -163,16 +177,22 @@ MatrixBase<Derived>::hnormalized() const
     ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \brief column or row-wise homogeneous normalization
   *
-  * \returns an expression of the homogeneous normalized vector of \c *this
+  * \returns an expression of the first N-1 coefficients of each column (or row) of \c *this divided by the last coefficient of each column (or row).
+  *
+  * This can be used to convert homogeneous coordinates to affine coordinates.
+  *
+  * It is conceptually equivalent to calling MatrixBase::hnormalized() to each column (or row) of \c *this.
   *
   * Example: \include DirectionWise_hnormalized.cpp
   * Output: \verbinclude DirectionWise_hnormalized.out
   *
   * \sa MatrixBase::hnormalized() */
 template<typename ExpressionType, int Direction>
-inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
+EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
 VectorwiseOp<ExpressionType,Direction>::hnormalized() const
 {
   return HNormalized_Block(_expression(),0,0,
@@ -196,7 +216,7 @@ template<typename MatrixOrTransformType>
 struct take_matrix_for_product
 {
   typedef MatrixOrTransformType type;
-  static const type& run(const type &x) { return x; }
+  EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; }
 };
 
 template<typename Scalar, int Dim, int Mode,int Options>
@@ -204,7 +224,7 @@ struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
 {
   typedef Transform<Scalar, Dim, Mode, Options> TransformType;
   typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
-  static type run (const TransformType& x) { return x.affine(); }
+  EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); }
 };
 
 template<typename Scalar, int Dim, int Options>
@@ -212,7 +232,7 @@ struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
 {
   typedef Transform<Scalar, Dim, Projective, Options> TransformType;
   typedef typename TransformType::MatrixType type;
-  static const type& run (const TransformType& x) { return x.matrix(); }
+  EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); }
 };
 
 template<typename MatrixType,typename Lhs>
@@ -237,16 +257,15 @@ struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
   typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
   typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
   typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
-  typedef typename MatrixType::Index Index;
-  homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
+  EIGEN_DEVICE_FUNC homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
     : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
       m_rhs(rhs)
   {}
 
-  inline Index rows() const { return m_lhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
     // FIXME investigate how to allow lazy evaluation of this product when possible
     dst = Block<const LhsMatrixTypeNested,
@@ -277,15 +296,14 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
   : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
 {
   typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
-  typedef typename MatrixType::Index Index;
-  homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
+  EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
     : m_lhs(lhs), m_rhs(rhs)
   {}
 
-  inline Index rows() const { return m_lhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
     // FIXME investigate how to allow lazy evaluation of this product when possible
     dst = m_lhs * Block<const RhsNested,
@@ -300,6 +318,178 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
   typename Rhs::Nested m_rhs;
 };
 
+template<typename ArgType,int Direction>
+struct evaluator_traits<Homogeneous<ArgType,Direction> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
+  typedef HomogeneousShape Shape;  
+};
+
+template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; };
+
+
+template<typename ArgType,int Direction>
+struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
+  : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
+{
+  typedef Homogeneous<ArgType,Direction> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
+    : Base(), m_temp(op)
+  {
+    ::new (static_cast<Base*>(this)) Base(m_temp);
+  }
+
+protected:
+  PlainObject m_temp;
+};
+
+// dense = homogeneous
+template< typename DstXprType, typename ArgType, typename Scalar>
+struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
+{
+  typedef Homogeneous<ArgType,Vertical> SrcXprType;
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
+    dst.row(dst.rows()-1).setOnes();
+  }
+};
+
+// dense = homogeneous
+template< typename DstXprType, typename ArgType, typename Scalar>
+struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
+{
+  typedef Homogeneous<ArgType,Horizontal> SrcXprType;
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
+    dst.col(dst.cols()-1).setOnes();
+  }
+};
+
+template<typename LhsArg, typename Rhs, int ProductTag>
+struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
+{
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs)
+  {
+    homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
+  }
+};
+
+template<typename Lhs,typename Rhs>
+struct homogeneous_right_product_refactoring_helper
+{
+  enum {
+    Dim  = Lhs::ColsAtCompileTime,
+    Rows = Lhs::RowsAtCompileTime
+  };
+  typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type          LinearBlockConst;
+  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
+  typedef typename Rhs::ConstRowXpr                                     ConstantColumn;
+  typedef Replicate<const ConstantColumn,Rows,1>                        ConstantBlock;
+  typedef Product<Lhs,LinearBlock,LazyProduct>                          LinearProduct;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
+ : public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
+  typedef typename helper::ConstantBlock ConstantBlock;
+  typedef typename helper::Xpr RefactoredXpr;
+  typedef evaluator<RefactoredXpr> Base;
+  
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(  xpr.lhs().nestedExpression() .lazyProduct(  xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
+            + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
+  {}
+};
+
+template<typename Lhs, typename RhsArg, int ProductTag>
+struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
+{
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
+  }
+};
+
+// TODO: the following specialization is to address a regression from 3.2 to 3.3
+// In the future, this path should be optimized.
+template<typename Lhs, typename RhsArg, int ProductTag>
+struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    dst.noalias() = lhs * rhs.eval();
+  }
+};
+
+template<typename Lhs,typename Rhs>
+struct homogeneous_left_product_refactoring_helper
+{
+  enum {
+    Dim = Rhs::RowsAtCompileTime,
+    Cols = Rhs::ColsAtCompileTime
+  };
+  typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type          LinearBlockConst;
+  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
+  typedef typename Lhs::ConstColXpr                                     ConstantColumn;
+  typedef Replicate<const ConstantColumn,1,Cols>                        ConstantBlock;
+  typedef Product<LinearBlock,Rhs,LazyProduct>                          LinearProduct;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
+ : public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
+  typedef typename helper::ConstantBlock ConstantBlock;
+  typedef typename helper::Xpr RefactoredXpr;
+  typedef evaluator<RefactoredXpr> Base;
+  
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(   xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
+            + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
+  {}
+};
+
+template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
+struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
+{
+  typedef Transform<Scalar,Dim,Mode,Options> TransformType;
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
+  }
+};
+
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
+  : public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
+{};
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Geometry/Hyperplane.h b/vendor/eigen/Eigen/src/Geometry/Hyperplane.h
index 00b7c43..05929b2 100644
--- a/vendor/eigen/Eigen/src/Geometry/Hyperplane.h
+++ b/vendor/eigen/Eigen/src/Geometry/Hyperplane.h
@@ -22,8 +22,8 @@ namespace Eigen {
   * 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.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _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
@@ -41,7 +41,7 @@ public:
   };
   typedef _Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
   typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
                         ? Dynamic
@@ -50,21 +50,21 @@ public:
   typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
 
   /** Default constructor without initialization */
-  inline Hyperplane() {}
+  EIGEN_DEVICE_FUNC inline Hyperplane() {}
   
   template<int OtherOptions>
-  Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
    : m_coeffs(other.coeffs())
   {}
 
   /** Constructs a dynamic-size hyperplane with \a _dim the dimension
     * of the ambient space */
-  inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(Index _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)
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const VectorType& e)
     : m_coeffs(n.size()+1)
   {
     normal() = n;
@@ -75,7 +75,7 @@ public:
     * 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, const Scalar& d)
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const Scalar& d)
     : m_coeffs(n.size()+1)
   {
     normal() = n;
@@ -85,7 +85,7 @@ public:
   /** 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)
+  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
   {
     Hyperplane result(p0.size());
     result.normal() = (p1 - p0).unitOrthogonal();
@@ -96,7 +96,7 @@ public:
   /** 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_DEVICE_FUNC 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());
@@ -120,19 +120,19 @@ public:
     * 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)
+  EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
     offset() = -parametrized.origin().dot(normal());
   }
 
-  ~Hyperplane() {}
+  EIGEN_DEVICE_FUNC ~Hyperplane() {}
 
   /** \returns the dimension in which the plane holds */
-  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
 
   /** normalizes \c *this */
-  void normalize(void)
+  EIGEN_DEVICE_FUNC void normalize(void)
   {
     m_coeffs /= normal().norm();
   }
@@ -140,45 +140,45 @@ public:
   /** \returns the signed distance between the plane \c *this and a point \a p.
     * \sa absDistance()
     */
-  inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
+  EIGEN_DEVICE_FUNC inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
 
   /** \returns the absolute distance between the plane \c *this and a point \a p.
     * \sa signedDistance()
     */
-  inline Scalar absDistance(const VectorType& p) const { using std::abs; return abs(signedDistance(p)); }
+  EIGEN_DEVICE_FUNC inline Scalar absDistance(const VectorType& p) const { return numext::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(); }
+  EIGEN_DEVICE_FUNC 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 ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
+  EIGEN_DEVICE_FUNC inline ConstNormalReturnType normal() const { return ConstNormalReturnType(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); }
+  EIGEN_DEVICE_FUNC 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()); }
+  EIGEN_DEVICE_FUNC 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()); }
+  EIGEN_DEVICE_FUNC 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; }
+  EIGEN_DEVICE_FUNC 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; }
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
 
   /** \returns the intersection of *this with \a other.
     *
@@ -186,16 +186,15 @@ public:
     *
     * \note If \a other is approximately parallel to *this, this method will return any point on *this.
     */
-  VectorType intersection(const Hyperplane& other) const
+  EIGEN_DEVICE_FUNC VectorType intersection(const Hyperplane& other) const
   {
-    using std::abs;
     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(internal::isMuchSmallerThan(det, Scalar(1)))
     {   // special case where the two lines are approximately parallel. Pick any point on the first line.
-        if(abs(coeffs().coeff(1))>abs(coeffs().coeff(0)))
+        if(numext::abs(coeffs().coeff(1))>numext::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));
@@ -215,10 +214,13 @@ public:
     *               or a more generic #Affine transformation. The default is #Affine.
     */
   template<typename XprType>
-  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
   {
     if (traits==Affine)
+    {
       normal() = mat.inverse().transpose() * normal();
+      m_coeffs /= normal().norm();
+    }
     else if (traits==Isometry)
       normal() = mat * normal();
     else
@@ -236,7 +238,7 @@ public:
     *               Other kind of transformations are not supported.
     */
   template<int TrOptions>
-  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
                                 TransformTraits traits = Affine)
   {
     transform(t.linear(), traits);
@@ -250,7 +252,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Hyperplane,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Hyperplane,
            Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
   {
     return typename internal::cast_return_type<Hyperplane,
@@ -259,7 +261,7 @@ public:
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType,int OtherOptions>
-  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
@@ -267,7 +269,7 @@ public:
     *
     * \sa MatrixBase::isApprox() */
   template<int OtherOptions>
-  bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
 protected:
diff --git a/vendor/eigen/Eigen/src/Geometry/OrthoMethods.h b/vendor/eigen/Eigen/src/Geometry/OrthoMethods.h
index 556bc81..a035e63 100644
--- a/vendor/eigen/Eigen/src/Geometry/OrthoMethods.h
+++ b/vendor/eigen/Eigen/src/Geometry/OrthoMethods.h
@@ -13,16 +13,24 @@
 
 namespace Eigen { 
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
   * \returns the cross product of \c *this and \a other
   *
   * Here is a very good explanation of cross-product: http://xkcd.com/199/
+  * 
+  * With complex numbers, the cross product is implemented as
+  * \f$ (\mathbf{a}+i\mathbf{b}) \times (\mathbf{c}+i\mathbf{d}) = (\mathbf{a} \times \mathbf{c} - \mathbf{b} \times \mathbf{d}) - i(\mathbf{a} \times \mathbf{d} - \mathbf{b} \times \mathbf{c})\f$
+  * 
   * \sa MatrixBase::cross3()
   */
 template<typename Derived>
 template<typename OtherDerived>
-inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#else
+inline typename MatrixBase<Derived>::PlainObject
+#endif
 MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
@@ -30,8 +38,8 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
 
   // Note that there is no need for an expression here since the compiler
   // optimize such a small temporary very well (even within a complex expression)
-  typename internal::nested<Derived,2>::type lhs(derived());
-  typename internal::nested<OtherDerived,2>::type rhs(other.derived());
+  typename internal::nested_eval<Derived,2>::type lhs(derived());
+  typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived());
   return typename cross_product_return_type<OtherDerived>::type(
     numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
     numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
@@ -45,7 +53,7 @@ template< int Arch,typename VectorLhs,typename VectorRhs,
           typename Scalar = typename VectorLhs::Scalar,
           bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
 struct cross3_impl {
-  static inline typename internal::plain_matrix_type<VectorLhs>::type
+  EIGEN_DEVICE_FUNC static inline typename internal::plain_matrix_type<VectorLhs>::type
   run(const VectorLhs& lhs, const VectorRhs& rhs)
   {
     return typename internal::plain_matrix_type<VectorLhs>::type(
@@ -59,7 +67,7 @@ struct cross3_impl {
 
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
   * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
   *
@@ -70,14 +78,14 @@ struct cross3_impl {
   */
 template<typename Derived>
 template<typename OtherDerived>
-inline typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
 
-  typedef typename internal::nested<Derived,2>::type DerivedNested;
-  typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
+  typedef typename internal::nested_eval<Derived,2>::type DerivedNested;
+  typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested;
   DerivedNested lhs(derived());
   OtherDerivedNested rhs(other.derived());
 
@@ -86,38 +94,42 @@ MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
                         typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
 }
 
-/** \returns a matrix expression of the cross product of each column or row
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a matrix expression of the cross product of each column or row
   * of the referenced expression with the \a other vector.
   *
   * The referenced matrix must have one dimension equal to 3.
   * The result matrix has the same dimensions than the referenced one.
   *
-  * \geometry_module
-  *
   * \sa MatrixBase::cross() */
 template<typename ExpressionType, int Direction>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC 
 const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
 VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
   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)
+  
+  typename internal::nested_eval<ExpressionType,2>::type mat(_expression());
+  typename internal::nested_eval<OtherDerived,2>::type vec(other.derived());
 
   CrossReturnType res(_expression().rows(),_expression().cols());
   if(Direction==Vertical)
   {
     eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
-    res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
-    res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
-    res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
+    res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate();
+    res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate();
+    res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.coeff(0)).conjugate();
   }
   else
   {
     eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
-    res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
-    res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
-    res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
+    res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate();
+    res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate();
+    res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate();
   }
   return res;
 }
@@ -130,8 +142,8 @@ struct unitOrthogonal_selector
   typedef typename plain_matrix_type<Derived>::type VectorType;
   typedef typename traits<Derived>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename Derived::Index Index;
   typedef Matrix<Scalar,2,1> Vector2;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   {
     VectorType perp = VectorType::Zero(src.size());
@@ -154,6 +166,7 @@ struct unitOrthogonal_selector<Derived,3>
   typedef typename plain_matrix_type<Derived>::type VectorType;
   typedef typename traits<Derived>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   {
     VectorType perp;
@@ -192,13 +205,16 @@ template<typename Derived>
 struct unitOrthogonal_selector<Derived,2>
 {
   typedef typename plain_matrix_type<Derived>::type VectorType;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   { return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
 };
 
 } // end namespace internal
 
-/** \returns a unit vector which is orthogonal to \c *this
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a unit vector which is orthogonal to \c *this
   *
   * The size of \c *this must be at least 2. If the size is exactly 2,
   * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
@@ -206,7 +222,7 @@ struct unitOrthogonal_selector<Derived,2>
   * \sa cross()
   */
 template<typename Derived>
-typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::unitOrthogonal() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
diff --git a/vendor/eigen/Eigen/src/Geometry/ParametrizedLine.h b/vendor/eigen/Eigen/src/Geometry/ParametrizedLine.h
index cf3252d..1e985d8 100644
--- a/vendor/eigen/Eigen/src/Geometry/ParametrizedLine.h
+++ b/vendor/eigen/Eigen/src/Geometry/ParametrizedLine.h
@@ -23,8 +23,8 @@ namespace Eigen {
   * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
   * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \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.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 class ParametrizedLine
@@ -37,49 +37,49 @@ public:
   };
   typedef _Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
 
   /** Default constructor without initialization */
-  inline ParametrizedLine() {}
+  EIGEN_DEVICE_FUNC inline ParametrizedLine() {}
   
   template<int OtherOptions>
-  ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
    : m_origin(other.origin()), m_direction(other.direction())
   {}
 
   /** Constructs a dynamic-size line with \a _dim the dimension
     * of the ambient space */
-  inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
+  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _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)
+  EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction)
     : m_origin(origin), m_direction(direction) {}
 
   template <int OtherOptions>
-  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+  EIGEN_DEVICE_FUNC explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
 
   /** Constructs a parametrized line going from \a p0 to \a p1. */
-  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+  EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
   { return ParametrizedLine(p0, (p1-p0).normalized()); }
 
-  ~ParametrizedLine() {}
+  EIGEN_DEVICE_FUNC ~ParametrizedLine() {}
 
   /** \returns the dimension in which the line holds */
-  inline Index dim() const { return m_direction.size(); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); }
 
-  const VectorType& origin() const { return m_origin; }
-  VectorType& origin() { return m_origin; }
+  EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; }
+  EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; }
 
-  const VectorType& direction() const { return m_direction; }
-  VectorType& direction() { return m_direction; }
+  EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; }
+  EIGEN_DEVICE_FUNC 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
+  EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const
   {
     VectorType diff = p - origin();
     return (diff - direction().dot(diff) * direction()).squaredNorm();
@@ -87,22 +87,22 @@ public:
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
     */
-  RealScalar distance(const VectorType& p) const { using std::sqrt; return sqrt(squaredDistance(p)); }
+  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
 
   /** \returns the projection of a point \a p onto the line \c *this. */
-  VectorType projection(const VectorType& p) const
+  EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
   { return origin() + direction().dot(p-origin()) * direction(); }
 
-  VectorType pointAt(const Scalar& t) const;
+  EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const;
   
   template <int OtherOptions>
-  Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
  
   template <int OtherOptions>
-  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
   
   template <int OtherOptions>
-  VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -110,7 +110,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<ParametrizedLine,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine,
            ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
   {
     return typename internal::cast_return_type<ParametrizedLine,
@@ -119,7 +119,7 @@ public:
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType,int OtherOptions>
-  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
   {
     m_origin = other.origin().template cast<Scalar>();
     m_direction = other.direction().template cast<Scalar>();
@@ -129,7 +129,7 @@ public:
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
 
 protected:
@@ -143,7 +143,7 @@ protected:
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
+EIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
   direction() = hyperplane.normal().unitOrthogonal();
@@ -153,7 +153,7 @@ inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const H
 /** \returns the point at \a t along this line
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
 ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
 {
   return origin() + (direction()*t); 
@@ -163,7 +163,7 @@ ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
           / hyperplane.normal().dot(direction());
@@ -175,7 +175,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPara
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return intersectionParameter(hyperplane);
 }
@@ -184,7 +184,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(con
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
 ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return pointAt(intersectionParameter(hyperplane));
diff --git a/vendor/eigen/Eigen/src/Geometry/Quaternion.h b/vendor/eigen/Eigen/src/Geometry/Quaternion.h
index 25ed17b..3e5a9ba 100644
--- a/vendor/eigen/Eigen/src/Geometry/Quaternion.h
+++ b/vendor/eigen/Eigen/src/Geometry/Quaternion.h
@@ -34,8 +34,9 @@ struct quaternionbase_assign_impl;
 template<class Derived>
 class QuaternionBase : public RotationBase<Derived, 3>
 {
+ public:
   typedef RotationBase<Derived, 3> Base;
-public:
+
   using Base::operator*;
   using Base::derived;
 
@@ -57,37 +58,37 @@ public:
 
 
   /** \returns the \c x coefficient */
-  inline Scalar x() const { return this->derived().coeffs().coeff(0); }
+  EIGEN_DEVICE_FUNC inline Scalar x() const { return this->derived().coeffs().coeff(0); }
   /** \returns the \c y coefficient */
-  inline Scalar y() const { return this->derived().coeffs().coeff(1); }
+  EIGEN_DEVICE_FUNC inline Scalar y() const { return this->derived().coeffs().coeff(1); }
   /** \returns the \c z coefficient */
-  inline Scalar z() const { return this->derived().coeffs().coeff(2); }
+  EIGEN_DEVICE_FUNC inline Scalar z() const { return this->derived().coeffs().coeff(2); }
   /** \returns the \c w coefficient */
-  inline Scalar w() const { return this->derived().coeffs().coeff(3); }
+  EIGEN_DEVICE_FUNC inline Scalar w() const { return this->derived().coeffs().coeff(3); }
 
   /** \returns a reference to the \c x coefficient */
-  inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
+  EIGEN_DEVICE_FUNC inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
   /** \returns a reference to the \c y coefficient */
-  inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
+  EIGEN_DEVICE_FUNC inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
   /** \returns a reference to the \c z coefficient */
-  inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
+  EIGEN_DEVICE_FUNC inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
   /** \returns a reference to the \c w coefficient */
-  inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
+  EIGEN_DEVICE_FUNC inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
 
   /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
 
   /** \returns a vector expression of the imaginary part (x,y,z) */
-  inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
 
   /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+  EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
 
   /** \returns a vector expression of the coefficients (x,y,z,w) */
-  inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
+  EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
 
-  EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
-  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
 
 // disabled this copy operator as it is giving very strange compilation errors when compiling
 // test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
@@ -96,72 +97,72 @@ public:
 //  Derived& operator=(const QuaternionBase& other)
 //  { return operator=<Derived>(other); }
 
-  Derived& operator=(const AngleAxisType& aa);
-  template<class OtherDerived> Derived& operator=(const MatrixBase<OtherDerived>& m);
+  EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
 
   /** \returns a quaternion representing an identity rotation
     * \sa MatrixBase::Identity()
     */
-  static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
+  EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
 
   /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
     */
-  inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
+  EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
 
   /** \returns the squared norm of the quaternion's coefficients
     * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
     */
-  inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
+  EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
 
   /** \returns the norm of the quaternion's coefficients
     * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
     */
-  inline Scalar norm() const { return coeffs().norm(); }
+  EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
 
   /** Normalizes the quaternion \c *this
     * \sa normalized(), MatrixBase::normalize() */
-  inline void normalize() { coeffs().normalize(); }
+  EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
   /** \returns a normalized copy of \c *this
     * \sa normalize(), MatrixBase::normalized() */
-  inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
+  EIGEN_DEVICE_FUNC inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(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()
     */
-  template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+  template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
 
-  template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns an equivalent 3x3 rotation matrix */
-  Matrix3 toRotationMatrix() const;
+  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix() const;
 
   /** \returns the quaternion which transform \a a into \a b through a rotation */
   template<typename Derived1, typename Derived2>
-  Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+  EIGEN_DEVICE_FUNC Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
-  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
 
   /** \returns the quaternion describing the inverse rotation */
-  Quaternion<Scalar> inverse() const;
+  EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
 
   /** \returns the conjugated quaternion */
-  Quaternion<Scalar> conjugate() const;
+  EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
 
-  template<class OtherDerived> Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
   template<class OtherDerived>
-  bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
   { return coeffs().isApprox(other.coeffs(), prec); }
 
-	/** return the result vector of \a v through the rotation*/
-  EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
+  /** return the result vector of \a v through the rotation*/
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -169,7 +170,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
   {
     return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
   }
@@ -216,8 +217,8 @@ struct traits<Quaternion<_Scalar,_Options> >
   typedef _Scalar Scalar;
   typedef Matrix<_Scalar,4,1,_Options> Coefficients;
   enum{
-    IsAligned = internal::traits<Coefficients>::Flags & AlignedBit,
-    Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
+    Alignment = internal::traits<Coefficients>::Alignment,
+    Flags = LvalueBit
   };
 };
 }
@@ -225,10 +226,10 @@ struct traits<Quaternion<_Scalar,_Options> >
 template<typename _Scalar, int _Options>
 class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
 {
+public:
   typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
-  enum { IsAligned = internal::traits<Quaternion>::IsAligned };
+  enum { NeedsAlignment = internal::traits<Quaternion>::Alignment>0 };
 
-public:
   typedef _Scalar Scalar;
 
   EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
@@ -238,7 +239,7 @@ public:
   typedef typename Base::AngleAxisType AngleAxisType;
 
   /** Default constructor leaving the quaternion uninitialized. */
-  inline Quaternion() {}
+  EIGEN_DEVICE_FUNC 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.
@@ -247,36 +248,42 @@ public:
     * while internally the coefficients are stored in the following order:
     * [\c x, \c y, \c z, \c w]
     */
-  inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
+  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
 
   /** Constructs and initialize a quaternion from the array data */
-  inline Quaternion(const Scalar* data) : m_coeffs(data) {}
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
 
   /** Copy constructor */
-  template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
+  template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
 
   /** Constructs and initializes a quaternion from the angle-axis \a aa */
-  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+  EIGEN_DEVICE_FUNC 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.
     */
   template<typename Derived>
-  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
 
   /** Explicit copy constructor with scalar conversion */
   template<typename OtherScalar, int OtherOptions>
-  explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
+  EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
+
   template<typename Derived1, typename Derived2>
-  static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+  EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  inline Coefficients& coeffs() { return m_coeffs;}
-  inline const Coefficients& coeffs() const { return m_coeffs;}
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(IsAligned)
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
+  
+#ifdef EIGEN_QUATERNION_PLUGIN
+# include EIGEN_QUATERNION_PLUGIN
+#endif
 
 protected:
   Coefficients m_coeffs;
@@ -336,9 +343,9 @@ template<typename _Scalar, int _Options>
 class Map<const Quaternion<_Scalar>, _Options >
   : public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
 {
+  public:
     typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
 
-  public:
     typedef _Scalar Scalar;
     typedef typename internal::traits<Map>::Coefficients Coefficients;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
@@ -350,9 +357,9 @@ class Map<const Quaternion<_Scalar>, _Options >
       * \code *coeffs == {x, y, z, w} \endcode
       *
       * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
+    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
 
-    inline const Coefficients& coeffs() const { return m_coeffs;}
+    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
 
   protected:
     const Coefficients m_coeffs;
@@ -373,9 +380,9 @@ template<typename _Scalar, int _Options>
 class Map<Quaternion<_Scalar>, _Options >
   : public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
 {
+  public:
     typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
 
-  public:
     typedef _Scalar Scalar;
     typedef typename internal::traits<Map>::Coefficients Coefficients;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
@@ -387,10 +394,10 @@ class Map<Quaternion<_Scalar>, _Options >
       * \code *coeffs == {x, y, z, w} \endcode
       *
       * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
+    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
 
-    inline Coefficients& coeffs() { return m_coeffs; }
-    inline const Coefficients& coeffs() const { return m_coeffs; }
+    EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
+    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
 
   protected:
     Coefficients m_coeffs;
@@ -416,9 +423,9 @@ typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
 // Generic Quaternion * Quaternion product
 // This product can be specialized for a given architecture via the Arch template argument.
 namespace internal {
-template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
+template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
 {
-  static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
     return Quaternion<Scalar>
     (
       a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
@@ -433,20 +440,19 @@ template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options
 /** \returns the concatenation of two rotations as a quaternion-quaternion product */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
   return internal::quat_product<Architecture::Target, Derived, OtherDerived,
-                         typename internal::traits<Derived>::Scalar,
-                         internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned>::run(*this, other);
+                         typename internal::traits<Derived>::Scalar>::run(*this, other);
 }
 
 /** \sa operator*(Quaternion) */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
 {
   derived() = derived() * other.derived();
   return derived();
@@ -460,7 +466,7 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const Quaterni
   *   - Via a Matrix3: 24 + 15n
   */
 template <class Derived>
-EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
 QuaternionBase<Derived>::_transformVector(const Vector3& v) const
 {
     // Note that this algorithm comes from the optimization by hand
@@ -474,7 +480,7 @@ QuaternionBase<Derived>::_transformVector(const Vector3& v) const
 }
 
 template<class Derived>
-EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
 {
   coeffs() = other.coeffs();
   return derived();
@@ -482,7 +488,7 @@ EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(
 
 template<class Derived>
 template<class OtherDerived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
 {
   coeffs() = other.coeffs();
   return derived();
@@ -491,10 +497,10 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const Quaternion
 /** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
   */
 template<class Derived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
 {
-  using std::cos;
-  using std::sin;
+  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD_MATH(sin)
   Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
   this->w() = cos(ha);
   this->vec() = sin(ha) * aa.axis();
@@ -509,7 +515,7 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisT
 
 template<class Derived>
 template<class MatrixDerived>
-inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
 {
   EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
@@ -521,7 +527,7 @@ inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerive
   * be normalized, otherwise the result is undefined.
   */
 template<class Derived>
-inline typename QuaternionBase<Derived>::Matrix3
+EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
 QuaternionBase<Derived>::toRotationMatrix(void) const
 {
   // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
@@ -568,10 +574,9 @@ QuaternionBase<Derived>::toRotationMatrix(void) const
   */
 template<class Derived>
 template<typename Derived1, typename Derived2>
-inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
-  using std::max;
-  using std::sqrt;
+  EIGEN_USING_STD_MATH(sqrt)
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
   Scalar c = v1.dot(v0);
@@ -586,7 +591,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   //    which yields a singular value problem
   if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
   {
-    c = (max)(c,Scalar(-1));
+    c = numext::maxi(c,Scalar(-1));
     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
     Vector3 axis = svd.matrixV().col(2);
@@ -605,6 +610,24 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   return derived();
 }
 
+/** \returns a random unit quaternion following a uniform distribution law on SO(3)
+  *
+  * \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
+  */
+template<typename Scalar, int Options>
+EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
+{
+  EIGEN_USING_STD_MATH(sqrt)
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
+  const Scalar u1 = internal::random<Scalar>(0, 1),
+               u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
+               u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
+  const Scalar a = sqrt(1 - u1),
+               b = sqrt(u1);
+  return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
+}
+
 
 /** Returns a quaternion representing a rotation between
   * the two arbitrary vectors \a a and \a b. In other words, the built
@@ -618,7 +641,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   */
 template<typename Scalar, int Options>
 template<typename Derived1, typename Derived2>
-Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
     Quaternion quat;
     quat.setFromTwoVectors(a, b);
@@ -633,7 +656,7 @@ Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const Matr
   * \sa QuaternionBase::conjugate()
   */
 template <class Derived>
-inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
 {
   // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
   Scalar n2 = this->squaredNorm();
@@ -646,6 +669,16 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der
   }
 }
 
+// Generic conjugate of a Quaternion
+namespace internal {
+template<int Arch, class Derived, typename Scalar> struct quat_conj
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
+    return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
+  }
+};
+}
+                         
 /** \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.
@@ -653,10 +686,12 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der
   * \sa Quaternion2::inverse()
   */
 template <class Derived>
-inline Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::conjugate() const
 {
-  return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
+  return internal::quat_conj<Architecture::Target, Derived,
+                         typename internal::traits<Derived>::Scalar>::run(*this);
+                         
 }
 
 /** \returns the angle (in radian) between two rotations
@@ -664,13 +699,12 @@ QuaternionBase<Derived>::conjugate() const
   */
 template <class Derived>
 template <class OtherDerived>
-inline typename internal::traits<Derived>::Scalar
+EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
 QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
 {
-  using std::atan2;
-  using std::abs;
+  EIGEN_USING_STD_MATH(atan2)
   Quaternion<Scalar> d = (*this) * other.conjugate();
-  return Scalar(2) * atan2( d.vec().norm(), abs(d.w()) );
+  return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
 }
 
  
@@ -683,15 +717,14 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth
   */
 template <class Derived>
 template <class OtherDerived>
-Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
 {
-  using std::acos;
-  using std::sin;
-  using std::abs;
-  static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
+  EIGEN_USING_STD_MATH(acos)
+  EIGEN_USING_STD_MATH(sin)
+  const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
   Scalar d = this->dot(other);
-  Scalar absD = abs(d);
+  Scalar absD = numext::abs(d);
 
   Scalar scale0;
   Scalar scale1;
@@ -722,10 +755,10 @@ template<typename Other>
 struct quaternionbase_assign_impl<Other,3,3>
 {
   typedef typename Other::Scalar Scalar;
-  typedef DenseIndex Index;
-  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat)
+  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
   {
-    using std::sqrt;
+    const typename internal::nested_eval<Other,2>::type mat(a_mat);
+    EIGEN_USING_STD_MATH(sqrt)
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
     Scalar t = mat.trace();
@@ -740,13 +773,13 @@ struct quaternionbase_assign_impl<Other,3,3>
     }
     else
     {
-      DenseIndex i = 0;
+      Index i = 0;
       if (mat.coeff(1,1) > mat.coeff(0,0))
         i = 1;
       if (mat.coeff(2,2) > mat.coeff(i,i))
         i = 2;
-      DenseIndex j = (i+1)%3;
-      DenseIndex k = (j+1)%3;
+      Index j = (i+1)%3;
+      Index k = (j+1)%3;
 
       t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
       q.coeffs().coeffRef(i) = Scalar(0.5) * t;
@@ -763,7 +796,7 @@ template<typename Other>
 struct quaternionbase_assign_impl<Other,4,1>
 {
   typedef typename Other::Scalar Scalar;
-  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& vec)
+  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
   {
     q.coeffs() = vec;
   }
diff --git a/vendor/eigen/Eigen/src/Geometry/Rotation2D.h b/vendor/eigen/Eigen/src/Geometry/Rotation2D.h
index a2d59fc..884b7d0 100644
--- a/vendor/eigen/Eigen/src/Geometry/Rotation2D.h
+++ b/vendor/eigen/Eigen/src/Geometry/Rotation2D.h
@@ -18,7 +18,7 @@ namespace Eigen {
   *
   * \brief Represents a rotation/orientation in a 2 dimensional space.
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _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
@@ -59,41 +59,79 @@ protected:
 public:
 
   /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
-  inline Rotation2D(const Scalar& a) : m_angle(a) {}
+  EIGEN_DEVICE_FUNC explicit inline Rotation2D(const Scalar& a) : m_angle(a) {}
   
   /** Default constructor wihtout initialization. The represented rotation is undefined. */
-  Rotation2D() {}
+  EIGEN_DEVICE_FUNC Rotation2D() {}
+
+  /** Construct a 2D rotation from a 2x2 rotation matrix \a mat.
+    *
+    * \sa fromRotationMatrix()
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC explicit Rotation2D(const MatrixBase<Derived>& m)
+  {
+    fromRotationMatrix(m.derived());
+  }
 
   /** \returns the rotation angle */
-  inline Scalar angle() const { return m_angle; }
+  EIGEN_DEVICE_FUNC inline Scalar angle() const { return m_angle; }
 
   /** \returns a read-write reference to the rotation angle */
-  inline Scalar& angle() { return m_angle; }
+  EIGEN_DEVICE_FUNC inline Scalar& angle() { return m_angle; }
+  
+  /** \returns the rotation angle in [0,2pi] */
+  EIGEN_DEVICE_FUNC inline Scalar smallestPositiveAngle() const {
+    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
+    return tmp<Scalar(0) ? tmp + Scalar(2*EIGEN_PI) : tmp;
+  }
+  
+  /** \returns the rotation angle in [-pi,pi] */
+  EIGEN_DEVICE_FUNC inline Scalar smallestAngle() const {
+    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
+    if(tmp>Scalar(EIGEN_PI))       tmp -= Scalar(2*EIGEN_PI);
+    else if(tmp<-Scalar(EIGEN_PI)) tmp += Scalar(2*EIGEN_PI);
+    return tmp;
+  }
 
   /** \returns the inverse rotation */
-  inline Rotation2D inverse() const { return -m_angle; }
+  EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
 
   /** Concatenates two rotations */
-  inline Rotation2D operator*(const Rotation2D& other) const
-  { return m_angle + other.m_angle; }
+  EIGEN_DEVICE_FUNC inline Rotation2D operator*(const Rotation2D& other) const
+  { return Rotation2D(m_angle + other.m_angle); }
 
   /** Concatenates two rotations */
-  inline Rotation2D& operator*=(const Rotation2D& other)
+  EIGEN_DEVICE_FUNC 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
+  EIGEN_DEVICE_FUNC Vector2 operator* (const Vector2& vec) const
   { return toRotationMatrix() * vec; }
   
   template<typename Derived>
-  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix2 toRotationMatrix() const;
+  EIGEN_DEVICE_FUNC Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC Matrix2 toRotationMatrix() const;
+
+  /** Set \c *this from a 2x2 rotation matrix \a mat.
+    * In other words, this function extract the rotation angle from the rotation matrix.
+    *
+    * This method is an alias for fromRotationMatrix()
+    *
+    * \sa fromRotationMatrix()
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC Rotation2D& operator=(const  MatrixBase<Derived>& m)
+  { return fromRotationMatrix(m.derived()); }
 
   /** \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; }
+  EIGEN_DEVICE_FUNC inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
+  {
+    Scalar dist = Rotation2D(other.m_angle-m_angle).smallestAngle();
+    return Rotation2D(m_angle + dist*t);
+  }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -101,24 +139,25 @@ public:
     * 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
+  EIGEN_DEVICE_FUNC 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)
+  EIGEN_DEVICE_FUNC inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
   {
     m_angle = Scalar(other.angle());
   }
 
-  static inline Rotation2D Identity() { return Rotation2D(0); }
+  EIGEN_DEVICE_FUNC 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
+  EIGEN_DEVICE_FUNC 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
@@ -134,9 +173,9 @@ typedef Rotation2D<double> Rotation2Dd;
   */
 template<typename Scalar>
 template<typename Derived>
-Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
 {
-  using std::atan2;
+  EIGEN_USING_STD_MATH(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;
@@ -146,10 +185,10 @@ Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Deri
   */
 template<typename Scalar>
 typename Rotation2D<Scalar>::Matrix2
-Rotation2D<Scalar>::toRotationMatrix(void) const
+EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const
 {
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   Scalar sinA = sin(m_angle);
   Scalar cosA = cos(m_angle);
   return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
diff --git a/vendor/eigen/Eigen/src/Geometry/RotationBase.h b/vendor/eigen/Eigen/src/Geometry/RotationBase.h
index b88661d..f0ee0bd 100644
--- a/vendor/eigen/Eigen/src/Geometry/RotationBase.h
+++ b/vendor/eigen/Eigen/src/Geometry/RotationBase.h
@@ -22,8 +22,8 @@ struct rotation_base_generic_product_selector;
   *
   * \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
+  * \tparam Derived is the derived type, i.e., a rotation type
+  * \tparam _Dim the dimension of the space
   */
 template<typename Derived, int _Dim>
 class RotationBase
@@ -38,26 +38,26 @@ class RotationBase
     typedef Matrix<Scalar,Dim,1> VectorType;
 
   public:
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
+    EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
 
     /** \returns an equivalent rotation matrix */
-    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
+    EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
 
     /** \returns an equivalent rotation matrix 
       * This function is added to be conform with the Transform class' naming scheme.
       */
-    inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
+    EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
 
     /** \returns the inverse rotation */
-    inline Derived inverse() const { return derived().inverse(); }
+    EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
 
     /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
+    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
     { return Transform<Scalar,Dim,Isometry>(*this) * t; }
 
     /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
-    inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
+    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
     { return toRotationMatrix() * s.factor(); }
 
     /** \returns the concatenation of the rotation \c *this with a generic expression \a e
@@ -67,17 +67,17 @@ class RotationBase
       *  - a vector of size Dim
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
     operator*(const EigenBase<OtherDerived>& e) const
     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
 
     /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
     template<typename OtherDerived> friend
-    inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
+    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
     { return l.derived() * r.toRotationMatrix(); }
 
     /** \returns the concatenation of a scaling \a l with the rotation \a r */
-    friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
+    EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
     { 
       Transform<Scalar,Dim,Affine> res(r);
       res.linear().applyOnTheLeft(l);
@@ -86,11 +86,11 @@ class RotationBase
 
     /** \returns the concatenation of the rotation \c *this with a transformation \a t */
     template<int Mode, int Options>
-    inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
+    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
     { return toRotationMatrix() * t; }
 
     template<typename OtherVectorType>
-    inline VectorType _transformVector(const OtherVectorType& v) const
+    EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
     { return toRotationMatrix() * v; }
 };
 
@@ -102,7 +102,7 @@ struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
-  static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
+  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
   { return r.toRotationMatrix() * m; }
 };
 
@@ -110,7 +110,7 @@ template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
 struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
 {
   typedef Transform<Scalar,Dim,Affine> ReturnType;
-  static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
+  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
   {
     ReturnType res(r);
     res.linear() *= m;
@@ -123,7 +123,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
-  static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
   {
     return r._transformVector(v);
   }
@@ -137,7 +137,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
   */
 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
 template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+EIGEN_DEVICE_FUNC 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))
@@ -150,7 +150,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
   */
 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
 template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
+EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
 {
@@ -164,8 +164,8 @@ namespace 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
+  * \tparam Scalar the numeric type of the matrix coefficients
+  * \tparam Dim the dimension of the current space
   *
   * It returns a Dim x Dim fixed size matrix.
   *
@@ -179,20 +179,20 @@ namespace internal {
   * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
   */
 template<typename Scalar, int Dim>
-static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
+EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> 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> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
 {
   return r.toRotationMatrix();
 }
 
 template<typename Scalar, int Dim, typename OtherDerived>
-static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
 {
   EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
     YOU_MADE_A_PROGRAMMING_MISTAKE)
diff --git a/vendor/eigen/Eigen/src/Geometry/Scaling.h b/vendor/eigen/Eigen/src/Geometry/Scaling.h
index 1c25f36..f58ca03 100644
--- a/vendor/eigen/Eigen/src/Geometry/Scaling.h
+++ b/vendor/eigen/Eigen/src/Geometry/Scaling.h
@@ -18,7 +18,7 @@ namespace Eigen {
   *
   * \brief Represents a generic uniform scaling transformation
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
   *
   * This class represent a uniform scaling transformation. It is the return
   * type of Scaling(Scalar), and most of the time this is the only way it
@@ -62,10 +62,10 @@ public:
   template<int Dim, int Mode, int Options>
   inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
   {
-   Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
-   res.prescale(factor());
-   return res;
-}
+    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
+    res.prescale(factor());
+    return res;
+  }
 
   /** Concatenates a uniform scaling and a linear transformation matrix */
   // TODO returns an expression
@@ -104,40 +104,44 @@ public:
 
 };
 
-/** Concatenates a linear transformation matrix and a uniform scaling */
+/** \addtogroup Geometry_Module */
+//@{
+
+/** Concatenates a linear transformation matrix and a uniform scaling
+  * \relates UniformScaling
+  */
 // NOTE this operator is defiend in MatrixBase and not as a friend function
 // of UniformScaling to fix an internal crash of Intel's ICC
-template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
-MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
-{ return derived() * s.factor(); }
+template<typename Derived,typename Scalar>
+EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
+operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s)
+{ return matrix.derived() * s.factor(); }
 
 /** Constructs a uniform scaling from scale factor \a s */
-static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
+inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
 /** Constructs a uniform scaling from scale factor \a s */
-static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
+inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
 /** Constructs a uniform scaling from scale factor \a s */
 template<typename RealScalar>
-static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
+inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
 { return UniformScaling<std::complex<RealScalar> >(s); }
 
 /** Constructs a 2D axis aligned scaling */
 template<typename Scalar>
-static inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
+inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
 { return DiagonalMatrix<Scalar,2>(sx, sy); }
 /** Constructs a 3D axis aligned scaling */
 template<typename Scalar>
-static inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
 { return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
 
 /** Constructs an axis aligned scaling expression from vector expression \a coeffs
   * This is an alias for coeffs.asDiagonal()
   */
 template<typename Derived>
-static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
+inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
 { return coeffs.asDiagonal(); }
 
-/** \addtogroup Geometry_Module */
-//@{
 /** \deprecated */
 typedef DiagonalMatrix<float, 2> AlignedScaling2f;
 /** \deprecated */
diff --git a/vendor/eigen/Eigen/src/Geometry/Transform.h b/vendor/eigen/Eigen/src/Geometry/Transform.h
index 0186f3b..3f31ee4 100644
--- a/vendor/eigen/Eigen/src/Geometry/Transform.h
+++ b/vendor/eigen/Eigen/src/Geometry/Transform.h
@@ -32,7 +32,8 @@ template< typename TransformType,
           typename MatrixType,
           int Case = transform_traits<TransformType>::IsProjective ? 0
                    : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
-                   : 2>
+                   : 2,
+          int RhsCols = MatrixType::ColsAtCompileTime>
 struct transform_right_product_impl;
 
 template< typename Other,
@@ -62,6 +63,22 @@ struct transform_construct_from_matrix;
 
 template<typename TransformType> struct transform_take_affine_part;
 
+template<typename _Scalar, int _Dim, int _Mode, int _Options>
+struct traits<Transform<_Scalar,_Dim,_Mode,_Options> >
+{
+  typedef _Scalar Scalar;
+  typedef Eigen::Index StorageIndex;
+  typedef Dense StorageKind;
+  enum {
+    Dim1 = _Dim==Dynamic ? _Dim : _Dim + 1,
+    RowsAtCompileTime = _Mode==Projective ? Dim1 : _Dim,
+    ColsAtCompileTime = Dim1,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    Flags = 0
+  };
+};
+
 template<int Mode> struct transform_make_affine;
 
 } // end namespace internal
@@ -176,7 +193,7 @@ template<int Mode> struct transform_make_affine;
   * preprocessor token EIGEN_QT_SUPPORT is defined.
   *
   * 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_TRANSFORM_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
   *
   * \sa class Matrix, class Quaternion
   */
@@ -194,7 +211,8 @@ public:
   };
   /** the scalar type of the coefficients */
   typedef _Scalar Scalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index StorageIndex;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   /** type of the matrix used to represent the transformation */
   typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
   /** constified MatrixType */
@@ -216,9 +234,9 @@ public:
   /** 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,int(Mode)==(AffineCompact)> TranslationPart;
+  typedef Block<MatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> TranslationPart;
   /** type of a read reference to the translation part of the rotation */
-  typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
+  typedef const Block<ConstMatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> ConstTranslationPart;
   /** corresponding translation type */
   typedef Translation<Scalar,Dim> TranslationType;
   
@@ -235,43 +253,43 @@ public:
 
   /** Default constructor without initialization of the meaningful coefficients.
     * If Mode==Affine, then the last row is set to [0 ... 0 1] */
-  inline Transform()
+  EIGEN_DEVICE_FUNC inline Transform()
   {
     check_template_params();
     internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
   }
 
-  inline Transform(const Transform& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform& other)
   {
     check_template_params();
     m_matrix = other.m_matrix;
   }
 
-  inline explicit Transform(const TranslationType& t)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t)
   {
     check_template_params();
     *this = t;
   }
-  inline explicit Transform(const UniformScaling<Scalar>& s)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const UniformScaling<Scalar>& s)
   {
     check_template_params();
     *this = s;
   }
   template<typename Derived>
-  inline explicit Transform(const RotationBase<Derived, Dim>& r)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const RotationBase<Derived, Dim>& r)
   {
     check_template_params();
     *this = r;
   }
 
-  inline Transform& operator=(const Transform& other)
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const Transform& other)
   { m_matrix = other.m_matrix; return *this; }
 
   typedef internal::transform_take_affine_part<Transform> take_affine_part;
 
   /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
   template<typename OtherDerived>
-  inline explicit Transform(const EigenBase<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const EigenBase<OtherDerived>& other)
   {
     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);
@@ -282,7 +300,7 @@ public:
 
   /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
   template<typename OtherDerived>
-  inline Transform& operator=(const EigenBase<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const EigenBase<OtherDerived>& other)
   {
     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);
@@ -292,7 +310,7 @@ public:
   }
   
   template<int OtherOptions>
-  inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
   {
     check_template_params();
     // only the options change, we can directly copy the matrices
@@ -300,7 +318,7 @@ public:
   }
 
   template<int OtherMode,int OtherOptions>
-  inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
   {
     check_template_params();
     // prevent conversions as:
@@ -341,14 +359,14 @@ public:
   }
 
   template<typename OtherDerived>
-  Transform(const ReturnByValue<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC Transform(const ReturnByValue<OtherDerived>& other)
   {
     check_template_params();
     other.evalTo(*this);
   }
 
   template<typename OtherDerived>
-  Transform& operator=(const ReturnByValue<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC Transform& operator=(const ReturnByValue<OtherDerived>& other)
   {
     other.evalTo(*this);
     return *this;
@@ -362,33 +380,36 @@ public:
   inline Transform& operator=(const QTransform& other);
   inline QTransform toQTransform(void) const;
   #endif
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_matrix.cols(); }
 
   /** shortcut for m_matrix(row,col);
     * \sa MatrixBase::operator(Index,Index) const */
-  inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
+  EIGEN_DEVICE_FUNC inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
   /** shortcut for m_matrix(row,col);
     * \sa MatrixBase::operator(Index,Index) */
-  inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
+  EIGEN_DEVICE_FUNC inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
 
   /** \returns a read-only expression of the transformation matrix */
-  inline const MatrixType& matrix() const { return m_matrix; }
+  EIGEN_DEVICE_FUNC inline const MatrixType& matrix() const { return m_matrix; }
   /** \returns a writable expression of the transformation matrix */
-  inline MatrixType& matrix() { return m_matrix; }
+  EIGEN_DEVICE_FUNC inline MatrixType& matrix() { return m_matrix; }
 
   /** \returns a read-only expression of the linear part of the transformation */
-  inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
+  EIGEN_DEVICE_FUNC inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
   /** \returns a writable expression of the linear part of the transformation */
-  inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
+  EIGEN_DEVICE_FUNC inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
 
   /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
-  inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
+  EIGEN_DEVICE_FUNC inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
   /** \returns a writable expression of the Dim x HDim affine part of the transformation */
-  inline AffinePart affine() { return take_affine_part::run(m_matrix); }
+  EIGEN_DEVICE_FUNC inline AffinePart affine() { return take_affine_part::run(m_matrix); }
 
   /** \returns a read-only expression of the translation vector of the transformation */
-  inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
+  EIGEN_DEVICE_FUNC inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
   /** \returns a writable expression of the translation vector of the transformation */
-  inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
+  EIGEN_DEVICE_FUNC inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
 
   /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
     *
@@ -416,7 +437,7 @@ public:
     */
   // note: this function is defined here because some compilers cannot find the respective declaration
   template<typename OtherDerived>
-  EIGEN_STRONG_INLINE const typename OtherDerived::PlainObject
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
   operator * (const EigenBase<OtherDerived> &other) const
   { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
 
@@ -428,7 +449,7 @@ public:
     * \li a general transformation matrix of size Dim+1 x Dim+1.
     */
   template<typename OtherDerived> friend
-  inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
+  EIGEN_DEVICE_FUNC inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
     operator * (const EigenBase<OtherDerived> &a, const Transform &b)
   { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
 
@@ -439,11 +460,11 @@ public:
     * mode is no isometry. In that case, the returned transform is an affinity.
     */
   template<typename DiagonalDerived>
-  inline const TransformTimeDiagonalReturnType
+  EIGEN_DEVICE_FUNC inline const TransformTimeDiagonalReturnType
     operator * (const DiagonalBase<DiagonalDerived> &b) const
   {
     TransformTimeDiagonalReturnType res(*this);
-    res.linear() *= b;
+    res.linearExt() *= b;
     return res;
   }
 
@@ -454,7 +475,7 @@ public:
     * mode is no isometry. In that case, the returned transform is an affinity.
     */
   template<typename DiagonalDerived>
-  friend inline TransformTimeDiagonalReturnType
+  EIGEN_DEVICE_FUNC friend inline TransformTimeDiagonalReturnType
     operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
   {
     TransformTimeDiagonalReturnType res;
@@ -466,15 +487,15 @@ public:
   }
 
   template<typename OtherDerived>
-  inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
 
   /** Concatenates two transformations */
-  inline const Transform operator * (const Transform& other) const
+  EIGEN_DEVICE_FUNC inline const Transform operator * (const Transform& other) const
   {
     return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
   }
   
-  #ifdef __INTEL_COMPILER
+  #if EIGEN_COMP_ICC
 private:
   // this intermediate structure permits to workaround a bug in ICC 11:
   //   error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
@@ -501,7 +522,7 @@ public:
   #else
   /** Concatenates two different transformations */
   template<int OtherMode,int OtherOptions>
-  inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
+  EIGEN_DEVICE_FUNC inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
     operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
   {
     return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
@@ -509,79 +530,98 @@ public:
   #endif
 
   /** \sa MatrixBase::setIdentity() */
-  void setIdentity() { m_matrix.setIdentity(); }
+  EIGEN_DEVICE_FUNC void setIdentity() { m_matrix.setIdentity(); }
 
   /**
    * \brief Returns an identity transformation.
    * \todo In the future this function should be returning a Transform expression.
    */
-  static const Transform Identity()
+  EIGEN_DEVICE_FUNC static const Transform Identity()
   {
     return Transform(MatrixType::Identity());
   }
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC 
   inline Transform& scale(const MatrixBase<OtherDerived> &other);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& prescale(const MatrixBase<OtherDerived> &other);
 
-  inline Transform& scale(const Scalar& s);
-  inline Transform& prescale(const Scalar& s);
+  EIGEN_DEVICE_FUNC inline Transform& scale(const Scalar& s);
+  EIGEN_DEVICE_FUNC inline Transform& prescale(const Scalar& s);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& translate(const MatrixBase<OtherDerived> &other);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
 
   template<typename RotationType>
+  EIGEN_DEVICE_FUNC
   inline Transform& rotate(const RotationType& rotation);
 
   template<typename RotationType>
+  EIGEN_DEVICE_FUNC
   inline Transform& prerotate(const RotationType& rotation);
 
-  Transform& shear(const Scalar& sx, const Scalar& sy);
-  Transform& preshear(const Scalar& sx, const Scalar& sy);
+  EIGEN_DEVICE_FUNC Transform& shear(const Scalar& sx, const Scalar& sy);
+  EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
 
-  inline Transform& operator=(const TranslationType& t);
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
+  
+  EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  inline Transform operator*(const TranslationType& t) const;
+  
+  EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
 
+  EIGEN_DEVICE_FUNC 
   inline Transform& operator=(const UniformScaling<Scalar>& t);
+  
+  EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode))> operator*(const UniformScaling<Scalar>& s) const
+  
+  EIGEN_DEVICE_FUNC
+  inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const
   {
-    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode)),Options> res = *this;
+    TransformTimeDiagonalReturnType res = *this;
     res.scale(s.factor());
     return res;
   }
 
-  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
+  EIGEN_DEVICE_FUNC
+  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linearExt() *= s; return *this; }
 
   template<typename Derived>
-  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const RotationBase<Derived,Dim>& r);
   template<typename Derived>
-  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
   template<typename Derived>
-  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
+  EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
 
-  const LinearMatrixType rotation() const;
+  EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
   template<typename RotationMatrixType, typename ScalingMatrixType>
+  EIGEN_DEVICE_FUNC
   void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
   template<typename ScalingMatrixType, typename RotationMatrixType>
+  EIGEN_DEVICE_FUNC
   void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
 
   template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  EIGEN_DEVICE_FUNC
   Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
     const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
 
+  EIGEN_DEVICE_FUNC
   inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
 
   /** \returns a const pointer to the column major internal matrix */
-  const Scalar* data() const { return m_matrix.data(); }
+  EIGEN_DEVICE_FUNC 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(); }
+  EIGEN_DEVICE_FUNC Scalar* data() { return m_matrix.data(); }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -589,12 +629,12 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
   { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
   {
     check_template_params();
     m_matrix = other.matrix().template cast<Scalar>();
@@ -604,12 +644,12 @@ public:
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_matrix.isApprox(other.m_matrix, prec); }
 
   /** Sets the last row to [0 ... 0 1]
     */
-  void makeAffine()
+  EIGEN_DEVICE_FUNC void makeAffine()
   {
     internal::transform_make_affine<int(Mode)>::run(m_matrix);
   }
@@ -618,26 +658,26 @@ public:
     * \returns the Dim x Dim linear part if the transformation is affine,
     *          and the HDim x Dim part for projective transformations.
     */
-  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
+  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
   /** \internal
     * \returns the Dim x Dim linear part if the transformation is affine,
     *          and the HDim x Dim part for projective transformations.
     */
-  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
 
   /** \internal
     * \returns the translation part if the transformation is affine,
     *          and the last column for projective transformations.
     */
-  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
+  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
   /** \internal
     * \returns the translation part if the transformation is affine,
     *          and the last column for projective transformations.
     */
-  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
 
 
@@ -647,7 +687,7 @@ public:
   
 protected:
   #ifndef EIGEN_PARSED_BY_DOXYGEN
-    static EIGEN_STRONG_INLINE void check_template_params()
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params()
     {
       EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
     }
@@ -715,9 +755,13 @@ template<typename Scalar, int Dim, int Mode,int Options>
 Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::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;
+  if (Mode == int(AffineCompact))
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy();
+  else
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy(),
+                0, 0, 1;
   return *this;
 }
 
@@ -796,7 +840,7 @@ QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -810,7 +854,7 @@ Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
   * \sa prescale(Scalar)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
   linearExt() *= s;
@@ -823,12 +867,12 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::s
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
+  affine().noalias() = (other.asDiagonal() * affine());
   return *this;
 }
 
@@ -837,7 +881,7 @@ Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &oth
   * \sa scale(Scalar)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
   m_matrix.template topRows<Dim>() *= s;
@@ -850,7 +894,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::p
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -864,7 +908,7 @@ Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &ot
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -894,7 +938,7 @@ Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived>
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationType>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
 {
   linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
@@ -910,7 +954,7 @@ Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationType>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
 {
   m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
@@ -924,7 +968,7 @@ Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
   * \sa preshear()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
 {
   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -940,7 +984,7 @@ Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
   * \sa shear()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
 {
   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -954,7 +998,7 @@ Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
 ******************************************************/
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
 {
   linear().setIdentity();
   translation() = t.vector();
@@ -963,7 +1007,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 }
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
 {
   Transform res = *this;
   res.translate(t.vector());
@@ -971,7 +1015,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
 }
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
 {
   m_matrix.setZero();
   linear().diagonal().fill(s.factor());
@@ -981,7 +1025,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
 {
   linear() = internal::toRotationMatrix<Scalar,Dim>(r);
   translation().setZero();
@@ -991,7 +1035,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
 {
   Transform res = *this;
   res.rotate(r.derived());
@@ -1010,7 +1054,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
   * \sa computeRotationScaling(), computeScalingRotation(), class SVD
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
+EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
 Transform<Scalar,Dim,Mode,Options>::rotation() const
 {
   LinearMatrixType result;
@@ -1032,7 +1076,7 @@ Transform<Scalar,Dim,Mode,Options>::rotation() const
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationMatrixType, typename ScalingMatrixType>
-void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
+EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
 {
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
@@ -1048,7 +1092,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixTy
   }
 }
 
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+/** decomposes the linear part of the transformation as a product scaling x rotation, the scaling being
   * not necessarily positive.
   *
   * If either pointer is zero, the corresponding computation is skipped.
@@ -1061,7 +1105,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixTy
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename ScalingMatrixType, typename RotationMatrixType>
-void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
+EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
 {
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
@@ -1082,7 +1126,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixTyp
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
   const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
 {
@@ -1099,7 +1143,7 @@ template<int Mode>
 struct transform_make_affine
 {
   template<typename MatrixType>
-  static void run(MatrixType &mat)
+  EIGEN_DEVICE_FUNC static void run(MatrixType &mat)
   {
     static const int Dim = MatrixType::ColsAtCompileTime-1;
     mat.template block<1,Dim>(Dim,0).setZero();
@@ -1110,21 +1154,21 @@ struct transform_make_affine
 template<>
 struct transform_make_affine<AffineCompact>
 {
-  template<typename MatrixType> static void run(MatrixType &) { }
+  template<typename MatrixType> EIGEN_DEVICE_FUNC static void run(MatrixType &) { }
 };
     
 // selector needed to avoid taking the inverse of a 3x4 matrix
 template<typename TransformType, int Mode=TransformType::Mode>
 struct projective_transform_inverse
 {
-  static inline void run(const TransformType&, TransformType&)
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType&, TransformType&)
   {}
 };
 
 template<typename TransformType>
 struct projective_transform_inverse<TransformType, Projective>
 {
-  static inline void run(const TransformType& m, TransformType& res)
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType& m, TransformType& res)
   {
     res.matrix() = m.matrix().inverse();
   }
@@ -1154,7 +1198,7 @@ struct projective_transform_inverse<TransformType, Projective>
   * \sa MatrixBase::inverse()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>
 Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
 {
   Transform res;
@@ -1263,8 +1307,8 @@ struct transform_product_result
   };
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 0 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
 {
   typedef typename MatrixType::PlainObject ResultType;
 
@@ -1274,8 +1318,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 0 >
   }
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 1 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
 {
   enum { 
     Dim = TransformType::Dim, 
@@ -1300,8 +1344,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 >
   }
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 2 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
 {
   enum { 
     Dim = TransformType::Dim, 
@@ -1324,6 +1368,30 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 >
   }
 };
 
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 2, 1> // rhs is a vector of size Dim
+{
+  typedef typename TransformType::MatrixType TransformMatrix;
+  enum {
+    Dim = TransformType::Dim,
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    WorkingRows = EIGEN_PLAIN_ENUM_MIN(TransformMatrix::RowsAtCompileTime,HDim)
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    Matrix<typename ResultType::Scalar, Dim+1, 1> rhs;
+    rhs.template head<Dim>() = other; rhs[Dim] = typename ResultType::Scalar(1);
+    Matrix<typename ResultType::Scalar, WorkingRows, 1> res(T.matrix() * rhs);
+    return res.template head<Dim>();
+  }
+};
+
 /**********************************************************
 ***   Specializations of operator* with lhs EigenBase   ***
 **********************************************************/
diff --git a/vendor/eigen/Eigen/src/Geometry/Translation.h b/vendor/eigen/Eigen/src/Geometry/Translation.h
index 2e77986..51d9a82 100644
--- a/vendor/eigen/Eigen/src/Geometry/Translation.h
+++ b/vendor/eigen/Eigen/src/Geometry/Translation.h
@@ -18,8 +18,8 @@ namespace Eigen {
   *
   * \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
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
+  * \tparam _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.
@@ -51,16 +51,16 @@ protected:
 public:
 
   /** Default constructor without initialization. */
-  Translation() {}
+  EIGEN_DEVICE_FUNC Translation() {}
   /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy)
+  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
   {
     eigen_assert(Dim==2);
     m_coeffs.x() = sx;
     m_coeffs.y() = sy;
   }
   /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
   {
     eigen_assert(Dim==3);
     m_coeffs.x() = sx;
@@ -68,48 +68,48 @@ public:
     m_coeffs.z() = sz;
   }
   /** Constructs and initialize the translation transformation from a vector of translation coefficients */
-  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+  EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
 
   /** \brief Retruns the x-translation by value. **/
-  inline Scalar x() const { return m_coeffs.x(); }
+  EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
   /** \brief Retruns the y-translation by value. **/
-  inline Scalar y() const { return m_coeffs.y(); }
+  EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
   /** \brief Retruns the z-translation by value. **/
-  inline Scalar z() const { return m_coeffs.z(); }
+  EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
 
   /** \brief Retruns the x-translation as a reference. **/
-  inline Scalar& x() { return m_coeffs.x(); }
+  EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
   /** \brief Retruns the y-translation as a reference. **/
-  inline Scalar& y() { return m_coeffs.y(); }
+  EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
   /** \brief Retruns the z-translation as a reference. **/
-  inline Scalar& z() { return m_coeffs.z(); }
+  EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
 
-  const VectorType& vector() const { return m_coeffs; }
-  VectorType& vector() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
+  EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
 
-  const VectorType& translation() const { return m_coeffs; }
-  VectorType& translation() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
+  EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
 
   /** Concatenates two translation */
-  inline Translation operator* (const Translation& other) const
+  EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
   { return Translation(m_coeffs + other.m_coeffs); }
 
   /** Concatenates a translation and a uniform scaling */
-  inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
 
   /** Concatenates a translation and a linear transformation */
   template<typename OtherDerived>
-  inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
 
   /** Concatenates a translation and a rotation */
   template<typename Derived>
-  inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
+  EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
   { return *this * IsometryTransformType(r); }
 
   /** \returns the concatenation of a linear transformation \a l with the translation \a t */
   // its a nightmare to define a templated friend function outside its declaration
   template<typename OtherDerived> friend
-  inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
   {
     AffineTransformType res;
     res.matrix().setZero();
@@ -122,7 +122,7 @@ public:
 
   /** Concatenates a translation and a transformation */
   template<int Mode, int Options>
-  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
+  EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
   {
     Transform<Scalar,Dim,Mode> res = t;
     res.pretranslate(m_coeffs);
@@ -130,8 +130,10 @@ public:
   }
 
   /** Applies translation to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return m_coeffs + other; }
+  template<typename Derived>
+  inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
+  operator* (const MatrixBase<Derived>& vec) const
+  { return m_coeffs + vec.derived(); }
 
   /** \returns the inverse translation (opposite) */
   Translation inverse() const { return Translation(-m_coeffs); }
@@ -150,19 +152,19 @@ public:
     * 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
+  EIGEN_DEVICE_FUNC 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)
+  EIGEN_DEVICE_FUNC 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, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
 };
@@ -176,7 +178,7 @@ typedef Translation<double,3> Translation3d;
 //@}
 
 template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
 Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
 {
   AffineTransformType res;
@@ -189,7 +191,7 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
 
 template<typename Scalar, int Dim>
 template<typename OtherDerived>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
 Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
 {
   AffineTransformType res;
diff --git a/vendor/eigen/Eigen/src/Geometry/Umeyama.h b/vendor/eigen/Eigen/src/Geometry/Umeyama.h
index 5e20662..7e933fc 100644
--- a/vendor/eigen/Eigen/src/Geometry/Umeyama.h
+++ b/vendor/eigen/Eigen/src/Geometry/Umeyama.h
@@ -97,7 +97,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
   typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename Derived::Index Index;
 
   EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
   EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
@@ -136,22 +135,12 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
 
   // Eq. (39)
   VectorType S = VectorType::Ones(m);
-  if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-1);
+
+  if  ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
+    S(m-1) = -1;
 
   // Eq. (40) and (43)
-  const VectorType& d = svd.singularValues();
-  Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
-  if (rank == m-1) {
-    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > Scalar(0) ) {
-      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
-    } else {
-      const Scalar s = S(m-1); S(m-1) = Scalar(-1);
-      Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-      S(m-1) = s;
-    }
-  } else {
-    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-  }
+  Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
 
   if (with_scaling)
   {
diff --git a/vendor/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h b/vendor/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
index 3d8284f..f68cab5 100644
--- a/vendor/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ b/vendor/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -16,39 +16,63 @@ namespace Eigen {
 namespace internal {
 
 template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
 {
+  enum {
+    AAlignment = traits<Derived>::Alignment,
+    BAlignment = traits<OtherDerived>::Alignment,
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
   static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
   {
-    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
     Quaternion<float> res;
-    __m128 a = _a.coeffs().template packet<Aligned>(0);
-    __m128 b = _b.coeffs().template packet<Aligned>(0);
-    __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
-                                         vec4f_swizzle1(b,2,0,1,2)),mask);
-    __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
-                                         vec4f_swizzle1(b,0,1,2,1)),mask);
-    pstore(&res.x(),
+    const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
+    __m128 a = _a.coeffs().template packet<AAlignment>(0);
+    __m128 b = _b.coeffs().template packet<BAlignment>(0);
+    __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
+    __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
+    pstoret<float,Packet4f,ResAlignment>(
+              &res.x(),
               _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
                                     _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
                                                vec4f_swizzle1(b,1,2,0,0))),
-                         _mm_add_ps(flip1,flip2)));
+                         _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
+    
     return res;
   }
 };
 
+template<class Derived>
+struct quat_conj<Architecture::SSE, Derived, float>
+{
+  enum {
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
+  {
+    Quaternion<float> res;
+    const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
+    pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
+    return res;
+  }
+};
+
+
 template<typename VectorLhs,typename VectorRhs>
 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
 {
+  enum {
+    ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
+  };
   static inline typename plain_matrix_type<VectorLhs>::type
   run(const VectorLhs& lhs, const VectorRhs& rhs)
   {
-    __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
-    __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
+    __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
     __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
     __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
     typename plain_matrix_type<VectorLhs>::type res;
-    pstore(&res.x(),_mm_sub_ps(mul1,mul2));
+    pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
     return res;
   }
 };
@@ -57,8 +81,13 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
 
 
 template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
 {
+  enum {
+    BAlignment = traits<OtherDerived>::Alignment,
+    ResAlignment = traits<Quaternion<double> >::Alignment
+  };
+
   static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
   {
   const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
@@ -66,8 +95,8 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
   Quaternion<double> res;
 
   const double* a = _a.coeffs().data();
-  Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
-  Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
+  Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
+  Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
   Packet2d a_xx = pset1<Packet2d>(a[0]);
   Packet2d a_yy = pset1<Packet2d>(a[1]);
   Packet2d a_zz = pset1<Packet2d>(a[2]);
@@ -85,9 +114,9 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
   t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
 #ifdef EIGEN_VECTORIZE_SSE3
   EIGEN_UNUSED_VARIABLE(mask)
-  pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
+  pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
 #else
-  pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
+  pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
 #endif
   
   /*
@@ -99,15 +128,32 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
   t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
 #ifdef EIGEN_VECTORIZE_SSE3
   EIGEN_UNUSED_VARIABLE(mask)
-  pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
+  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
 #else
-  pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
+  pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
 #endif
 
   return res;
 }
 };
 
+template<class Derived>
+struct quat_conj<Architecture::SSE, Derived, double>
+{
+  enum {
+    ResAlignment = traits<Quaternion<double> >::Alignment
+  };
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
+  {
+    Quaternion<double> res;
+    const __m128d mask0 = _mm_setr_pd(-0.,-0.);
+    const __m128d mask2 = _mm_setr_pd(-0.,0.);
+    pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
+    pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
+    return res;
+  }
+};
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/Householder/BlockHouseholder.h b/vendor/eigen/Eigen/src/Householder/BlockHouseholder.h
index 60dbea5..01a7ed1 100644
--- a/vendor/eigen/Eigen/src/Householder/BlockHouseholder.h
+++ b/vendor/eigen/Eigen/src/Householder/BlockHouseholder.h
@@ -16,48 +16,83 @@
 namespace Eigen { 
 
 namespace internal {
+  
+/** \internal */
+// template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+// {
+//   typedef typename VectorsType::Scalar Scalar;
+//   const Index nbVecs = vectors.cols();
+//   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+// 
+//   for(Index i = 0; i < nbVecs; i++)
+//   {
+//     Index rs = vectors.rows() - i;
+//     // Warning, note that hCoeffs may alias with vectors.
+//     // It is then necessary to copy it before modifying vectors(i,i). 
+//     typename CoeffsType::Scalar h = hCoeffs(i);
+//     // This hack permits to pass trough nested Block<> and Transpose<> expressions.
+//     Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
+//     Scalar Vii = *Vii_ptr;
+//     *Vii_ptr = Scalar(1);
+//     triFactor.col(i).head(i).noalias() = -h * vectors.block(i, 0, rs, i).adjoint()
+//                                        * vectors.col(i).tail(rs);
+//     *Vii_ptr = Vii;
+//     // FIXME add .noalias() once the triangular product can work inplace
+//     triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
+//                              * triFactor.col(i).head(i);
+//     triFactor(i,i) = hCoeffs(i);
+//   }
+// }
 
 /** \internal */
+// This variant avoid modifications in vectors
 template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
 void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
 {
-  typedef typename TriangularFactorType::Index Index;
-  typedef typename VectorsType::Scalar Scalar;
   const Index nbVecs = vectors.cols();
   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
 
-  for(Index i = 0; i < nbVecs; i++)
+  for(Index i = nbVecs-1; i >=0 ; --i)
   {
-    Index rs = vectors.rows() - i;
-    Scalar Vii = vectors(i,i);
-    vectors.const_cast_derived().coeffRef(i,i) = Scalar(1);
-    triFactor.col(i).head(i).noalias() = -hCoeffs(i) * vectors.block(i, 0, rs, i).adjoint()
-                                       * vectors.col(i).tail(rs);
-    vectors.const_cast_derived().coeffRef(i, i) = Vii;
-    // FIXME add .noalias() once the triangular product can work inplace
-    triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
-                             * triFactor.col(i).head(i);
+    Index rs = vectors.rows() - i - 1;
+    Index rt = nbVecs-i-1;
+
+    if(rt>0)
+    {
+      triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
+                                                        * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
+            
+      // FIXME add .noalias() once the triangular product can work inplace
+      triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
+      
+    }
     triFactor(i,i) = hCoeffs(i);
   }
 }
 
-/** \internal */
+/** \internal
+  * if forward then perform   mat = H0 * H1 * H2 * mat
+  * otherwise perform         mat = H2 * H1 * H0 * mat
+  */
 template<typename MatrixType,typename VectorsType,typename CoeffsType>
-void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs)
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
 {
-  typedef typename MatrixType::Index Index;
   enum { TFactorSize = MatrixType::ColsAtCompileTime };
   Index nbVecs = vectors.cols();
-  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, ColMajor> T(nbVecs,nbVecs);
-  make_block_householder_triangular_factor(T, vectors, hCoeffs);
-
-  const TriangularView<const VectorsType, UnitLower>& V(vectors);
+  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
+  
+  if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
+  else        make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());  
+  const TriangularView<const VectorsType, UnitLower> V(vectors);
 
   // A -= V T V^* A
-  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,0,
+  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,
+         (VectorsType::MaxColsAtCompileTime==1 && MatrixType::MaxColsAtCompileTime!=1)?RowMajor:ColMajor,
          VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
   // FIXME add .noalias() once the triangular product can work inplace
-  tmp = T.template triangularView<Upper>().adjoint() * tmp;
+  if(forward) tmp = T.template triangularView<Upper>()           * tmp;
+  else        tmp = T.template triangularView<Upper>().adjoint() * tmp;
   mat.noalias() -= V * tmp;
 }
 
diff --git a/vendor/eigen/Eigen/src/Householder/Householder.h b/vendor/eigen/Eigen/src/Householder/Householder.h
index 32112af..80de2c3 100644
--- a/vendor/eigen/Eigen/src/Householder/Householder.h
+++ b/vendor/eigen/Eigen/src/Householder/Householder.h
@@ -75,8 +75,9 @@ void MatrixBase<Derived>::makeHouseholder(
   
   RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
   Scalar c0 = coeff(0);
+  const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
 
-  if(tailSqNorm == RealScalar(0) && numext::imag(c0)==RealScalar(0))
+  if(tailSqNorm <= tol && numext::abs2(numext::imag(c0))<=tol)
   {
     tau = RealScalar(0);
     beta = numext::real(c0);
@@ -118,7 +119,7 @@ void MatrixBase<Derived>::applyHouseholderOnTheLeft(
   {
     *this *= Scalar(1)-tau;
   }
-  else
+  else if(tau!=Scalar(0))
   {
     Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
     Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
@@ -155,7 +156,7 @@ void MatrixBase<Derived>::applyHouseholderOnTheRight(
   {
     *this *= Scalar(1)-tau;
   }
-  else
+  else if(tau!=Scalar(0))
   {
     Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
     Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
diff --git a/vendor/eigen/Eigen/src/Householder/HouseholderSequence.h b/vendor/eigen/Eigen/src/Householder/HouseholderSequence.h
index d800ca1..3ce0a69 100644
--- a/vendor/eigen/Eigen/src/Householder/HouseholderSequence.h
+++ b/vendor/eigen/Eigen/src/Householder/HouseholderSequence.h
@@ -60,7 +60,7 @@ template<typename VectorsType, typename CoeffsType, int Side>
 struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
 {
   typedef typename VectorsType::Scalar Scalar;
-  typedef typename VectorsType::Index Index;
+  typedef typename VectorsType::StorageIndex StorageIndex;
   typedef typename VectorsType::StorageKind StorageKind;
   enum {
     RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
@@ -73,12 +73,20 @@ struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
   };
 };
 
+struct HouseholderSequenceShape {};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct evaluator_traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+  : public evaluator_traits_base<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+  typedef HouseholderSequenceShape Shape;
+};
+
 template<typename VectorsType, typename CoeffsType, int Side>
 struct hseq_side_dependent_impl
 {
   typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
   typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
-  typedef typename VectorsType::Index Index;
   static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
   {
     Index start = k+1+h.m_shift;
@@ -91,7 +99,6 @@ struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
 {
   typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
   typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
-  typedef typename VectorsType::Index Index;
   static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
   {
     Index start = k+1+h.m_shift;
@@ -101,7 +108,7 @@ struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
 
 template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
 {
-  typedef typename scalar_product_traits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
+  typedef typename ScalarBinaryOpTraits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
     ResultScalar;
   typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
                  0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
@@ -122,7 +129,6 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
     };
     typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
-    typedef typename VectorsType::Index Index;
 
     typedef HouseholderSequence<
       typename internal::conditional<NumTraits<Scalar>::IsComplex,
@@ -237,8 +243,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     {
       workspace.resize(rows());
       Index vecs = m_length;
-      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,Dest>::value
-          && internal::extract_data(dst) == internal::extract_data(m_vectors))
+      if(internal::is_same_dense(dst,m_vectors))
       {
         // in-place
         dst.diagonal().setOnes();
@@ -299,7 +304,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     /** \internal */
     template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
     {
-      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace(dst.cols());
+      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace;
       applyThisOnTheLeft(dst, workspace);
     }
 
@@ -307,12 +312,36 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     template<typename Dest, typename Workspace>
     inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
     {
-      workspace.resize(dst.cols());
-      for(Index k = 0; k < m_length; ++k)
+      const Index BlockSize = 48;
+      // if the entries are large enough, then apply the reflectors by block
+      if(m_length>=BlockSize && dst.cols()>1)
       {
-        Index actual_k = m_trans ? k : m_length-k-1;
-        dst.bottomRows(rows()-m_shift-actual_k)
-           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+        for(Index i = 0; i < m_length; i+=BlockSize)
+        {
+          Index end = m_trans ? (std::min)(m_length,i+BlockSize) : m_length-i;
+          Index k = m_trans ? i : (std::max)(Index(0),end-BlockSize);
+          Index bs = end-k;
+          Index start = k + m_shift;
+          
+          typedef Block<typename internal::remove_all<VectorsType>::type,Dynamic,Dynamic> SubVectorsType;
+          SubVectorsType sub_vecs1(m_vectors.const_cast_derived(), Side==OnTheRight ? k : start,
+                                                                   Side==OnTheRight ? start : k,
+                                                                   Side==OnTheRight ? bs : m_vectors.rows()-start,
+                                                                   Side==OnTheRight ? m_vectors.cols()-start : bs);
+          typename internal::conditional<Side==OnTheRight, Transpose<SubVectorsType>, SubVectorsType&>::type sub_vecs(sub_vecs1);
+          Block<Dest,Dynamic,Dynamic> sub_dst(dst,dst.rows()-rows()+m_shift+k,0, rows()-m_shift-k,dst.cols());
+          apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_trans);
+        }
+      }
+      else
+      {
+        workspace.resize(dst.cols());
+        for(Index k = 0; k < m_length; ++k)
+        {
+          Index actual_k = m_trans ? k : m_length-k-1;
+          dst.bottomRows(rows()-m_shift-actual_k)
+            .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+        }
       }
     }
 
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
index 1f3c060..facdaf8 100644
--- a/vendor/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -17,33 +17,37 @@ namespace Eigen {
   *
   * This class allows to approximately solve for A.x = b problems assuming A is a diagonal matrix.
   * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
-  * \code
-  * A.diagonal().asDiagonal() . x = b
-  * \endcode
+    \code
+    A.diagonal().asDiagonal() . x = b
+    \endcode
   *
   * \tparam _Scalar the type of the scalar.
   *
+  * \implsparsesolverconcept
+  *
   * This preconditioner is suitable for both selfadjoint and general problems.
   * The diagonal entries are pre-inverted and stored into a dense vector.
   *
   * \note A variant that has yet to be implemented would attempt to preserve the norm of each column.
   *
+  * \sa class LeastSquareDiagonalPreconditioner, class ConjugateGradient
   */
 template <typename _Scalar>
 class DiagonalPreconditioner
 {
     typedef _Scalar Scalar;
     typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef typename Vector::Index Index;
-
   public:
-    // this typedef is only to export the scalar type and compile-time dimensions to solve_retval
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
+    typedef typename Vector::StorageIndex StorageIndex;
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
 
     DiagonalPreconditioner() : m_isInitialized(false) {}
 
     template<typename MatType>
-    DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
+    explicit DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
     {
       compute(mat);
     }
@@ -80,46 +84,117 @@ class DiagonalPreconditioner
       return factorize(mat);
     }
 
+    /** \internal */
     template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
+    void _solve_impl(const Rhs& b, Dest& x) const
     {
       x = m_invdiag.array() * b.array() ;
     }
 
-    template<typename Rhs> inline const internal::solve_retval<DiagonalPreconditioner, Rhs>
+    template<typename Rhs> inline const Solve<DiagonalPreconditioner, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "DiagonalPreconditioner is not initialized.");
       eigen_assert(m_invdiag.size()==b.rows()
                 && "DiagonalPreconditioner::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<DiagonalPreconditioner, Rhs>(*this, b.derived());
+      return Solve<DiagonalPreconditioner, Rhs>(*this, b.derived());
     }
+    
+    ComputationInfo info() { return Success; }
 
   protected:
     Vector m_invdiag;
     bool m_isInitialized;
 };
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<DiagonalPreconditioner<_MatrixType>, Rhs>
-  : solve_retval_base<DiagonalPreconditioner<_MatrixType>, Rhs>
+/** \ingroup IterativeLinearSolvers_Module
+  * \brief Jacobi preconditioner for LeastSquaresConjugateGradient
+  *
+  * This class allows to approximately solve for A' A x  = A' b problems assuming A' A is a diagonal matrix.
+  * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
+    \code
+    (A.adjoint() * A).diagonal().asDiagonal() * x = b
+    \endcode
+  *
+  * \tparam _Scalar the type of the scalar.
+  *
+  * \implsparsesolverconcept
+  *
+  * The diagonal entries are pre-inverted and stored into a dense vector.
+  * 
+  * \sa class LeastSquaresConjugateGradient, class DiagonalPreconditioner
+  */
+template <typename _Scalar>
+class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
 {
-  typedef DiagonalPreconditioner<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
+    typedef _Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef DiagonalPreconditioner<_Scalar> Base;
+    using Base::m_invdiag;
+  public:
 
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
+    LeastSquareDiagonalPreconditioner() : Base() {}
 
-}
+    template<typename MatType>
+    explicit LeastSquareDiagonalPreconditioner(const MatType& mat) : Base()
+    {
+      compute(mat);
+    }
+
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& analyzePattern(const MatType& )
+    {
+      return *this;
+    }
+    
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& factorize(const MatType& mat)
+    {
+      // Compute the inverse squared-norm of each column of mat
+      m_invdiag.resize(mat.cols());
+      if(MatType::IsRowMajor)
+      {
+        m_invdiag.setZero();
+        for(Index j=0; j<mat.outerSize(); ++j)
+        {
+          for(typename MatType::InnerIterator it(mat,j); it; ++it)
+            m_invdiag(it.index()) += numext::abs2(it.value());
+        }
+        for(Index j=0; j<mat.cols(); ++j)
+          if(numext::real(m_invdiag(j))>RealScalar(0))
+            m_invdiag(j) = RealScalar(1)/numext::real(m_invdiag(j));
+      }
+      else
+      {
+        for(Index j=0; j<mat.outerSize(); ++j)
+        {
+          RealScalar sum = mat.innerVector(j).squaredNorm();
+          if(sum>RealScalar(0))
+            m_invdiag(j) = RealScalar(1)/sum;
+          else
+            m_invdiag(j) = RealScalar(1);
+        }
+      }
+      Base::m_isInitialized = true;
+      return *this;
+    }
+    
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& compute(const MatType& mat)
+    {
+      return factorize(mat);
+    }
+    
+    ComputationInfo info() { return Success; }
+
+  protected:
+};
 
 /** \ingroup IterativeLinearSolvers_Module
   * \brief A naive preconditioner which approximates any matrix as the identity matrix
   *
+  * \implsparsesolverconcept
+  *
   * \sa class DiagonalPreconditioner
   */
 class IdentityPreconditioner
@@ -129,7 +204,7 @@ class IdentityPreconditioner
     IdentityPreconditioner() {}
 
     template<typename MatrixType>
-    IdentityPreconditioner(const MatrixType& ) {}
+    explicit IdentityPreconditioner(const MatrixType& ) {}
     
     template<typename MatrixType>
     IdentityPreconditioner& analyzePattern(const MatrixType& ) { return *this; }
@@ -142,6 +217,8 @@ class IdentityPreconditioner
     
     template<typename Rhs>
     inline const Rhs& solve(const Rhs& b) const { return b; }
+    
+    ComputationInfo info() { return Success; }
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
index 5512219..454f468 100644
--- a/vendor/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam at inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -27,7 +27,7 @@ namespace internal {
   */
 template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
 bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
-              const Preconditioner& precond, int& iters,
+              const Preconditioner& precond, Index& iters,
               typename Dest::RealScalar& tol_error)
 {
   using std::sqrt;
@@ -36,9 +36,9 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
   typedef typename Dest::Scalar Scalar;
   typedef Matrix<Scalar,Dynamic,1> VectorType;
   RealScalar tol = tol_error;
-  int maxIters = iters;
+  Index maxIters = iters;
 
-  int n = mat.cols();
+  Index n = mat.cols();
   VectorType r  = rhs - mat * x;
   VectorType r0 = r;
   
@@ -59,20 +59,21 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
 
   VectorType s(n), t(n);
 
-  RealScalar tol2 = tol*tol;
+  RealScalar tol2 = tol*tol*rhs_sqnorm;
   RealScalar eps2 = NumTraits<Scalar>::epsilon()*NumTraits<Scalar>::epsilon();
-  int i = 0;
-  int restarts = 0;
+  Index i = 0;
+  Index restarts = 0;
 
-  while ( r.squaredNorm()/rhs_sqnorm > tol2 && i<maxIters )
+  while ( r.squaredNorm() > tol2 && i<maxIters )
   {
     Scalar rho_old = rho;
 
     rho = r0.dot(r);
     if (abs(rho) < eps2*r0_sqnorm)
     {
-      // The new residual vector became too orthogonal to the arbitrarily choosen direction r0
+      // The new residual vector became too orthogonal to the arbitrarily chosen direction r0
       // Let's restart with a new r0:
+      r  = rhs - mat * x;
       r0 = r;
       rho = r0_sqnorm = r.squaredNorm();
       if(restarts++ == 0)
@@ -131,35 +132,33 @@ struct traits<BiCGSTAB<_MatrixType,_Preconditioner> >
   * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
   * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
   *
+  * \implsparsesolverconcept
+  *
   * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
   * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
   * and NumTraits<Scalar>::epsilon() for the tolerance.
   * 
+  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
+  * 
+  * \b Performance: when using sparse matrices, best performance is achied for a row-major sparse matrix format.
+  * Moreover, in this case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
+  * See \ref TopicMultiThreading for details.
+  * 
   * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * BiCGSTAB<SparseMatrix<double> > solver;
-  * solver.compute(A);
-  * x = solver.solve(b);
-  * std::cout << "#iterations:     " << solver.iterations() << std::endl;
-  * std::cout << "estimated error: " << solver.error()      << std::endl;
-  * // update b, and solve again
-  * x = solver.solve(b);
-  * \endcode
+  * \include BiCGSTAB_simple.cpp
   * 
   * By default the iterations start with x=0 as an initial guess of the solution.
   * One can control the start using the solveWithGuess() method.
   * 
+  * BiCGSTAB can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
+  *
   * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename _MatrixType, typename _Preconditioner>
 class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner> >
 {
   typedef IterativeSolverBase<BiCGSTAB> Base;
-  using Base::mp_matrix;
+  using Base::matrix;
   using Base::m_error;
   using Base::m_iterations;
   using Base::m_info;
@@ -167,7 +166,6 @@ class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner
 public:
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::RealScalar RealScalar;
   typedef _Preconditioner Preconditioner;
 
@@ -190,35 +188,19 @@ public:
   explicit BiCGSTAB(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
 
   ~BiCGSTAB() {}
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<BiCGSTAB, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "BiCGSTAB is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "BiCGSTAB::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <BiCGSTAB, Rhs, Guess>(*this, b.derived(), x0);
-  }
-  
+
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
   {    
     bool failed = false;
-    for(int j=0; j<b.cols(); ++j)
+    for(Index j=0; j<b.cols(); ++j)
     {
       m_iterations = Base::maxIterations();
       m_error = Base::m_tolerance;
       
       typename Dest::ColXpr xj(x,j);
-      if(!internal::bicgstab(*mp_matrix, b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
+      if(!internal::bicgstab(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
         failed = true;
     }
     m_info = failed ? NumericalIssue
@@ -228,36 +210,19 @@ public:
   }
 
   /** \internal */
+  using Base::_solve_impl;
   template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
   {
-//     x.setZero();
-  x = b;
-    _solveWithGuess(b,x);
+    x.resize(this->rows(),b.cols());
+    x.setZero();
+    _solve_with_guess_impl(b,x);
   }
 
 protected:
 
 };
 
-
-namespace internal {
-
-  template<typename _MatrixType, typename _Preconditioner, typename Rhs>
-struct solve_retval<BiCGSTAB<_MatrixType, _Preconditioner>, Rhs>
-  : solve_retval_base<BiCGSTAB<_MatrixType, _Preconditioner>, Rhs>
-{
-  typedef BiCGSTAB<_MatrixType, _Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_BICGSTAB_H
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
index 7dd4010..395daa8 100644
--- a/vendor/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -26,7 +26,7 @@ namespace internal {
 template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
 EIGEN_DONT_INLINE
 void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                        const Preconditioner& precond, int& iters,
+                        const Preconditioner& precond, Index& iters,
                         typename Dest::RealScalar& tol_error)
 {
   using std::sqrt;
@@ -36,9 +36,9 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
   typedef Matrix<Scalar,Dynamic,1> VectorType;
   
   RealScalar tol = tol_error;
-  int maxIters = iters;
+  Index maxIters = iters;
   
-  int n = mat.cols();
+  Index n = mat.cols();
 
   VectorType residual = rhs - mat * x; //initial residual
 
@@ -60,29 +60,29 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
   }
   
   VectorType p(n);
-  p = precond.solve(residual);      //initial search direction
+  p = precond.solve(residual);      // initial search direction
 
   VectorType z(n), tmp(n);
   RealScalar absNew = numext::real(residual.dot(p));  // the square of the absolute value of r scaled by invM
-  int i = 0;
+  Index i = 0;
   while(i < maxIters)
   {
-    tmp.noalias() = mat * p;              // the bottleneck of the algorithm
+    tmp.noalias() = mat * p;                    // the bottleneck of the algorithm
 
-    Scalar alpha = absNew / p.dot(tmp);   // the amount we travel on dir
-    x += alpha * p;                       // update solution
-    residual -= alpha * tmp;              // update residue
+    Scalar alpha = absNew / p.dot(tmp);         // the amount we travel on dir
+    x += alpha * p;                             // update solution
+    residual -= alpha * tmp;                    // update residual
     
     residualNorm2 = residual.squaredNorm();
     if(residualNorm2 < threshold)
       break;
     
-    z = precond.solve(residual);          // approximately solve for "A z = residual"
+    z = precond.solve(residual);                // approximately solve for "A z = residual"
 
     RealScalar absOld = absNew;
     absNew = numext::real(residual.dot(z));     // update the absolute value of r
-    RealScalar beta = absNew / absOld;            // calculate the Gram-Schmidt value used to create the new search direction
-    p = z + beta * p;                             // update search direction
+    RealScalar beta = absNew / absOld;          // calculate the Gram-Schmidt value used to create the new search direction
+    p = z + beta * p;                           // update search direction
     i++;
   }
   tol_error = sqrt(residualNorm2 / rhsNorm2);
@@ -107,47 +107,57 @@ struct traits<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
 }
 
 /** \ingroup IterativeLinearSolvers_Module
-  * \brief A conjugate gradient solver for sparse self-adjoint problems
+  * \brief A conjugate gradient solver for sparse (or dense) self-adjoint problems
   *
-  * This class allows to solve for A.x = b sparse linear problems using a conjugate gradient algorithm.
-  * The sparse matrix A must be selfadjoint. The vectors x and b can be either dense or sparse.
+  * This class allows to solve for A.x = b linear problems using an iterative conjugate gradient algorithm.
+  * The matrix A must be selfadjoint. The matrix A and the vectors x and b can be either dense or sparse.
   *
   * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower,
-  *               Upper, or Lower|Upper in which the full matrix entries will be considered. Default is Lower.
+  *               \c Upper, or \c Lower|Upper in which the full matrix entries will be considered.
+  *               Default is \c Lower, best performance is \c Lower|Upper.
   * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
   *
+  * \implsparsesolverconcept
+  *
   * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
   * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
   * and NumTraits<Scalar>::epsilon() for the tolerance.
   * 
+  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
+  * 
+  * \b Performance: Even though the default value of \c _UpLo is \c Lower, significantly higher performance is
+  * achieved when using a complete matrix and \b Lower|Upper as the \a _UpLo template parameter. Moreover, in this
+  * case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
+  * See \ref TopicMultiThreading for details.
+  * 
   * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * ConjugateGradient<SparseMatrix<double> > cg;
-  * cg.compute(A);
-  * x = cg.solve(b);
-  * std::cout << "#iterations:     " << cg.iterations() << std::endl;
-  * std::cout << "estimated error: " << cg.error()      << std::endl;
-  * // update b, and solve again
-  * x = cg.solve(b);
-  * \endcode
+    \code
+    int n = 10000;
+    VectorXd x(n), b(n);
+    SparseMatrix<double> A(n,n);
+    // fill A and b
+    ConjugateGradient<SparseMatrix<double>, Lower|Upper> cg;
+    cg.compute(A);
+    x = cg.solve(b);
+    std::cout << "#iterations:     " << cg.iterations() << std::endl;
+    std::cout << "estimated error: " << cg.error()      << std::endl;
+    // update b, and solve again
+    x = cg.solve(b);
+    \endcode
   * 
   * By default the iterations start with x=0 as an initial guess of the solution.
   * One can control the start using the solveWithGuess() method.
   * 
   * ConjugateGradient can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
   *
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
+  * \sa class LeastSquaresConjugateGradient, class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename _MatrixType, int _UpLo, typename _Preconditioner>
 class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
 {
   typedef IterativeSolverBase<ConjugateGradient> Base;
-  using Base::mp_matrix;
+  using Base::matrix;
   using Base::m_error;
   using Base::m_iterations;
   using Base::m_info;
@@ -155,7 +165,6 @@ class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixTy
 public:
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::RealScalar RealScalar;
   typedef _Preconditioner Preconditioner;
 
@@ -182,41 +191,36 @@ public:
   explicit ConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
 
   ~ConjugateGradient() {}
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<ConjugateGradient, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "ConjugateGradient::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <ConjugateGradient, Rhs, Guess>(*this, b.derived(), x0);
-  }
 
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
   {
+    typedef typename Base::MatrixWrapper MatrixWrapper;
+    typedef typename Base::ActualMatrixType ActualMatrixType;
+    enum {
+      TransposeInput  =   (!MatrixWrapper::MatrixFree)
+                      &&  (UpLo==(Lower|Upper))
+                      &&  (!MatrixType::IsRowMajor)
+                      &&  (!NumTraits<Scalar>::IsComplex)
+    };
+    typedef typename internal::conditional<TransposeInput,Transpose<const ActualMatrixType>, ActualMatrixType const&>::type RowMajorWrapper;
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(MatrixWrapper::MatrixFree,UpLo==(Lower|Upper)),MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY);
     typedef typename internal::conditional<UpLo==(Lower|Upper),
-                                           const MatrixType&,
-                                           SparseSelfAdjointView<const MatrixType, UpLo>
-                                          >::type MatrixWrapperType;
+                                           RowMajorWrapper,
+                                           typename MatrixWrapper::template ConstSelfAdjointViewReturnType<UpLo>::Type
+                                          >::type SelfAdjointWrapper;
     m_iterations = Base::maxIterations();
     m_error = Base::m_tolerance;
 
-    for(int j=0; j<b.cols(); ++j)
+    for(Index j=0; j<b.cols(); ++j)
     {
       m_iterations = Base::maxIterations();
       m_error = Base::m_tolerance;
 
       typename Dest::ColXpr xj(x,j);
-      internal::conjugate_gradient(MatrixWrapperType(*mp_matrix), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
+      RowMajorWrapper row_mat(matrix());
+      internal::conjugate_gradient(SelfAdjointWrapper(row_mat), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
     }
 
     m_isInitialized = true;
@@ -224,35 +228,18 @@ public:
   }
   
   /** \internal */
+  using Base::_solve_impl;
   template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
   {
     x.setZero();
-    _solveWithGuess(b,x);
+    _solve_with_guess_impl(b.derived(),x);
   }
 
 protected:
 
 };
 
-
-namespace internal {
-
-template<typename _MatrixType, int _UpLo, typename _Preconditioner, typename Rhs>
-struct solve_retval<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-  : solve_retval_base<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-{
-  typedef ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_CONJUGATE_GRADIENT_H
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
new file mode 100644
index 0000000..e45c272
--- /dev/null
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
@@ -0,0 +1,400 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam at inria.fr>
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_INCOMPLETE_CHOlESKY_H
+#define EIGEN_INCOMPLETE_CHOlESKY_H
+
+#include <vector>
+#include <list>
+
+namespace Eigen {  
+/** 
+  * \brief Modified Incomplete Cholesky with dual threshold
+  *
+  * References : C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
+  *              Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
+  *
+  * \tparam Scalar the scalar type of the input matrices
+  * \tparam _UpLo The triangular part that will be used for the computations. It can be Lower
+    *               or Upper. Default is Lower.
+  * \tparam _OrderingType The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<int>,
+  *                       unless EIGEN_MPL2_ONLY is defined, in which case the default is NaturalOrdering<int>.
+  *
+  * \implsparsesolverconcept
+  *
+  * It performs the following incomplete factorization: \f$ S P A P' S \approx L L' \f$
+  * where L is a lower triangular factor, S is a diagonal scaling matrix, and P is a
+  * fill-in reducing permutation as computed by the ordering method.
+  *
+  * \b Shifting \b strategy: Let \f$ B = S P A P' S \f$  be the scaled matrix on which the factorization is carried out,
+  * and \f$ \beta \f$ be the minimum value of the diagonal. If \f$ \beta > 0 \f$ then, the factorization is directly performed
+  * on the matrix B. Otherwise, the factorization is performed on the shifted matrix \f$ B + (\sigma+|\beta| I \f$ where
+  * \f$ \sigma \f$ is the initial shift value as returned and set by setInitialShift() method. The default value is \f$ \sigma = 10^{-3} \f$.
+  * If the factorization fails, then the shift in doubled until it succeed or a maximum of ten attempts. If it still fails, as returned by
+  * the info() method, then you can either increase the initial shift, or better use another preconditioning technique.
+  *
+  */
+template <typename Scalar, int _UpLo = Lower, typename _OrderingType =
+#ifndef EIGEN_MPL2_ONLY
+AMDOrdering<int>
+#else
+NaturalOrdering<int>
+#endif
+>
+class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> >
+{
+  protected:
+    typedef SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> > Base;
+    using Base::m_isInitialized;
+  public:
+    typedef typename NumTraits<Scalar>::Real RealScalar; 
+    typedef _OrderingType OrderingType;
+    typedef typename OrderingType::PermutationType PermutationType;
+    typedef typename PermutationType::StorageIndex StorageIndex; 
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> FactorType;
+    typedef Matrix<Scalar,Dynamic,1> VectorSx;
+    typedef Matrix<RealScalar,Dynamic,1> VectorRx;
+    typedef Matrix<StorageIndex,Dynamic, 1> VectorIx;
+    typedef std::vector<std::list<StorageIndex> > VectorList; 
+    enum { UpLo = _UpLo };
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
+  public:
+
+    /** Default constructor leaving the object in a partly non-initialized stage.
+      *
+      * You must call compute() or the pair analyzePattern()/factorize() to make it valid.
+      *
+      * \sa IncompleteCholesky(const MatrixType&)
+      */
+    IncompleteCholesky() : m_initialShift(1e-3),m_factorizationIsOk(false) {}
+    
+    /** Constructor computing the incomplete factorization for the given matrix \a matrix.
+      */
+    template<typename MatrixType>
+    IncompleteCholesky(const MatrixType& matrix) : m_initialShift(1e-3),m_factorizationIsOk(false)
+    {
+      compute(matrix);
+    }
+    
+    /** \returns number of rows of the factored matrix */
+    Index rows() const { return m_L.rows(); }
+    
+    /** \returns number of columns of the factored matrix */
+    Index cols() const { return m_L.cols(); }
+    
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * It triggers an assertion if \c *this has not been initialized through the respective constructor,
+      * or a call to compute() or analyzePattern().
+      *
+      * \returns \c Success if computation was successful,
+      *          \c NumericalIssue if the matrix appears to be negative.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "IncompleteCholesky is not initialized.");
+      return m_info;
+    }
+    
+    /** \brief Set the initial shift parameter \f$ \sigma \f$.
+      */
+    void setInitialShift(RealScalar shift) { m_initialShift = shift; }
+    
+    /** \brief Computes the fill reducing permutation vector using the sparsity pattern of \a mat
+      */
+    template<typename MatrixType>
+    void analyzePattern(const MatrixType& mat)
+    {
+      OrderingType ord; 
+      PermutationType pinv;
+      ord(mat.template selfadjointView<UpLo>(), pinv); 
+      if(pinv.size()>0) m_perm = pinv.inverse();
+      else              m_perm.resize(0);
+      m_L.resize(mat.rows(), mat.cols());
+      m_analysisIsOk = true;
+      m_isInitialized = true;
+      m_info = Success;
+    }
+    
+    /** \brief Performs the numerical factorization of the input matrix \a mat
+      *
+      * The method analyzePattern() or compute() must have been called beforehand
+      * with a matrix having the same pattern.
+      *
+      * \sa compute(), analyzePattern()
+      */
+    template<typename MatrixType>
+    void factorize(const MatrixType& mat);
+    
+    /** Computes or re-computes the incomplete Cholesky factorization of the input matrix \a mat
+      *
+      * It is a shortcut for a sequential call to the analyzePattern() and factorize() methods.
+      *
+      * \sa analyzePattern(), factorize()
+      */
+    template<typename MatrixType>
+    void compute(const MatrixType& mat)
+    {
+      analyzePattern(mat);
+      factorize(mat);
+    }
+    
+    // internal
+    template<typename Rhs, typename Dest>
+    void _solve_impl(const Rhs& b, Dest& x) const
+    {
+      eigen_assert(m_factorizationIsOk && "factorize() should be called first");
+      if (m_perm.rows() == b.rows())  x = m_perm * b;
+      else                            x = b;
+      x = m_scale.asDiagonal() * x;
+      x = m_L.template triangularView<Lower>().solve(x);
+      x = m_L.adjoint().template triangularView<Upper>().solve(x);
+      x = m_scale.asDiagonal() * x;
+      if (m_perm.rows() == b.rows())
+        x = m_perm.inverse() * x;
+    }
+
+    /** \returns the sparse lower triangular factor L */
+    const FactorType& matrixL() const { eigen_assert("m_factorizationIsOk"); return m_L; }
+
+    /** \returns a vector representing the scaling factor S */
+    const VectorRx& scalingS() const { eigen_assert("m_factorizationIsOk"); return m_scale; }
+
+    /** \returns the fill-in reducing permutation P (can be empty for a natural ordering) */
+    const PermutationType& permutationP() const { eigen_assert("m_analysisIsOk"); return m_perm; }
+
+  protected:
+    FactorType m_L;              // The lower part stored in CSC
+    VectorRx m_scale;            // The vector for scaling the matrix 
+    RealScalar m_initialShift;   // The initial shift parameter
+    bool m_analysisIsOk; 
+    bool m_factorizationIsOk; 
+    ComputationInfo m_info;
+    PermutationType m_perm; 
+
+  private:
+    inline void updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol); 
+}; 
+
+// Based on the following paper:
+//   C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
+//   Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
+//   http://ftp.mcs.anl.gov/pub/tech_reports/reports/P682.pdf
+template<typename Scalar, int _UpLo, typename OrderingType>
+template<typename _MatrixType>
+void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType& mat)
+{
+  using std::sqrt;
+  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
+    
+  // Dropping strategy : Keep only the p largest elements per column, where p is the number of elements in the column of the original matrix. Other strategies will be added
+  
+  // Apply the fill-reducing permutation computed in analyzePattern()
+  if (m_perm.rows() == mat.rows() ) // To detect the null permutation
+  {
+    // The temporary is needed to make sure that the diagonal entry is properly sorted
+    FactorType tmp(mat.rows(), mat.cols());
+    tmp = mat.template selfadjointView<_UpLo>().twistedBy(m_perm);
+    m_L.template selfadjointView<Lower>() = tmp.template selfadjointView<Lower>();
+  }
+  else
+  {
+    m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>();
+  }
+  
+  Index n = m_L.cols(); 
+  Index nnz = m_L.nonZeros();
+  Map<VectorSx> vals(m_L.valuePtr(), nnz);         //values
+  Map<VectorIx> rowIdx(m_L.innerIndexPtr(), nnz);  //Row indices
+  Map<VectorIx> colPtr( m_L.outerIndexPtr(), n+1); // Pointer to the beginning of each row
+  VectorIx firstElt(n-1); // for each j, points to the next entry in vals that will be used in the factorization
+  VectorList listCol(n);  // listCol(j) is a linked list of columns to update column j
+  VectorSx col_vals(n);   // Store a  nonzero values in each column
+  VectorIx col_irow(n);   // Row indices of nonzero elements in each column
+  VectorIx col_pattern(n);
+  col_pattern.fill(-1);
+  StorageIndex col_nnz;
+  
+  
+  // Computes the scaling factors 
+  m_scale.resize(n);
+  m_scale.setZero();
+  for (Index j = 0; j < n; j++)
+    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
+    {
+      m_scale(j) += numext::abs2(vals(k));
+      if(rowIdx[k]!=j)
+        m_scale(rowIdx[k]) += numext::abs2(vals(k));
+    }
+  
+  m_scale = m_scale.cwiseSqrt().cwiseSqrt();
+
+  for (Index j = 0; j < n; ++j)
+    if(m_scale(j)>(std::numeric_limits<RealScalar>::min)())
+      m_scale(j) = RealScalar(1)/m_scale(j);
+    else
+      m_scale(j) = 1;
+
+  // TODO disable scaling if not needed, i.e., if it is roughly uniform? (this will make solve() faster)
+  
+  // Scale and compute the shift for the matrix 
+  RealScalar mindiag = NumTraits<RealScalar>::highest();
+  for (Index j = 0; j < n; j++)
+  {
+    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
+      vals[k] *= (m_scale(j)*m_scale(rowIdx[k]));
+    eigen_internal_assert(rowIdx[colPtr[j]]==j && "IncompleteCholesky: only the lower triangular part must be stored");
+    mindiag = numext::mini(numext::real(vals[colPtr[j]]), mindiag);
+  }
+
+  FactorType L_save = m_L;
+  
+  RealScalar shift = 0;
+  if(mindiag <= RealScalar(0.))
+    shift = m_initialShift - mindiag;
+
+  m_info = NumericalIssue;
+
+  // Try to perform the incomplete factorization using the current shift
+  int iter = 0;
+  do
+  {
+    // Apply the shift to the diagonal elements of the matrix
+    for (Index j = 0; j < n; j++)
+      vals[colPtr[j]] += shift;
+
+    // jki version of the Cholesky factorization
+    Index j=0;
+    for (; j < n; ++j)
+    {
+      // Left-looking factorization of the j-th column
+      // First, load the j-th column into col_vals
+      Scalar diag = vals[colPtr[j]];  // It is assumed that only the lower part is stored
+      col_nnz = 0;
+      for (Index i = colPtr[j] + 1; i < colPtr[j+1]; i++)
+      {
+        StorageIndex l = rowIdx[i];
+        col_vals(col_nnz) = vals[i];
+        col_irow(col_nnz) = l;
+        col_pattern(l) = col_nnz;
+        col_nnz++;
+      }
+      {
+        typename std::list<StorageIndex>::iterator k;
+        // Browse all previous columns that will update column j
+        for(k = listCol[j].begin(); k != listCol[j].end(); k++)
+        {
+          Index jk = firstElt(*k); // First element to use in the column
+          eigen_internal_assert(rowIdx[jk]==j);
+          Scalar v_j_jk = numext::conj(vals[jk]);
+
+          jk += 1;
+          for (Index i = jk; i < colPtr[*k+1]; i++)
+          {
+            StorageIndex l = rowIdx[i];
+            if(col_pattern[l]<0)
+            {
+              col_vals(col_nnz) = vals[i] * v_j_jk;
+              col_irow[col_nnz] = l;
+              col_pattern(l) = col_nnz;
+              col_nnz++;
+            }
+            else
+              col_vals(col_pattern[l]) -= vals[i] * v_j_jk;
+          }
+          updateList(colPtr,rowIdx,vals, *k, jk, firstElt, listCol);
+        }
+      }
+
+      // Scale the current column
+      if(numext::real(diag) <= 0)
+      {
+        if(++iter>=10)
+          return;
+
+        // increase shift
+        shift = numext::maxi(m_initialShift,RealScalar(2)*shift);
+        // restore m_L, col_pattern, and listCol
+        vals = Map<const VectorSx>(L_save.valuePtr(), nnz);
+        rowIdx = Map<const VectorIx>(L_save.innerIndexPtr(), nnz);
+        colPtr = Map<const VectorIx>(L_save.outerIndexPtr(), n+1);
+        col_pattern.fill(-1);
+        for(Index i=0; i<n; ++i)
+          listCol[i].clear();
+
+        break;
+      }
+
+      RealScalar rdiag = sqrt(numext::real(diag));
+      vals[colPtr[j]] = rdiag;
+      for (Index k = 0; k<col_nnz; ++k)
+      {
+        Index i = col_irow[k];
+        //Scale
+        col_vals(k) /= rdiag;
+        //Update the remaining diagonals with col_vals
+        vals[colPtr[i]] -= numext::abs2(col_vals(k));
+      }
+      // Select the largest p elements
+      // p is the original number of elements in the column (without the diagonal)
+      Index p = colPtr[j+1] - colPtr[j] - 1 ;
+      Ref<VectorSx> cvals = col_vals.head(col_nnz);
+      Ref<VectorIx> cirow = col_irow.head(col_nnz);
+      internal::QuickSplit(cvals,cirow, p);
+      // Insert the largest p elements in the matrix
+      Index cpt = 0;
+      for (Index i = colPtr[j]+1; i < colPtr[j+1]; i++)
+      {
+        vals[i] = col_vals(cpt);
+        rowIdx[i] = col_irow(cpt);
+        // restore col_pattern:
+        col_pattern(col_irow(cpt)) = -1;
+        cpt++;
+      }
+      // Get the first smallest row index and put it after the diagonal element
+      Index jk = colPtr(j)+1;
+      updateList(colPtr,rowIdx,vals,j,jk,firstElt,listCol);
+    }
+
+    if(j==n)
+    {
+      m_factorizationIsOk = true;
+      m_info = Success;
+    }
+  } while(m_info!=Success);
+}
+
+template<typename Scalar, int _UpLo, typename OrderingType>
+inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol)
+{
+  if (jk < colPtr(col+1) )
+  {
+    Index p = colPtr(col+1) - jk;
+    Index minpos; 
+    rowIdx.segment(jk,p).minCoeff(&minpos);
+    minpos += jk;
+    if (rowIdx(minpos) != rowIdx(jk))
+    {
+      //Swap
+      std::swap(rowIdx(jk),rowIdx(minpos));
+      std::swap(vals(jk),vals(minpos));
+    }
+    firstElt(col) = internal::convert_index<StorageIndex,Index>(jk);
+    listCol[rowIdx(jk)].push_back(internal::convert_index<StorageIndex,Index>(col));
+  }
+}
+
+} // end namespace Eigen 
+
+#endif
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
index d3f37fe..338e6f1 100644
--- a/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam at inria.fr>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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
@@ -24,7 +25,7 @@ namespace internal {
   * \param ind The array of index for the elements in @p row
   * \param ncut  The number of largest elements to keep
   **/ 
-template <typename VectorV, typename VectorI, typename Index>
+template <typename VectorV, typename VectorI>
 Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
 {
   typedef typename VectorV::RealScalar RealScalar;
@@ -66,6 +67,8 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   * \class IncompleteLUT
   * \brief Incomplete LU factorization with dual-threshold strategy
   *
+  * \implsparsesolverconcept
+  *
   * During the numerical factorization, two dropping rules are used :
   *  1) any element whose magnitude is less than some tolerance is dropped.
   *    This tolerance is obtained by multiplying the input tolerance @p droptol 
@@ -92,28 +95,36 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   * alternatively, on GMANE:
   *   http://comments.gmane.org/gmane.comp.lib.eigen/3302
   */
-template <typename _Scalar>
-class IncompleteLUT : internal::noncopyable
+template <typename _Scalar, typename _StorageIndex = int>
+class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageIndex> >
 {
+  protected:
+    typedef SparseSolverBase<IncompleteLUT> Base;
+    using Base::m_isInitialized;
+  public:
     typedef _Scalar Scalar;
+    typedef _StorageIndex StorageIndex;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef SparseMatrix<Scalar,RowMajor> FactorType;
-    typedef SparseMatrix<Scalar,ColMajor> PermutType;
-    typedef typename FactorType::Index Index;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> FactorType;
+
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
 
   public:
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
     
     IncompleteLUT()
       : m_droptol(NumTraits<Scalar>::dummy_precision()), m_fillfactor(10),
-        m_analysisIsOk(false), m_factorizationIsOk(false), m_isInitialized(false)
+        m_analysisIsOk(false), m_factorizationIsOk(false)
     {}
     
     template<typename MatrixType>
-    IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
+    explicit IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
       : m_droptol(droptol),m_fillfactor(fillfactor),
-        m_analysisIsOk(false),m_factorizationIsOk(false),m_isInitialized(false)
+        m_analysisIsOk(false),m_factorizationIsOk(false)
     {
       eigen_assert(fillfactor != 0);
       compute(mat); 
@@ -146,7 +157,7 @@ class IncompleteLUT : internal::noncopyable
       * 
       **/
     template<typename MatrixType>
-    IncompleteLUT<Scalar>& compute(const MatrixType& amat)
+    IncompleteLUT& compute(const MatrixType& amat)
     {
       analyzePattern(amat); 
       factorize(amat);
@@ -157,7 +168,7 @@ class IncompleteLUT : internal::noncopyable
     void setFillfactor(int fillfactor); 
     
     template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
+    void _solve_impl(const Rhs& b, Dest& x) const
     {
       x = m_Pinv * b;
       x = m_lu.template triangularView<UnitLower>().solve(x);
@@ -165,15 +176,6 @@ class IncompleteLUT : internal::noncopyable
       x = m_P * x; 
     }
 
-    template<typename Rhs> inline const internal::solve_retval<IncompleteLUT, Rhs>
-     solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "IncompleteLUT is not initialized.");
-      eigen_assert(cols()==b.rows()
-                && "IncompleteLUT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<IncompleteLUT, Rhs>(*this, b.derived());
-    }
-
 protected:
 
     /** keeps off-diagonal entries; drops diagonal entries */
@@ -191,18 +193,17 @@ protected:
     int m_fillfactor;
     bool m_analysisIsOk;
     bool m_factorizationIsOk;
-    bool m_isInitialized;
     ComputationInfo m_info;
-    PermutationMatrix<Dynamic,Dynamic,Index> m_P;     // Fill-reducing permutation
-    PermutationMatrix<Dynamic,Dynamic,Index> m_Pinv;  // Inverse permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // Fill-reducing permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // Inverse permutation
 };
 
 /**
  * Set control parameter droptol
  *  \param droptol   Drop any element whose magnitude is less than this tolerance 
  **/ 
-template<typename Scalar>
-void IncompleteLUT<Scalar>::setDroptol(const RealScalar& droptol)
+template<typename Scalar, typename StorageIndex>
+void IncompleteLUT<Scalar,StorageIndex>::setDroptol(const RealScalar& droptol)
 {
   this->m_droptol = droptol;   
 }
@@ -211,61 +212,62 @@ void IncompleteLUT<Scalar>::setDroptol(const RealScalar& droptol)
  * Set control parameter fillfactor
  * \param fillfactor  This is used to compute the  number @p fill_in of largest elements to keep on each row. 
  **/ 
-template<typename Scalar>
-void IncompleteLUT<Scalar>::setFillfactor(int fillfactor)
+template<typename Scalar, typename StorageIndex>
+void IncompleteLUT<Scalar,StorageIndex>::setFillfactor(int fillfactor)
 {
   this->m_fillfactor = fillfactor;   
 }
 
-template <typename Scalar>
+template <typename Scalar, typename StorageIndex>
 template<typename _MatrixType>
-void IncompleteLUT<Scalar>::analyzePattern(const _MatrixType& amat)
+void IncompleteLUT<Scalar,StorageIndex>::analyzePattern(const _MatrixType& amat)
 {
   // Compute the Fill-reducing permutation
   // Since ILUT does not perform any numerical pivoting,
   // it is highly preferable to keep the diagonal through symmetric permutations.
 #ifndef EIGEN_MPL2_ONLY
   // To this end, let's symmetrize the pattern and perform AMD on it.
-  SparseMatrix<Scalar,ColMajor, Index> mat1 = amat;
-  SparseMatrix<Scalar,ColMajor, Index> mat2 = amat.transpose();
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat2 = amat.transpose();
   // FIXME for a matrix with nearly symmetric pattern, mat2+mat1 is the appropriate choice.
   //       on the other hand for a really non-symmetric pattern, mat2*mat1 should be prefered...
-  SparseMatrix<Scalar,ColMajor, Index> AtA = mat2 + mat1;
-  AMDOrdering<Index> ordering;
+  SparseMatrix<Scalar,ColMajor, StorageIndex> AtA = mat2 + mat1;
+  AMDOrdering<StorageIndex> ordering;
   ordering(AtA,m_P);
   m_Pinv  = m_P.inverse(); // cache the inverse permutation
 #else
   // If AMD is not available, (MPL2-only), then let's use the slower COLAMD routine.
-  SparseMatrix<Scalar,ColMajor, Index> mat1 = amat;
-  COLAMDOrdering<Index> ordering;
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
+  COLAMDOrdering<StorageIndex> ordering;
   ordering(mat1,m_Pinv);
   m_P = m_Pinv.inverse();
 #endif
 
   m_analysisIsOk = true;
   m_factorizationIsOk = false;
-  m_isInitialized = false;
+  m_isInitialized = true;
 }
 
-template <typename Scalar>
+template <typename Scalar, typename StorageIndex>
 template<typename _MatrixType>
-void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
+void IncompleteLUT<Scalar,StorageIndex>::factorize(const _MatrixType& amat)
 {
   using std::sqrt;
   using std::swap;
   using std::abs;
+  using internal::convert_index;
 
   eigen_assert((amat.rows() == amat.cols()) && "The factorization should be done on a square matrix");
   Index n = amat.cols();  // Size of the matrix
   m_lu.resize(n,n);
   // Declare Working vectors and variables
   Vector u(n) ;     // real values of the row -- maximum size is n --
-  VectorXi ju(n);   // column position of the values in u -- maximum size  is n
-  VectorXi jr(n);   // Indicate the position of the nonzero elements in the vector u -- A zero location is indicated by -1
+  VectorI ju(n);   // column position of the values in u -- maximum size  is n
+  VectorI jr(n);   // Indicate the position of the nonzero elements in the vector u -- A zero location is indicated by -1
 
   // Apply the fill-reducing permutation
   eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  SparseMatrix<Scalar,RowMajor, Index> mat;
+  SparseMatrix<Scalar,RowMajor, StorageIndex> mat;
   mat = amat.twistedBy(m_Pinv);
 
   // Initialization
@@ -274,7 +276,7 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
   u.fill(0);
 
   // number of largest elements to keep in each row:
-  Index fill_in =   static_cast<Index> (amat.nonZeros()*m_fillfactor)/n+1;
+  Index fill_in = (amat.nonZeros()*m_fillfactor)/n + 1;
   if (fill_in > n) fill_in = n;
 
   // number of largest nonzero elements to keep in the L and the U part of the current row:
@@ -289,9 +291,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
 
     Index sizeu = 1; // number of nonzero elements in the upper part of the current row
     Index sizel = 0; // number of nonzero elements in the lower part of the current row
-    ju(ii)    = ii;
+    ju(ii)    = convert_index<StorageIndex>(ii);
     u(ii)     = 0;
-    jr(ii)    = ii;
+    jr(ii)    = convert_index<StorageIndex>(ii);
     RealScalar rownorm = 0;
 
     typename FactorType::InnerIterator j_it(mat, ii); // Iterate through the current row ii
@@ -301,9 +303,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       if (k < ii)
       {
         // copy the lower part
-        ju(sizel) = k;
+        ju(sizel) = convert_index<StorageIndex>(k);
         u(sizel) = j_it.value();
-        jr(k) = sizel;
+        jr(k) = convert_index<StorageIndex>(sizel);
         ++sizel;
       }
       else if (k == ii)
@@ -314,9 +316,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       {
         // copy the upper part
         Index jpos = ii + sizeu;
-        ju(jpos) = k;
+        ju(jpos) = convert_index<StorageIndex>(k);
         u(jpos) = j_it.value();
-        jr(k) = jpos;
+        jr(k) = convert_index<StorageIndex>(jpos);
         ++sizeu;
       }
       rownorm += numext::abs2(j_it.value());
@@ -346,7 +348,8 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
         // swap the two locations
         Index j = ju(jj);
         swap(ju(jj), ju(k));
-        jr(minrow) = jj;   jr(j) = k;
+        jr(minrow) = convert_index<StorageIndex>(jj);
+        jr(j) = convert_index<StorageIndex>(k);
         swap(u(jj), u(k));
       }
       // Reset this location
@@ -370,8 +373,8 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       for (; ki_it; ++ki_it)
       {
         Scalar prod = fact * ki_it.value();
-        Index j       = ki_it.index();
-        Index jpos    = jr(j);
+        Index j     = ki_it.index();
+        Index jpos  = jr(j);
         if (jpos == -1) // fill-in element
         {
           Index newpos;
@@ -387,16 +390,16 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
             sizel++;
             eigen_internal_assert(sizel<=ii);
           }
-          ju(newpos) = j;
+          ju(newpos) = convert_index<StorageIndex>(j);
           u(newpos) = -prod;
-          jr(j) = newpos;
+          jr(j) = convert_index<StorageIndex>(newpos);
         }
         else
           u(jpos) -= prod;
       }
       // store the pivot element
-      u(len) = fact;
-      ju(len) = minrow;
+      u(len)  = fact;
+      ju(len) = convert_index<StorageIndex>(minrow);
       ++len;
 
       jj++;
@@ -411,7 +414,7 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
     sizel = len;
     len = (std::min)(sizel, nnzL);
     typename Vector::SegmentReturnType ul(u.segment(0, sizel));
-    typename VectorXi::SegmentReturnType jul(ju.segment(0, sizel));
+    typename VectorI::SegmentReturnType jul(ju.segment(0, sizel));
     internal::QuickSplit(ul, jul, len);
 
     // store the largest m_fill elements of the L part
@@ -440,39 +443,20 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
     sizeu = len + 1; // +1 to take into account the diagonal element
     len = (std::min)(sizeu, nnzU);
     typename Vector::SegmentReturnType uu(u.segment(ii+1, sizeu-1));
-    typename VectorXi::SegmentReturnType juu(ju.segment(ii+1, sizeu-1));
+    typename VectorI::SegmentReturnType juu(ju.segment(ii+1, sizeu-1));
     internal::QuickSplit(uu, juu, len);
 
     // store the largest elements of the U part
     for(Index k = ii + 1; k < ii + len; k++)
       m_lu.insertBackByOuterInnerUnordered(ii,ju(k)) = u(k);
   }
-
   m_lu.finalize();
   m_lu.makeCompressed();
 
   m_factorizationIsOk = true;
-  m_isInitialized = m_factorizationIsOk;
   m_info = Success;
 }
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<IncompleteLUT<_MatrixType>, Rhs>
-  : solve_retval_base<IncompleteLUT<_MatrixType>, Rhs>
-{
-  typedef IncompleteLUT<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_INCOMPLETE_LUT_H
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
index 501ef2f..7c2326e 100644
--- a/vendor/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -12,29 +12,158 @@
 
 namespace Eigen { 
 
+namespace internal {
+
+template<typename MatrixType>
+struct is_ref_compatible_impl
+{
+private:
+  template <typename T0>
+  struct any_conversion
+  {
+    template <typename T> any_conversion(const volatile T&);
+    template <typename T> any_conversion(T&);
+  };
+  struct yes {int a[1];};
+  struct no  {int a[2];};
+
+  template<typename T>
+  static yes test(const Ref<const T>&, int);
+  template<typename T>
+  static no  test(any_conversion<T>, ...);
+
+public:
+  static MatrixType ms_from;
+  enum { value = sizeof(test<MatrixType>(ms_from, 0))==sizeof(yes) };
+};
+
+template<typename MatrixType>
+struct is_ref_compatible
+{
+  enum { value = is_ref_compatible_impl<typename remove_all<MatrixType>::type>::value };
+};
+
+template<typename MatrixType, bool MatrixFree = !internal::is_ref_compatible<MatrixType>::value>
+class generic_matrix_wrapper;
+
+// We have an explicit matrix at hand, compatible with Ref<>
+template<typename MatrixType>
+class generic_matrix_wrapper<MatrixType,false>
+{
+public:
+  typedef Ref<const MatrixType> ActualMatrixType;
+  template<int UpLo> struct ConstSelfAdjointViewReturnType {
+    typedef typename ActualMatrixType::template ConstSelfAdjointViewReturnType<UpLo>::Type Type;
+  };
+
+  enum {
+    MatrixFree = false
+  };
+
+  generic_matrix_wrapper()
+    : m_dummy(0,0), m_matrix(m_dummy)
+  {}
+
+  template<typename InputType>
+  generic_matrix_wrapper(const InputType &mat)
+    : m_matrix(mat)
+  {}
+
+  const ActualMatrixType& matrix() const
+  {
+    return m_matrix;
+  }
+
+  template<typename MatrixDerived>
+  void grab(const EigenBase<MatrixDerived> &mat)
+  {
+    m_matrix.~Ref<const MatrixType>();
+    ::new (&m_matrix) Ref<const MatrixType>(mat.derived());
+  }
+
+  void grab(const Ref<const MatrixType> &mat)
+  {
+    if(&(mat.derived()) != &m_matrix)
+    {
+      m_matrix.~Ref<const MatrixType>();
+      ::new (&m_matrix) Ref<const MatrixType>(mat);
+    }
+  }
+
+protected:
+  MatrixType m_dummy; // used to default initialize the Ref<> object
+  ActualMatrixType m_matrix;
+};
+
+// MatrixType is not compatible with Ref<> -> matrix-free wrapper
+template<typename MatrixType>
+class generic_matrix_wrapper<MatrixType,true>
+{
+public:
+  typedef MatrixType ActualMatrixType;
+  template<int UpLo> struct ConstSelfAdjointViewReturnType
+  {
+    typedef ActualMatrixType Type;
+  };
+
+  enum {
+    MatrixFree = true
+  };
+
+  generic_matrix_wrapper()
+    : mp_matrix(0)
+  {}
+
+  generic_matrix_wrapper(const MatrixType &mat)
+    : mp_matrix(&mat)
+  {}
+
+  const ActualMatrixType& matrix() const
+  {
+    return *mp_matrix;
+  }
+
+  void grab(const MatrixType &mat)
+  {
+    mp_matrix = &mat;
+  }
+
+protected:
+  const ActualMatrixType *mp_matrix;
+};
+
+}
+
 /** \ingroup IterativeLinearSolvers_Module
   * \brief Base class for linear iterative solvers
   *
   * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename Derived>
-class IterativeSolverBase : internal::noncopyable
+class IterativeSolverBase : public SparseSolverBase<Derived>
 {
+protected:
+  typedef SparseSolverBase<Derived> Base;
+  using Base::m_isInitialized;
+  
 public:
   typedef typename internal::traits<Derived>::MatrixType MatrixType;
   typedef typename internal::traits<Derived>::Preconditioner Preconditioner;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::RealScalar RealScalar;
 
+  enum {
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+  };
+
 public:
 
-  Derived& derived() { return *static_cast<Derived*>(this); }
-  const Derived& derived() const { return *static_cast<const Derived*>(this); }
+  using Base::derived;
 
   /** Default constructor. */
   IterativeSolverBase()
-    : mp_matrix(0)
   {
     init();
   }
@@ -49,82 +178,90 @@ public:
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  template<typename InputDerived>
-  IterativeSolverBase(const EigenBase<InputDerived>& A)
+  template<typename MatrixDerived>
+  explicit IterativeSolverBase(const EigenBase<MatrixDerived>& A)
+    : m_matrixWrapper(A.derived())
   {
     init();
-    compute(A.derived());
+    compute(matrix());
   }
 
   ~IterativeSolverBase() {}
   
-  /** Initializes the iterative solver for the sparcity pattern of the matrix \a A for further solving \c Ax=b problems.
+  /** Initializes the iterative solver for the sparsity pattern of the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly call analyzePattern on the preconditioner. In the future
-    * we might, for instance, implement column reodering for faster matrix vector products.
+    * Currently, this function mostly calls analyzePattern on the preconditioner. In the future
+    * we might, for instance, implement column reordering for faster matrix vector products.
     */
-  template<typename InputDerived>
-  Derived& analyzePattern(const EigenBase<InputDerived>& A)
+  template<typename MatrixDerived>
+  Derived& analyzePattern(const EigenBase<MatrixDerived>& A)
   {
-    grabInput(A.derived());
-    m_preconditioner.analyzePattern(*mp_matrix);
+    grab(A.derived());
+    m_preconditioner.analyzePattern(matrix());
     m_isInitialized = true;
     m_analysisIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
   
   /** Initializes the iterative solver with the numerical values of the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly call factorize on the preconditioner.
+    * Currently, this function mostly calls factorize on the preconditioner.
     *
     * \warning this class stores a reference to the matrix A as well as some
     * precomputed values that depend on it. Therefore, if \a A is changed
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  template<typename InputDerived>
-  Derived& factorize(const EigenBase<InputDerived>& A)
+  template<typename MatrixDerived>
+  Derived& factorize(const EigenBase<MatrixDerived>& A)
   {
-    grabInput(A.derived());
     eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); 
-    m_preconditioner.factorize(*mp_matrix);
+    grab(A.derived());
+    m_preconditioner.factorize(matrix());
     m_factorizationIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
 
   /** Initializes the iterative solver with the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly initialized/compute the preconditioner. In the future
-    * we might, for instance, implement column reodering for faster matrix vector products.
+    * Currently, this function mostly initializes/computes the preconditioner. In the future
+    * we might, for instance, implement column reordering for faster matrix vector products.
     *
     * \warning this class stores a reference to the matrix A as well as some
     * precomputed values that depend on it. Therefore, if \a A is changed
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  template<typename InputDerived>
-  Derived& compute(const EigenBase<InputDerived>& A)
+  template<typename MatrixDerived>
+  Derived& compute(const EigenBase<MatrixDerived>& A)
   {
-    grabInput(A.derived());
-    m_preconditioner.compute(*mp_matrix);
+    grab(A.derived());
+    m_preconditioner.compute(matrix());
     m_isInitialized = true;
     m_analysisIsOk = true;
     m_factorizationIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
 
   /** \internal */
-  Index rows() const { return mp_matrix ? mp_matrix->rows() : 0; }
+  Index rows() const { return matrix().rows(); }
+
   /** \internal */
-  Index cols() const { return mp_matrix ? mp_matrix->cols() : 0; }
+  Index cols() const { return matrix().cols(); }
 
-  /** \returns the tolerance threshold used by the stopping criteria */
+  /** \returns the tolerance threshold used by the stopping criteria.
+    * \sa setTolerance()
+    */
   RealScalar tolerance() const { return m_tolerance; }
   
-  /** Sets the tolerance threshold used by the stopping criteria */
+  /** Sets the tolerance threshold used by the stopping criteria.
+    *
+    * This value is used as an upper bound to the relative residual error: |Ax-b|/|b|.
+    * The default value is the machine precision given by NumTraits<Scalar>::epsilon()
+    */
   Derived& setTolerance(const RealScalar& tolerance)
   {
     m_tolerance = tolerance;
@@ -137,58 +274,52 @@ public:
   /** \returns a read-only reference to the preconditioner. */
   const Preconditioner& preconditioner() const { return m_preconditioner; }
 
-  /** \returns the max number of iterations */
-  int maxIterations() const
+  /** \returns the max number of iterations.
+    * It is either the value setted by setMaxIterations or, by default,
+    * twice the number of columns of the matrix.
+    */
+  Index maxIterations() const
   {
-    return (mp_matrix && m_maxIterations<0) ? mp_matrix->cols() : m_maxIterations;
+    return (m_maxIterations<0) ? 2*matrix().cols() : m_maxIterations;
   }
   
-  /** Sets the max number of iterations */
-  Derived& setMaxIterations(int maxIters)
+  /** Sets the max number of iterations.
+    * Default is twice the number of columns of the matrix.
+    */
+  Derived& setMaxIterations(Index maxIters)
   {
     m_maxIterations = maxIters;
     return derived();
   }
 
   /** \returns the number of iterations performed during the last solve */
-  int iterations() const
+  Index iterations() const
   {
     eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
     return m_iterations;
   }
 
-  /** \returns the tolerance error reached during the last solve */
+  /** \returns the tolerance error reached during the last solve.
+    * It is a close approximation of the true relative residual error |Ax-b|/|b|.
+    */
   RealScalar error() const
   {
     eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
     return m_error;
   }
 
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs> inline const internal::solve_retval<Derived, Rhs>
-  solve(const MatrixBase<Rhs>& b) const
-  {
-    eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
-    eigen_assert(rows()==b.rows()
-              && "IterativeSolverBase::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval<Derived, Rhs>(derived(), b.derived());
-  }
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
+    * and \a x0 as an initial solution.
     *
-    * \sa compute()
+    * \sa solve(), compute()
     */
-  template<typename Rhs>
-  inline const internal::sparse_solve_retval<IterativeSolverBase, Rhs>
-  solve(const SparseMatrixBase<Rhs>& b) const
+  template<typename Rhs,typename Guess>
+  inline const SolveWithGuess<Derived, Rhs, Guess>
+  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
   {
-    eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
-    eigen_assert(rows()==b.rows()
-              && "IterativeSolverBase::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::sparse_solve_retval<IterativeSolverBase, Rhs>(*this, b.derived());
+    eigen_assert(m_isInitialized && "Solver is not initialized.");
+    eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+    return SolveWithGuess<Derived, Rhs, Guess>(derived(), b.derived(), x0);
   }
 
   /** \returns Success if the iterations converged, and NoConvergence otherwise. */
@@ -199,46 +330,30 @@ public:
   }
   
   /** \internal */
-  template<typename Rhs, typename DestScalar, int DestOptions, typename DestIndex>
-  void _solve_sparse(const Rhs& b, SparseMatrix<DestScalar,DestOptions,DestIndex> &dest) const
+  template<typename Rhs, typename DestDerived>
+  void _solve_impl(const Rhs& b, SparseMatrixBase<DestDerived> &aDest) const
   {
     eigen_assert(rows()==b.rows());
     
-    int rhsCols = b.cols();
-    int size = b.rows();
+    Index rhsCols = b.cols();
+    Index size = b.rows();
+    DestDerived& dest(aDest.derived());
+    typedef typename DestDerived::Scalar DestScalar;
     Eigen::Matrix<DestScalar,Dynamic,1> tb(size);
-    Eigen::Matrix<DestScalar,Dynamic,1> tx(size);
-    for(int k=0; k<rhsCols; ++k)
+    Eigen::Matrix<DestScalar,Dynamic,1> tx(cols());
+    // We do not directly fill dest because sparse expressions have to be free of aliasing issue.
+    // For non square least-square problems, b and dest might not have the same size whereas they might alias each-other.
+    typename DestDerived::PlainObject tmp(cols(),rhsCols);
+    for(Index k=0; k<rhsCols; ++k)
     {
       tb = b.col(k);
       tx = derived().solve(tb);
-      dest.col(k) = tx.sparseView(0);
+      tmp.col(k) = tx.sparseView(0);
     }
+    dest.swap(tmp);
   }
 
 protected:
-
-  template<typename InputDerived>
-  void grabInput(const EigenBase<InputDerived>& A)
-  {
-    // we const cast to prevent the creation of a MatrixType temporary by the compiler.
-    grabInput_impl(A.const_cast_derived());
-  }
-
-  template<typename InputDerived>
-  void grabInput_impl(const EigenBase<InputDerived>& A)
-  {
-    m_copyMatrix = A;
-    mp_matrix = &m_copyMatrix;
-  }
-
-  void grabInput_impl(MatrixType& A)
-  {
-    if(MatrixType::RowsAtCompileTime==Dynamic && MatrixType::ColsAtCompileTime==Dynamic)
-      m_copyMatrix.resize(0,0);
-    mp_matrix = &A;
-  }
-
   void init()
   {
     m_isInitialized = false;
@@ -247,36 +362,33 @@ protected:
     m_maxIterations = -1;
     m_tolerance = NumTraits<Scalar>::epsilon();
   }
-  MatrixType m_copyMatrix;
-  const MatrixType* mp_matrix;
+
+  typedef internal::generic_matrix_wrapper<MatrixType> MatrixWrapper;
+  typedef typename MatrixWrapper::ActualMatrixType ActualMatrixType;
+
+  const ActualMatrixType& matrix() const
+  {
+    return m_matrixWrapper.matrix();
+  }
+  
+  template<typename InputType>
+  void grab(const InputType &A)
+  {
+    m_matrixWrapper.grab(A);
+  }
+  
+  MatrixWrapper m_matrixWrapper;
   Preconditioner m_preconditioner;
 
-  int m_maxIterations;
+  Index m_maxIterations;
   RealScalar m_tolerance;
   
   mutable RealScalar m_error;
-  mutable int m_iterations;
+  mutable Index m_iterations;
   mutable ComputationInfo m_info;
-  mutable bool m_isInitialized, m_analysisIsOk, m_factorizationIsOk;
+  mutable bool m_analysisIsOk, m_factorizationIsOk;
 };
 
-namespace internal {
- 
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<IterativeSolverBase<Derived>, Rhs>
-  : sparse_solve_retval_base<IterativeSolverBase<Derived>, Rhs>
-{
-  typedef IterativeSolverBase<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve_sparse(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_ITERATIVE_SOLVER_BASE_H
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
new file mode 100644
index 0000000..0aea0e0
--- /dev/null
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
@@ -0,0 +1,216 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_LEAST_SQUARE_CONJUGATE_GRADIENT_H
+#define EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/** \internal Low-level conjugate gradient algorithm for least-square problems
+  * \param mat The matrix A
+  * \param rhs The right hand side vector b
+  * \param x On input and initial solution, on output the computed solution.
+  * \param precond A preconditioner being able to efficiently solve for an
+  *                approximation of A'Ax=b (regardless of b)
+  * \param iters On input the max number of iteration, on output the number of performed iterations.
+  * \param tol_error On input the tolerance error, on output an estimation of the relative error.
+  */
+template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
+EIGEN_DONT_INLINE
+void least_square_conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
+                                     const Preconditioner& precond, Index& iters,
+                                     typename Dest::RealScalar& tol_error)
+{
+  using std::sqrt;
+  using std::abs;
+  typedef typename Dest::RealScalar RealScalar;
+  typedef typename Dest::Scalar Scalar;
+  typedef Matrix<Scalar,Dynamic,1> VectorType;
+  
+  RealScalar tol = tol_error;
+  Index maxIters = iters;
+  
+  Index m = mat.rows(), n = mat.cols();
+
+  VectorType residual        = rhs - mat * x;
+  VectorType normal_residual = mat.adjoint() * residual;
+
+  RealScalar rhsNorm2 = (mat.adjoint()*rhs).squaredNorm();
+  if(rhsNorm2 == 0) 
+  {
+    x.setZero();
+    iters = 0;
+    tol_error = 0;
+    return;
+  }
+  RealScalar threshold = tol*tol*rhsNorm2;
+  RealScalar residualNorm2 = normal_residual.squaredNorm();
+  if (residualNorm2 < threshold)
+  {
+    iters = 0;
+    tol_error = sqrt(residualNorm2 / rhsNorm2);
+    return;
+  }
+  
+  VectorType p(n);
+  p = precond.solve(normal_residual);                         // initial search direction
+
+  VectorType z(n), tmp(m);
+  RealScalar absNew = numext::real(normal_residual.dot(p));  // the square of the absolute value of r scaled by invM
+  Index i = 0;
+  while(i < maxIters)
+  {
+    tmp.noalias() = mat * p;
+
+    Scalar alpha = absNew / tmp.squaredNorm();      // the amount we travel on dir
+    x += alpha * p;                                 // update solution
+    residual -= alpha * tmp;                        // update residual
+    normal_residual = mat.adjoint() * residual;     // update residual of the normal equation
+    
+    residualNorm2 = normal_residual.squaredNorm();
+    if(residualNorm2 < threshold)
+      break;
+    
+    z = precond.solve(normal_residual);             // approximately solve for "A'A z = normal_residual"
+
+    RealScalar absOld = absNew;
+    absNew = numext::real(normal_residual.dot(z));  // update the absolute value of r
+    RealScalar beta = absNew / absOld;              // calculate the Gram-Schmidt value used to create the new search direction
+    p = z + beta * p;                               // update search direction
+    i++;
+  }
+  tol_error = sqrt(residualNorm2 / rhsNorm2);
+  iters = i;
+}
+
+}
+
+template< typename _MatrixType,
+          typename _Preconditioner = LeastSquareDiagonalPreconditioner<typename _MatrixType::Scalar> >
+class LeastSquaresConjugateGradient;
+
+namespace internal {
+
+template< typename _MatrixType, typename _Preconditioner>
+struct traits<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
+{
+  typedef _MatrixType MatrixType;
+  typedef _Preconditioner Preconditioner;
+};
+
+}
+
+/** \ingroup IterativeLinearSolvers_Module
+  * \brief A conjugate gradient solver for sparse (or dense) least-square problems
+  *
+  * This class allows to solve for A x = b linear problems using an iterative conjugate gradient algorithm.
+  * The matrix A can be non symmetric and rectangular, but the matrix A' A should be positive-definite to guaranty stability.
+  * Otherwise, the SparseLU or SparseQR classes might be preferable.
+  * The matrix A and the vectors x and b can be either dense or sparse.
+  *
+  * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
+  * \tparam _Preconditioner the type of the preconditioner. Default is LeastSquareDiagonalPreconditioner
+  *
+  * \implsparsesolverconcept
+  * 
+  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
+  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
+  * and NumTraits<Scalar>::epsilon() for the tolerance.
+  * 
+  * This class can be used as the direct solver classes. Here is a typical usage example:
+    \code
+    int m=1000000, n = 10000;
+    VectorXd x(n), b(m);
+    SparseMatrix<double> A(m,n);
+    // fill A and b
+    LeastSquaresConjugateGradient<SparseMatrix<double> > lscg;
+    lscg.compute(A);
+    x = lscg.solve(b);
+    std::cout << "#iterations:     " << lscg.iterations() << std::endl;
+    std::cout << "estimated error: " << lscg.error()      << std::endl;
+    // update b, and solve again
+    x = lscg.solve(b);
+    \endcode
+  * 
+  * By default the iterations start with x=0 as an initial guess of the solution.
+  * One can control the start using the solveWithGuess() method.
+  * 
+  * \sa class ConjugateGradient, SparseLU, SparseQR
+  */
+template< typename _MatrixType, typename _Preconditioner>
+class LeastSquaresConjugateGradient : public IterativeSolverBase<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
+{
+  typedef IterativeSolverBase<LeastSquaresConjugateGradient> Base;
+  using Base::matrix;
+  using Base::m_error;
+  using Base::m_iterations;
+  using Base::m_info;
+  using Base::m_isInitialized;
+public:
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef _Preconditioner Preconditioner;
+
+public:
+
+  /** Default constructor. */
+  LeastSquaresConjugateGradient() : Base() {}
+
+  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
+    * 
+    * This constructor is a shortcut for the default constructor followed
+    * by a call to compute().
+    * 
+    * \warning this class stores a reference to the matrix A as well as some
+    * precomputed values that depend on it. Therefore, if \a A is changed
+    * this class becomes invalid. Call compute() to update it with the new
+    * matrix A, or modify a copy of A.
+    */
+  template<typename MatrixDerived>
+  explicit LeastSquaresConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
+
+  ~LeastSquaresConjugateGradient() {}
+
+  /** \internal */
+  template<typename Rhs,typename Dest>
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
+  {
+    m_iterations = Base::maxIterations();
+    m_error = Base::m_tolerance;
+
+    for(Index j=0; j<b.cols(); ++j)
+    {
+      m_iterations = Base::maxIterations();
+      m_error = Base::m_tolerance;
+
+      typename Dest::ColXpr xj(x,j);
+      internal::least_square_conjugate_gradient(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
+    }
+
+    m_isInitialized = true;
+    m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
+  }
+  
+  /** \internal */
+  using Base::_solve_impl;
+  template<typename Rhs,typename Dest>
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
+  {
+    x.setZero();
+    _solve_with_guess_impl(b.derived(),x);
+  }
+
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
diff --git a/vendor/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h b/vendor/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
new file mode 100644
index 0000000..0ace451
--- /dev/null
+++ b/vendor/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
@@ -0,0 +1,115 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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_SOLVEWITHGUESS_H
+#define EIGEN_SOLVEWITHGUESS_H
+
+namespace Eigen {
+
+template<typename Decomposition, typename RhsType, typename GuessType> class SolveWithGuess;
+  
+/** \class SolveWithGuess
+  * \ingroup IterativeLinearSolvers_Module
+  *
+  * \brief Pseudo expression representing a solving operation
+  *
+  * \tparam Decomposition the type of the matrix or decomposion object
+  * \tparam Rhstype the type of the right-hand side
+  *
+  * This class represents an expression of A.solve(B)
+  * and most of the time this is the only way it is used.
+  *
+  */
+namespace internal {
+
+
+template<typename Decomposition, typename RhsType, typename GuessType>
+struct traits<SolveWithGuess<Decomposition, RhsType, GuessType> >
+  : traits<Solve<Decomposition,RhsType> >
+{};
+
+}
+
+
+template<typename Decomposition, typename RhsType, typename GuessType>
+class SolveWithGuess : public internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type
+{
+public:
+  typedef typename internal::traits<SolveWithGuess>::Scalar Scalar;
+  typedef typename internal::traits<SolveWithGuess>::PlainObject PlainObject;
+  typedef typename internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type Base;
+  typedef typename internal::ref_selector<SolveWithGuess>::type Nested;
+  
+  SolveWithGuess(const Decomposition &dec, const RhsType &rhs, const GuessType &guess)
+    : m_dec(dec), m_rhs(rhs), m_guess(guess)
+  {}
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC const Decomposition& dec()   const { return m_dec; }
+  EIGEN_DEVICE_FUNC const RhsType&       rhs()   const { return m_rhs; }
+  EIGEN_DEVICE_FUNC const GuessType&     guess() const { return m_guess; }
+
+protected:
+  const Decomposition &m_dec;
+  const RhsType       &m_rhs;
+  const GuessType     &m_guess;
+  
+private:
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+namespace internal {
+
+// Evaluator of SolveWithGuess -> eval into a temporary
+template<typename Decomposition, typename RhsType, typename GuessType>
+struct evaluator<SolveWithGuess<Decomposition,RhsType, GuessType> >
+  : public evaluator<typename SolveWithGuess<Decomposition,RhsType,GuessType>::PlainObject>
+{
+  typedef SolveWithGuess<Decomposition,RhsType,GuessType> SolveType;
+  typedef typename SolveType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  evaluator(const SolveType& solve)
+    : m_result(solve.rows(), solve.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    m_result = solve.guess();
+    solve.dec()._solve_with_guess_impl(solve.rhs(), m_result);
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// Specialization for "dst = dec.solveWithGuess(rhs)"
+// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
+template<typename DstXprType, typename DecType, typename RhsType, typename GuessType, typename Scalar>
+struct Assignment<DstXprType, SolveWithGuess<DecType,RhsType,GuessType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef SolveWithGuess<DecType,RhsType,GuessType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst = src.guess();
+    src.dec()._solve_with_guess_impl(src.rhs(), dst/*, src.guess()*/);
+  }
+};
+
+} // end namepsace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVEWITHGUESS_H
diff --git a/vendor/eigen/Eigen/src/Jacobi/Jacobi.h b/vendor/eigen/Eigen/src/Jacobi/Jacobi.h
index 956f72d..c30326e 100644
--- a/vendor/eigen/Eigen/src/Jacobi/Jacobi.h
+++ b/vendor/eigen/Eigen/src/Jacobi/Jacobi.h
@@ -62,7 +62,7 @@ template<typename Scalar> class JacobiRotation
     JacobiRotation adjoint() const { using numext::conj; return JacobiRotation(conj(m_c), -m_s); }
 
     template<typename Derived>
-    bool makeJacobi(const MatrixBase<Derived>&, typename Derived::Index p, typename Derived::Index q);
+    bool makeJacobi(const MatrixBase<Derived>&, Index p, Index q);
     bool makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z);
 
     void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
@@ -85,7 +85,8 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   using std::sqrt;
   using std::abs;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  if(y == Scalar(0))
+  RealScalar deno = RealScalar(2)*abs(y);
+  if(deno < (std::numeric_limits<RealScalar>::min)())
   {
     m_c = Scalar(1);
     m_s = Scalar(0);
@@ -93,7 +94,7 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   }
   else
   {
-    RealScalar tau = (x-z)/(RealScalar(2)*abs(y));
+    RealScalar tau = (x-z)/deno;
     RealScalar w = sqrt(numext::abs2(tau) + RealScalar(1));
     RealScalar t;
     if(tau>RealScalar(0))
@@ -123,7 +124,7 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   */
 template<typename Scalar>
 template<typename Derived>
-inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Index p, Index q)
 {
   return makeJacobi(numext::real(m.coeff(p,p)), m.coeff(p,q), numext::real(m.coeff(q,q)));
 }
@@ -255,15 +256,15 @@ void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 *   Implementation of MatrixBase methods
 ****************************************************************************************/
 
+namespace internal {
 /** \jacobi_module
   * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
   * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right )  =  J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
   *
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
-namespace internal {
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j);
+void apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j);
 }
 
 /** \jacobi_module
@@ -298,19 +299,22 @@ inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiR
 
 namespace internal {
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j)
+void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j)
 {
-  typedef typename VectorX::Index Index;
   typedef typename VectorX::Scalar Scalar;
-  enum { PacketSize = packet_traits<Scalar>::size };
+  enum {
+    PacketSize = packet_traits<Scalar>::size,
+    OtherPacketSize = packet_traits<OtherScalar>::size
+  };
   typedef typename packet_traits<Scalar>::type Packet;
-  eigen_assert(_x.size() == _y.size());
-  Index size = _x.size();
-  Index incrx = _x.innerStride();
-  Index incry = _y.innerStride();
-
-  Scalar* EIGEN_RESTRICT x = &_x.coeffRef(0);
-  Scalar* EIGEN_RESTRICT y = &_y.coeffRef(0);
+  typedef typename packet_traits<OtherScalar>::type OtherPacket;
+  eigen_assert(xpr_x.size() == xpr_y.size());
+  Index size = xpr_x.size();
+  Index incrx = xpr_x.derived().innerStride();
+  Index incry = xpr_y.derived().innerStride();
+
+  Scalar* EIGEN_RESTRICT x = &xpr_x.derived().coeffRef(0);
+  Scalar* EIGEN_RESTRICT y = &xpr_y.derived().coeffRef(0);
   
   OtherScalar c = j.c();
   OtherScalar s = j.s();
@@ -321,17 +325,19 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
 
   if(VectorX::SizeAtCompileTime == Dynamic &&
     (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
+    (PacketSize == OtherPacketSize) &&
     ((incrx==1 && incry==1) || PacketSize == 1))
   {
     // both vectors are sequentially stored in memory => vectorization
     enum { Peeling = 2 };
 
-    Index alignedStart = internal::first_aligned(y, size);
+    Index alignedStart = internal::first_default_aligned(y, size);
     Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
 
-    const Packet pc = pset1<Packet>(c);
-    const Packet ps = pset1<Packet>(s);
-    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+    const OtherPacket pc = pset1<OtherPacket>(c);
+    const OtherPacket ps = pset1<OtherPacket>(s);
+    conj_helper<OtherPacket,Packet,NumTraits<OtherScalar>::IsComplex,false> pcj;
+    conj_helper<OtherPacket,Packet,false,false> pm;
 
     for(Index i=0; i<alignedStart; ++i)
     {
@@ -344,14 +350,14 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
     Scalar* EIGEN_RESTRICT px = x + alignedStart;
     Scalar* EIGEN_RESTRICT py = y + alignedStart;
 
-    if(internal::first_aligned(x, size)==alignedStart)
+    if(internal::first_default_aligned(x, size)==alignedStart)
     {
       for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
       {
         Packet xi = pload<Packet>(px);
         Packet yi = pload<Packet>(py);
-        pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        pstore(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore(py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
         px += PacketSize;
         py += PacketSize;
       }
@@ -365,10 +371,10 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
         Packet xi1  = ploadu<Packet>(px+PacketSize);
         Packet yi   = pload <Packet>(py);
         Packet yi1  = pload <Packet>(py+PacketSize);
-        pstoreu(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstoreu(px+PacketSize, padd(pmul(pc,xi1),pcj.pmul(ps,yi1)));
-        pstore (py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
-        pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pmul(ps,xi1)));
+        pstoreu(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstoreu(px+PacketSize, padd(pm.pmul(pc,xi1),pcj.pmul(ps,yi1)));
+        pstore (py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
+        pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pm.pmul(ps,xi1)));
         px += Peeling*PacketSize;
         py += Peeling*PacketSize;
       }
@@ -376,8 +382,8 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
       {
         Packet xi = ploadu<Packet>(x+peelingEnd);
         Packet yi = pload <Packet>(y+peelingEnd);
-        pstoreu(x+peelingEnd, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        pstoreu(x+peelingEnd, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
       }
     }
 
@@ -393,19 +399,21 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
   /*** fixed-size vectorized path ***/
   else if(VectorX::SizeAtCompileTime != Dynamic &&
           (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
-          (VectorX::Flags & VectorY::Flags & AlignedBit))
+          (PacketSize == OtherPacketSize) &&
+          (EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment)>0)) // FIXME should be compared to the required alignment
   {
-    const Packet pc = pset1<Packet>(c);
-    const Packet ps = pset1<Packet>(s);
-    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+    const OtherPacket pc = pset1<OtherPacket>(c);
+    const OtherPacket ps = pset1<OtherPacket>(s);
+    conj_helper<OtherPacket,Packet,NumTraits<OtherPacket>::IsComplex,false> pcj;
+    conj_helper<OtherPacket,Packet,false,false> pm;
     Scalar* EIGEN_RESTRICT px = x;
     Scalar* EIGEN_RESTRICT py = y;
     for(Index i=0; i<size; i+=PacketSize)
     {
       Packet xi = pload<Packet>(px);
       Packet yi = pload<Packet>(py);
-      pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-      pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+      pstore(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+      pstore(py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
       px += PacketSize;
       py += PacketSize;
     }
diff --git a/vendor/eigen/Eigen/src/LU/Determinant.h b/vendor/eigen/Eigen/src/LU/Determinant.h
index bb8e78a..d6a3c1e 100644
--- a/vendor/eigen/Eigen/src/LU/Determinant.h
+++ b/vendor/eigen/Eigen/src/LU/Determinant.h
@@ -92,7 +92,7 @@ template<typename Derived>
 inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
 {
   eigen_assert(rows() == cols());
-  typedef typename internal::nested<Derived,Base::RowsAtCompileTime>::type Nested;
+  typedef typename internal::nested_eval<Derived,Base::RowsAtCompileTime>::type Nested;
   return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
 }
 
diff --git a/vendor/eigen/Eigen/src/LU/FullPivLU.h b/vendor/eigen/Eigen/src/LU/FullPivLU.h
index e384704..03b6af7 100644
--- a/vendor/eigen/Eigen/src/LU/FullPivLU.h
+++ b/vendor/eigen/Eigen/src/LU/FullPivLU.h
@@ -10,7 +10,18 @@
 #ifndef EIGEN_LU_H
 #define EIGEN_LU_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  enum { Flags = 0 };
+};
+
+} // end namespace internal
 
 /** \ingroup LU_Module
   *
@@ -18,7 +29,7 @@ namespace Eigen {
   *
   * \brief LU decomposition of a matrix with complete pivoting, and related features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
   *
   * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A is
   * decomposed as \f$ A = P^{-1} L U Q^{-1} \f$ where L is unit-lower-triangular, U is
@@ -41,27 +52,28 @@ namespace Eigen {
   * \include class_FullPivLU.cpp
   * Output: \verbinclude class_FullPivLU.out
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
   */
 template<typename _MatrixType> class FullPivLU
+  : public SolverBase<FullPivLU<_MatrixType> >
 {
   public:
     typedef _MatrixType MatrixType;
+    typedef SolverBase<FullPivLU> Base;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivLU)
+    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
-    typedef typename MatrixType::Index Index;
-    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
-    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef typename internal::plain_row_type<MatrixType, StorageIndex>::type IntRowVectorType;
+    typedef typename internal::plain_col_type<MatrixType, StorageIndex>::type IntColVectorType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /**
       * \brief Default Constructor.
@@ -84,7 +96,17 @@ template<typename _MatrixType> class FullPivLU
       * \param matrix the matrix of which to compute the LU decomposition.
       *               It is required to be nonzero.
       */
-    FullPivLU(const MatrixType& matrix);
+    template<typename InputType>
+    explicit FullPivLU(const EigenBase<InputType>& matrix);
+
+    /** \brief Constructs a LU factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa FullPivLU(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit FullPivLU(EigenBase<InputType>& matrix);
 
     /** Computes the LU decomposition of the given matrix.
       *
@@ -93,7 +115,12 @@ template<typename _MatrixType> class FullPivLU
       *
       * \returns a reference to *this
       */
-    FullPivLU& compute(const MatrixType& matrix);
+    template<typename InputType>
+    FullPivLU& compute(const EigenBase<InputType>& matrix) {
+      m_lu = matrix.derived();
+      computeInPlace();
+      return *this;
+    }
 
     /** \returns the LU decomposition matrix: the upper-triangular part is U, the
       * unit-lower-triangular part is L (at least for square matrices; in the non-square
@@ -129,7 +156,7 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa permutationQ()
       */
-    inline const PermutationPType& permutationP() const
+    EIGEN_DEVICE_FUNC inline const PermutationPType& permutationP() const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
       return m_p;
@@ -166,7 +193,7 @@ template<typename _MatrixType> class FullPivLU
     }
 
     /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
-      * will form a basis of the kernel.
+      * will form a basis of the image (column-space).
       *
       * \param originalMatrix the original matrix, of which *this is the LU decomposition.
       *                       The reason why it is needed to pass it here, is that this allows
@@ -210,12 +237,22 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa TriangularView::solve(), kernel(), inverse()
       */
+    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
-    inline const internal::solve_retval<FullPivLU, Rhs>
+    inline const Solve<FullPivLU, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
-      return internal::solve_retval<FullPivLU, Rhs>(*this, b.derived());
+      return Solve<FullPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+        the LU decomposition.
+      */
+    inline RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
     }
 
     /** \returns the determinant of the matrix of which
@@ -360,33 +397,46 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa MatrixBase::inverse()
       */
-    inline const internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    inline const Inverse<FullPivLU> inverse() const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
       eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
-      return internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+      return Inverse<FullPivLU>(*this);
     }
 
     MatrixType reconstructedMatrix() const;
 
-    inline Index rows() const { return m_lu.rows(); }
-    inline Index cols() const { return m_lu.cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lu.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_lu.cols(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void computeInPlace();
+
     MatrixType m_lu;
     PermutationPType m_p;
     PermutationQType m_q;
     IntColVectorType m_rowsTranspositions;
     IntRowVectorType m_colsTranspositions;
-    Index m_det_pq, m_nonzero_pivots;
+    Index m_nonzero_pivots;
+    RealScalar m_l1_norm;
     RealScalar m_maxpivot, m_prescribedThreshold;
+    signed char m_det_pq;
     bool m_isInitialized, m_usePrescribedThreshold;
 };
 
@@ -409,7 +459,8 @@ FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
 }
 
 template<typename MatrixType>
-FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(const EigenBase<InputType>& matrix)
   : m_lu(matrix.rows(), matrix.cols()),
     m_p(matrix.rows()),
     m_q(matrix.cols()),
@@ -418,28 +469,41 @@ FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
     m_isInitialized(false),
     m_usePrescribedThreshold(false)
 {
-  compute(matrix);
+  compute(matrix.derived());
+}
+
+template<typename MatrixType>
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(EigenBase<InputType>& matrix)
+  : m_lu(matrix.derived()),
+    m_p(matrix.rows()),
+    m_q(matrix.cols()),
+    m_rowsTranspositions(matrix.rows()),
+    m_colsTranspositions(matrix.cols()),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+  computeInPlace();
 }
 
 template<typename MatrixType>
-FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
+void FullPivLU<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
+
   // the permutations are stored as int indices, so just to be sure:
-  eigen_assert(matrix.rows()<=NumTraits<int>::highest() && matrix.cols()<=NumTraits<int>::highest());
-  
-  m_isInitialized = true;
-  m_lu = matrix;
+  eigen_assert(m_lu.rows()<=NumTraits<int>::highest() && m_lu.cols()<=NumTraits<int>::highest());
+
+  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
 
-  const Index size = matrix.diagonalSize();
-  const Index rows = matrix.rows();
-  const Index cols = matrix.cols();
+  const Index size = m_lu.diagonalSize();
+  const Index rows = m_lu.rows();
+  const Index cols = m_lu.cols();
 
   // will store the transpositions, before we accumulate them at the end.
   // can't accumulate on-the-fly because that will be done in reverse order for the rows.
-  m_rowsTranspositions.resize(matrix.rows());
-  m_colsTranspositions.resize(matrix.cols());
+  m_rowsTranspositions.resize(m_lu.rows());
+  m_colsTranspositions.resize(m_lu.cols());
   Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
 
   m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
@@ -451,14 +515,16 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
 
     // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
     Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    RealScalar biggest_in_corner;
+    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
+    Score biggest_in_corner;
     biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
-                        .cwiseAbs()
+                        .unaryExpr(Scoring())
                         .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
     row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
     col_of_biggest_in_corner += k; // need to add k to them.
 
-    if(biggest_in_corner==RealScalar(0))
+    if(biggest_in_corner==Score(0))
     {
       // before exiting, make sure to initialize the still uninitialized transpositions
       // in a sane state without destroying what we already have.
@@ -471,7 +537,8 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
       break;
     }
 
-    if(biggest_in_corner > m_maxpivot) m_maxpivot = biggest_in_corner;
+    RealScalar abs_pivot = internal::abs_knowing_score<Scalar>()(m_lu(row_of_biggest_in_corner, col_of_biggest_in_corner), biggest_in_corner);
+    if(abs_pivot > m_maxpivot) m_maxpivot = abs_pivot;
 
     // Now that we've found the pivot, we need to apply the row/col swaps to
     // bring it to the location (k,k).
@@ -508,7 +575,8 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
     m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-  return *this;
+
+  m_isInitialized = true;
 }
 
 template<typename MatrixType>
@@ -671,64 +739,136 @@ struct image_retval<FullPivLU<_MatrixType> >
 
 /***** Implementation of solve() *****************************************************/
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<FullPivLU<_MatrixType>, Rhs>
-  : solve_retval_base<FullPivLU<_MatrixType>, Rhs>
+} // end namespace internal
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  EIGEN_MAKE_SOLVE_HELPERS(FullPivLU<_MatrixType>,Rhs)
+  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
+  * So we proceed as follows:
+  * Step 1: compute c = P * rhs.
+  * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
+  * Step 3: replace c by the solution x to Ux = c. May or may not exist.
+  * Step 4: result = Q * c;
+  */
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  const Index rows = this->rows(),
+              cols = this->cols(),
+              nonzero_pivots = this->rank();
+  eigen_assert(rhs.rows() == rows);
+  const Index smalldim = (std::min)(rows, cols);
+
+  if(nonzero_pivots == 0)
   {
-    /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
-     * So we proceed as follows:
-     * Step 1: compute c = P * rhs.
-     * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
-     * Step 3: replace c by the solution x to Ux = c. May or may not exist.
-     * Step 4: result = Q * c;
-     */
-
-    const Index rows = dec().rows(), cols = dec().cols(),
-              nonzero_pivots = dec().rank();
-    eigen_assert(rhs().rows() == rows);
-    const Index smalldim = (std::min)(rows, cols);
-
-    if(nonzero_pivots == 0)
-    {
-      dst.setZero();
-      return;
-    }
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
+
+  // Step 1
+  c = permutationP() * rhs;
 
-    typename Rhs::PlainObject c(rhs().rows(), rhs().cols());
+  // Step 2
+  m_lu.topLeftCorner(smalldim,smalldim)
+      .template triangularView<UnitLower>()
+      .solveInPlace(c.topRows(smalldim));
+  if(rows>cols)
+    c.bottomRows(rows-cols) -= m_lu.bottomRows(rows-cols) * c.topRows(cols);
 
-    // Step 1
-    c = dec().permutationP() * rhs();
+  // Step 3
+  m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(nonzero_pivots));
 
+  // Step 4
+  for(Index i = 0; i < nonzero_pivots; ++i)
+    dst.row(permutationQ().indices().coeff(i)) = c.row(i);
+  for(Index i = nonzero_pivots; i < m_lu.cols(); ++i)
+    dst.row(permutationQ().indices().coeff(i)).setZero();
+}
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1},
+   * and since permutations are real and unitary, we can write this
+   * as   A^T = Q U^T L^T P,
+   * So we proceed as follows:
+   * Step 1: compute c = Q^T rhs.
+   * Step 2: replace c by the solution x to U^T x = c. May or may not exist.
+   * Step 3: replace c by the solution x to L^T x = c.
+   * Step 4: result = P^T c.
+   * If Conjugate is true, replace "^T" by "^*" above.
+   */
+
+  const Index rows = this->rows(), cols = this->cols(),
+    nonzero_pivots = this->rank();
+   eigen_assert(rhs.rows() == cols);
+  const Index smalldim = (std::min)(rows, cols);
+
+  if(nonzero_pivots == 0)
+  {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
+
+  // Step 1
+  c = permutationQ().inverse() * rhs;
+
+  if (Conjugate) {
     // Step 2
-    dec().matrixLU()
-        .topLeftCorner(smalldim,smalldim)
+    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+        .template triangularView<Upper>()
+        .adjoint()
+        .solveInPlace(c.topRows(nonzero_pivots));
+    // Step 3
+    m_lu.topLeftCorner(smalldim, smalldim)
         .template triangularView<UnitLower>()
+        .adjoint()
         .solveInPlace(c.topRows(smalldim));
-    if(rows>cols)
-    {
-      c.bottomRows(rows-cols)
-        -= dec().matrixLU().bottomRows(rows-cols)
-         * c.topRows(cols);
-    }
-
-    // Step 3
-    dec().matrixLU()
-        .topLeftCorner(nonzero_pivots, nonzero_pivots)
+  } else {
+    // Step 2
+    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
         .template triangularView<Upper>()
+        .transpose()
         .solveInPlace(c.topRows(nonzero_pivots));
+    // Step 3
+    m_lu.topLeftCorner(smalldim, smalldim)
+        .template triangularView<UnitLower>()
+        .transpose()
+        .solveInPlace(c.topRows(smalldim));
+  }
+
+  // Step 4
+  PermutationPType invp = permutationP().inverse().eval();
+  for(Index i = 0; i < smalldim; ++i)
+    dst.row(invp.indices().coeff(i)) = c.row(i);
+  for(Index i = smalldim; i < rows; ++i)
+    dst.row(invp.indices().coeff(i)).setZero();
+}
+
+#endif
+
+namespace internal {
+
 
-    // Step 4
-    for(Index i = 0; i < nonzero_pivots; ++i)
-      dst.row(dec().permutationQ().indices().coeff(i)) = c.row(i);
-    for(Index i = nonzero_pivots; i < dec().matrixLU().cols(); ++i)
-      dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivLU<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef FullPivLU<MatrixType> LuType;
+  typedef Inverse<LuType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename MatrixType::Scalar> &)
+  {
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
-
 } // end namespace internal
 
 /******* MatrixBase methods *****************************************************************/
diff --git a/vendor/eigen/Eigen/src/LU/InverseImpl.h b/vendor/eigen/Eigen/src/LU/InverseImpl.h
new file mode 100644
index 0000000..018f99b
--- /dev/null
+++ b/vendor/eigen/Eigen/src/LU/InverseImpl.h
@@ -0,0 +1,415 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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_INVERSE_IMPL_H
+#define EIGEN_INVERSE_IMPL_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/**********************************
+*** General case implementation ***
+**********************************/
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    result = matrix.partialPivLu().inverse();
+  }
+};
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse_and_det_with_check { /* nothing! general case not supported. */ };
+
+/****************************
+*** Size 1 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 1>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    internal::evaluator<MatrixType> matrixEval(matrix);
+    result.coeffRef(0,0) = Scalar(1) / matrixEval.coeff(0,0);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& result,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    using std::abs;
+    determinant = matrix.coeff(0,0);
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) result.coeffRef(0,0) = typename ResultType::Scalar(1) / determinant;
+  }
+};
+
+/****************************
+*** Size 2 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC 
+inline void compute_inverse_size2_helper(
+    const MatrixType& matrix, const typename ResultType::Scalar& invdet,
+    ResultType& result)
+{
+  result.coeffRef(0,0) =  matrix.coeff(1,1) * invdet;
+  result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
+  result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
+  result.coeffRef(1,1) =  matrix.coeff(0,0) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 2>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    const Scalar invdet = typename MatrixType::Scalar(1) / matrix.determinant();
+    compute_inverse_size2_helper(matrix, invdet, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    using std::abs;
+    typedef typename ResultType::Scalar Scalar;
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size2_helper(matrix, invdet, inverse);
+  }
+};
+
+/****************************
+*** Size 3 implementation ***
+****************************/
+
+template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC 
+inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
+{
+  enum {
+    i1 = (i+1) % 3,
+    i2 = (i+2) % 3,
+    j1 = (j+1) % 3,
+    j2 = (j+2) % 3
+  };
+  return m.coeff(i1, j1) * m.coeff(i2, j2)
+       - m.coeff(i1, j2) * m.coeff(i2, j1);
+}
+
+template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC
+inline void compute_inverse_size3_helper(
+    const MatrixType& matrix,
+    const typename ResultType::Scalar& invdet,
+    const Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,
+    ResultType& result)
+{
+  result.row(0) = cofactors_col0 * invdet;
+  result.coeffRef(1,0) =  cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
+  result.coeffRef(1,1) =  cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
+  result.coeffRef(1,2) =  cofactor_3x3<MatrixType,2,1>(matrix) * invdet;
+  result.coeffRef(2,0) =  cofactor_3x3<MatrixType,0,2>(matrix) * invdet;
+  result.coeffRef(2,1) =  cofactor_3x3<MatrixType,1,2>(matrix) * invdet;
+  result.coeffRef(2,2) =  cofactor_3x3<MatrixType,2,2>(matrix) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 3>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    const Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    const Scalar invdet = Scalar(1) / det;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    using std::abs;
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
+  }
+};
+
+/****************************
+*** Size 4 implementation ***
+****************************/
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC 
+inline const typename Derived::Scalar general_det3_helper
+(const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
+{
+  return matrix.coeff(i1,j1)
+         * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));
+}
+
+template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC 
+inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
+{
+  enum {
+    i1 = (i+1) % 4,
+    i2 = (i+2) % 4,
+    i3 = (i+3) % 4,
+    j1 = (j+1) % 4,
+    j2 = (j+2) % 4,
+    j3 = (j+3) % 4
+  };
+  return general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)
+       + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)
+       + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);
+}
+
+template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
+struct compute_inverse_size4
+{
+  EIGEN_DEVICE_FUNC
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    result.coeffRef(0,0) =  cofactor_4x4<MatrixType,0,0>(matrix);
+    result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);
+    result.coeffRef(2,0) =  cofactor_4x4<MatrixType,0,2>(matrix);
+    result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);
+    result.coeffRef(0,2) =  cofactor_4x4<MatrixType,2,0>(matrix);
+    result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);
+    result.coeffRef(2,2) =  cofactor_4x4<MatrixType,2,2>(matrix);
+    result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);
+    result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);
+    result.coeffRef(1,1) =  cofactor_4x4<MatrixType,1,1>(matrix);
+    result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);
+    result.coeffRef(3,1) =  cofactor_4x4<MatrixType,1,3>(matrix);
+    result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);
+    result.coeffRef(1,3) =  cofactor_4x4<MatrixType,3,1>(matrix);
+    result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);
+    result.coeffRef(3,3) =  cofactor_4x4<MatrixType,3,3>(matrix);
+    result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 4>
+ : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
+                            MatrixType, ResultType>
+{
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    using std::abs;
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+  }
+};
+
+/*************************
+*** MatrixBase methods ***
+*************************/
+
+} // end namespace internal
+
+namespace internal {
+
+// Specialization for "dense = dense_xpr.inverse()"
+template<typename DstXprType, typename XprType>
+struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar>, Dense2Dense>
+{
+  typedef Inverse<XprType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    const int Size = EIGEN_PLAIN_ENUM_MIN(XprType::ColsAtCompileTime,DstXprType::ColsAtCompileTime);
+    EIGEN_ONLY_USED_FOR_DEBUG(Size);
+    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(src.nestedExpression())!=extract_data(dst)))
+              && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
+
+    typedef typename internal::nested_eval<XprType,XprType::ColsAtCompileTime>::type  ActualXprType;
+    typedef typename internal::remove_all<ActualXprType>::type                        ActualXprTypeCleanded;
+    
+    ActualXprType actual_xpr(src.nestedExpression());
+    
+    compute_inverse<ActualXprTypeCleanded, DstXprType>::run(actual_xpr, dst);
+  }
+};
+
+  
+} // end namespace internal
+
+/** \lu_module
+  *
+  * \returns the matrix inverse of this matrix.
+  *
+  * For small fixed sizes up to 4x4, this method uses cofactors.
+  * In the general case, this method uses class PartialPivLU.
+  *
+  * \note This matrix must be invertible, otherwise the result is undefined. If you need an
+  * invertibility check, do the following:
+  * \li for fixed sizes up to 4x4, use computeInverseAndDetWithCheck().
+  * \li for the general case, use class FullPivLU.
+  *
+  * Example: \include MatrixBase_inverse.cpp
+  * Output: \verbinclude MatrixBase_inverse.out
+  *
+  * \sa computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
+{
+  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+  eigen_assert(rows() == cols());
+  return Inverse<Derived>(derived());
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse and determinant, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param determinant Reference to the variable in which to store the determinant.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseAndDetWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseAndDetWithCheck.out
+  *
+  * \sa inverse(), computeInverseWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  // for 2x2, it's worth giving a chance to avoid evaluating.
+  // for larger sizes, evaluating has negligible cost and limits code size.
+  typedef typename internal::conditional<
+    RowsAtCompileTime == 2,
+    typename internal::remove_all<typename internal::nested_eval<Derived, 2>::type>::type,
+    PlainObject
+  >::type MatrixType;
+  internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
+    (derived(), absDeterminantThreshold, inverse, determinant, invertible);
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseWithCheck.out
+  *
+  * \sa inverse(), computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseWithCheck(
+    ResultType& inverse,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  RealScalar determinant;
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_IMPL_H
diff --git a/vendor/eigen/Eigen/src/LU/PartialPivLU.h b/vendor/eigen/Eigen/src/LU/PartialPivLU.h
index 7d1db94..d439618 100644
--- a/vendor/eigen/Eigen/src/LU/PartialPivLU.h
+++ b/vendor/eigen/Eigen/src/LU/PartialPivLU.h
@@ -11,7 +11,33 @@
 #ifndef EIGEN_PARTIALLU_H
 #define EIGEN_PARTIALLU_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<PartialPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef traits<_MatrixType> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit,
+    CoeffReadCost = Dynamic
+  };
+};
+
+template<typename T,typename Derived>
+struct enable_if_ref;
+// {
+//   typedef Derived type;
+// };
+
+template<typename T,typename Derived>
+struct enable_if_ref<Ref<T>,Derived> {
+  typedef Derived type;
+};
+
+} // end namespace internal
 
 /** \ingroup LU_Module
   *
@@ -19,7 +45,7 @@ namespace Eigen {
   *
   * \brief LU decomposition of a matrix with partial pivoting, and related features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
   *
   * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
   * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
@@ -42,34 +68,33 @@ namespace Eigen {
   *
   * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
   */
 template<typename _MatrixType> class PartialPivLU
+  : public SolverBase<PartialPivLU<_MatrixType> >
 {
   public:
 
     typedef _MatrixType MatrixType;
+    typedef SolverBase<PartialPivLU> Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(PartialPivLU)
+    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
-    typedef typename MatrixType::Index Index;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
     typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
-
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /**
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via PartialPivLU::compute(const MatrixType&).
-    */
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via PartialPivLU::compute(const MatrixType&).
+      */
     PartialPivLU();
 
     /** \brief Default Constructor with memory preallocation
@@ -78,7 +103,7 @@ template<typename _MatrixType> class PartialPivLU
       * according to the specified problem \a size.
       * \sa PartialPivLU()
       */
-    PartialPivLU(Index size);
+    explicit PartialPivLU(Index size);
 
     /** Constructor.
       *
@@ -87,9 +112,25 @@ template<typename _MatrixType> class PartialPivLU
       * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
       * If you need to deal with non-full rank, use class FullPivLU instead.
       */
-    PartialPivLU(const MatrixType& matrix);
+    template<typename InputType>
+    explicit PartialPivLU(const EigenBase<InputType>& matrix);
 
-    PartialPivLU& compute(const MatrixType& matrix);
+    /** Constructor for \link InplaceDecomposition inplace decomposition \endlink
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *
+      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+      * If you need to deal with non-full rank, use class FullPivLU instead.
+      */
+    template<typename InputType>
+    explicit PartialPivLU(EigenBase<InputType>& matrix);
+
+    template<typename InputType>
+    PartialPivLU& compute(const EigenBase<InputType>& matrix) {
+      m_lu = matrix.derived();
+      compute();
+      return *this;
+    }
 
     /** \returns the LU decomposition matrix: the upper-triangular part is U, the
       * unit-lower-triangular part is L (at least for square matrices; in the non-square
@@ -128,12 +169,22 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa TriangularView::solve(), inverse(), computeInverse()
       */
+    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
-    inline const internal::solve_retval<PartialPivLU, Rhs>
+    inline const Solve<PartialPivLU, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::solve_retval<PartialPivLU, Rhs>(*this, b.derived());
+      return Solve<PartialPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+        the LU decomposition.
+      */
+    inline RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
     }
 
     /** \returns the inverse of the matrix of which *this is the LU decomposition.
@@ -143,11 +194,10 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa MatrixBase::inverse(), LU::inverse()
       */
-    inline const internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    inline const Inverse<PartialPivLU> inverse() const
     {
       eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+      return Inverse<PartialPivLU>(*this);
     }
 
     /** \returns the determinant of the matrix of which
@@ -163,24 +213,78 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa MatrixBase::determinant()
       */
-    typename internal::traits<MatrixType>::Scalar determinant() const;
+    Scalar determinant() const;
 
     MatrixType reconstructedMatrix() const;
 
     inline Index rows() const { return m_lu.rows(); }
     inline Index cols() const { return m_lu.cols(); }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const {
+     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+      * So we proceed as follows:
+      * Step 1: compute c = Pb.
+      * Step 2: replace c by the solution x to Lx = c.
+      * Step 3: replace c by the solution x to Ux = c.
+      */
+
+      eigen_assert(rhs.rows() == m_lu.rows());
+
+      // Step 1
+      dst = permutationP() * rhs;
+
+      // Step 2
+      m_lu.template triangularView<UnitLower>().solveInPlace(dst);
+
+      // Step 3
+      m_lu.template triangularView<Upper>().solveInPlace(dst);
+    }
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const {
+     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+      * So we proceed as follows:
+      * Step 1: compute c = Pb.
+      * Step 2: replace c by the solution x to Lx = c.
+      * Step 3: replace c by the solution x to Ux = c.
+      */
+
+      eigen_assert(rhs.rows() == m_lu.cols());
+
+      if (Conjugate) {
+        // Step 1
+        dst = m_lu.template triangularView<Upper>().adjoint().solve(rhs);
+        // Step 2
+        m_lu.template triangularView<UnitLower>().adjoint().solveInPlace(dst);
+      } else {
+        // Step 1
+        dst = m_lu.template triangularView<Upper>().transpose().solve(rhs);
+        // Step 2
+        m_lu.template triangularView<UnitLower>().transpose().solveInPlace(dst);
+      }
+      // Step 3
+      dst = permutationP().transpose() * dst;
+    }
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void compute();
+
     MatrixType m_lu;
     PermutationType m_p;
     TranspositionType m_rowsTranspositions;
-    Index m_det_p;
+    RealScalar m_l1_norm;
+    signed char m_det_p;
     bool m_isInitialized;
 };
 
@@ -189,6 +293,7 @@ PartialPivLU<MatrixType>::PartialPivLU()
   : m_lu(),
     m_p(),
     m_rowsTranspositions(),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
@@ -199,20 +304,36 @@ PartialPivLU<MatrixType>::PartialPivLU(Index size)
   : m_lu(size, size),
     m_p(size),
     m_rowsTranspositions(size),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
 }
 
 template<typename MatrixType>
-PartialPivLU<MatrixType>::PartialPivLU(const MatrixType& matrix)
-  : m_lu(matrix.rows(), matrix.rows()),
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(const EigenBase<InputType>& matrix)
+  : m_lu(matrix.rows(),matrix.cols()),
     m_p(matrix.rows()),
     m_rowsTranspositions(matrix.rows()),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
-  compute(matrix);
+  compute(matrix.derived());
+}
+
+template<typename MatrixType>
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(EigenBase<InputType>& matrix)
+  : m_lu(matrix.derived()),
+    m_p(matrix.rows()),
+    m_rowsTranspositions(matrix.rows()),
+    m_l1_norm(0),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+  compute();
 }
 
 namespace internal {
@@ -230,7 +351,6 @@ struct partial_lu_impl
   typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
   typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::Index Index;
 
   /** \internal performs the LU decomposition in-place of the matrix \a lu
     * using an unblocked algorithm.
@@ -244,6 +364,8 @@ struct partial_lu_impl
     */
   static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
   {
+    typedef scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
     const Index rows = lu.rows();
     const Index cols = lu.cols();
     const Index size = (std::min)(rows,cols);
@@ -253,15 +375,15 @@ struct partial_lu_impl
     {
       Index rrows = rows-k-1;
       Index rcols = cols-k-1;
-        
+
       Index row_of_biggest_in_col;
-      RealScalar biggest_in_corner
-        = lu.col(k).tail(rows-k).cwiseAbs().maxCoeff(&row_of_biggest_in_col);
+      Score biggest_in_corner
+        = lu.col(k).tail(rows-k).unaryExpr(Scoring()).maxCoeff(&row_of_biggest_in_col);
       row_of_biggest_in_col += k;
 
       row_transpositions[k] = PivIndex(row_of_biggest_in_col);
 
-      if(biggest_in_corner != RealScalar(0))
+      if(biggest_in_corner != Score(0))
       {
         if(k != row_of_biggest_in_col)
         {
@@ -354,7 +476,7 @@ struct partial_lu_impl
       // update permutations and apply them to A_0
       for(Index i=k; i<k+bs; ++i)
       {
-        Index piv = (row_transpositions[i] += k);
+        Index piv = (row_transpositions[i] += internal::convert_index<PivIndex>(k));
         A_0.row(i).swap(A_0.row(piv));
       }
 
@@ -377,45 +499,44 @@ struct partial_lu_impl
 /** \internal performs the LU decomposition with partial pivoting in-place.
   */
 template<typename MatrixType, typename TranspositionType>
-void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::Index& nb_transpositions)
+void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::StorageIndex& nb_transpositions)
 {
   eigen_assert(lu.cols() == row_transpositions.size());
   eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
 
   partial_lu_impl
-    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::Index>
+    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::StorageIndex>
     ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
 }
 
 } // end namespace internal
 
 template<typename MatrixType>
-PartialPivLU<MatrixType>& PartialPivLU<MatrixType>::compute(const MatrixType& matrix)
+void PartialPivLU<MatrixType>::compute()
 {
   check_template_parameters();
-  
+
   // the row permutation is stored as int indices, so just to be sure:
-  eigen_assert(matrix.rows()<NumTraits<int>::highest());
-  
-  m_lu = matrix;
+  eigen_assert(m_lu.rows()<NumTraits<int>::highest());
+
+  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
 
-  eigen_assert(matrix.rows() == matrix.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
-  const Index size = matrix.rows();
+  eigen_assert(m_lu.rows() == m_lu.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
+  const Index size = m_lu.rows();
 
   m_rowsTranspositions.resize(size);
 
-  typename TranspositionType::Index nb_transpositions;
+  typename TranspositionType::StorageIndex nb_transpositions;
   internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
   m_det_p = (nb_transpositions%2) ? -1 : 1;
 
   m_p = m_rowsTranspositions;
 
   m_isInitialized = true;
-  return *this;
 }
 
 template<typename MatrixType>
-typename internal::traits<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
+typename PartialPivLU<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
 {
   eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
   return Scalar(m_det_p) * m_lu.diagonal().prod();
@@ -438,38 +559,21 @@ MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
   return res;
 }
 
-/***** Implementation of solve() *****************************************************/
+/***** Implementation details *****************************************************/
 
 namespace internal {
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<PartialPivLU<_MatrixType>, Rhs>
-  : solve_retval_base<PartialPivLU<_MatrixType>, Rhs>
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<PartialPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename PartialPivLU<MatrixType>::Scalar>, Dense2Dense>
 {
-  EIGEN_MAKE_SOLVE_HELPERS(PartialPivLU<_MatrixType>,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
+  typedef PartialPivLU<MatrixType> LuType;
+  typedef Inverse<LuType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename LuType::Scalar> &)
   {
-    /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
-    * So we proceed as follows:
-    * Step 1: compute c = Pb.
-    * Step 2: replace c by the solution x to Lx = c.
-    * Step 3: replace c by the solution x to Ux = c.
-    */
-
-    eigen_assert(rhs().rows() == dec().matrixLU().rows());
-
-    // Step 1
-    dst = dec().permutationP() * rhs();
-
-    // Step 2
-    dec().matrixLU().template triangularView<UnitLower>().solveInPlace(dst);
-
-    // Step 3
-    dec().matrixLU().template triangularView<Upper>().solveInPlace(dst);
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
-
 } // end namespace internal
 
 /******** MatrixBase methods *******/
@@ -487,7 +591,6 @@ MatrixBase<Derived>::partialPivLu() const
   return PartialPivLU<PlainObject>(eval());
 }
 
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
 /** \lu_module
   *
   * Synonym of partialPivLu().
@@ -502,7 +605,6 @@ MatrixBase<Derived>::lu() const
 {
   return PartialPivLU<PlainObject>(eval());
 }
-#endif
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h b/vendor/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h
new file mode 100644
index 0000000..755168a
--- /dev/null
+++ b/vendor/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h
@@ -0,0 +1,83 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *     LU decomposition with partial pivoting based on LAPACKE_?getrf function.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_PARTIALLU_LAPACK_H
+#define EIGEN_PARTIALLU_LAPACK_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_LU_PARTPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
+template<int StorageOrder> \
+struct partial_lu_impl<EIGTYPE, StorageOrder, lapack_int> \
+{ \
+  /* \internal performs the LU decomposition in-place of the matrix represented */ \
+  static lapack_int blocked_lu(Index rows, Index cols, EIGTYPE* lu_data, Index luStride, lapack_int* row_transpositions, lapack_int& nb_transpositions, lapack_int maxBlockSize=256) \
+  { \
+    EIGEN_UNUSED_VARIABLE(maxBlockSize);\
+    lapack_int matrix_order, first_zero_pivot; \
+    lapack_int m, n, lda, *ipiv, info; \
+    EIGTYPE* a; \
+/* Set up parameters for ?getrf */ \
+    matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
+    lda = convert_index<lapack_int>(luStride); \
+    a = lu_data; \
+    ipiv = row_transpositions; \
+    m = convert_index<lapack_int>(rows); \
+    n = convert_index<lapack_int>(cols); \
+    nb_transpositions = 0; \
+\
+    info = LAPACKE_##LAPACKE_PREFIX##getrf( matrix_order, m, n, (LAPACKE_TYPE*)a, lda, ipiv ); \
+\
+    for(int i=0;i<m;i++) { ipiv[i]--; if (ipiv[i]!=i) nb_transpositions++; } \
+\
+    eigen_assert(info >= 0); \
+/* something should be done with nb_transpositions */ \
+\
+    first_zero_pivot = info; \
+    return first_zero_pivot; \
+  } \
+};
+
+EIGEN_LAPACKE_LU_PARTPIV(double, double, d)
+EIGEN_LAPACKE_LU_PARTPIV(float, float, s)
+EIGEN_LAPACKE_LU_PARTPIV(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_LU_PARTPIV(scomplex, lapack_complex_float,  c)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PARTIALLU_LAPACK_H
diff --git a/vendor/eigen/Eigen/src/LU/arch/Inverse_SSE.h b/vendor/eigen/Eigen/src/LU/arch/Inverse_SSE.h
index 60b7a23..ebb64a6 100644
--- a/vendor/eigen/Eigen/src/LU/arch/Inverse_SSE.h
+++ b/vendor/eigen/Eigen/src/LU/arch/Inverse_SSE.h
@@ -35,13 +35,15 @@ template<typename MatrixType, typename ResultType>
 struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
 {
   enum {
-    MatrixAlignment     = bool(MatrixType::Flags&AlignedBit),
-    ResultAlignment     = bool(ResultType::Flags&AlignedBit),
+    MatrixAlignment     = traits<MatrixType>::Alignment,
+    ResultAlignment     = traits<ResultType>::Alignment,
     StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
   };
+  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
   
-  static void run(const MatrixType& matrix, ResultType& result)
+  static void run(const MatrixType& mat, ResultType& result)
   {
+    ActualMatrixType matrix(mat);
     EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
 
     // Load the full matrix into registers
@@ -151,10 +153,12 @@ struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
     iC = _mm_mul_ps(rd,iC);
     iD = _mm_mul_ps(rd,iD);
 
-    result.template writePacket<ResultAlignment>( 0, _mm_shuffle_ps(iA,iB,0x77));
-    result.template writePacket<ResultAlignment>( 4, _mm_shuffle_ps(iA,iB,0x22));
-    result.template writePacket<ResultAlignment>( 8, _mm_shuffle_ps(iC,iD,0x77));
-    result.template writePacket<ResultAlignment>(12, _mm_shuffle_ps(iC,iD,0x22));
+    Index res_stride = result.outerStride();
+    float* res = result.data();
+    pstoret<float, Packet4f, ResultAlignment>(res+0,            _mm_shuffle_ps(iA,iB,0x77));
+    pstoret<float, Packet4f, ResultAlignment>(res+res_stride,   _mm_shuffle_ps(iA,iB,0x22));
+    pstoret<float, Packet4f, ResultAlignment>(res+2*res_stride, _mm_shuffle_ps(iC,iD,0x77));
+    pstoret<float, Packet4f, ResultAlignment>(res+3*res_stride, _mm_shuffle_ps(iC,iD,0x22));
   }
 
 };
@@ -163,18 +167,21 @@ template<typename MatrixType, typename ResultType>
 struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
 {
   enum {
-    MatrixAlignment = bool(MatrixType::Flags&AlignedBit),
-    ResultAlignment = bool(ResultType::Flags&AlignedBit),
+    MatrixAlignment     = traits<MatrixType>::Alignment,
+    ResultAlignment     = traits<ResultType>::Alignment,
     StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
   };
-  static void run(const MatrixType& matrix, ResultType& result)
+  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
+  
+  static void run(const MatrixType& mat, ResultType& result)
   {
+    ActualMatrixType matrix(mat);
     const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
     const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
 
     // The inverse is calculated using "Divide and Conquer" technique. The
     // original matrix is divide into four 2x2 sub-matrices. Since each
-    // register of the matrix holds two element, the smaller matrices are
+    // register of the matrix holds two elements, the smaller matrices are
     // consisted of two registers. Hence we get a better locality of the
     // calculations.
 
@@ -311,14 +318,16 @@ struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
     iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
     iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
 
-    result.template writePacket<ResultAlignment>( 0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));     // iA# / det
-    result.template writePacket<ResultAlignment>( 4, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
-    result.template writePacket<ResultAlignment>( 2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));     // iB# / det
-    result.template writePacket<ResultAlignment>( 6, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
-    result.template writePacket<ResultAlignment>( 8, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));     // iC# / det
-    result.template writePacket<ResultAlignment>(12, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
-    result.template writePacket<ResultAlignment>(10, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));     // iD# / det
-    result.template writePacket<ResultAlignment>(14, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
+    Index res_stride = result.outerStride();
+    double* res = result.data();
+    pstoret<double, Packet2d, ResultAlignment>(res+0,             _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+res_stride,    _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2,             _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+res_stride+2,  _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
   }
 };
 
diff --git a/vendor/eigen/Eigen/src/MetisSupport/MetisSupport.h b/vendor/eigen/Eigen/src/MetisSupport/MetisSupport.h
index f2bbef2..4c15304 100644
--- a/vendor/eigen/Eigen/src/MetisSupport/MetisSupport.h
+++ b/vendor/eigen/Eigen/src/MetisSupport/MetisSupport.h
@@ -18,12 +18,12 @@ namespace Eigen {
  * Row (column) i of A is the matperm(i) row (column) of Ap. 
  * WARNING: As computed by METIS, this corresponds to the vector iperm (instead of perm)
  */
-template <typename Index>
+template <typename StorageIndex>
 class MetisOrdering
 {
 public:
-  typedef PermutationMatrix<Dynamic,Dynamic,Index> PermutationType;
-  typedef Matrix<Index,Dynamic,1> IndexVector; 
+  typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> PermutationType;
+  typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
   
   template <typename MatrixType>
   void get_symmetrized_graph(const MatrixType& A)
@@ -36,7 +36,7 @@ public:
     Index TotNz = 0; 
     IndexVector visited(m); 
     visited.setConstant(-1); 
-    for (int j = 0; j < m; j++)
+    for (StorageIndex j = 0; j < m; j++)
     {
       // Compute the union structure of of A(j,:) and At(j,:)
       visited(j) = j; // Do not include the diagonal element
@@ -67,8 +67,8 @@ public:
 
     // Now compute the real adjacency list of each column/row 
     visited.setConstant(-1); 
-    Index CurNz = 0; 
-    for (int j = 0; j < m; j++)
+    StorageIndex CurNz = 0; 
+    for (StorageIndex j = 0; j < m; j++)
     {
       m_indexPtr(j) = CurNz; 
       
@@ -76,7 +76,7 @@ public:
       // Add the pattern of row/column j of A to A+At
       for (typename MatrixType::InnerIterator it(A,j); it; ++it)
       {
-        Index idx = it.index(); // Get the row index (for column major) or column index (for row major)
+        StorageIndex idx = it.index(); // Get the row index (for column major) or column index (for row major)
         if (visited(idx) != j ) 
         {
           visited(idx) = j; 
@@ -87,7 +87,7 @@ public:
       //Add the pattern of row/column j of At to A+At
       for (typename MatrixType::InnerIterator it(At, j); it; ++it)
       {
-        Index idx = it.index(); 
+        StorageIndex idx = it.index(); 
         if(visited(idx) != j)
         {
           visited(idx) = j; 
@@ -102,7 +102,7 @@ public:
   template <typename MatrixType>
   void operator() (const MatrixType& A, PermutationType& matperm)
   {
-     Index m = A.cols();
+     StorageIndex m = internal::convert_index<StorageIndex>(A.cols()); // must be StorageIndex, because it is passed by address to METIS
      IndexVector perm(m),iperm(m); 
     // First, symmetrize the matrix graph. 
      get_symmetrized_graph(A); 
diff --git a/vendor/eigen/Eigen/src/OrderingMethods/Amd.h b/vendor/eigen/Eigen/src/OrderingMethods/Amd.h
index 658b954..f91ecb2 100644
--- a/vendor/eigen/Eigen/src/OrderingMethods/Amd.h
+++ b/vendor/eigen/Eigen/src/OrderingMethods/Amd.h
@@ -41,10 +41,10 @@ template<typename T0, typename T1> inline bool amd_marked(const T0* w, const T1&
 template<typename T0, typename T1> inline void amd_mark(const T0* w, const T1& j) { return w[j] = amd_flip(w[j]); }
 
 /* clear w */
-template<typename Index>
-static int cs_wclear (Index mark, Index lemax, Index *w, Index n)
+template<typename StorageIndex>
+static StorageIndex cs_wclear (StorageIndex mark, StorageIndex lemax, StorageIndex *w, StorageIndex n)
 {
-  Index k;
+  StorageIndex k;
   if(mark < 2 || (mark + lemax < 0))
   {
     for(k = 0; k < n; k++)
@@ -56,10 +56,10 @@ static int cs_wclear (Index mark, Index lemax, Index *w, Index n)
 }
 
 /* depth-first search and postorder of a tree rooted at node j */
-template<typename Index>
-Index cs_tdfs(Index j, Index k, Index *head, const Index *next, Index *post, Index *stack)
+template<typename StorageIndex>
+StorageIndex cs_tdfs(StorageIndex j, StorageIndex k, StorageIndex *head, const StorageIndex *next, StorageIndex *post, StorageIndex *stack)
 {
-  int i, p, top = 0;
+  StorageIndex i, p, top = 0;
   if(!head || !next || !post || !stack) return (-1);    /* check inputs */
   stack[0] = j;                 /* place j on the stack */
   while (top >= 0)                /* while (stack is not empty) */
@@ -84,42 +84,45 @@ Index cs_tdfs(Index j, Index k, Index *head, const Index *next, Index *post, Ind
 /** \internal
   * \ingroup OrderingMethods_Module 
   * Approximate minimum degree ordering algorithm.
-  * \returns the permutation P reducing the fill-in of the input matrix \a C
-  * The input matrix \a C must be a selfadjoint compressed column major SparseMatrix object. Both the upper and lower parts have to be stored, but the diagonal entries are optional.
+  *
+  * \param[in] C the input selfadjoint matrix stored in compressed column major format.
+  * \param[out] perm the permutation P reducing the fill-in of the input matrix \a C
+  *
+  * Note that the input matrix \a C must be complete, that is both the upper and lower parts have to be stored, as well as the diagonal entries.
   * On exit the values of C are destroyed */
-template<typename Scalar, typename Index>
-void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, PermutationMatrix<Dynamic,Dynamic,Index>& perm)
+template<typename Scalar, typename StorageIndex>
+void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,StorageIndex>& C, PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm)
 {
   using std::sqrt;
   
-  int d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1,
-      k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi,
-      ok, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, t;
-  unsigned int h;
+  StorageIndex d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1,
+                k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi,
+                ok, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, t, h;
   
-  Index n = C.cols();
-  dense = std::max<Index> (16, Index(10 * sqrt(double(n))));   /* find dense threshold */
-  dense = std::min<Index> (n-2, dense);
+  StorageIndex n = StorageIndex(C.cols());
+  dense = std::max<StorageIndex> (16, StorageIndex(10 * sqrt(double(n))));   /* find dense threshold */
+  dense = (std::min)(n-2, dense);
   
-  Index cnz = C.nonZeros();
+  StorageIndex cnz = StorageIndex(C.nonZeros());
   perm.resize(n+1);
   t = cnz + cnz/5 + 2*n;                 /* add elbow room to C */
   C.resizeNonZeros(t);
   
-  Index* W       = new Index[8*(n+1)]; /* get workspace */
-  Index* len     = W;
-  Index* nv      = W +   (n+1);
-  Index* next    = W + 2*(n+1);
-  Index* head    = W + 3*(n+1);
-  Index* elen    = W + 4*(n+1);
-  Index* degree  = W + 5*(n+1);
-  Index* w       = W + 6*(n+1);
-  Index* hhead   = W + 7*(n+1);
-  Index* last    = perm.indices().data();                              /* use P as workspace for last */
+  // get workspace
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,W,8*(n+1),0);
+  StorageIndex* len     = W;
+  StorageIndex* nv      = W +   (n+1);
+  StorageIndex* next    = W + 2*(n+1);
+  StorageIndex* head    = W + 3*(n+1);
+  StorageIndex* elen    = W + 4*(n+1);
+  StorageIndex* degree  = W + 5*(n+1);
+  StorageIndex* w       = W + 6*(n+1);
+  StorageIndex* hhead   = W + 7*(n+1);
+  StorageIndex* last    = perm.indices().data();                              /* use P as workspace for last */
   
   /* --- Initialize quotient graph ---------------------------------------- */
-  Index* Cp = C.outerIndexPtr();
-  Index* Ci = C.innerIndexPtr();
+  StorageIndex* Cp = C.outerIndexPtr();
+  StorageIndex* Ci = C.innerIndexPtr();
   for(k = 0; k < n; k++)
     len[k] = Cp[k+1] - Cp[k];
   len[n] = 0;
@@ -136,7 +139,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
     elen[i]   = 0;                      // Ek of node i is empty
     degree[i] = len[i];                 // degree of node i
   }
-  mark = internal::cs_wclear<Index>(0, 0, w, n);         /* clear w */
+  mark = internal::cs_wclear<StorageIndex>(0, 0, w, n);         /* clear w */
   
   /* --- Initialize degree lists ------------------------------------------ */
   for(i = 0; i < n; i++)
@@ -260,7 +263,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
     elen[k] = -2;                     /* k is now an element */
     
     /* --- Find set differences ----------------------------------------- */
-    mark = internal::cs_wclear<Index>(mark, lemax, w, n);  /* clear w if necessary */
+    mark = internal::cs_wclear<StorageIndex>(mark, lemax, w, n);  /* clear w if necessary */
     for(pk = pk1; pk < pk2; pk++)    /* scan 1: find |Le\Lk| */
     {
       i = Ci[pk];
@@ -330,7 +333,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
       }
       else
       {
-        degree[i] = std::min<Index> (degree[i], d);   /* update degree(i) */
+        degree[i] = std::min<StorageIndex> (degree[i], d);   /* update degree(i) */
         Ci[pn] = Ci[p3];         /* move first node to end */
         Ci[p3] = Ci[p1];         /* move 1st el. to end of Ei */
         Ci[p1] = k;               /* add k as 1st element in of Ei */
@@ -338,12 +341,12 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
         h %= n;                    /* finalize hash of i */
         next[i] = hhead[h];      /* place i in hash bucket */
         hhead[h] = i;
-        last[i] = h;              /* save hash of i in last[i] */
+        last[i] = h;      /* save hash of i in last[i] */
       }
     }                                   /* scan2 is done */
     degree[k] = dk;                   /* finalize |Lk| */
-    lemax = std::max<Index>(lemax, dk);
-    mark = internal::cs_wclear<Index>(mark+lemax, lemax, w, n);    /* clear w */
+    lemax = std::max<StorageIndex>(lemax, dk);
+    mark = internal::cs_wclear<StorageIndex>(mark+lemax, lemax, w, n);    /* clear w */
     
     /* --- Supernode detection ------------------------------------------ */
     for(pk = pk1; pk < pk2; pk++)
@@ -391,12 +394,12 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
       if((nvi = -nv[i]) <= 0) continue;/* skip if i is dead */
       nv[i] = nvi;                      /* restore nv[i] */
       d = degree[i] + dk - nvi;         /* compute external degree(i) */
-      d = std::min<Index> (d, n - nel - nvi);
+      d = std::min<StorageIndex> (d, n - nel - nvi);
       if(head[d] != -1) last[head[d]] = i;
       next[i] = head[d];               /* put i back in degree list */
       last[i] = -1;
       head[d] = i;
-      mindeg = std::min<Index> (mindeg, d);       /* find new minimum degree */
+      mindeg = std::min<StorageIndex> (mindeg, d);       /* find new minimum degree */
       degree[i] = d;
       Ci[p++] = i;                      /* place i in Lk */
     }
@@ -429,12 +432,10 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
   }
   for(k = 0, i = 0; i <= n; i++)       /* postorder the assembly tree */
   {
-    if(Cp[i] == -1) k = internal::cs_tdfs<Index>(i, k, head, next, perm.indices().data(), w);
+    if(Cp[i] == -1) k = internal::cs_tdfs<StorageIndex>(i, k, head, next, perm.indices().data(), w);
   }
   
   perm.indices().conservativeResize(n);
-
-  delete[] W;
 }
 
 } // namespace internal
diff --git a/vendor/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h b/vendor/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h
index 359fd44..da85b4d 100644
--- a/vendor/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h
+++ b/vendor/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h
@@ -128,54 +128,54 @@ namespace internal {
 /* ========================================================================== */
 
 // == Row and Column structures ==
-template <typename Index>
+template <typename IndexType>
 struct colamd_col
 {
-  Index start ;   /* index for A of first row in this column, or DEAD */
+  IndexType start ;   /* index for A of first row in this column, or DEAD */
   /* if column is dead */
-  Index length ;  /* number of rows in this column */
+  IndexType length ;  /* number of rows in this column */
   union
   {
-    Index thickness ; /* number of original columns represented by this */
+    IndexType thickness ; /* number of original columns represented by this */
     /* col, if the column is alive */
-    Index parent ;  /* parent in parent tree super-column structure, if */
+    IndexType parent ;  /* parent in parent tree super-column structure, if */
     /* the column is dead */
   } shared1 ;
   union
   {
-    Index score ; /* the score used to maintain heap, if col is alive */
-    Index order ; /* pivot ordering of this column, if col is dead */
+    IndexType score ; /* the score used to maintain heap, if col is alive */
+    IndexType order ; /* pivot ordering of this column, if col is dead */
   } shared2 ;
   union
   {
-    Index headhash ;  /* head of a hash bucket, if col is at the head of */
+    IndexType headhash ;  /* head of a hash bucket, if col is at the head of */
     /* a degree list */
-    Index hash ;  /* hash value, if col is not in a degree list */
-    Index prev ;  /* previous column in degree list, if col is in a */
+    IndexType hash ;  /* hash value, if col is not in a degree list */
+    IndexType prev ;  /* previous column in degree list, if col is in a */
     /* degree list (but not at the head of a degree list) */
   } shared3 ;
   union
   {
-    Index degree_next ; /* next column, if col is in a degree list */
-    Index hash_next ;   /* next column, if col is in a hash list */
+    IndexType degree_next ; /* next column, if col is in a degree list */
+    IndexType hash_next ;   /* next column, if col is in a hash list */
   } shared4 ;
   
 };
  
-template <typename Index>
+template <typename IndexType>
 struct Colamd_Row
 {
-  Index start ;   /* index for A of first col in this row */
-  Index length ;  /* number of principal columns in this row */
+  IndexType start ;   /* index for A of first col in this row */
+  IndexType length ;  /* number of principal columns in this row */
   union
   {
-    Index degree ;  /* number of principal & non-principal columns in row */
-    Index p ;   /* used as a row pointer in init_rows_cols () */
+    IndexType degree ;  /* number of principal & non-principal columns in row */
+    IndexType p ;   /* used as a row pointer in init_rows_cols () */
   } shared1 ;
   union
   {
-    Index mark ;  /* for computing set differences and marking dead rows*/
-    Index first_column ;/* first column in row (used in garbage collection) */
+    IndexType mark ;  /* for computing set differences and marking dead rows*/
+    IndexType first_column ;/* first column in row (used in garbage collection) */
   } shared2 ;
   
 };
@@ -195,38 +195,38 @@ struct Colamd_Row
   
   This macro is not needed when using symamd.
   
-  Explicit typecast to Index added Sept. 23, 2002, COLAMD version 2.2, to avoid
+  Explicit typecast to IndexType added Sept. 23, 2002, COLAMD version 2.2, to avoid
   gcc -pedantic warning messages.
 */
-template <typename Index>
-inline Index colamd_c(Index n_col) 
-{ return Index( ((n_col) + 1) * sizeof (colamd_col<Index>) / sizeof (Index) ) ; }
+template <typename IndexType>
+inline IndexType colamd_c(IndexType n_col) 
+{ return IndexType( ((n_col) + 1) * sizeof (colamd_col<IndexType>) / sizeof (IndexType) ) ; }
 
-template <typename Index>
-inline Index  colamd_r(Index n_row)
-{ return Index(((n_row) + 1) * sizeof (Colamd_Row<Index>) / sizeof (Index)); }
+template <typename IndexType>
+inline IndexType  colamd_r(IndexType n_row)
+{ return IndexType(((n_row) + 1) * sizeof (Colamd_Row<IndexType>) / sizeof (IndexType)); }
 
 // Prototypes of non-user callable routines
-template <typename Index>
-static Index init_rows_cols (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> col [], Index A [], Index p [], Index stats[COLAMD_STATS] ); 
+template <typename IndexType>
+static IndexType init_rows_cols (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> col [], IndexType A [], IndexType p [], IndexType stats[COLAMD_STATS] ); 
 
-template <typename Index>
-static void init_scoring (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index head [], double knobs[COLAMD_KNOBS], Index *p_n_row2, Index *p_n_col2, Index *p_max_deg);
+template <typename IndexType>
+static void init_scoring (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], double knobs[COLAMD_KNOBS], IndexType *p_n_row2, IndexType *p_n_col2, IndexType *p_max_deg);
 
-template <typename Index>
-static Index find_ordering (Index n_row, Index n_col, Index Alen, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index head [], Index n_col2, Index max_deg, Index pfree);
+template <typename IndexType>
+static IndexType find_ordering (IndexType n_row, IndexType n_col, IndexType Alen, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType n_col2, IndexType max_deg, IndexType pfree);
 
-template <typename Index>
-static void order_children (Index n_col, colamd_col<Index> Col [], Index p []);
+template <typename IndexType>
+static void order_children (IndexType n_col, colamd_col<IndexType> Col [], IndexType p []);
 
-template <typename Index>
-static void detect_super_cols (colamd_col<Index> Col [], Index A [], Index head [], Index row_start, Index row_length ) ;
+template <typename IndexType>
+static void detect_super_cols (colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType row_start, IndexType row_length ) ;
 
-template <typename Index>
-static Index garbage_collection (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index *pfree) ;
+template <typename IndexType>
+static IndexType garbage_collection (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType *pfree) ;
 
-template <typename Index>
-static inline  Index clear_mark (Index n_row, Colamd_Row<Index> Row [] ) ;
+template <typename IndexType>
+static inline  IndexType clear_mark (IndexType n_row, Colamd_Row<IndexType> Row [] ) ;
 
 /* === No debugging ========================================================= */
 
@@ -253,8 +253,8 @@ static inline  Index clear_mark (Index n_row, Colamd_Row<Index> Row [] ) ;
  * \param n_col number of columns in A
  * \return recommended value of Alen for use by colamd
  */
-template <typename Index>
-inline Index colamd_recommended ( Index nnz, Index n_row, Index n_col)
+template <typename IndexType>
+inline IndexType colamd_recommended ( IndexType nnz, IndexType n_row, IndexType n_col)
 {
   if ((nnz) < 0 || (n_row) < 0 || (n_col) < 0)
     return (-1);
@@ -318,22 +318,22 @@ static inline void colamd_set_defaults(double knobs[COLAMD_KNOBS])
  * \param knobs parameter settings for colamd
  * \param stats colamd output statistics and error codes
  */
-template <typename Index>
-static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, double knobs[COLAMD_KNOBS], Index stats[COLAMD_STATS])
+template <typename IndexType>
+static bool colamd(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *A, IndexType *p, double knobs[COLAMD_KNOBS], IndexType stats[COLAMD_STATS])
 {
   /* === Local variables ================================================== */
   
-  Index i ;     /* loop index */
-  Index nnz ;     /* nonzeros in A */
-  Index Row_size ;    /* size of Row [], in integers */
-  Index Col_size ;    /* size of Col [], in integers */
-  Index need ;      /* minimum required length of A */
-  Colamd_Row<Index> *Row ;   /* pointer into A of Row [0..n_row] array */
-  colamd_col<Index> *Col ;   /* pointer into A of Col [0..n_col] array */
-  Index n_col2 ;    /* number of non-dense, non-empty columns */
-  Index n_row2 ;    /* number of non-dense, non-empty rows */
-  Index ngarbage ;    /* number of garbage collections performed */
-  Index max_deg ;   /* maximum row degree */
+  IndexType i ;     /* loop index */
+  IndexType nnz ;     /* nonzeros in A */
+  IndexType Row_size ;    /* size of Row [], in integers */
+  IndexType Col_size ;    /* size of Col [], in integers */
+  IndexType need ;      /* minimum required length of A */
+  Colamd_Row<IndexType> *Row ;   /* pointer into A of Row [0..n_row] array */
+  colamd_col<IndexType> *Col ;   /* pointer into A of Col [0..n_col] array */
+  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
+  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
+  IndexType ngarbage ;    /* number of garbage collections performed */
+  IndexType max_deg ;   /* maximum row degree */
   double default_knobs [COLAMD_KNOBS] ; /* default knobs array */
   
   
@@ -424,8 +424,8 @@ static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, dou
   }
   
   Alen -= Col_size + Row_size ;
-  Col = (colamd_col<Index> *) &A [Alen] ;
-  Row = (Colamd_Row<Index> *) &A [Alen + Col_size] ;
+  Col = (colamd_col<IndexType> *) &A [Alen] ;
+  Row = (Colamd_Row<IndexType> *) &A [Alen + Col_size] ;
 
   /* === Construct the row and column data structures ===================== */
   
@@ -478,29 +478,29 @@ static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, dou
   column form of the matrix.  Returns false if the matrix is invalid,
   true otherwise.  Not user-callable.
 */
-template <typename Index>
-static Index init_rows_cols  /* returns true if OK, or false otherwise */
+template <typename IndexType>
+static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* row indices of A, of size Alen */
-    Index p [],     /* pointers to columns in A, of size n_col+1 */
-    Index stats [COLAMD_STATS]  /* colamd statistics */ 
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* row indices of A, of size Alen */
+    IndexType p [],     /* pointers to columns in A, of size n_col+1 */
+    IndexType stats [COLAMD_STATS]  /* colamd statistics */ 
     )
 {
   /* === Local variables ================================================== */
 
-  Index col ;     /* a column index */
-  Index row ;     /* a row index */
-  Index *cp ;     /* a column pointer */
-  Index *cp_end ;   /* a pointer to the end of a column */
-  Index *rp ;     /* a row pointer */
-  Index *rp_end ;   /* a pointer to the end of a row */
-  Index last_row ;    /* previous row */
+  IndexType col ;     /* a column index */
+  IndexType row ;     /* a row index */
+  IndexType *cp ;     /* a column pointer */
+  IndexType *cp_end ;   /* a pointer to the end of a column */
+  IndexType *rp ;     /* a row pointer */
+  IndexType *rp_end ;   /* a pointer to the end of a row */
+  IndexType last_row ;    /* previous row */
 
   /* === Initialize columns, and check column pointers ==================== */
 
@@ -694,46 +694,46 @@ static Index init_rows_cols  /* returns true if OK, or false otherwise */
   Kills dense or empty columns and rows, calculates an initial score for
   each column, and places all columns in the degree lists.  Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static void init_scoring
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* column form and row form of A */
-    Index head [],    /* of size n_col+1 */
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* column form and row form of A */
+    IndexType head [],    /* of size n_col+1 */
     double knobs [COLAMD_KNOBS],/* parameters */
-    Index *p_n_row2,    /* number of non-dense, non-empty rows */
-    Index *p_n_col2,    /* number of non-dense, non-empty columns */
-    Index *p_max_deg    /* maximum row degree */
+    IndexType *p_n_row2,    /* number of non-dense, non-empty rows */
+    IndexType *p_n_col2,    /* number of non-dense, non-empty columns */
+    IndexType *p_max_deg    /* maximum row degree */
     )
 {
   /* === Local variables ================================================== */
 
-  Index c ;     /* a column index */
-  Index r, row ;    /* a row index */
-  Index *cp ;     /* a column pointer */
-  Index deg ;     /* degree of a row or column */
-  Index *cp_end ;   /* a pointer to the end of a column */
-  Index *new_cp ;   /* new column pointer */
-  Index col_length ;    /* length of pruned column */
-  Index score ;     /* current column score */
-  Index n_col2 ;    /* number of non-dense, non-empty columns */
-  Index n_row2 ;    /* number of non-dense, non-empty rows */
-  Index dense_row_count ; /* remove rows with more entries than this */
-  Index dense_col_count ; /* remove cols with more entries than this */
-  Index min_score ;   /* smallest column score */
-  Index max_deg ;   /* maximum row degree */
-  Index next_col ;    /* Used to add to degree list.*/
+  IndexType c ;     /* a column index */
+  IndexType r, row ;    /* a row index */
+  IndexType *cp ;     /* a column pointer */
+  IndexType deg ;     /* degree of a row or column */
+  IndexType *cp_end ;   /* a pointer to the end of a column */
+  IndexType *new_cp ;   /* new column pointer */
+  IndexType col_length ;    /* length of pruned column */
+  IndexType score ;     /* current column score */
+  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
+  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
+  IndexType dense_row_count ; /* remove rows with more entries than this */
+  IndexType dense_col_count ; /* remove cols with more entries than this */
+  IndexType min_score ;   /* smallest column score */
+  IndexType max_deg ;   /* maximum row degree */
+  IndexType next_col ;    /* Used to add to degree list.*/
 
 
   /* === Extract knobs ==================================================== */
 
-  dense_row_count = std::max<Index>(0, (std::min)(Index(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ;
-  dense_col_count = std::max<Index>(0, (std::min)(Index(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ;
+  dense_row_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ;
+  dense_col_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ;
   COLAMD_DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ;
   max_deg = 0 ;
   n_col2 = n_col ;
@@ -797,7 +797,7 @@ static void init_scoring
     else
     {
       /* keep track of max degree of remaining rows */
-      max_deg = (std::max)(max_deg, deg) ;
+      max_deg = numext::maxi(max_deg, deg) ;
     }
   }
   COLAMD_DEBUG1 (("colamd: Dense and null rows killed: %d\n", n_row - n_row2)) ;
@@ -835,10 +835,10 @@ static void init_scoring
       /* add row's external degree */
       score += Row [row].shared1.degree - 1 ;
       /* guard against integer overflow */
-      score = (std::min)(score, n_col) ;
+      score = numext::mini(score, n_col) ;
     }
     /* determine pruned column length */
-    col_length = (Index) (new_cp - &A [Col [c].start]) ;
+    col_length = (IndexType) (new_cp - &A [Col [c].start]) ;
     if (col_length == 0)
     {
       /* a newly-made null column (all rows in this col are "dense" */
@@ -907,7 +907,7 @@ static void init_scoring
       head [score] = c ;
 
       /* see if this score is less than current min */
-      min_score = (std::min)(min_score, score) ;
+      min_score = numext::mini(min_score, score) ;
 
 
     }
@@ -931,56 +931,56 @@ static void init_scoring
   (no supercolumns on input).  Uses a minimum approximate column minimum
   degree ordering method.  Not user-callable.
 */
-template <typename Index>
-static Index find_ordering /* return the number of garbage collections */
+template <typename IndexType>
+static IndexType find_ordering /* return the number of garbage collections */
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Index Alen,     /* size of A, 2*nnz + n_col or larger */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* column form and row form of A */
-    Index head [],    /* of size n_col+1 */
-    Index n_col2,     /* Remaining columns to order */
-    Index max_deg,    /* Maximum row degree */
-    Index pfree     /* index of first free slot (2*nnz on entry) */
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    IndexType Alen,     /* size of A, 2*nnz + n_col or larger */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* column form and row form of A */
+    IndexType head [],    /* of size n_col+1 */
+    IndexType n_col2,     /* Remaining columns to order */
+    IndexType max_deg,    /* Maximum row degree */
+    IndexType pfree     /* index of first free slot (2*nnz on entry) */
     )
 {
   /* === Local variables ================================================== */
 
-  Index k ;     /* current pivot ordering step */
-  Index pivot_col ;   /* current pivot column */
-  Index *cp ;     /* a column pointer */
-  Index *rp ;     /* a row pointer */
-  Index pivot_row ;   /* current pivot row */
-  Index *new_cp ;   /* modified column pointer */
-  Index *new_rp ;   /* modified row pointer */
-  Index pivot_row_start ; /* pointer to start of pivot row */
-  Index pivot_row_degree ;  /* number of columns in pivot row */
-  Index pivot_row_length ;  /* number of supercolumns in pivot row */
-  Index pivot_col_score ; /* score of pivot column */
-  Index needed_memory ;   /* free space needed for pivot row */
-  Index *cp_end ;   /* pointer to the end of a column */
-  Index *rp_end ;   /* pointer to the end of a row */
-  Index row ;     /* a row index */
-  Index col ;     /* a column index */
-  Index max_score ;   /* maximum possible score */
-  Index cur_score ;   /* score of current column */
+  IndexType k ;     /* current pivot ordering step */
+  IndexType pivot_col ;   /* current pivot column */
+  IndexType *cp ;     /* a column pointer */
+  IndexType *rp ;     /* a row pointer */
+  IndexType pivot_row ;   /* current pivot row */
+  IndexType *new_cp ;   /* modified column pointer */
+  IndexType *new_rp ;   /* modified row pointer */
+  IndexType pivot_row_start ; /* pointer to start of pivot row */
+  IndexType pivot_row_degree ;  /* number of columns in pivot row */
+  IndexType pivot_row_length ;  /* number of supercolumns in pivot row */
+  IndexType pivot_col_score ; /* score of pivot column */
+  IndexType needed_memory ;   /* free space needed for pivot row */
+  IndexType *cp_end ;   /* pointer to the end of a column */
+  IndexType *rp_end ;   /* pointer to the end of a row */
+  IndexType row ;     /* a row index */
+  IndexType col ;     /* a column index */
+  IndexType max_score ;   /* maximum possible score */
+  IndexType cur_score ;   /* score of current column */
   unsigned int hash ;   /* hash value for supernode detection */
-  Index head_column ;   /* head of hash bucket */
-  Index first_col ;   /* first column in hash bucket */
-  Index tag_mark ;    /* marker value for mark array */
-  Index row_mark ;    /* Row [row].shared2.mark */
-  Index set_difference ;  /* set difference size of row with pivot row */
-  Index min_score ;   /* smallest column score */
-  Index col_thickness ;   /* "thickness" (no. of columns in a supercol) */
-  Index max_mark ;    /* maximum value of tag_mark */
-  Index pivot_col_thickness ; /* number of columns represented by pivot col */
-  Index prev_col ;    /* Used by Dlist operations. */
-  Index next_col ;    /* Used by Dlist operations. */
-  Index ngarbage ;    /* number of garbage collections performed */
+  IndexType head_column ;   /* head of hash bucket */
+  IndexType first_col ;   /* first column in hash bucket */
+  IndexType tag_mark ;    /* marker value for mark array */
+  IndexType row_mark ;    /* Row [row].shared2.mark */
+  IndexType set_difference ;  /* set difference size of row with pivot row */
+  IndexType min_score ;   /* smallest column score */
+  IndexType col_thickness ;   /* "thickness" (no. of columns in a supercol) */
+  IndexType max_mark ;    /* maximum value of tag_mark */
+  IndexType pivot_col_thickness ; /* number of columns represented by pivot col */
+  IndexType prev_col ;    /* Used by Dlist operations. */
+  IndexType next_col ;    /* Used by Dlist operations. */
+  IndexType ngarbage ;    /* number of garbage collections performed */
 
 
   /* === Initialization and clear mark ==================================== */
@@ -1004,7 +1004,7 @@ static Index find_ordering /* return the number of garbage collections */
     COLAMD_ASSERT (head [min_score] >= COLAMD_EMPTY) ;
 
     /* get pivot column from head of minimum degree list */
-    while (head [min_score] == COLAMD_EMPTY && min_score < n_col)
+    while (min_score < n_col && head [min_score] == COLAMD_EMPTY)
     {
       min_score++ ;
     }
@@ -1033,7 +1033,7 @@ static Index find_ordering /* return the number of garbage collections */
 
     /* === Garbage_collection, if necessary ============================= */
 
-    needed_memory = (std::min)(pivot_col_score, n_col - k) ;
+    needed_memory = numext::mini(pivot_col_score, n_col - k) ;
     if (pfree + needed_memory >= Alen)
     {
       pfree = Eigen::internal::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
@@ -1092,7 +1092,7 @@ static Index find_ordering /* return the number of garbage collections */
 
     /* clear tag on pivot column */
     Col [pivot_col].shared1.thickness = pivot_col_thickness ;
-    max_deg = (std::max)(max_deg, pivot_row_degree) ;
+    max_deg = numext::maxi(max_deg, pivot_row_degree) ;
 
 
     /* === Kill all rows used to construct pivot row ==================== */
@@ -1266,11 +1266,11 @@ static Index find_ordering /* return the number of garbage collections */
 	/* add set difference */
 	cur_score += row_mark - tag_mark ;
 	/* integer overflow... */
-	cur_score = (std::min)(cur_score, n_col) ;
+	cur_score = numext::mini(cur_score, n_col) ;
       }
 
       /* recompute the column's length */
-      Col [col].length = (Index) (new_cp - &A [Col [col].start]) ;
+      Col [col].length = (IndexType) (new_cp - &A [Col [col].start]) ;
 
       /* === Further mass elimination ================================= */
 
@@ -1318,7 +1318,7 @@ static Index find_ordering /* return the number of garbage collections */
 	Col [col].shared4.hash_next = first_col ;
 
 	/* save hash function in Col [col].shared3.hash */
-	Col [col].shared3.hash = (Index) hash ;
+	Col [col].shared3.hash = (IndexType) hash ;
 	COLAMD_ASSERT (COL_IS_ALIVE (col)) ;
       }
     }
@@ -1379,7 +1379,7 @@ static Index find_ordering /* return the number of garbage collections */
       cur_score -= Col [col].shared1.thickness ;
 
       /* make sure score is less or equal than the max score */
-      cur_score = (std::min)(cur_score, max_score) ;
+      cur_score = numext::mini(cur_score, max_score) ;
       COLAMD_ASSERT (cur_score >= 0) ;
 
       /* store updated score */
@@ -1402,7 +1402,7 @@ static Index find_ordering /* return the number of garbage collections */
       head [cur_score] = col ;
 
       /* see if this score is less than current min */
-      min_score = (std::min)(min_score, cur_score) ;
+      min_score = numext::mini(min_score, cur_score) ;
 
     }
 
@@ -1413,7 +1413,7 @@ static Index find_ordering /* return the number of garbage collections */
       /* update pivot row length to reflect any cols that were killed */
       /* during super-col detection and mass elimination */
       Row [pivot_row].start  = pivot_row_start ;
-      Row [pivot_row].length = (Index) (new_rp - &A[pivot_row_start]) ;
+      Row [pivot_row].length = (IndexType) (new_rp - &A[pivot_row_start]) ;
       Row [pivot_row].shared1.degree = pivot_row_degree ;
       Row [pivot_row].shared2.mark = 0 ;
       /* pivot row is no longer dead */
@@ -1442,22 +1442,22 @@ static Index find_ordering /* return the number of garbage collections */
   taken by this routine is O (n_col), that is, linear in the number of
   columns.  Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static inline  void order_children
 (
   /* === Parameters ======================================================= */
 
-  Index n_col,      /* number of columns of A */
-  colamd_col<Index> Col [],    /* of size n_col+1 */
-  Index p []      /* p [0 ... n_col-1] is the column permutation*/
+  IndexType n_col,      /* number of columns of A */
+  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+  IndexType p []      /* p [0 ... n_col-1] is the column permutation*/
   )
 {
   /* === Local variables ================================================== */
 
-  Index i ;     /* loop counter for all columns */
-  Index c ;     /* column index */
-  Index parent ;    /* index of column's parent */
-  Index order ;     /* column's order */
+  IndexType i ;     /* loop counter for all columns */
+  IndexType c ;     /* column index */
+  IndexType parent ;    /* index of column's parent */
+  IndexType order ;     /* column's order */
 
   /* === Order each non-principal column ================================== */
 
@@ -1543,33 +1543,33 @@ static inline  void order_children
   just been computed in the approximate degree computation.
   Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static void detect_super_cols
 (
   /* === Parameters ======================================================= */
   
-  colamd_col<Index> Col [],    /* of size n_col+1 */
-  Index A [],     /* row indices of A */
-  Index head [],    /* head of degree lists and hash buckets */
-  Index row_start,    /* pointer to set of columns to check */
-  Index row_length    /* number of columns to check */
+  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+  IndexType A [],     /* row indices of A */
+  IndexType head [],    /* head of degree lists and hash buckets */
+  IndexType row_start,    /* pointer to set of columns to check */
+  IndexType row_length    /* number of columns to check */
 )
 {
   /* === Local variables ================================================== */
 
-  Index hash ;      /* hash value for a column */
-  Index *rp ;     /* pointer to a row */
-  Index c ;     /* a column index */
-  Index super_c ;   /* column index of the column to absorb into */
-  Index *cp1 ;      /* column pointer for column super_c */
-  Index *cp2 ;      /* column pointer for column c */
-  Index length ;    /* length of column super_c */
-  Index prev_c ;    /* column preceding c in hash bucket */
-  Index i ;     /* loop counter */
-  Index *rp_end ;   /* pointer to the end of the row */
-  Index col ;     /* a column index in the row to check */
-  Index head_column ;   /* first column in hash bucket or degree list */
-  Index first_col ;   /* first column in hash bucket */
+  IndexType hash ;      /* hash value for a column */
+  IndexType *rp ;     /* pointer to a row */
+  IndexType c ;     /* a column index */
+  IndexType super_c ;   /* column index of the column to absorb into */
+  IndexType *cp1 ;      /* column pointer for column super_c */
+  IndexType *cp2 ;      /* column pointer for column c */
+  IndexType length ;    /* length of column super_c */
+  IndexType prev_c ;    /* column preceding c in hash bucket */
+  IndexType i ;     /* loop counter */
+  IndexType *rp_end ;   /* pointer to the end of the row */
+  IndexType col ;     /* a column index in the row to check */
+  IndexType head_column ;   /* first column in hash bucket or degree list */
+  IndexType first_col ;   /* first column in hash bucket */
 
   /* === Consider each column in the row ================================== */
 
@@ -1694,27 +1694,27 @@ static void detect_super_cols
   itself linear in the number of nonzeros in the input matrix.
   Not user-callable.
 */
-template <typename Index>
-static Index garbage_collection  /* returns the new value of pfree */
+template <typename IndexType>
+static IndexType garbage_collection  /* returns the new value of pfree */
   (
     /* === Parameters ======================================================= */
     
-    Index n_row,      /* number of rows */
-    Index n_col,      /* number of columns */
-    Colamd_Row<Index> Row [],    /* row info */
-    colamd_col<Index> Col [],    /* column info */
-    Index A [],     /* A [0 ... Alen-1] holds the matrix */
-    Index *pfree      /* &A [0] ... pfree is in use */
+    IndexType n_row,      /* number of rows */
+    IndexType n_col,      /* number of columns */
+    Colamd_Row<IndexType> Row [],    /* row info */
+    colamd_col<IndexType> Col [],    /* column info */
+    IndexType A [],     /* A [0 ... Alen-1] holds the matrix */
+    IndexType *pfree      /* &A [0] ... pfree is in use */
     )
 {
   /* === Local variables ================================================== */
 
-  Index *psrc ;     /* source pointer */
-  Index *pdest ;    /* destination pointer */
-  Index j ;     /* counter */
-  Index r ;     /* a row index */
-  Index c ;     /* a column index */
-  Index length ;    /* length of a row or column */
+  IndexType *psrc ;     /* source pointer */
+  IndexType *pdest ;    /* destination pointer */
+  IndexType j ;     /* counter */
+  IndexType r ;     /* a row index */
+  IndexType c ;     /* a column index */
+  IndexType length ;    /* length of a row or column */
 
   /* === Defragment the columns =========================================== */
 
@@ -1727,7 +1727,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
       /* move and compact the column */
       COLAMD_ASSERT (pdest <= psrc) ;
-      Col [c].start = (Index) (pdest - &A [0]) ;
+      Col [c].start = (IndexType) (pdest - &A [0]) ;
       length = Col [c].length ;
       for (j = 0 ; j < length ; j++)
       {
@@ -1737,7 +1737,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 	  *pdest++ = r ;
 	}
       }
-      Col [c].length = (Index) (pdest - &A [Col [c].start]) ;
+      Col [c].length = (IndexType) (pdest - &A [Col [c].start]) ;
     }
   }
 
@@ -1784,7 +1784,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
       /* move and compact the row */
       COLAMD_ASSERT (pdest <= psrc) ;
-      Row [r].start = (Index) (pdest - &A [0]) ;
+      Row [r].start = (IndexType) (pdest - &A [0]) ;
       length = Row [r].length ;
       for (j = 0 ; j < length ; j++)
       {
@@ -1794,7 +1794,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 	  *pdest++ = c ;
 	}
       }
-      Row [r].length = (Index) (pdest - &A [Row [r].start]) ;
+      Row [r].length = (IndexType) (pdest - &A [Row [r].start]) ;
 
     }
   }
@@ -1803,7 +1803,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
   /* === Return the new value of pfree ==================================== */
 
-  return ((Index) (pdest - &A [0])) ;
+  return ((IndexType) (pdest - &A [0])) ;
 }
 
 
@@ -1815,18 +1815,18 @@ static Index garbage_collection  /* returns the new value of pfree */
   Clears the Row [].shared2.mark array, and returns the new tag_mark.
   Return value is the new tag_mark.  Not user-callable.
 */
-template <typename Index>
-static inline  Index clear_mark  /* return the new value for tag_mark */
+template <typename IndexType>
+static inline  IndexType clear_mark  /* return the new value for tag_mark */
   (
       /* === Parameters ======================================================= */
 
-    Index n_row,    /* number of rows in A */
-    Colamd_Row<Index> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
+    IndexType n_row,    /* number of rows in A */
+    Colamd_Row<IndexType> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
     )
 {
   /* === Local variables ================================================== */
 
-  Index r ;
+  IndexType r ;
 
   for (r = 0 ; r < n_row ; r++)
   {
diff --git a/vendor/eigen/Eigen/src/OrderingMethods/Ordering.h b/vendor/eigen/Eigen/src/OrderingMethods/Ordering.h
index f3c31f9..7ea9b14 100644
--- a/vendor/eigen/Eigen/src/OrderingMethods/Ordering.h
+++ b/vendor/eigen/Eigen/src/OrderingMethods/Ordering.h
@@ -19,20 +19,21 @@ namespace internal {
     
 /** \internal
   * \ingroup OrderingMethods_Module
-  * \returns the symmetric pattern A^T+A from the input matrix A. 
+  * \param[in] A the input non-symmetric matrix
+  * \param[out] symmat the symmetric pattern A^T+A from the input matrix \a A.
   * FIXME: The values should not be considered here
   */
 template<typename MatrixType> 
-void ordering_helper_at_plus_a(const MatrixType& mat, MatrixType& symmat)
+void ordering_helper_at_plus_a(const MatrixType& A, MatrixType& symmat)
 {
   MatrixType C;
-  C = mat.transpose(); // NOTE: Could be  costly
+  C = A.transpose(); // NOTE: Could be  costly
   for (int i = 0; i < C.rows(); i++) 
   {
       for (typename MatrixType::InnerIterator it(C, i); it; ++it)
         it.valueRef() = 0.0;
   }
-  symmat = C + mat; 
+  symmat = C + A;
 }
     
 }
@@ -44,14 +45,14 @@ void ordering_helper_at_plus_a(const MatrixType& mat, MatrixType& symmat)
   *
   * Functor computing the \em approximate \em minimum \em degree ordering
   * If the matrix is not structurally symmetric, an ordering of A^T+A is computed
-  * \tparam  Index The type of indices of the matrix 
+  * \tparam  StorageIndex The type of indices of the matrix 
   * \sa COLAMDOrdering
   */
-template <typename Index>
+template <typename StorageIndex>
 class AMDOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
     
     /** Compute the permutation vector from a sparse matrix
      * This routine is much faster if the input matrix is column-major     
@@ -60,7 +61,7 @@ class AMDOrdering
     void operator()(const MatrixType& mat, PermutationType& perm)
     {
       // Compute the symmetric pattern
-      SparseMatrix<typename MatrixType::Scalar, ColMajor, Index> symm;
+      SparseMatrix<typename MatrixType::Scalar, ColMajor, StorageIndex> symm;
       internal::ordering_helper_at_plus_a(mat,symm); 
     
       // Call the AMD routine 
@@ -72,7 +73,7 @@ class AMDOrdering
     template <typename SrcType, unsigned int SrcUpLo> 
     void operator()(const SparseSelfAdjointView<SrcType, SrcUpLo>& mat, PermutationType& perm)
     { 
-      SparseMatrix<typename SrcType::Scalar, ColMajor, Index> C; C = mat;
+      SparseMatrix<typename SrcType::Scalar, ColMajor, StorageIndex> C; C = mat;
       
       // Call the AMD routine 
       // m_mat.prune(keep_diag()); //Remove the diagonal elements 
@@ -88,13 +89,13 @@ class AMDOrdering
   * Functor computing the natural ordering (identity)
   * 
   * \note Returns an empty permutation matrix
-  * \tparam  Index The type of indices of the matrix 
+  * \tparam  StorageIndex The type of indices of the matrix 
   */
-template <typename Index>
+template <typename StorageIndex>
 class NaturalOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
     
     /** Compute the permutation vector from a column-major sparse matrix */
     template <typename MatrixType>
@@ -108,15 +109,17 @@ class NaturalOrdering
 /** \ingroup OrderingMethods_Module
   * \class COLAMDOrdering
   *
+  * \tparam  StorageIndex The type of indices of the matrix 
+  * 
   * Functor computing the \em column \em approximate \em minimum \em degree ordering 
   * The matrix should be in column-major and \b compressed format (see SparseMatrix::makeCompressed()).
   */
-template<typename Index>
+template<typename StorageIndex>
 class COLAMDOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType; 
-    typedef Matrix<Index, Dynamic, 1> IndexVector;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType; 
+    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
     
     /** Compute the permutation vector \a perm form the sparse matrix \a mat
       * \warning The input sparse matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
@@ -126,26 +129,26 @@ class COLAMDOrdering
     {
       eigen_assert(mat.isCompressed() && "COLAMDOrdering requires a sparse matrix in compressed mode. Call .makeCompressed() before passing it to COLAMDOrdering");
       
-      Index m = mat.rows();
-      Index n = mat.cols();
-      Index nnz = mat.nonZeros();
+      StorageIndex m = StorageIndex(mat.rows());
+      StorageIndex n = StorageIndex(mat.cols());
+      StorageIndex nnz = StorageIndex(mat.nonZeros());
       // Get the recommended value of Alen to be used by colamd
-      Index Alen = internal::colamd_recommended(nnz, m, n); 
+      StorageIndex Alen = internal::colamd_recommended(nnz, m, n); 
       // Set the default parameters
       double knobs [COLAMD_KNOBS]; 
-      Index stats [COLAMD_STATS];
+      StorageIndex stats [COLAMD_STATS];
       internal::colamd_set_defaults(knobs);
       
       IndexVector p(n+1), A(Alen); 
-      for(Index i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
-      for(Index i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
+      for(StorageIndex i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
+      for(StorageIndex i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
       // Call Colamd routine to compute the ordering 
-      Index info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
+      StorageIndex info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
       EIGEN_UNUSED_VARIABLE(info);
       eigen_assert( info && "COLAMD failed " );
       
       perm.resize(n);
-      for (Index i = 0; i < n; i++) perm.indices()(p(i)) = i;
+      for (StorageIndex i = 0; i < n; i++) perm.indices()(p(i)) = i;
     }
 };
 
diff --git a/vendor/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h b/vendor/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
index a955287..d2ebfd7 100644
--- a/vendor/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
+++ b/vendor/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
@@ -12,6 +12,14 @@
 
 namespace Eigen { 
 
+#if defined(DCOMPLEX)
+  #define PASTIX_COMPLEX  COMPLEX
+  #define PASTIX_DCOMPLEX DCOMPLEX
+#else
+  #define PASTIX_COMPLEX  std::complex<float>
+  #define PASTIX_DCOMPLEX std::complex<double>
+#endif
+
 /** \ingroup PaStiXSupport_Module
   * \brief Interface to the PaStix solver
   * 
@@ -35,7 +43,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -44,7 +52,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -53,7 +61,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
   
   void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, float *vals, int *perm, int * invp, float *x, int nbrhs, int *iparm, double *dparm)
@@ -74,14 +82,14 @@ namespace internal
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<COMPLEX*>(vals), perm, invp, reinterpret_cast<COMPLEX*>(x), nbrhs, iparm, dparm); 
+    c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_COMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_COMPLEX*>(x), nbrhs, iparm, dparm); 
   }
   
   void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<double> *vals, int *perm, int * invp, std::complex<double> *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    z_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<DCOMPLEX*>(vals), perm, invp, reinterpret_cast<DCOMPLEX*>(x), nbrhs, iparm, dparm); 
+    z_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_DCOMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_DCOMPLEX*>(x), nbrhs, iparm, dparm); 
   }
 
   // Convert the matrix  to Fortran-style Numbering
@@ -117,20 +125,30 @@ namespace internal
 // This is the base class to interface with PaStiX functions. 
 // Users should not used this class directly. 
 template <class Derived>
-class PastixBase : internal::noncopyable
+class PastixBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
+    
     typedef typename internal::pastix_traits<Derived>::MatrixType _MatrixType;
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef SparseMatrix<Scalar, ColMajor> ColSpMatrix;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
     
   public:
     
-    PastixBase() : m_initisOk(false), m_analysisIsOk(false), m_factorizationIsOk(false), m_isInitialized(false), m_pastixdata(0), m_size(0)
+    PastixBase() : m_initisOk(false), m_analysisIsOk(false), m_factorizationIsOk(false), m_pastixdata(0), m_size(0)
     {
       init();
     }
@@ -139,39 +157,16 @@ class PastixBase : internal::noncopyable
     {
       clean();
     }
-
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<PastixBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Pastix solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PastixBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<PastixBase, Rhs>(*this, b.derived());
-    }
     
     template<typename Rhs,typename Dest>
-    bool _solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const;
+    bool _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const;
     
-    Derived& derived()
-    {
-      return *static_cast<Derived*>(this);
-    }
-    const Derived& derived() const
-    {
-      return *static_cast<const Derived*>(this);
-    }
-
     /** Returns a reference to the integer vector IPARM of PaStiX parameters
       * to modify the default parameters. 
       * The statistics related to the different phases of factorization and solve are saved here as well
       * \sa analyzePattern() factorize()
       */
-    Array<Index,IPARM_SIZE,1>& iparm()
+    Array<StorageIndex,IPARM_SIZE,1>& iparm()
     {
       return m_iparm; 
     }
@@ -189,7 +184,7 @@ class PastixBase : internal::noncopyable
       * The statistics related to the different phases of factorization and solve are saved here as well
       * \sa analyzePattern() factorize()
       */
-    Array<RealScalar,IPARM_SIZE,1>& dparm()
+    Array<double,DPARM_SIZE,1>& dparm()
     {
       return m_dparm; 
     }
@@ -220,20 +215,6 @@ class PastixBase : internal::noncopyable
       return m_info;
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<PastixBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Pastix LU, LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PastixBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<PastixBase, Rhs>(*this, b.derived());
-    }
-    
   protected:
 
     // Initialize the Pastix data structure, check the matrix
@@ -260,14 +241,13 @@ class PastixBase : internal::noncopyable
     int m_initisOk; 
     int m_analysisIsOk;
     int m_factorizationIsOk;
-    bool m_isInitialized;
     mutable ComputationInfo m_info; 
     mutable pastix_data_t *m_pastixdata; // Data structure for pastix
     mutable int m_comm; // The MPI communicator identifier
-    mutable Matrix<int,IPARM_SIZE,1> m_iparm; // integer vector for the input parameters
-    mutable Matrix<double,DPARM_SIZE,1> m_dparm; // Scalar vector for the input parameters
-    mutable Matrix<Index,Dynamic,1> m_perm;  // Permutation vector
-    mutable Matrix<Index,Dynamic,1> m_invp;  // Inverse permutation vector
+    mutable Array<int,IPARM_SIZE,1> m_iparm; // integer vector for the input parameters
+    mutable Array<double,DPARM_SIZE,1> m_dparm; // Scalar vector for the input parameters
+    mutable Matrix<StorageIndex,Dynamic,1> m_perm;  // Permutation vector
+    mutable Matrix<StorageIndex,Dynamic,1> m_invp;  // Inverse permutation vector
     mutable int m_size; // Size of the matrix 
 }; 
 
@@ -288,7 +268,7 @@ void PastixBase<Derived>::init()
          0, 0, 0, 1, m_iparm.data(), m_dparm.data());
   
   m_iparm[IPARM_MATRIX_VERIFICATION] = API_NO;
-  m_iparm[IPARM_VERBOSE]             = 2;
+  m_iparm[IPARM_VERBOSE]             = API_VERBOSE_NOT;
   m_iparm[IPARM_ORDERING]            = API_ORDER_SCOTCH;
   m_iparm[IPARM_INCOMPLETE]          = API_NO;
   m_iparm[IPARM_OOC_LIMIT]           = 2000;
@@ -320,7 +300,6 @@ void PastixBase<Derived>::compute(ColSpMatrix& mat)
   factorize(mat);
   
   m_iparm(IPARM_MATRIX_VERIFICATION) = API_NO;
-  m_isInitialized = m_factorizationIsOk;
 }
 
 
@@ -333,7 +312,7 @@ void PastixBase<Derived>::analyzePattern(ColSpMatrix& mat)
   if(m_size>0)
     clean();
   
-  m_size = mat.rows();
+  m_size = internal::convert_index<int>(mat.rows());
   m_perm.resize(m_size);
   m_invp.resize(m_size);
   
@@ -362,7 +341,7 @@ void PastixBase<Derived>::factorize(ColSpMatrix& mat)
   eigen_assert(m_analysisIsOk && "The analysis phase should be called before the factorization phase");
   m_iparm(IPARM_START_TASK) = API_TASK_NUMFACT;
   m_iparm(IPARM_END_TASK) = API_TASK_NUMFACT;
-  m_size = mat.rows();
+  m_size = internal::convert_index<int>(mat.rows());
   
   internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, m_size, mat.outerIndexPtr(), mat.innerIndexPtr(),
                mat.valuePtr(), m_perm.data(), m_invp.data(), 0, 0, m_iparm.data(), m_dparm.data());
@@ -385,7 +364,7 @@ void PastixBase<Derived>::factorize(ColSpMatrix& mat)
 /* Solve the system */
 template<typename Base>
 template<typename Rhs,typename Dest>
-bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const
+bool PastixBase<Base>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const
 {
   eigen_assert(m_isInitialized && "The matrix should be factorized first");
   EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,
@@ -398,7 +377,7 @@ bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) co
     m_iparm[IPARM_START_TASK]          = API_TASK_SOLVE;
     m_iparm[IPARM_END_TASK]            = API_TASK_REFINE;
   
-    internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, x.rows(), 0, 0, 0,
+    internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, internal::convert_index<int>(x.rows()), 0, 0, 0,
                            m_perm.data(), m_invp.data(), &x(0, i), rhs, m_iparm.data(), m_dparm.data());
   }
   
@@ -423,8 +402,10 @@ bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) co
   * NOTE : Note that if the analysis and factorization phase are called separately, 
   * the input matrix will be symmetrized at each call, hence it is advised to 
   * symmetrize the matrix in a end-user program and set \p IsStrSym to true
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   * 
   */
 template<typename _MatrixType, bool IsStrSym>
@@ -434,7 +415,7 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef PastixBase<PastixLU<MatrixType> > Base;
     typedef typename Base::ColSpMatrix ColSpMatrix;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     
   public:
     PastixLU() : Base()
@@ -442,7 +423,7 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
       init();
     }
     
-    PastixLU(const MatrixType& matrix):Base()
+    explicit PastixLU(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -534,8 +515,10 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
   * 
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
   */
 template<typename _MatrixType, int _UpLo>
 class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
@@ -552,7 +535,7 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
       init();
     }
     
-    PastixLLT(const MatrixType& matrix):Base()
+    explicit PastixLLT(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -598,6 +581,7 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
     
     void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
     {
+      out.resize(matrix.rows(), matrix.cols());
       // Pastix supports only lower, column-major matrices 
       out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
       internal::c_to_fortran_numbering(out);
@@ -615,8 +599,10 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
   * 
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
   */
 template<typename _MatrixType, int _UpLo>
 class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
@@ -633,7 +619,7 @@ class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
       init();
     }
     
-    PastixLDLT(const MatrixType& matrix):Base()
+    explicit PastixLDLT(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -681,41 +667,12 @@ class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
     void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
     {
       // Pastix supports only lower, column-major matrices 
+      out.resize(matrix.rows(), matrix.cols());
       out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
       internal::c_to_fortran_numbering(out);
     }
 };
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<PastixBase<_MatrixType>, Rhs>
-  : solve_retval_base<PastixBase<_MatrixType>, Rhs>
-{
-  typedef PastixBase<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Rhs>
-struct sparse_solve_retval<PastixBase<_MatrixType>, Rhs>
-  : sparse_solve_retval_base<PastixBase<_MatrixType>, Rhs>
-{
-  typedef PastixBase<_MatrixType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif
diff --git a/vendor/eigen/Eigen/src/PardisoSupport/PardisoSupport.h b/vendor/eigen/Eigen/src/PardisoSupport/PardisoSupport.h
index 18cd7d8..091c397 100644
--- a/vendor/eigen/Eigen/src/PardisoSupport/PardisoSupport.h
+++ b/vendor/eigen/Eigen/src/PardisoSupport/PardisoSupport.h
@@ -40,13 +40,13 @@ template<typename _MatrixType, int Options=Upper> class PardisoLDLT;
 
 namespace internal
 {
-  template<typename Index>
+  template<typename IndexType>
   struct pardiso_run_selector
   {
-    static Index run( _MKL_DSS_HANDLE_t pt, Index maxfct, Index mnum, Index type, Index phase, Index n, void *a,
-                      Index *ia, Index *ja, Index *perm, Index nrhs, Index *iparm, Index msglvl, void *b, void *x)
+    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
+                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
     {
-      Index error = 0;
+      IndexType error = 0;
       ::pardiso(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
       return error;
     }
@@ -54,11 +54,11 @@ namespace internal
   template<>
   struct pardiso_run_selector<long long int>
   {
-    typedef long long int Index;
-    static Index run( _MKL_DSS_HANDLE_t pt, Index maxfct, Index mnum, Index type, Index phase, Index n, void *a,
-                      Index *ia, Index *ja, Index *perm, Index nrhs, Index *iparm, Index msglvl, void *b, void *x)
+    typedef long long int IndexType;
+    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
+                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
     {
-      Index error = 0;
+      IndexType error = 0;
       ::pardiso_64(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
       return error;
     }
@@ -72,7 +72,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -81,7 +81,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -90,35 +90,44 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;    
+    typedef typename _MatrixType::StorageIndex StorageIndex;    
   };
 
-}
+} // end namespace internal
 
 template<class Derived>
-class PardisoImpl
+class PardisoImpl : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
+    
     typedef internal::pardiso_traits<Derived> Traits;
   public:
+    using Base::_solve_impl;
+    
     typedef typename Traits::MatrixType MatrixType;
     typedef typename Traits::Scalar Scalar;
     typedef typename Traits::RealScalar RealScalar;
-    typedef typename Traits::Index Index;
-    typedef SparseMatrix<Scalar,RowMajor,Index> SparseMatrixType;
+    typedef typename Traits::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> SparseMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef Matrix<Index, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<Index, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef Array<Index,64,1,DontAlign> ParameterType;
+    typedef Matrix<StorageIndex, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
+    typedef Matrix<StorageIndex, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
+    typedef Array<StorageIndex,64,1,DontAlign> ParameterType;
     enum {
-      ScalarIsComplex = NumTraits<Scalar>::IsComplex
+      ScalarIsComplex = NumTraits<Scalar>::IsComplex,
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
     };
 
     PardisoImpl()
     {
-      eigen_assert((sizeof(Index) >= sizeof(_INTEGER_t) && sizeof(Index) <= 8) && "Non-supported index type");
+      eigen_assert((sizeof(StorageIndex) >= sizeof(_INTEGER_t) && sizeof(StorageIndex) <= 8) && "Non-supported index type");
       m_iparm.setZero();
       m_msglvl = 0; // No output
-      m_initialized = false;
+      m_isInitialized = false;
     }
 
     ~PardisoImpl()
@@ -136,7 +145,7 @@ class PardisoImpl
       */
     ComputationInfo info() const
     {
-      eigen_assert(m_initialized && "Decomposition is not initialized.");
+      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
       return m_info;
     }
 
@@ -165,54 +174,18 @@ class PardisoImpl
     Derived& factorize(const MatrixType& matrix);
 
     Derived& compute(const MatrixType& matrix);
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<PardisoImpl, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_initialized && "Pardiso solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PardisoImpl::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<PardisoImpl, Rhs>(*this, b.derived());
-    }
 
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<PardisoImpl, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_initialized && "Pardiso solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PardisoImpl::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<PardisoImpl, Rhs>(*this, b.derived());
-    }
-
-    Derived& derived()
-    {
-      return *static_cast<Derived*>(this);
-    }
-    const Derived& derived() const
-    {
-      return *static_cast<const Derived*>(this);
-    }
-
-    template<typename BDerived, typename XDerived>
-    bool _solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const;
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
 
   protected:
     void pardisoRelease()
     {
-      if(m_initialized) // Factorization ran at least once
+      if(m_isInitialized) // Factorization ran at least once
       {
-        internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, -1, m_size, 0, 0, 0, m_perm.data(), 0,
-                                                   m_iparm.data(), m_msglvl, 0, 0);
+        internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, -1, internal::convert_index<StorageIndex>(m_size),0, 0, 0, m_perm.data(), 0,
+                                                          m_iparm.data(), m_msglvl, NULL, NULL);
+        m_isInitialized = false;
       }
     }
 
@@ -221,11 +194,11 @@ class PardisoImpl
       m_type = type;
       bool symmetric = std::abs(m_type) < 10;
       m_iparm[0] = 1;   // No solver default
-      m_iparm[1] = 3;   // use Metis for the ordering
-      m_iparm[2] = 1;   // Numbers of processors, value of OMP_NUM_THREADS
+      m_iparm[1] = 2;   // use Metis for the ordering
+      m_iparm[2] = 0;   // Reserved. Set to zero. (??Numbers of processors, value of OMP_NUM_THREADS??)
       m_iparm[3] = 0;   // No iterative-direct algorithm
       m_iparm[4] = 0;   // No user fill-in reducing permutation
-      m_iparm[5] = 0;   // Write solution into x
+      m_iparm[5] = 0;   // Write solution into x, b is left unchanged
       m_iparm[6] = 0;   // Not in use
       m_iparm[7] = 2;   // Max numbers of iterative refinement steps
       m_iparm[8] = 0;   // Not in use
@@ -246,13 +219,16 @@ class PardisoImpl
       m_iparm[26] = 0;  // No matrix checker
       m_iparm[27] = (sizeof(RealScalar) == 4) ? 1 : 0;
       m_iparm[34] = 1;  // C indexing
-      m_iparm[59] = 1;  // Automatic switch between In-Core and Out-of-Core modes
+      m_iparm[36] = 0;  // CSR
+      m_iparm[59] = 0;  // 0 - In-Core ; 1 - Automatic switch between In-Core and Out-of-Core modes ; 2 - Out-of-Core
+      
+      memset(m_pt, 0, sizeof(m_pt));
     }
 
   protected:
     // cached data to reduce reallocation, etc.
     
-    void manageErrorCode(Index error)
+    void manageErrorCode(Index error) const
     {
       switch(error)
       {
@@ -269,16 +245,14 @@ class PardisoImpl
     }
 
     mutable SparseMatrixType m_matrix;
-    ComputationInfo m_info;
-    bool m_initialized, m_analysisIsOk, m_factorizationIsOk;
-    Index m_type, m_msglvl;
+    mutable ComputationInfo m_info;
+    bool m_analysisIsOk, m_factorizationIsOk;
+    StorageIndex m_type, m_msglvl;
     mutable void *m_pt[64];
     mutable ParameterType m_iparm;
     mutable IntColVectorType m_perm;
     Index m_size;
     
-  private:
-    PardisoImpl(PardisoImpl &) {}
 };
 
 template<class Derived>
@@ -288,19 +262,17 @@ Derived& PardisoImpl<Derived>::compute(const MatrixType& a)
   eigen_assert(a.rows() == a.cols());
 
   pardisoRelease();
-  memset(m_pt, 0, sizeof(m_pt));
   m_perm.setZero(m_size);
   derived().getMatrix(a);
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 12, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
-
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 12, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   manageErrorCode(error);
   m_analysisIsOk = true;
   m_factorizationIsOk = true;
-  m_initialized = true;
+  m_isInitialized = true;
   return derived();
 }
 
@@ -311,19 +283,18 @@ Derived& PardisoImpl<Derived>::analyzePattern(const MatrixType& a)
   eigen_assert(m_size == a.cols());
 
   pardisoRelease();
-  memset(m_pt, 0, sizeof(m_pt));
   m_perm.setZero(m_size);
   derived().getMatrix(a);
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 11, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 11, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   
   manageErrorCode(error);
   m_analysisIsOk = true;
   m_factorizationIsOk = false;
-  m_initialized = true;
+  m_isInitialized = true;
   return derived();
 }
 
@@ -335,22 +306,25 @@ Derived& PardisoImpl<Derived>::factorize(const MatrixType& a)
   
   derived().getMatrix(a);
 
-  Index error;  
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 22, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
+  Index error;
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 22, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   
   manageErrorCode(error);
   m_factorizationIsOk = true;
   return derived();
 }
 
-template<class Base>
+template<class Derived>
 template<typename BDerived,typename XDerived>
-bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const
+void PardisoImpl<Derived>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const
 {
   if(m_iparm[0] == 0) // Factorization was not computed
-    return false;
+  {
+    m_info = InvalidInput;
+    return;
+  }
 
   //Index n = m_matrix.rows();
   Index nrhs = Index(b.cols());
@@ -380,12 +354,12 @@ bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerive
   }
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 33, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), nrhs, m_iparm.data(), m_msglvl,
-                                                     rhs_ptr, x.derived().data());
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 33, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), internal::convert_index<StorageIndex>(nrhs), m_iparm.data(), m_msglvl,
+                                                            rhs_ptr, x.derived().data());
 
-  return error==0;
+  manageErrorCode(error);
 }
 
 
@@ -397,15 +371,20 @@ bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerive
   * using the Intel MKL PARDISO library. The sparse matrix A must be squared and invertible.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename MatrixType>
 class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
 {
   protected:
-    typedef PardisoImpl< PardisoLU<MatrixType> > Base;
+    typedef PardisoImpl<PardisoLU> Base;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
@@ -423,7 +402,7 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
       pardisoInit(Base::ScalarIsComplex ? 13 : 11);
     }
 
-    PardisoLU(const MatrixType& matrix)
+    explicit PardisoLU(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? 13 : 11);
@@ -433,10 +412,8 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
     void getMatrix(const MatrixType& matrix)
     {
       m_matrix = matrix;
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLU(PardisoLU& ) {}
 };
 
 /** \ingroup PardisoSupport_Module
@@ -447,11 +424,16 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
   * using the Intel MKL PARDISO library. The sparse matrix A must be selfajoint and positive definite.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo can be any bitwise combination of Upper, Lower. The default is Upper, meaning only the upper triangular part has to be used.
   *         Upper|Lower can be used to tell both triangular parts can be used as input.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
   */
 template<typename MatrixType, int _UpLo>
 class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
@@ -459,7 +441,6 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
   protected:
     typedef PardisoImpl< PardisoLLT<MatrixType,_UpLo> > Base;
     typedef typename Base::Scalar Scalar;
-    typedef typename Base::Index Index;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
@@ -467,9 +448,9 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
 
   public:
 
+    typedef typename Base::StorageIndex StorageIndex;
     enum { UpLo = _UpLo };
     using Base::compute;
-    using Base::solve;
 
     PardisoLLT()
       : Base()
@@ -477,7 +458,7 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
       pardisoInit(Base::ScalarIsComplex ? 4 : 2);
     }
 
-    PardisoLLT(const MatrixType& matrix)
+    explicit PardisoLLT(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? 4 : 2);
@@ -489,13 +470,11 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
     void getMatrix(const MatrixType& matrix)
     {
       // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,Index> p_null;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
       m_matrix.resize(matrix.rows(), matrix.cols());
       m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLLT(PardisoLLT& ) {}
 };
 
 /** \ingroup PardisoSupport_Module
@@ -507,12 +486,17 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
   * For complex matrices, A can also be symmetric only, see the \a Options template parameter.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam Options can be any bitwise combination of Upper, Lower, and Symmetric. The default is Upper, meaning only the upper triangular part has to be used.
   *         Symmetric can be used for symmetric, non-selfadjoint complex matrices, the default being to assume a selfadjoint matrix.
   *         Upper|Lower can be used to tell both triangular parts can be used as input.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
   */
 template<typename MatrixType, int Options>
 class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
@@ -520,7 +504,6 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
   protected:
     typedef PardisoImpl< PardisoLDLT<MatrixType,Options> > Base;
     typedef typename Base::Scalar Scalar;
-    typedef typename Base::Index Index;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
@@ -528,8 +511,8 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
 
   public:
 
+    typedef typename Base::StorageIndex StorageIndex;
     using Base::compute;
-    using Base::solve;
     enum { UpLo = Options&(Upper|Lower) };
 
     PardisoLDLT()
@@ -538,7 +521,7 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
       pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
     }
 
-    PardisoLDLT(const MatrixType& matrix)
+    explicit PardisoLDLT(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
@@ -548,45 +531,13 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
     void getMatrix(const MatrixType& matrix)
     {
       // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,Index> p_null;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
       m_matrix.resize(matrix.rows(), matrix.cols());
       m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLDLT(PardisoLDLT& ) {}
-};
-
-namespace internal {
-  
-template<typename _Derived, typename Rhs>
-struct solve_retval<PardisoImpl<_Derived>, Rhs>
-  : solve_retval_base<PardisoImpl<_Derived>, Rhs>
-{
-  typedef PardisoImpl<_Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
 };
 
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<PardisoImpl<Derived>, Rhs>
-  : sparse_solve_retval_base<PardisoImpl<Derived>, Rhs>
-{
-  typedef PardisoImpl<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_PARDISOSUPPORT_H
diff --git a/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR.h b/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR.h
index 567eab7..a7b47d5 100644
--- a/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR.h
+++ b/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR.h
@@ -11,7 +11,16 @@
 #ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
 #define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+  enum { Flags = 0 };
+};
+
+} // end namespace internal
 
 /** \ingroup QR_Module
   *
@@ -19,19 +28,21 @@ namespace Eigen {
   *
   * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
   * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
-  * such that 
+  * such that
   * \f[
   *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
   * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an
   * upper triangular matrix.
   *
   * This decomposition performs column pivoting in order to be rank-revealing and improve
   * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::colPivHouseholderQr()
   */
 template<typename _MatrixType> class ColPivHouseholderQR
@@ -42,25 +53,25 @@ template<typename _MatrixType> class ColPivHouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
     typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
     typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
     typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
-    
+    typedef typename MatrixType::PlainObject PlainObject;
+
   private:
-    
-    typedef typename PermutationType::Index PermIndexType;
-    
+
+    typedef typename PermutationType::StorageIndex PermIndexType;
+
   public:
 
     /**
@@ -75,7 +86,8 @@ template<typename _MatrixType> class ColPivHouseholderQR
         m_colsPermutation(),
         m_colsTranspositions(),
         m_temp(),
-        m_colSqNorms(),
+        m_colNormsUpdated(),
+        m_colNormsDirect(),
         m_isInitialized(false),
         m_usePrescribedThreshold(false) {}
 
@@ -91,7 +103,8 @@ template<typename _MatrixType> class ColPivHouseholderQR
         m_colsPermutation(PermIndexType(cols)),
         m_colsTranspositions(cols),
         m_temp(cols),
-        m_colSqNorms(cols),
+        m_colNormsUpdated(cols),
+        m_colNormsDirect(cols),
         m_isInitialized(false),
         m_usePrescribedThreshold(false) {}
 
@@ -99,25 +112,48 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *
       * This constructor computes the QR factorization of the matrix \a matrix by calling
       * the method compute(). It is a short cut for:
-      * 
+      *
       * \code
       * ColPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
       * qr.compute(matrix);
       * \endcode
-      * 
+      *
       * \sa compute()
       */
-    ColPivHouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit ColPivHouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
         m_colsPermutation(PermIndexType(matrix.cols())),
         m_colsTranspositions(matrix.cols()),
         m_temp(matrix.cols()),
-        m_colSqNorms(matrix.cols()),
+        m_colNormsUpdated(matrix.cols()),
+        m_colNormsDirect(matrix.cols()),
         m_isInitialized(false),
         m_usePrescribedThreshold(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa ColPivHouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit ColPivHouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_colsPermutation(PermIndexType(matrix.cols())),
+        m_colsTranspositions(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_colNormsUpdated(matrix.cols()),
+        m_colNormsDirect(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -127,9 +163,6 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *
       * \returns a solution.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -138,17 +171,17 @@ template<typename _MatrixType> class ColPivHouseholderQR
       * Output: \verbinclude ColPivHouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<ColPivHouseholderQR, Rhs>
+    inline const Solve<ColPivHouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return internal::solve_retval<ColPivHouseholderQR, Rhs>(*this, b.derived());
+      return Solve<ColPivHouseholderQR, Rhs>(*this, b.derived());
     }
 
-    HouseholderSequenceType householderQ(void) const;
-    HouseholderSequenceType matrixQ(void) const
+    HouseholderSequenceType householderQ() const;
+    HouseholderSequenceType matrixQ() const
     {
-      return householderQ(); 
+      return householderQ();
     }
 
     /** \returns a reference to the matrix where the Householder QR decomposition is stored
@@ -158,14 +191,14 @@ template<typename _MatrixType> class ColPivHouseholderQR
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
       return m_qr;
     }
-    
-    /** \returns a reference to the matrix where the result Householder QR is stored 
-     * \warning The strict lower part of this matrix contains internal values. 
+
+    /** \returns a reference to the matrix where the result Householder QR is stored
+     * \warning The strict lower part of this matrix contains internal values.
      * Only the upper triangular part should be referenced. To get it, use
      * \code matrixR().template triangularView<Upper>() \endcode
-     * For rank-deficient matrices, use 
-     * \code 
-     * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>() 
+     * For rank-deficient matrices, use
+     * \code
+     * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
      * \endcode
      */
     const MatrixType& matrixR() const
@@ -173,8 +206,9 @@ template<typename _MatrixType> class ColPivHouseholderQR
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
       return m_qr;
     }
-    
-    ColPivHouseholderQR& compute(const MatrixType& matrix);
+
+    template<typename InputType>
+    ColPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
 
     /** \returns a const reference to the column permutation matrix */
     const PermutationType& colsPermutation() const
@@ -284,20 +318,17 @@ template<typename _MatrixType> class ColPivHouseholderQR
       * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
       *       Use isInvertible() to first determine whether this matrix is invertible.
       */
-    inline const
-    internal::solve_retval<ColPivHouseholderQR, typename MatrixType::IdentityReturnType>
-    inverse() const
+    inline const Inverse<ColPivHouseholderQR> inverse() const
     {
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return internal::solve_retval<ColPivHouseholderQR,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+      return Inverse<ColPivHouseholderQR>(*this);
     }
 
     inline Index rows() const { return m_qr.rows(); }
     inline Index cols() const { return m_qr.cols(); }
-    
+
     /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
-      * 
+      *
       * For advanced uses only.
       */
     const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
@@ -370,12 +401,12 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *          diagonal coefficient of R.
       */
     RealScalar maxPivot() const { return m_maxpivot; }
-    
+
     /** \brief Reports whether the QR factorization was succesful.
       *
-      * \note This function always returns \c Success. It is provided for compatibility 
+      * \note This function always returns \c Success. It is provided for compatibility
       * with other factorization routines.
-      * \returns \c Success 
+      * \returns \c Success
       */
     ComputationInfo info() const
     {
@@ -383,19 +414,30 @@ template<typename _MatrixType> class ColPivHouseholderQR
       return Success;
     }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
+    friend class CompleteOrthogonalDecomposition<MatrixType>;
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void computeInPlace();
+
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
     PermutationType m_colsPermutation;
     IntRowVectorType m_colsTranspositions;
     RowVectorType m_temp;
-    RealRowVectorType m_colSqNorms;
+    RealRowVectorType m_colNormsUpdated;
+    RealRowVectorType m_colNormsDirect;
     bool m_isInitialized, m_usePrescribedThreshold;
     RealScalar m_prescribedThreshold, m_maxpivot;
     Index m_nonzero_pivots;
@@ -426,51 +468,57 @@ typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDetermina
   * \sa class ColPivHouseholderQR, ColPivHouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+template<typename InputType>
+ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+  m_qr = matrix.derived();
+  computeInPlace();
+  return *this;
+}
+
+template<typename MatrixType>
+void ColPivHouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
-  using std::abs;
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  Index size = matrix.diagonalSize();
-  
+
   // the column permutation is stored as int indices, so just to be sure:
-  eigen_assert(cols<=NumTraits<int>::highest());
+  eigen_assert(m_qr.cols()<=NumTraits<int>::highest());
+
+  using std::abs;
+
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
+  Index size = m_qr.diagonalSize();
 
-  m_qr = matrix;
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
 
-  m_colsTranspositions.resize(matrix.cols());
+  m_colsTranspositions.resize(m_qr.cols());
   Index number_of_transpositions = 0;
 
-  m_colSqNorms.resize(cols);
-  for(Index k = 0; k < cols; ++k)
-    m_colSqNorms.coeffRef(k) = m_qr.col(k).squaredNorm();
+  m_colNormsUpdated.resize(cols);
+  m_colNormsDirect.resize(cols);
+  for (Index k = 0; k < cols; ++k) {
+    // colNormsDirect(k) caches the most recent directly computed norm of
+    // column k.
+    m_colNormsDirect.coeffRef(k) = m_qr.col(k).norm();
+    m_colNormsUpdated.coeffRef(k) = m_colNormsDirect.coeffRef(k);
+  }
 
-  RealScalar threshold_helper = m_colSqNorms.maxCoeff() * numext::abs2(NumTraits<Scalar>::epsilon()) / RealScalar(rows);
+  RealScalar threshold_helper =  numext::abs2<RealScalar>(m_colNormsUpdated.maxCoeff() * NumTraits<RealScalar>::epsilon()) / RealScalar(rows);
+  RealScalar norm_downdate_threshold = numext::sqrt(NumTraits<RealScalar>::epsilon());
 
   m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
   m_maxpivot = RealScalar(0);
 
   for(Index k = 0; k < size; ++k)
   {
-    // first, we look up in our table m_colSqNorms which column has the biggest squared norm
+    // first, we look up in our table m_colNormsUpdated which column has the biggest norm
     Index biggest_col_index;
-    RealScalar biggest_col_sq_norm = m_colSqNorms.tail(cols-k).maxCoeff(&biggest_col_index);
+    RealScalar biggest_col_sq_norm = numext::abs2(m_colNormsUpdated.tail(cols-k).maxCoeff(&biggest_col_index));
     biggest_col_index += k;
 
-    // since our table m_colSqNorms accumulates imprecision at every step, we must now recompute
-    // the actual squared norm of the selected column.
-    // Note that not doing so does result in solve() sometimes returning inf/nan values
-    // when running the unit test with 1000 repetitions.
-    biggest_col_sq_norm = m_qr.col(biggest_col_index).tail(rows-k).squaredNorm();
-
-    // we store that back into our table: it can't hurt to correct our table.
-    m_colSqNorms.coeffRef(biggest_col_index) = biggest_col_sq_norm;
-
     // Track the number of meaningful pivots but do not stop the decomposition to make
     // sure that the initial matrix is properly reproduced. See bug 941.
     if(m_nonzero_pivots==size && biggest_col_sq_norm < threshold_helper * RealScalar(rows-k))
@@ -480,7 +528,8 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
     m_colsTranspositions.coeffRef(k) = biggest_col_index;
     if(k != biggest_col_index) {
       m_qr.col(k).swap(m_qr.col(biggest_col_index));
-      std::swap(m_colSqNorms.coeffRef(k), m_colSqNorms.coeffRef(biggest_col_index));
+      std::swap(m_colNormsUpdated.coeffRef(k), m_colNormsUpdated.coeffRef(biggest_col_index));
+      std::swap(m_colNormsDirect.coeffRef(k), m_colNormsDirect.coeffRef(biggest_col_index));
       ++number_of_transpositions;
     }
 
@@ -498,8 +547,28 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
     m_qr.bottomRightCorner(rows-k, cols-k-1)
         .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
 
-    // update our table of squared norms of the columns
-    m_colSqNorms.tail(cols-k-1) -= m_qr.row(k).tail(cols-k-1).cwiseAbs2();
+    // update our table of norms of the columns
+    for (Index j = k + 1; j < cols; ++j) {
+      // The following implements the stable norm downgrade step discussed in
+      // http://www.netlib.org/lapack/lawnspdf/lawn176.pdf
+      // and used in LAPACK routines xGEQPF and xGEQP3.
+      // See lines 278-297 in http://www.netlib.org/lapack/explore-html/dc/df4/sgeqpf_8f_source.html
+      if (m_colNormsUpdated.coeffRef(j) != RealScalar(0)) {
+        RealScalar temp = abs(m_qr.coeffRef(k, j)) / m_colNormsUpdated.coeffRef(j);
+        temp = (RealScalar(1) + temp) * (RealScalar(1) - temp);
+        temp = temp <  RealScalar(0) ? RealScalar(0) : temp;
+        RealScalar temp2 = temp * numext::abs2<RealScalar>(m_colNormsUpdated.coeffRef(j) /
+                                                           m_colNormsDirect.coeffRef(j));
+        if (temp2 <= norm_downdate_threshold) {
+          // The updated norm has become too inaccurate so re-compute the column
+          // norm directly.
+          m_colNormsDirect.coeffRef(j) = m_qr.col(j).tail(rows - k - 1).norm();
+          m_colNormsUpdated.coeffRef(j) = m_colNormsDirect.coeffRef(j);
+        } else {
+          m_colNormsUpdated.coeffRef(j) *= numext::sqrt(temp);
+        }
+      }
+    }
   }
 
   m_colsPermutation.setIdentity(PermIndexType(cols));
@@ -508,46 +577,50 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
   m_isInitialized = true;
-
-  return *this;
 }
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<ColPivHouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<ColPivHouseholderQR<_MatrixType>, Rhs>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  EIGEN_MAKE_SOLVE_HELPERS(ColPivHouseholderQR<_MatrixType>,Rhs)
+  eigen_assert(rhs.rows() == rows());
+
+  const Index nonzero_pivots = nonzeroPivots();
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  if(nonzero_pivots == 0)
   {
-    eigen_assert(rhs().rows() == dec().rows());
+    dst.setZero();
+    return;
+  }
 
-    const Index cols = dec().cols(),
-				nonzero_pivots = dec().nonzeroPivots();
+  typename RhsType::PlainObject c(rhs);
 
-    if(nonzero_pivots == 0)
-    {
-      dst.setZero();
-      return;
-    }
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+  c.applyOnTheLeft(householderSequence(m_qr, m_hCoeffs)
+                    .setLength(nonzero_pivots)
+                    .transpose()
+    );
 
-    typename Rhs::PlainObject c(rhs());
+  m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(nonzero_pivots));
 
-    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-    c.applyOnTheLeft(householderSequence(dec().matrixQR(), dec().hCoeffs())
-                     .setLength(dec().nonzeroPivots())
-		     .transpose()
-      );
+  for(Index i = 0; i < nonzero_pivots; ++i) dst.row(m_colsPermutation.indices().coeff(i)) = c.row(i);
+  for(Index i = nonzero_pivots; i < cols(); ++i) dst.row(m_colsPermutation.indices().coeff(i)).setZero();
+}
+#endif
 
-    dec().matrixR()
-       .topLeftCorner(nonzero_pivots, nonzero_pivots)
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(nonzero_pivots));
+namespace internal {
 
-    for(Index i = 0; i < nonzero_pivots; ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
-    for(Index i = nonzero_pivots; i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<ColPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename ColPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef ColPivHouseholderQR<MatrixType> QrType;
+  typedef Inverse<QrType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
+  {
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
 
diff --git a/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h b/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
new file mode 100644
index 0000000..4e9651f
--- /dev/null
+++ b/vendor/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
@@ -0,0 +1,97 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Householder QR decomposition of a matrix with column pivoting based on
+ *    LAPACKE_?geqp3 function.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
+#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
+
+namespace Eigen { 
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_QR_COLPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
+ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >& \
+ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >::compute( \
+              const EigenBase<InputType>& matrix) \
+\
+{ \
+  using std::abs; \
+  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
+  typedef MatrixType::RealScalar RealScalar; \
+  Index rows = matrix.rows();\
+  Index cols = matrix.cols();\
+\
+  m_qr = matrix;\
+  Index size = m_qr.diagonalSize();\
+  m_hCoeffs.resize(size);\
+\
+  m_colsTranspositions.resize(cols);\
+  /*Index number_of_transpositions = 0;*/ \
+\
+  m_nonzero_pivots = 0; \
+  m_maxpivot = RealScalar(0);\
+  m_colsPermutation.resize(cols); \
+  m_colsPermutation.indices().setZero(); \
+\
+  lapack_int lda = internal::convert_index<lapack_int,Index>(m_qr.outerStride()); \
+  lapack_int matrix_order = LAPACKE_COLROW; \
+  LAPACKE_##LAPACKE_PREFIX##geqp3( matrix_order, internal::convert_index<lapack_int,Index>(rows), internal::convert_index<lapack_int,Index>(cols), \
+                              (LAPACKE_TYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (LAPACKE_TYPE*)m_hCoeffs.data()); \
+  m_isInitialized = true; \
+  m_maxpivot=m_qr.diagonal().cwiseAbs().maxCoeff(); \
+  m_hCoeffs.adjointInPlace(); \
+  RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold(); \
+  lapack_int *perm = m_colsPermutation.indices().data(); \
+  for(Index i=0;i<size;i++) { \
+    m_nonzero_pivots += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);\
+  } \
+  for(Index i=0;i<cols;i++) perm[i]--;\
+\
+  /*m_det_pq = (number_of_transpositions%2) ? -1 : 1;  // TODO: It's not needed now; fix upon availability in Eigen */ \
+\
+  return *this; \
+}
+
+EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, ColMajor, LAPACK_COL_MAJOR)
+
+EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, RowMajor, LAPACK_ROW_MAJOR)
+
+} // end namespace Eigen
+
+#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/vendor/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h
new file mode 100644
index 0000000..34c637b
--- /dev/null
+++ b/vendor/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h
@@ -0,0 +1,562 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen <rmlarsen at google.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_COMPLETEORTHOGONALDECOMPOSITION_H
+#define EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename _MatrixType>
+struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
+    : traits<_MatrixType> {
+  enum { Flags = 0 };
+};
+
+}  // end namespace internal
+
+/** \ingroup QR_Module
+  *
+  * \class CompleteOrthogonalDecomposition
+  *
+  * \brief Complete orthogonal decomposition (COD) of a matrix.
+  *
+  * \param MatrixType the type of the matrix of which we are computing the COD.
+  *
+  * This class performs a rank-revealing complete orthogonal decomposition of a
+  * matrix  \b A into matrices \b P, \b Q, \b T, and \b Z such that
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \,
+  *                     \begin{bmatrix} \mathbf{T} &  \mathbf{0} \\
+  *                                     \mathbf{0} & \mathbf{0} \end{bmatrix} \, \mathbf{Z}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix,
+  * \b Q and \b Z are unitary matrices and \b T an upper triangular matrix of
+  * size rank-by-rank. \b A may be rank deficient.
+  *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
+  * \sa MatrixBase::completeOrthogonalDecomposition()
+  */
+template <typename _MatrixType>
+class CompleteOrthogonalDecomposition {
+ public:
+  typedef _MatrixType MatrixType;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+  };
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+  typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime>
+      PermutationType;
+  typedef typename internal::plain_row_type<MatrixType, Index>::type
+      IntRowVectorType;
+  typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+  typedef typename internal::plain_row_type<MatrixType, RealScalar>::type
+      RealRowVectorType;
+  typedef HouseholderSequence<
+      MatrixType, typename internal::remove_all<
+                      typename HCoeffsType::ConjugateReturnType>::type>
+      HouseholderSequenceType;
+  typedef typename MatrixType::PlainObject PlainObject;
+
+ private:
+  typedef typename PermutationType::Index PermIndexType;
+
+ public:
+  /**
+   * \brief Default Constructor.
+   *
+   * The default constructor is useful in cases in which the user intends to
+   * perform decompositions via
+   * \c CompleteOrthogonalDecomposition::compute(const* MatrixType&).
+   */
+  CompleteOrthogonalDecomposition() : m_cpqr(), m_zCoeffs(), m_temp() {}
+
+  /** \brief Default Constructor with memory preallocation
+   *
+   * Like the default constructor but with preallocation of the internal data
+   * according to the specified problem \a size.
+   * \sa CompleteOrthogonalDecomposition()
+   */
+  CompleteOrthogonalDecomposition(Index rows, Index cols)
+      : m_cpqr(rows, cols), m_zCoeffs((std::min)(rows, cols)), m_temp(cols) {}
+
+  /** \brief Constructs a complete orthogonal decomposition from a given
+   * matrix.
+   *
+   * This constructor computes the complete orthogonal decomposition of the
+   * matrix \a matrix by calling the method compute(). The default
+   * threshold for rank determination will be used. It is a short cut for:
+   *
+   * \code
+   * CompleteOrthogonalDecomposition<MatrixType> cod(matrix.rows(),
+   *                                                 matrix.cols());
+   * cod.setThreshold(Default);
+   * cod.compute(matrix);
+   * \endcode
+   *
+   * \sa compute()
+   */
+  template <typename InputType>
+  explicit CompleteOrthogonalDecomposition(const EigenBase<InputType>& matrix)
+      : m_cpqr(matrix.rows(), matrix.cols()),
+        m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+        m_temp(matrix.cols())
+  {
+    compute(matrix.derived());
+  }
+
+  /** \brief Constructs a complete orthogonal decomposition from a given matrix
+    *
+    * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+    *
+    * \sa CompleteOrthogonalDecomposition(const EigenBase&)
+    */
+  template<typename InputType>
+  explicit CompleteOrthogonalDecomposition(EigenBase<InputType>& matrix)
+    : m_cpqr(matrix.derived()),
+      m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+      m_temp(matrix.cols())
+  {
+    computeInPlace();
+  }
+
+
+  /** This method computes the minimum-norm solution X to a least squares
+   * problem \f[\mathrm{minimize} \|A X - B\|, \f] where \b A is the matrix of
+   * which \c *this is the complete orthogonal decomposition.
+   *
+   * \param b the right-hand sides of the problem to solve.
+   *
+   * \returns a solution.
+   *
+   */
+  template <typename Rhs>
+  inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(
+      const MatrixBase<Rhs>& b) const {
+    eigen_assert(m_cpqr.m_isInitialized &&
+                 "CompleteOrthogonalDecomposition is not initialized.");
+    return Solve<CompleteOrthogonalDecomposition, Rhs>(*this, b.derived());
+  }
+
+  HouseholderSequenceType householderQ(void) const;
+  HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
+
+  /** \returns the matrix \b Z.
+   */
+  MatrixType matrixZ() const {
+    MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
+    applyZAdjointOnTheLeftInPlace(Z);
+    return Z.adjoint();
+  }
+
+  /** \returns a reference to the matrix where the complete orthogonal
+   * decomposition is stored
+   */
+  const MatrixType& matrixQTZ() const { return m_cpqr.matrixQR(); }
+
+  /** \returns a reference to the matrix where the complete orthogonal
+   * decomposition is stored.
+   * \warning The strict lower part and \code cols() - rank() \endcode right
+   * columns of this matrix contains internal values.
+   * Only the upper triangular part should be referenced. To get it, use
+   * \code matrixT().template triangularView<Upper>() \endcode
+   * For rank-deficient matrices, use
+   * \code
+   * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
+   * \endcode
+   */
+  const MatrixType& matrixT() const { return m_cpqr.matrixQR(); }
+
+  template <typename InputType>
+  CompleteOrthogonalDecomposition& compute(const EigenBase<InputType>& matrix) {
+    // Compute the column pivoted QR factorization A P = Q R.
+    m_cpqr.compute(matrix);
+    computeInPlace();
+    return *this;
+  }
+
+  /** \returns a const reference to the column permutation matrix */
+  const PermutationType& colsPermutation() const {
+    return m_cpqr.colsPermutation();
+  }
+
+  /** \returns the absolute value of the determinant of the matrix of which
+   * *this is the complete orthogonal decomposition. It has only linear
+   * complexity (that is, O(n) where n is the dimension of the square matrix)
+   * as the complete orthogonal decomposition has already been computed.
+   *
+   * \note This is only for square matrices.
+   *
+   * \warning a determinant can be very big or small, so for matrices
+   * of large enough dimension, there is a risk of overflow/underflow.
+   * One way to work around that is to use logAbsDeterminant() instead.
+   *
+   * \sa logAbsDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::RealScalar absDeterminant() const;
+
+  /** \returns the natural log of the absolute value of the determinant of the
+   * matrix of which *this is the complete orthogonal decomposition. It has
+   * only linear complexity (that is, O(n) where n is the dimension of the
+   * square matrix) as the complete orthogonal decomposition has already been
+   * computed.
+   *
+   * \note This is only for square matrices.
+   *
+   * \note This method is useful to work around the risk of overflow/underflow
+   * that's inherent to determinant computation.
+   *
+   * \sa absDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::RealScalar logAbsDeterminant() const;
+
+  /** \returns the rank of the matrix of which *this is the complete orthogonal
+   * decomposition.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline Index rank() const { return m_cpqr.rank(); }
+
+  /** \returns the dimension of the kernel of the matrix of which *this is the
+   * complete orthogonal decomposition.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline Index dimensionOfKernel() const { return m_cpqr.dimensionOfKernel(); }
+
+  /** \returns true if the matrix of which *this is the decomposition represents
+   * an injective linear map, i.e. has trivial kernel; false otherwise.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isInjective() const { return m_cpqr.isInjective(); }
+
+  /** \returns true if the matrix of which *this is the decomposition represents
+   * a surjective linear map; false otherwise.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isSurjective() const { return m_cpqr.isSurjective(); }
+
+  /** \returns true if the matrix of which *this is the complete orthogonal
+   * decomposition is invertible.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isInvertible() const { return m_cpqr.isInvertible(); }
+
+  /** \returns the pseudo-inverse of the matrix of which *this is the complete
+   * orthogonal decomposition.
+   * \warning: Do not compute \c this->pseudoInverse()*rhs to solve a linear systems.
+   * It is more efficient and numerically stable to call \c this->solve(rhs).
+   */
+  inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const
+  {
+    return Inverse<CompleteOrthogonalDecomposition>(*this);
+  }
+
+  inline Index rows() const { return m_cpqr.rows(); }
+  inline Index cols() const { return m_cpqr.cols(); }
+
+  /** \returns a const reference to the vector of Householder coefficients used
+   * to represent the factor \c Q.
+   *
+   * For advanced uses only.
+   */
+  inline const HCoeffsType& hCoeffs() const { return m_cpqr.hCoeffs(); }
+
+  /** \returns a const reference to the vector of Householder coefficients
+   * used to represent the factor \c Z.
+   *
+   * For advanced uses only.
+   */
+  const HCoeffsType& zCoeffs() const { return m_zCoeffs; }
+
+  /** Allows to prescribe a threshold to be used by certain methods, such as
+   * rank(), who need to determine when pivots are to be considered nonzero.
+   * Most be called before calling compute().
+   *
+   * When it needs to get the threshold value, Eigen calls threshold(). By
+   * default, this uses a formula to automatically determine a reasonable
+   * threshold. Once you have called the present method
+   * setThreshold(const RealScalar&), your value is used instead.
+   *
+   * \param threshold The new value to use as the threshold.
+   *
+   * A pivot will be considered nonzero if its absolute value is strictly
+   * greater than
+   *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+   * where maxpivot is the biggest pivot.
+   *
+   * If you want to come back to the default behavior, call
+   * setThreshold(Default_t)
+   */
+  CompleteOrthogonalDecomposition& setThreshold(const RealScalar& threshold) {
+    m_cpqr.setThreshold(threshold);
+    return *this;
+  }
+
+  /** Allows to come back to the default behavior, letting Eigen use its default
+   * formula for determining the threshold.
+   *
+   * You should pass the special object Eigen::Default as parameter here.
+   * \code qr.setThreshold(Eigen::Default); \endcode
+   *
+   * See the documentation of setThreshold(const RealScalar&).
+   */
+  CompleteOrthogonalDecomposition& setThreshold(Default_t) {
+    m_cpqr.setThreshold(Default);
+    return *this;
+  }
+
+  /** Returns the threshold that will be used by certain methods such as rank().
+   *
+   * See the documentation of setThreshold(const RealScalar&).
+   */
+  RealScalar threshold() const { return m_cpqr.threshold(); }
+
+  /** \returns the number of nonzero pivots in the complete orthogonal
+   * decomposition. Here nonzero is meant in the exact sense, not in a
+   * fuzzy sense. So that notion isn't really intrinsically interesting,
+   * but it is still useful when implementing algorithms.
+   *
+   * \sa rank()
+   */
+  inline Index nonzeroPivots() const { return m_cpqr.nonzeroPivots(); }
+
+  /** \returns the absolute value of the biggest pivot, i.e. the biggest
+   *          diagonal coefficient of R.
+   */
+  inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
+
+  /** \brief Reports whether the complete orthogonal decomposition was
+   * succesful.
+   *
+   * \note This function always returns \c Success. It is provided for
+   * compatibility
+   * with other factorization routines.
+   * \returns \c Success
+   */
+  ComputationInfo info() const {
+    eigen_assert(m_cpqr.m_isInitialized && "Decomposition is not initialized.");
+    return Success;
+  }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  template <typename RhsType, typename DstType>
+  EIGEN_DEVICE_FUNC void _solve_impl(const RhsType& rhs, DstType& dst) const;
+#endif
+
+ protected:
+  static void check_template_parameters() {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+  }
+
+  void computeInPlace();
+
+  /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
+   */
+  template <typename Rhs>
+  void applyZAdjointOnTheLeftInPlace(Rhs& rhs) const;
+
+  ColPivHouseholderQR<MatrixType> m_cpqr;
+  HCoeffsType m_zCoeffs;
+  RowVectorType m_temp;
+};
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::absDeterminant() const {
+  return m_cpqr.absDeterminant();
+}
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
+  return m_cpqr.logAbsDeterminant();
+}
+
+/** Performs the complete orthogonal decomposition of the given matrix \a
+ * matrix. The result of the factorization is stored into \c *this, and a
+ * reference to \c *this is returned.
+ *
+ * \sa class CompleteOrthogonalDecomposition,
+ * CompleteOrthogonalDecomposition(const MatrixType&)
+ */
+template <typename MatrixType>
+void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
+{
+  check_template_parameters();
+
+  // the column permutation is stored as int indices, so just to be sure:
+  eigen_assert(m_cpqr.cols() <= NumTraits<int>::highest());
+
+  const Index rank = m_cpqr.rank();
+  const Index cols = m_cpqr.cols();
+  const Index rows = m_cpqr.rows();
+  m_zCoeffs.resize((std::min)(rows, cols));
+  m_temp.resize(cols);
+
+  if (rank < cols) {
+    // We have reduced the (permuted) matrix to the form
+    //   [R11 R12]
+    //   [ 0  R22]
+    // where R11 is r-by-r (r = rank) upper triangular, R12 is
+    // r-by-(n-r), and R22 is empty or the norm of R22 is negligible.
+    // We now compute the complete orthogonal decomposition by applying
+    // Householder transformations from the right to the upper trapezoidal
+    // matrix X = [R11 R12] to zero out R12 and obtain the factorization
+    // [R11 R12] = [T11 0] * Z, where T11 is r-by-r upper triangular and
+    // Z = Z(0) * Z(1) ... Z(r-1) is an n-by-n orthogonal matrix.
+    // We store the data representing Z in R12 and m_zCoeffs.
+    for (Index k = rank - 1; k >= 0; --k) {
+      if (k != rank - 1) {
+        // Given the API for Householder reflectors, it is more convenient if
+        // we swap the leading parts of columns k and r-1 (zero-based) to form
+        // the matrix X_k = [X(0:k, k), X(0:k, r:n)]
+        m_cpqr.m_qr.col(k).head(k + 1).swap(
+            m_cpqr.m_qr.col(rank - 1).head(k + 1));
+      }
+      // Construct Householder reflector Z(k) to zero out the last row of X_k,
+      // i.e. choose Z(k) such that
+      // [X(k, k), X(k, r:n)] * Z(k) = [beta, 0, .., 0].
+      RealScalar beta;
+      m_cpqr.m_qr.row(k)
+          .tail(cols - rank + 1)
+          .makeHouseholderInPlace(m_zCoeffs(k), beta);
+      m_cpqr.m_qr(k, rank - 1) = beta;
+      if (k > 0) {
+        // Apply Z(k) to the first k rows of X_k
+        m_cpqr.m_qr.topRightCorner(k, cols - rank + 1)
+            .applyHouseholderOnTheRight(
+                m_cpqr.m_qr.row(k).tail(cols - rank).transpose(), m_zCoeffs(k),
+                &m_temp(0));
+      }
+      if (k != rank - 1) {
+        // Swap X(0:k,k) back to its proper location.
+        m_cpqr.m_qr.col(k).head(k + 1).swap(
+            m_cpqr.m_qr.col(rank - 1).head(k + 1));
+      }
+    }
+  }
+}
+
+template <typename MatrixType>
+template <typename Rhs>
+void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
+    Rhs& rhs) const {
+  const Index cols = this->cols();
+  const Index nrhs = rhs.cols();
+  const Index rank = this->rank();
+  Matrix<typename MatrixType::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+  for (Index k = 0; k < rank; ++k) {
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+    rhs.middleRows(rank - 1, cols - rank + 1)
+        .applyHouseholderOnTheLeft(
+            matrixQTZ().row(k).tail(cols - rank).adjoint(), zCoeffs()(k),
+            &temp(0));
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+  }
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template <typename _MatrixType>
+template <typename RhsType, typename DstType>
+void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
+    const RhsType& rhs, DstType& dst) const {
+  eigen_assert(rhs.rows() == this->rows());
+
+  const Index rank = this->rank();
+  if (rank == 0) {
+    dst.setZero();
+    return;
+  }
+
+  // Compute c = Q^* * rhs
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is
+  // Q^* = (H_0 H_1 ...)^T
+  typename RhsType::PlainObject c(rhs);
+  c.applyOnTheLeft(
+      householderSequence(matrixQTZ(), hCoeffs()).setLength(rank).transpose());
+
+  // Solve T z = c(1:rank, :)
+  dst.topRows(rank) = matrixT()
+                          .topLeftCorner(rank, rank)
+                          .template triangularView<Upper>()
+                          .solve(c.topRows(rank));
+
+  const Index cols = this->cols();
+  if (rank < cols) {
+    // Compute y = Z^* * [ z ]
+    //                   [ 0 ]
+    dst.bottomRows(cols - rank).setZero();
+    applyZAdjointOnTheLeftInPlace(dst);
+  }
+
+  // Undo permutation to get x = P^{-1} * y.
+  dst = colsPermutation() * dst;
+}
+#endif
+
+namespace internal {
+
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename CompleteOrthogonalDecomposition<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef CompleteOrthogonalDecomposition<MatrixType> CodType;
+  typedef Inverse<CodType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename CodType::Scalar> &)
+  {
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.rows()));
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations */
+template <typename MatrixType>
+typename CompleteOrthogonalDecomposition<MatrixType>::HouseholderSequenceType
+CompleteOrthogonalDecomposition<MatrixType>::householderQ() const {
+  return m_cpqr.householderQ();
+}
+
+/** \return the complete orthogonal decomposition of \c *this.
+  *
+  * \sa class CompleteOrthogonalDecomposition
+  */
+template <typename Derived>
+const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::completeOrthogonalDecomposition() const {
+  return CompleteOrthogonalDecomposition<PlainObject>(eval());
+}
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
diff --git a/vendor/eigen/Eigen/src/QR/FullPivHouseholderQR.h b/vendor/eigen/Eigen/src/QR/FullPivHouseholderQR.h
index 0b39966..e489bdd 100644
--- a/vendor/eigen/Eigen/src/QR/FullPivHouseholderQR.h
+++ b/vendor/eigen/Eigen/src/QR/FullPivHouseholderQR.h
@@ -15,6 +15,12 @@ namespace Eigen {
 
 namespace internal {
 
+template<typename _MatrixType> struct traits<FullPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+  enum { Flags = 0 };
+};
+
 template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType;
 
 template<typename MatrixType>
@@ -23,7 +29,7 @@ struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
   typedef typename MatrixType::PlainObject ReturnType;
 };
 
-}
+} // end namespace internal
 
 /** \ingroup QR_Module
   *
@@ -31,19 +37,21 @@ struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
   *
   * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
-  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b P', \b Q and \b R
   * such that 
   * \f[
-  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  *  \mathbf{P} \, \mathbf{A} \, \mathbf{P}' = \mathbf{Q} \, \mathbf{R}
   * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
-  * upper triangular matrix.
+  * by using Householder transformations. Here, \b P and \b P' are permutation matrices, \b Q a unitary matrix 
+  * and \b R an upper triangular matrix.
   *
   * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
   * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::fullPivHouseholderQr()
   */
 template<typename _MatrixType> class FullPivHouseholderQR
@@ -54,21 +62,22 @@ template<typename _MatrixType> class FullPivHouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef internal::FullPivHouseholderQRMatrixQReturnType<MatrixType> MatrixQReturnType;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-    typedef Matrix<Index, 1,
+    typedef Matrix<StorageIndex, 1,
                    EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime,RowsAtCompileTime), RowMajor, 1,
                    EIGEN_SIZE_MIN_PREFER_FIXED(MaxColsAtCompileTime,MaxRowsAtCompileTime)> IntDiagSizeVectorType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
     typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /** \brief Default Constructor.
       *
@@ -113,7 +122,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * 
       * \sa compute()
       */
-    FullPivHouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit FullPivHouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
         m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
@@ -123,7 +133,27 @@ template<typename _MatrixType> class FullPivHouseholderQR
         m_isInitialized(false),
         m_usePrescribedThreshold(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa FullPivHouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit FullPivHouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
+        m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
+        m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
+        m_cols_permutation(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -134,9 +164,6 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * \returns the exact or least-square solution if the rank is greater or equal to the number of columns of A,
       * and an arbitrary solution otherwise.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -145,11 +172,11 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * Output: \verbinclude FullPivHouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<FullPivHouseholderQR, Rhs>
+    inline const Solve<FullPivHouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return internal::solve_retval<FullPivHouseholderQR, Rhs>(*this, b.derived());
+      return Solve<FullPivHouseholderQR, Rhs>(*this, b.derived());
     }
 
     /** \returns Expression object representing the matrix Q
@@ -164,7 +191,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       return m_qr;
     }
 
-    FullPivHouseholderQR& compute(const MatrixType& matrix);
+    template<typename InputType>
+    FullPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
 
     /** \returns a const reference to the column permutation matrix */
     const PermutationType& colsPermutation() const
@@ -280,13 +308,11 @@ template<typename _MatrixType> class FullPivHouseholderQR
       *
       * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
       *       Use isInvertible() to first determine whether this matrix is invertible.
-      */    inline const
-    internal::solve_retval<FullPivHouseholderQR, typename MatrixType::IdentityReturnType>
-    inverse() const
+      */
+    inline const Inverse<FullPivHouseholderQR> inverse() const
     {
       eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return internal::solve_retval<FullPivHouseholderQR,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+      return Inverse<FullPivHouseholderQR>(*this);
     }
 
     inline Index rows() const { return m_qr.rows(); }
@@ -366,6 +392,12 @@ template<typename _MatrixType> class FullPivHouseholderQR
       *          diagonal coefficient of U.
       */
     RealScalar maxPivot() const { return m_maxpivot; }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
     
@@ -374,6 +406,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
     
+    void computeInPlace();
+    
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
     IntDiagSizeVectorType m_rows_transpositions;
@@ -411,16 +445,25 @@ typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDetermin
   * \sa class FullPivHouseholderQR, FullPivHouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+template<typename InputType>
+FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+  m_qr = matrix.derived();
+  computeInPlace();
+  return *this;
+}
+
+template<typename MatrixType>
+void FullPivHouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
+
   using std::abs;
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
   Index size = (std::min)(rows,cols);
 
-  m_qr = matrix;
+  
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
@@ -439,13 +482,15 @@ FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(cons
   for (Index k = 0; k < size; ++k)
   {
     Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    RealScalar biggest_in_corner;
+    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
 
-    biggest_in_corner = m_qr.bottomRightCorner(rows-k, cols-k)
-                            .cwiseAbs()
-                            .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    Score score = m_qr.bottomRightCorner(rows-k, cols-k)
+                      .unaryExpr(Scoring())
+                      .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
     row_of_biggest_in_corner += k;
     col_of_biggest_in_corner += k;
+    RealScalar biggest_in_corner = internal::abs_knowing_score<Scalar>()(m_qr(row_of_biggest_in_corner, col_of_biggest_in_corner), score);
     if(k==0) biggest = biggest_in_corner;
 
     // if the corner is negligible, then we have less than full rank, and we can finish early
@@ -489,50 +534,55 @@ FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(cons
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
   m_isInitialized = true;
-
-  return *this;
 }
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<FullPivHouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<FullPivHouseholderQR<_MatrixType>, Rhs>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  EIGEN_MAKE_SOLVE_HELPERS(FullPivHouseholderQR<_MatrixType>,Rhs)
+  eigen_assert(rhs.rows() == rows());
+  const Index l_rank = rank();
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  // FIXME introduce nonzeroPivots() and use it here. and more generally,
+  // make the same improvements in this dec as in FullPivLU.
+  if(l_rank==0)
   {
-    const Index rows = dec().rows(), cols = dec().cols();
-    eigen_assert(rhs().rows() == rows);
+    dst.setZero();
+    return;
+  }
 
-    // FIXME introduce nonzeroPivots() and use it here. and more generally,
-    // make the same improvements in this dec as in FullPivLU.
-    if(dec().rank()==0)
-    {
-      dst.setZero();
-      return;
-    }
+  typename RhsType::PlainObject c(rhs);
 
-    typename Rhs::PlainObject c(rhs());
+  Matrix<Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
+  for (Index k = 0; k < l_rank; ++k)
+  {
+    Index remainingSize = rows()-k;
+    c.row(k).swap(c.row(m_rows_transpositions.coeff(k)));
+    c.bottomRightCorner(remainingSize, rhs.cols())
+      .applyHouseholderOnTheLeft(m_qr.col(k).tail(remainingSize-1),
+                               m_hCoeffs.coeff(k), &temp.coeffRef(0));
+  }
 
-    Matrix<Scalar,1,Rhs::ColsAtCompileTime> temp(rhs().cols());
-    for (Index k = 0; k < dec().rank(); ++k)
-    {
-      Index remainingSize = rows-k;
-      c.row(k).swap(c.row(dec().rowsTranspositions().coeff(k)));
-      c.bottomRightCorner(remainingSize, rhs().cols())
-       .applyHouseholderOnTheLeft(dec().matrixQR().col(k).tail(remainingSize-1),
-                                  dec().hCoeffs().coeff(k), &temp.coeffRef(0));
-    }
+  m_qr.topLeftCorner(l_rank, l_rank)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(l_rank));
 
-    dec().matrixQR()
-       .topLeftCorner(dec().rank(), dec().rank())
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(dec().rank()));
+  for(Index i = 0; i < l_rank; ++i) dst.row(m_cols_permutation.indices().coeff(i)) = c.row(i);
+  for(Index i = l_rank; i < cols(); ++i) dst.row(m_cols_permutation.indices().coeff(i)).setZero();
+}
+#endif
 
-    for(Index i = 0; i < dec().rank(); ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
-    for(Index i = dec().rank(); i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+namespace internal {
+  
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef FullPivHouseholderQR<MatrixType> QrType;
+  typedef Inverse<QrType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
+  {    
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
 
@@ -546,7 +596,6 @@ template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType
   : public ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename FullPivHouseholderQR<MatrixType>::IntDiagSizeVectorType IntDiagSizeVectorType;
   typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
   typedef Matrix<typename MatrixType::Scalar, 1, MatrixType::RowsAtCompileTime, RowMajor, 1,
@@ -558,7 +607,7 @@ public:
     : m_qr(qr),
       m_hCoeffs(hCoeffs),
       m_rowsTranspositions(rowsTranspositions)
-      {}
+  {}
 
   template <typename ResultType>
   void evalTo(ResultType& result) const
@@ -588,8 +637,8 @@ public:
     }
   }
 
-    Index rows() const { return m_qr.rows(); }
-    Index cols() const { return m_qr.rows(); }
+  Index rows() const { return m_qr.rows(); }
+  Index cols() const { return m_qr.rows(); }
 
 protected:
   typename MatrixType::Nested m_qr;
@@ -597,6 +646,11 @@ protected:
   typename IntDiagSizeVectorType::Nested m_rowsTranspositions;
 };
 
+// template<typename MatrixType>
+// struct evaluator<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
+//  : public evaluator<ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> > >
+// {};
+
 } // end namespace internal
 
 template<typename MatrixType>
diff --git a/vendor/eigen/Eigen/src/QR/HouseholderQR.h b/vendor/eigen/Eigen/src/QR/HouseholderQR.h
index 343a664..3513d99 100644
--- a/vendor/eigen/Eigen/src/QR/HouseholderQR.h
+++ b/vendor/eigen/Eigen/src/QR/HouseholderQR.h
@@ -21,7 +21,7 @@ namespace Eigen {
   *
   * \brief Householder QR decomposition of a matrix
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
   * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
   * such that 
@@ -37,6 +37,8 @@ namespace Eigen {
   * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
   * FullPivHouseholderQR or ColPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  *
   * \sa MatrixBase::householderQr()
   */
 template<typename _MatrixType> class HouseholderQR
@@ -47,13 +49,13 @@ template<typename _MatrixType> class HouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
@@ -91,13 +93,32 @@ template<typename _MatrixType> class HouseholderQR
       * 
       * \sa compute()
       */
-    HouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit HouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
         m_temp(matrix.cols()),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+      * \c MatrixType is a Eigen::Ref.
+      *
+      * \sa HouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit HouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_temp(matrix.cols()),
+        m_isInitialized(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -107,9 +128,6 @@ template<typename _MatrixType> class HouseholderQR
       *
       * \returns a solution.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -118,11 +136,11 @@ template<typename _MatrixType> class HouseholderQR
       * Output: \verbinclude HouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<HouseholderQR, Rhs>
+    inline const Solve<HouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-      return internal::solve_retval<HouseholderQR, Rhs>(*this, b.derived());
+      return Solve<HouseholderQR, Rhs>(*this, b.derived());
     }
 
     /** This method returns an expression of the unitary matrix Q as a sequence of Householder transformations.
@@ -148,7 +166,12 @@ template<typename _MatrixType> class HouseholderQR
         return m_qr;
     }
 
-    HouseholderQR& compute(const MatrixType& matrix);
+    template<typename InputType>
+    HouseholderQR& compute(const EigenBase<InputType>& matrix) {
+      m_qr = matrix.derived();
+      computeInPlace();
+      return *this;
+    }
 
     /** \returns the absolute value of the determinant of the matrix of which
       * *this is the QR decomposition. It has only linear complexity
@@ -187,6 +210,12 @@ template<typename _MatrixType> class HouseholderQR
       * For advanced uses only.
       */
     const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
     
@@ -194,6 +223,8 @@ template<typename _MatrixType> class HouseholderQR
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
+
+    void computeInPlace();
     
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
@@ -224,7 +255,6 @@ namespace internal {
 template<typename MatrixQR, typename HCoeffs>
 void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
 {
-  typedef typename MatrixQR::Index Index;
   typedef typename MatrixQR::Scalar Scalar;
   typedef typename MatrixQR::RealScalar RealScalar;
   Index rows = mat.rows();
@@ -263,11 +293,9 @@ template<typename MatrixQR, typename HCoeffs,
 struct householder_qr_inplace_blocked
 {
   // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
-  static void run(MatrixQR& mat, HCoeffs& hCoeffs,
-      typename MatrixQR::Index maxBlockSize=32,
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index maxBlockSize=32,
       typename MatrixQR::Scalar* tempData = 0)
   {
-    typedef typename MatrixQR::Index Index;
     typedef typename MatrixQR::Scalar Scalar;
     typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
 
@@ -289,8 +317,8 @@ struct householder_qr_inplace_blocked
     for (k = 0; k < size; k += blockSize)
     {
       Index bs = (std::min)(size-k,blockSize);  // actual size of the block
-      Index tcols = cols - k - bs;            // trailing columns
-      Index brows = rows-k;                   // rows of the block
+      Index tcols = cols - k - bs;              // trailing columns
+      Index brows = rows-k;                     // rows of the block
 
       // partition the matrix:
       //        A00 | A01 | A02
@@ -308,43 +336,38 @@ struct householder_qr_inplace_blocked
       if(tcols)
       {
         BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
-        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment, false); // false == backward
       }
     }
   }
 };
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<HouseholderQR<_MatrixType>, Rhs>
-{
-  EIGEN_MAKE_SOLVE_HELPERS(HouseholderQR<_MatrixType>,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    const Index rows = dec().rows(), cols = dec().cols();
-    const Index rank = (std::min)(rows, cols);
-    eigen_assert(rhs().rows() == rows);
+} // end namespace internal
 
-    typename Rhs::PlainObject c(rhs());
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  const Index rank = (std::min)(rows(), cols());
+  eigen_assert(rhs.rows() == rows());
 
-    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-    c.applyOnTheLeft(householderSequence(
-      dec().matrixQR().leftCols(rank),
-      dec().hCoeffs().head(rank)).transpose()
-    );
+  typename RhsType::PlainObject c(rhs);
 
-    dec().matrixQR()
-       .topLeftCorner(rank, rank)
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(rank));
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+  c.applyOnTheLeft(householderSequence(
+    m_qr.leftCols(rank),
+    m_hCoeffs.head(rank)).transpose()
+  );
 
-    dst.topRows(rank) = c.topRows(rank);
-    dst.bottomRows(cols-rank).setZero();
-  }
-};
+  m_qr.topLeftCorner(rank, rank)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(rank));
 
-} // end namespace internal
+  dst.topRows(rank) = c.topRows(rank);
+  dst.bottomRows(cols()-rank).setZero();
+}
+#endif
 
 /** Performs the QR factorization of the given matrix \a matrix. The result of
   * the factorization is stored into \c *this, and a reference to \c *this
@@ -353,15 +376,14 @@ struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
   * \sa class HouseholderQR, HouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+void HouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
   
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
   Index size = (std::min)(rows,cols);
 
-  m_qr = matrix;
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
@@ -369,7 +391,6 @@ HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType&
   internal::householder_qr_inplace_blocked<MatrixType, HCoeffsType>::run(m_qr, m_hCoeffs, 48, m_temp.data());
 
   m_isInitialized = true;
-  return *this;
 }
 
 /** \return the Householder QR decomposition of \c *this.
diff --git a/vendor/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h b/vendor/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h
new file mode 100644
index 0000000..1dc7d53
--- /dev/null
+++ b/vendor/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h
@@ -0,0 +1,68 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Householder QR decomposition of a matrix w/o pivoting based on
+ *    LAPACKE_?geqrf function.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_QR_LAPACKE_H
+#define EIGEN_QR_LAPACKE_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_QR_NOPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
+template<typename MatrixQR, typename HCoeffs> \
+struct householder_qr_inplace_blocked<MatrixQR, HCoeffs, EIGTYPE, true> \
+{ \
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index = 32, \
+      typename MatrixQR::Scalar* = 0) \
+  { \
+    lapack_int m = (lapack_int) mat.rows(); \
+    lapack_int n = (lapack_int) mat.cols(); \
+    lapack_int lda = (lapack_int) mat.outerStride(); \
+    lapack_int matrix_order = (MatrixQR::IsRowMajor) ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
+    LAPACKE_##LAPACKE_PREFIX##geqrf( matrix_order, m, n, (LAPACKE_TYPE*)mat.data(), lda, (LAPACKE_TYPE*)hCoeffs.data()); \
+    hCoeffs.adjointInPlace(); \
+  } \
+};
+
+EIGEN_LAPACKE_QR_NOPIV(double, double, d)
+EIGEN_LAPACKE_QR_NOPIV(float, float, s)
+EIGEN_LAPACKE_QR_NOPIV(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_QR_NOPIV(scomplex, lapack_complex_float, c)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_QR_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/vendor/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
index 3613810..953d57c 100644
--- a/vendor/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
+++ b/vendor/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam at inria.fr>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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
@@ -32,45 +33,54 @@ namespace Eigen {
   } // End namespace internal
   
 /**
- * \ingroup SPQRSupport_Module
- * \class SPQR
- * \brief Sparse QR factorization based on SuiteSparseQR library
- * 
- * This class is used to perform a multithreaded and multifrontal rank-revealing QR decomposition 
- * of sparse matrices. The result is then used to solve linear leasts_square systems.
- * Clearly, a QR factorization is returned such that A*P = Q*R where :
- * 
- * P is the column permutation. Use colsPermutation() to get it.
- * 
- * Q is the orthogonal matrix represented as Householder reflectors. 
- * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
- * You can then apply it to a vector.
- * 
- * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix.
- * NOTE : The Index type of R is always SuiteSparse_long. You can get it with SPQR::Index
- * 
- * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
- * NOTE 
- * 
- */
+  * \ingroup SPQRSupport_Module
+  * \class SPQR
+  * \brief Sparse QR factorization based on SuiteSparseQR library
+  *
+  * This class is used to perform a multithreaded and multifrontal rank-revealing QR decomposition
+  * of sparse matrices. The result is then used to solve linear leasts_square systems.
+  * Clearly, a QR factorization is returned such that A*P = Q*R where :
+  *
+  * P is the column permutation. Use colsPermutation() to get it.
+  *
+  * Q is the orthogonal matrix represented as Householder reflectors.
+  * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
+  * You can then apply it to a vector.
+  *
+  * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix.
+  * NOTE : The Index type of R is always SuiteSparse_long. You can get it with SPQR::Index
+  *
+  * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
+  *
+  * \implsparsesolverconcept
+  *
+  *
+  */
 template<typename _MatrixType>
-class SPQR
+class SPQR : public SparseSolverBase<SPQR<_MatrixType> >
 {
+  protected:
+    typedef SparseSolverBase<SPQR<_MatrixType> > Base;
+    using Base::m_isInitialized;
   public:
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef SuiteSparse_long Index ;
-    typedef SparseMatrix<Scalar, ColMajor, Index> MatrixType;
-    typedef PermutationMatrix<Dynamic, Dynamic> PermutationType;
+    typedef SuiteSparse_long StorageIndex ;
+    typedef SparseMatrix<Scalar, ColMajor, StorageIndex> MatrixType;
+    typedef Map<PermutationMatrix<Dynamic, Dynamic, StorageIndex> > PermutationType;
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
   public:
     SPQR() 
-      : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+      : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
     { 
       cholmod_l_start(&m_cc);
     }
     
-    SPQR(const _MatrixType& matrix)
-    : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+    explicit SPQR(const _MatrixType& matrix)
+    : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
     {
       cholmod_l_start(&m_cc);
       compute(matrix);
@@ -103,23 +113,22 @@ class SPQR
       RealScalar pivotThreshold = m_tolerance;
       if(m_useDefaultThreshold) 
       {
-        using std::max;
         RealScalar max2Norm = 0.0;
-        for (int j = 0; j < mat.cols(); j++) max2Norm = (max)(max2Norm, mat.col(j).norm());
+        for (int j = 0; j < mat.cols(); j++) max2Norm = numext::maxi(max2Norm, mat.col(j).norm());
         if(max2Norm==RealScalar(0))
           max2Norm = RealScalar(1);
         pivotThreshold = 20 * (mat.rows() + mat.cols()) * max2Norm * NumTraits<RealScalar>::epsilon();
       }
-      
       cholmod_sparse A; 
       A = viewAsCholmod(mat);
+      m_rows = matrix.rows();
       Index col = matrix.cols();
       m_rank = SuiteSparseQR<Scalar>(m_ordering, pivotThreshold, col, &A, 
                              &m_cR, &m_E, &m_H, &m_HPinv, &m_HTau, &m_cc);
 
       if (!m_cR)
       {
-        m_info = NumericalIssue; 
+        m_info = NumericalIssue;
         m_isInitialized = false;
         return;
       }
@@ -130,28 +139,15 @@ class SPQR
     /** 
      * Get the number of rows of the input matrix and the Q matrix
      */
-    inline Index rows() const {return m_cR->nrow; }
+    inline Index rows() const {return m_rows; }
     
     /** 
      * Get the number of columns of the input matrix. 
      */
     inline Index cols() const { return m_cR->ncol; }
-   
-      /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SPQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
-      eigen_assert(this->rows()==B.rows()
-                    && "SPQR::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::solve_retval<SPQR, Rhs>(*this, B.derived());
-    }
     
     template<typename Rhs, typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
       eigen_assert(b.cols()==1 && "This method is for vectors only");
@@ -184,7 +180,7 @@ class SPQR
     {
       eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
       if(!m_isRUpToDate) {
-        m_R = viewAsEigen<Scalar,ColMajor, typename MatrixType::Index>(*m_cR);
+        m_R = viewAsEigen<Scalar,ColMajor, typename MatrixType::StorageIndex>(*m_cR);
         m_isRUpToDate = true;
       }
       return m_R;
@@ -198,11 +194,7 @@ class SPQR
     PermutationType colsPermutation() const
     { 
       eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      Index n = m_cR->ncol;
-      PermutationType colsPerm(n);
-      for(Index j = 0; j <n; j++) colsPerm.indices()(j) = m_E[j];
-      return colsPerm; 
-      
+      return PermutationType(m_E, m_cR->ncol);
     }
     /**
      * Gets the rank of the matrix. 
@@ -237,7 +229,6 @@ class SPQR
       return m_info;
     }
   protected:
-    bool m_isInitialized;
     bool m_analysisIsOk;
     bool m_factorizationIsOk;
     mutable bool m_isRUpToDate;
@@ -247,13 +238,14 @@ class SPQR
     RealScalar m_tolerance; // treat columns with 2-norm below this tolerance as zero
     mutable cholmod_sparse *m_cR; // The sparse R factor in cholmod format
     mutable MatrixType m_R; // The sparse matrix R in Eigen format
-    mutable Index *m_E; // The permutation applied to columns
+    mutable StorageIndex *m_E; // The permutation applied to columns
     mutable cholmod_sparse *m_H;  //The householder vectors
-    mutable Index *m_HPinv; // The row permutation of H
+    mutable StorageIndex *m_HPinv; // The row permutation of H
     mutable cholmod_dense *m_HTau; // The Householder coefficients
     mutable Index m_rank; // The rank of the matrix
     mutable cholmod_common m_cc; // Workspace and parameters
     bool m_useDefaultThreshold;     // Use default threshold
+    Index m_rows;
     template<typename ,typename > friend struct SPQR_QProduct;
 };
 
@@ -261,7 +253,7 @@ template <typename SPQRType, typename Derived>
 struct SPQR_QProduct : ReturnByValue<SPQR_QProduct<SPQRType,Derived> >
 {
   typedef typename SPQRType::Scalar Scalar;
-  typedef typename SPQRType::Index Index;
+  typedef typename SPQRType::StorageIndex StorageIndex;
   //Define the constructor to get reference to argument types
   SPQR_QProduct(const SPQRType& spqr, const Derived& other, bool transpose) : m_spqr(spqr),m_other(other),m_transpose(transpose) {}
   
@@ -317,22 +309,5 @@ struct SPQRMatrixQTransposeReturnType{
   const SPQRType& m_spqr;
 };
 
-namespace internal {
-  
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<SPQR<_MatrixType>, Rhs>
-  : solve_retval_base<SPQR<_MatrixType>, Rhs>
-{
-  typedef SPQR<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 }// End namespace Eigen
 #endif
diff --git a/vendor/eigen/Eigen/src/SVD/BDCSVD.h b/vendor/eigen/Eigen/src/SVD/BDCSVD.h
new file mode 100644
index 0000000..d7a4271
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SVD/BDCSVD.h
@@ -0,0 +1,1231 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+// 
+// We used the "A Divide-And-Conquer Algorithm for the Bidiagonal SVD"
+// research report written by Ming Gu and Stanley C.Eisenstat
+// The code variable names correspond to the names they used in their 
+// report
+//
+// Copyright (C) 2013 Gauthier Brun <brun.gauthier at gmail.com>
+// Copyright (C) 2013 Nicolas Carre <nicolas.carre at ensimag.fr>
+// Copyright (C) 2013 Jean Ceccato <jean.ceccato at ensimag.fr>
+// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli at ensimag.fr>
+// Copyright (C) 2013 Jitse Niesen <jitse at maths.leeds.ac.uk>
+// Copyright (C) 2014-2016 Gael Guennebaud <gael.guennebaud at inria.fr>
+//
+// 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_BDCSVD_H
+#define EIGEN_BDCSVD_H
+// #define EIGEN_BDCSVD_DEBUG_VERBOSE
+// #define EIGEN_BDCSVD_SANITY_CHECKS
+
+namespace Eigen {
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+IOFormat bdcsvdfmt(8, 0, ", ", "\n", "  [", "]");
+#endif
+  
+template<typename _MatrixType> class BDCSVD;
+
+namespace internal {
+
+template<typename _MatrixType> 
+struct traits<BDCSVD<_MatrixType> >
+{
+  typedef _MatrixType MatrixType;
+};  
+
+} // end namespace internal
+  
+  
+/** \ingroup SVD_Module
+ *
+ *
+ * \class BDCSVD
+ *
+ * \brief class Bidiagonal Divide and Conquer SVD
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+ *
+ * This class first reduces the input matrix to bi-diagonal form using class UpperBidiagonalization,
+ * and then performs a divide-and-conquer diagonalization. Small blocks are diagonalized using class JacobiSVD.
+ * You can control the switching size with the setSwitchSize() method, default is 16.
+ * For small matrice (<16), it is thus preferable to directly use JacobiSVD. For larger ones, BDCSVD is highly
+ * recommended and can several order of magnitude faster.
+ *
+ * \warning this algorithm is unlikely to provide accurate result when compiled with unsafe math optimizations.
+ * For instance, this concerns Intel's compiler (ICC), which perfroms such optimization by default unless
+ * you compile with the \c -fp-model \c precise option. Likewise, the \c -ffast-math option of GCC or clang will
+ * significantly degrade the accuracy.
+ *
+ * \sa class JacobiSVD
+ */
+template<typename _MatrixType> 
+class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
+{
+  typedef SVDBase<BDCSVD> Base;
+    
+public:
+  using Base::rows;
+  using Base::cols;
+  using Base::computeU;
+  using Base::computeV;
+  
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+  typedef typename NumTraits<RealScalar>::Literal Literal;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime, 
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime, 
+    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime), 
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, 
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, 
+    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime, MaxColsAtCompileTime), 
+    MatrixOptions = MatrixType::Options
+  };
+
+  typedef typename Base::MatrixUType MatrixUType;
+  typedef typename Base::MatrixVType MatrixVType;
+  typedef typename Base::SingularValuesType SingularValuesType;
+  
+  typedef Matrix<Scalar, Dynamic, Dynamic, ColMajor> MatrixX;
+  typedef Matrix<RealScalar, Dynamic, Dynamic, ColMajor> MatrixXr;
+  typedef Matrix<RealScalar, Dynamic, 1> VectorType;
+  typedef Array<RealScalar, Dynamic, 1> ArrayXr;
+  typedef Array<Index,1,Dynamic> ArrayXi;
+  typedef Ref<ArrayXr> ArrayRef;
+  typedef Ref<ArrayXi> IndicesRef;
+
+  /** \brief Default Constructor.
+   *
+   * The default constructor is useful in cases in which the user intends to
+   * perform decompositions via BDCSVD::compute(const MatrixType&).
+   */
+  BDCSVD() : m_algoswap(16), m_numIters(0)
+  {}
+
+
+  /** \brief Default Constructor with memory preallocation
+   *
+   * Like the default constructor but with preallocation of the internal data
+   * according to the specified problem size.
+   * \sa BDCSVD()
+   */
+  BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+    : m_algoswap(16), m_numIters(0)
+  {
+    allocate(rows, cols, computationOptions);
+  }
+
+  /** \brief Constructor performing the decomposition of given matrix.
+   *
+   * \param matrix the matrix to decompose
+   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
+   *                           #ComputeFullV, #ComputeThinV.
+   *
+   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+   * available with the (non - default) FullPivHouseholderQR preconditioner.
+   */
+  BDCSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+    : m_algoswap(16), m_numIters(0)
+  {
+    compute(matrix, computationOptions);
+  }
+
+  ~BDCSVD() 
+  {
+  }
+  
+  /** \brief Method performing the decomposition of given matrix using custom options.
+   *
+   * \param matrix the matrix to decompose
+   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
+   *                           #ComputeFullV, #ComputeThinV.
+   *
+   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+   * available with the (non - default) FullPivHouseholderQR preconditioner.
+   */
+  BDCSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+  /** \brief Method performing the decomposition of given matrix using current options.
+   *
+   * \param matrix the matrix to decompose
+   *
+   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+   */
+  BDCSVD& compute(const MatrixType& matrix)
+  {
+    return compute(matrix, this->m_computationOptions);
+  }
+
+  void setSwitchSize(int s) 
+  {
+    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
+    m_algoswap = s;
+  }
+ 
+private:
+  void allocate(Index rows, Index cols, unsigned int computationOptions);
+  void divide(Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift);
+  void computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V);
+  void computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, VectorType& singVals, ArrayRef shifts, ArrayRef mus);
+  void perturbCol0(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat);
+  void computeSingVecs(const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V);
+  void deflation43(Index firstCol, Index shift, Index i, Index size);
+  void deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size);
+  void deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift);
+  template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+  void copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naivev);
+  void structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1);
+  static RealScalar secularEq(RealScalar x, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift);
+
+protected:
+  MatrixXr m_naiveU, m_naiveV;
+  MatrixXr m_computed;
+  Index m_nRec;
+  ArrayXr m_workspace;
+  ArrayXi m_workspaceI;
+  int m_algoswap;
+  bool m_isTranspose, m_compU, m_compV;
+  
+  using Base::m_singularValues;
+  using Base::m_diagSize;
+  using Base::m_computeFullU;
+  using Base::m_computeFullV;
+  using Base::m_computeThinU;
+  using Base::m_computeThinV;
+  using Base::m_matrixU;
+  using Base::m_matrixV;
+  using Base::m_isInitialized;
+  using Base::m_nonzeroSingularValues;
+
+public:  
+  int m_numIters;
+}; //end class BDCSVD
+
+
+// Method to allocate and initialize matrix and attributes
+template<typename MatrixType>
+void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+  m_isTranspose = (cols > rows);
+
+  if (Base::allocate(rows, cols, computationOptions))
+    return;
+  
+  m_computed = MatrixXr::Zero(m_diagSize + 1, m_diagSize );
+  m_compU = computeV();
+  m_compV = computeU();
+  if (m_isTranspose)
+    std::swap(m_compU, m_compV);
+  
+  if (m_compU) m_naiveU = MatrixXr::Zero(m_diagSize + 1, m_diagSize + 1 );
+  else         m_naiveU = MatrixXr::Zero(2, m_diagSize + 1 );
+  
+  if (m_compV) m_naiveV = MatrixXr::Zero(m_diagSize, m_diagSize);
+  
+  m_workspace.resize((m_diagSize+1)*(m_diagSize+1)*3);
+  m_workspaceI.resize(3*m_diagSize);
+}// end allocate
+
+template<typename MatrixType>
+BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsigned int computationOptions) 
+{
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "\n\n\n======================================================================================================================\n\n\n";
+#endif
+  allocate(matrix.rows(), matrix.cols(), computationOptions);
+  using std::abs;
+
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  
+  //**** step -1 - If the problem is too small, directly falls back to JacobiSVD and return
+  if(matrix.cols() < m_algoswap)
+  {
+    // FIXME this line involves temporaries
+    JacobiSVD<MatrixType> jsvd(matrix,computationOptions);
+    if(computeU()) m_matrixU = jsvd.matrixU();
+    if(computeV()) m_matrixV = jsvd.matrixV();
+    m_singularValues = jsvd.singularValues();
+    m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
+    m_isInitialized = true;
+    return *this;
+  }
+  
+  //**** step 0 - Copy the input matrix and apply scaling to reduce over/under-flows
+  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  if(scale==Literal(0)) scale = Literal(1);
+  MatrixX copy;
+  if (m_isTranspose) copy = matrix.adjoint()/scale;
+  else               copy = matrix/scale;
+  
+  //**** step 1 - Bidiagonalization
+  // FIXME this line involves temporaries
+  internal::UpperBidiagonalization<MatrixX> bid(copy);
+
+  //**** step 2 - Divide & Conquer
+  m_naiveU.setZero();
+  m_naiveV.setZero();
+  // FIXME this line involves a temporary matrix
+  m_computed.topRows(m_diagSize) = bid.bidiagonal().toDenseMatrix().transpose();
+  m_computed.template bottomRows<1>().setZero();
+  divide(0, m_diagSize - 1, 0, 0, 0);
+
+  //**** step 3 - Copy singular values and vectors
+  for (int i=0; i<m_diagSize; i++)
+  {
+    RealScalar a = abs(m_computed.coeff(i, i));
+    m_singularValues.coeffRef(i) = a * scale;
+    if (a<considerZero)
+    {
+      m_nonzeroSingularValues = i;
+      m_singularValues.tail(m_diagSize - i - 1).setZero();
+      break;
+    }
+    else if (i == m_diagSize - 1)
+    {
+      m_nonzeroSingularValues = i + 1;
+      break;
+    }
+  }
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+//   std::cout << "m_naiveU\n" << m_naiveU << "\n\n";
+//   std::cout << "m_naiveV\n" << m_naiveV << "\n\n";
+#endif
+  if(m_isTranspose) copyUV(bid.householderV(), bid.householderU(), m_naiveV, m_naiveU);
+  else              copyUV(bid.householderU(), bid.householderV(), m_naiveU, m_naiveV);
+
+  m_isInitialized = true;
+  return *this;
+}// end compute
+
+
+template<typename MatrixType>
+template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+void BDCSVD<MatrixType>::copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naiveV)
+{
+  // Note exchange of U and V: m_matrixU is set from m_naiveV and vice versa
+  if (computeU())
+  {
+    Index Ucols = m_computeThinU ? m_diagSize : householderU.cols();
+    m_matrixU = MatrixX::Identity(householderU.cols(), Ucols);
+    m_matrixU.topLeftCorner(m_diagSize, m_diagSize) = naiveV.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+    householderU.applyThisOnTheLeft(m_matrixU); // FIXME this line involves a temporary buffer
+  }
+  if (computeV())
+  {
+    Index Vcols = m_computeThinV ? m_diagSize : householderV.cols();
+    m_matrixV = MatrixX::Identity(householderV.cols(), Vcols);
+    m_matrixV.topLeftCorner(m_diagSize, m_diagSize) = naiveU.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+    householderV.applyThisOnTheLeft(m_matrixV); // FIXME this line involves a temporary buffer
+  }
+}
+
+/** \internal
+  * Performs A = A * B exploiting the special structure of the matrix A. Splitting A as:
+  *  A = [A1]
+  *      [A2]
+  * such that A1.rows()==n1, then we assume that at least half of the columns of A1 and A2 are zeros.
+  * We can thus pack them prior to the the matrix product. However, this is only worth the effort if the matrix is large
+  * enough.
+  */
+template<typename MatrixType>
+void BDCSVD<MatrixType>::structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1)
+{
+  Index n = A.rows();
+  if(n>100)
+  {
+    // If the matrices are large enough, let's exploit the sparse structure of A by
+    // splitting it in half (wrt n1), and packing the non-zero columns.
+    Index n2 = n - n1;
+    Map<MatrixXr> A1(m_workspace.data()      , n1, n);
+    Map<MatrixXr> A2(m_workspace.data()+ n1*n, n2, n);
+    Map<MatrixXr> B1(m_workspace.data()+  n*n, n,  n);
+    Map<MatrixXr> B2(m_workspace.data()+2*n*n, n,  n);
+    Index k1=0, k2=0;
+    for(Index j=0; j<n; ++j)
+    {
+      if( (A.col(j).head(n1).array()!=Literal(0)).any() )
+      {
+        A1.col(k1) = A.col(j).head(n1);
+        B1.row(k1) = B.row(j);
+        ++k1;
+      }
+      if( (A.col(j).tail(n2).array()!=Literal(0)).any() )
+      {
+        A2.col(k2) = A.col(j).tail(n2);
+        B2.row(k2) = B.row(j);
+        ++k2;
+      }
+    }
+  
+    A.topRows(n1).noalias()    = A1.leftCols(k1) * B1.topRows(k1);
+    A.bottomRows(n2).noalias() = A2.leftCols(k2) * B2.topRows(k2);
+  }
+  else
+  {
+    Map<MatrixXr,Aligned> tmp(m_workspace.data(),n,n);
+    tmp.noalias() = A*B;
+    A = tmp;
+  }
+}
+
+// The divide algorithm is done "in place", we are always working on subsets of the same matrix. The divide methods takes as argument the 
+// place of the submatrix we are currently working on.
+
+//@param firstCol : The Index of the first column of the submatrix of m_computed and for m_naiveU;
+//@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU; 
+// lastCol + 1 - firstCol is the size of the submatrix.
+//@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
+//@param firstRowW : Same as firstRowW with the column.
+//@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix 
+// to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
+template<typename MatrixType>
+void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift)
+{
+  // requires rows = cols + 1;
+  using std::pow;
+  using std::sqrt;
+  using std::abs;
+  const Index n = lastCol - firstCol + 1;
+  const Index k = n/2;
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  RealScalar alphaK;
+  RealScalar betaK; 
+  RealScalar r0; 
+  RealScalar lambda, phi, c0, s0;
+  VectorType l, f;
+  // We use the other algorithm which is more efficient for small 
+  // matrices.
+  if (n < m_algoswap)
+  {
+    // FIXME this line involves temporaries
+    JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), ComputeFullU | (m_compV ? ComputeFullV : 0));
+    if (m_compU)
+      m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = b.matrixU();
+    else 
+    {
+      m_naiveU.row(0).segment(firstCol, n + 1).real() = b.matrixU().row(0);
+      m_naiveU.row(1).segment(firstCol, n + 1).real() = b.matrixU().row(n);
+    }
+    if (m_compV) m_naiveV.block(firstRowW, firstColW, n, n).real() = b.matrixV();
+    m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
+    m_computed.diagonal().segment(firstCol + shift, n) = b.singularValues().head(n);
+    return;
+  }
+  // We use the divide and conquer algorithm
+  alphaK =  m_computed(firstCol + k, firstCol + k);
+  betaK = m_computed(firstCol + k + 1, firstCol + k);
+  // The divide must be done in that order in order to have good results. Divide change the data inside the submatrices
+  // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the 
+  // right submatrix before the left one. 
+  divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
+  divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
+
+  if (m_compU)
+  {
+    lambda = m_naiveU(firstCol + k, firstCol + k);
+    phi = m_naiveU(firstCol + k + 1, lastCol + 1);
+  } 
+  else 
+  {
+    lambda = m_naiveU(1, firstCol + k);
+    phi = m_naiveU(0, lastCol + 1);
+  }
+  r0 = sqrt((abs(alphaK * lambda) * abs(alphaK * lambda)) + abs(betaK * phi) * abs(betaK * phi));
+  if (m_compU)
+  {
+    l = m_naiveU.row(firstCol + k).segment(firstCol, k);
+    f = m_naiveU.row(firstCol + k + 1).segment(firstCol + k + 1, n - k - 1);
+  } 
+  else 
+  {
+    l = m_naiveU.row(1).segment(firstCol, k);
+    f = m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1);
+  }
+  if (m_compV) m_naiveV(firstRowW+k, firstColW) = Literal(1);
+  if (r0<considerZero)
+  {
+    c0 = Literal(1);
+    s0 = Literal(0);
+  }
+  else
+  {
+    c0 = alphaK * lambda / r0;
+    s0 = betaK * phi / r0;
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  if (m_compU)
+  {
+    MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));     
+    // we shiftW Q1 to the right
+    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
+      m_naiveU.col(i + 1).segment(firstCol, k + 1) = m_naiveU.col(i).segment(firstCol, k + 1);
+    // we shift q1 at the left with a factor c0
+    m_naiveU.col(firstCol).segment( firstCol, k + 1) = (q1 * c0);
+    // last column = q1 * - s0
+    m_naiveU.col(lastCol + 1).segment(firstCol, k + 1) = (q1 * ( - s0));
+    // first column = q2 * s0
+    m_naiveU.col(firstCol).segment(firstCol + k + 1, n - k) = m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) * s0; 
+    // q2 *= c0
+    m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *= c0;
+  } 
+  else 
+  {
+    RealScalar q1 = m_naiveU(0, firstCol + k);
+    // we shift Q1 to the right
+    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
+      m_naiveU(0, i + 1) = m_naiveU(0, i);
+    // we shift q1 at the left with a factor c0
+    m_naiveU(0, firstCol) = (q1 * c0);
+    // last column = q1 * - s0
+    m_naiveU(0, lastCol + 1) = (q1 * ( - s0));
+    // first column = q2 * s0
+    m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *s0; 
+    // q2 *= c0
+    m_naiveU(1, lastCol + 1) *= c0;
+    m_naiveU.row(1).segment(firstCol + 1, k).setZero();
+    m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1).setZero();
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  m_computed(firstCol + shift, firstCol + shift) = r0;
+  m_computed.col(firstCol + shift).segment(firstCol + shift + 1, k) = alphaK * l.transpose().real();
+  m_computed.col(firstCol + shift).segment(firstCol + shift + k + 1, n - k - 1) = betaK * f.transpose().real();
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  ArrayXr tmp1 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+#endif
+  // Second part: try to deflate singular values in combined matrix
+  deflation(firstCol, lastCol, k, firstRowW, firstColW, shift);
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  ArrayXr tmp2 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+  std::cout << "\n\nj1 = " << tmp1.transpose().format(bdcsvdfmt) << "\n";
+  std::cout << "j2 = " << tmp2.transpose().format(bdcsvdfmt) << "\n\n";
+  std::cout << "err:      " << ((tmp1-tmp2).abs()>1e-12*tmp2.abs()).transpose() << "\n";
+  static int count = 0;
+  std::cout << "# " << ++count << "\n\n";
+  assert((tmp1-tmp2).matrix().norm() < 1e-14*tmp2.matrix().norm());
+//   assert(count<681);
+//   assert(((tmp1-tmp2).abs()<1e-13*tmp2.abs()).all());
+#endif
+  
+  // Third part: compute SVD of combined matrix
+  MatrixXr UofSVD, VofSVD;
+  VectorType singVals;
+  computeSVDofM(firstCol + shift, n, UofSVD, singVals, VofSVD);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(UofSVD.allFinite());
+  assert(VofSVD.allFinite());
+#endif
+  
+  if (m_compU)
+    structured_update(m_naiveU.block(firstCol, firstCol, n + 1, n + 1), UofSVD, (n+2)/2);
+  else
+  {
+    Map<Matrix<RealScalar,2,Dynamic>,Aligned> tmp(m_workspace.data(),2,n+1);
+    tmp.noalias() = m_naiveU.middleCols(firstCol, n+1) * UofSVD;
+    m_naiveU.middleCols(firstCol, n + 1) = tmp;
+  }
+  
+  if (m_compV)  structured_update(m_naiveV.block(firstRowW, firstColW, n, n), VofSVD, (n+1)/2);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  m_computed.block(firstCol + shift, firstCol + shift, n, n).setZero();
+  m_computed.block(firstCol + shift, firstCol + shift, n, n).diagonal() = singVals;
+}// end divide
+
+// Compute SVD of m_computed.block(firstCol, firstCol, n + 1, n); this block only has non-zeros in
+// the first column and on the diagonal and has undergone deflation, so diagonal is in increasing
+// order except for possibly the (0,0) entry. The computed SVD is stored U, singVals and V, except
+// that if m_compV is false, then V is not computed. Singular values are sorted in decreasing order.
+//
+// TODO Opportunities for optimization: better root finding algo, better stopping criterion, better
+// handling of round-off errors, be consistent in ordering
+// For instance, to solve the secular equation using FMM, see http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
+{
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  using std::abs;
+  ArrayRef col0 = m_computed.col(firstCol).segment(firstCol, n);
+  m_workspace.head(n) =  m_computed.block(firstCol, firstCol, n, n).diagonal();
+  ArrayRef diag = m_workspace.head(n);
+  diag(0) = Literal(0);
+
+  // Allocate space for singular values and vectors
+  singVals.resize(n);
+  U.resize(n+1, n+1);
+  if (m_compV) V.resize(n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  if (col0.hasNaN() || diag.hasNaN())
+    std::cout << "\n\nHAS NAN\n\n";
+#endif
+  
+  // Many singular values might have been deflated, the zero ones have been moved to the end,
+  // but others are interleaved and we must ignore them at this stage.
+  // To this end, let's compute a permutation skipping them:
+  Index actual_n = n;
+  while(actual_n>1 && diag(actual_n-1)==Literal(0)) --actual_n;
+  Index m = 0; // size of the deflated problem
+  for(Index k=0;k<actual_n;++k)
+    if(abs(col0(k))>considerZero)
+      m_workspaceI(m++) = k;
+  Map<ArrayXi> perm(m_workspaceI.data(),m);
+  
+  Map<ArrayXr> shifts(m_workspace.data()+1*n, n);
+  Map<ArrayXr> mus(m_workspace.data()+2*n, n);
+  Map<ArrayXr> zhat(m_workspace.data()+3*n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "computeSVDofM using:\n";
+  std::cout << "  z: " << col0.transpose() << "\n";
+  std::cout << "  d: " << diag.transpose() << "\n";
+#endif
+  
+  // Compute singVals, shifts, and mus
+  computeSingVals(col0, diag, perm, singVals, shifts, mus);
+  
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "  j:        " << (m_computed.block(firstCol, firstCol, n, n)).jacobiSvd().singularValues().transpose().reverse() << "\n\n";
+  std::cout << "  sing-val: " << singVals.transpose() << "\n";
+  std::cout << "  mu:       " << mus.transpose() << "\n";
+  std::cout << "  shift:    " << shifts.transpose() << "\n";
+  
+  {
+    Index actual_n = n;
+    while(actual_n>1 && abs(col0(actual_n-1))<considerZero) --actual_n;
+    std::cout << "\n\n    mus:    " << mus.head(actual_n).transpose() << "\n\n";
+    std::cout << "    check1 (expect0) : " << ((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    std::cout << "    check2 (>0)      : " << ((singVals.array()-diag) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    std::cout << "    check3 (>0)      : " << ((diag.segment(1,actual_n-1)-singVals.head(actual_n-1).array()) / singVals.head(actual_n-1).array()).transpose() << "\n\n\n";
+    std::cout << "    check4 (>0)      : " << ((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).transpose() << "\n\n\n";
+  }
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(singVals.allFinite());
+  assert(mus.allFinite());
+  assert(shifts.allFinite());
+#endif
+  
+  // Compute zhat
+  perturbCol0(col0, diag, perm, singVals, shifts, mus, zhat);
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "  zhat: " << zhat.transpose() << "\n";
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(zhat.allFinite());
+#endif
+  
+  computeSingVecs(zhat, diag, perm, singVals, shifts, mus, U, V);
+  
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "U^T U: " << (U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() << "\n";
+  std::cout << "V^T V: " << (V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() << "\n";
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(U.allFinite());
+  assert(V.allFinite());
+  assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 1e-14 * n);
+  assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 1e-14 * n);
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  // Because of deflation, the singular values might not be completely sorted.
+  // Fortunately, reordering them is a O(n) problem
+  for(Index i=0; i<actual_n-1; ++i)
+  {
+    if(singVals(i)>singVals(i+1))
+    {
+      using std::swap;
+      swap(singVals(i),singVals(i+1));
+      U.col(i).swap(U.col(i+1));
+      if(m_compV) V.col(i).swap(V.col(i+1));
+    }
+  }
+  
+  // Reverse order so that singular values in increased order
+  // Because of deflation, the zeros singular-values are already at the end
+  singVals.head(actual_n).reverseInPlace();
+  U.leftCols(actual_n).rowwise().reverseInPlace();
+  if (m_compV) V.leftCols(actual_n).rowwise().reverseInPlace();
+  
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  JacobiSVD<MatrixXr> jsvd(m_computed.block(firstCol, firstCol, n, n) );
+  std::cout << "  * j:        " << jsvd.singularValues().transpose() << "\n\n";
+  std::cout << "  * sing-val: " << singVals.transpose() << "\n";
+//   std::cout << "  * err:      " << ((jsvd.singularValues()-singVals)>1e-13*singVals.norm()).transpose() << "\n";
+#endif
+}
+
+template <typename MatrixType>
+typename BDCSVD<MatrixType>::RealScalar BDCSVD<MatrixType>::secularEq(RealScalar mu, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift)
+{
+  Index m = perm.size();
+  RealScalar res = Literal(1);
+  for(Index i=0; i<m; ++i)
+  {
+    Index j = perm(i);
+    res += numext::abs2(col0(j)) / ((diagShifted(j) - mu) * (diag(j) + shift + mu));
+  }
+  return res;
+
+}
+
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm,
+                                         VectorType& singVals, ArrayRef shifts, ArrayRef mus)
+{
+  using std::abs;
+  using std::swap;
+
+  Index n = col0.size();
+  Index actual_n = n;
+  while(actual_n>1 && col0(actual_n-1)==Literal(0)) --actual_n;
+
+  for (Index k = 0; k < n; ++k)
+  {
+    if (col0(k) == Literal(0) || actual_n==1)
+    {
+      // if col0(k) == 0, then entry is deflated, so singular value is on diagonal
+      // if actual_n==1, then the deflated problem is already diagonalized
+      singVals(k) = k==0 ? col0(0) : diag(k);
+      mus(k) = Literal(0);
+      shifts(k) = k==0 ? col0(0) : diag(k);
+      continue;
+    } 
+
+    // otherwise, use secular equation to find singular value
+    RealScalar left = diag(k);
+    RealScalar right; // was: = (k != actual_n-1) ? diag(k+1) : (diag(actual_n-1) + col0.matrix().norm());
+    if(k==actual_n-1)
+      right = (diag(actual_n-1) + col0.matrix().norm());
+    else
+    {
+      // Skip deflated singular values
+      Index l = k+1;
+      while(col0(l)==Literal(0)) { ++l; eigen_internal_assert(l<actual_n); }
+      right = diag(l);
+    }
+
+    // first decide whether it's closer to the left end or the right end
+    RealScalar mid = left + (right-left) / Literal(2);
+    RealScalar fMid = secularEq(mid, col0, diag, perm, diag, Literal(0));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+    std::cout << right-left << "\n";
+    std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, diag-left, left) << " " << secularEq(mid-right, col0, diag, perm, diag-right, right)   << "\n";
+    std::cout << "     = " << secularEq(0.1*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.2*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.3*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.4*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.49*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.5*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.51*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.6*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.7*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.8*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.9*(left+right), col0, diag, perm, diag, 0) << "\n";
+#endif
+    RealScalar shift = (k == actual_n-1 || fMid > Literal(0)) ? left : right;
+    
+    // measure everything relative to shift
+    Map<ArrayXr> diagShifted(m_workspace.data()+4*n, n);
+    diagShifted = diag - shift;
+    
+    // initial guess
+    RealScalar muPrev, muCur;
+    if (shift == left)
+    {
+      muPrev = (right - left) * RealScalar(0.1);
+      if (k == actual_n-1) muCur = right - left;
+      else                 muCur = (right - left) * RealScalar(0.5);
+    }
+    else
+    {
+      muPrev = -(right - left) * RealScalar(0.1);
+      muCur = -(right - left) * RealScalar(0.5);
+    }
+
+    RealScalar fPrev = secularEq(muPrev, col0, diag, perm, diagShifted, shift);
+    RealScalar fCur = secularEq(muCur, col0, diag, perm, diagShifted, shift);
+    if (abs(fPrev) < abs(fCur))
+    {
+      swap(fPrev, fCur);
+      swap(muPrev, muCur);
+    }
+
+    // rational interpolation: fit a function of the form a / mu + b through the two previous
+    // iterates and use its zero to compute the next iterate
+    bool useBisection = fPrev*fCur>Literal(0);
+    while (fCur!=Literal(0) && abs(muCur - muPrev) > Literal(8) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(muCur), abs(muPrev)) && abs(fCur - fPrev)>NumTraits<RealScalar>::epsilon() && !useBisection)
+    {
+      ++m_numIters;
+
+      // Find a and b such that the function f(mu) = a / mu + b matches the current and previous samples.
+      RealScalar a = (fCur - fPrev) / (Literal(1)/muCur - Literal(1)/muPrev);
+      RealScalar b = fCur - a / muCur;
+      // And find mu such that f(mu)==0:
+      RealScalar muZero = -a/b;
+      RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
+      
+      muPrev = muCur;
+      fPrev = fCur;
+      muCur = muZero;
+      fCur = fZero;
+      
+      
+      if (shift == left  && (muCur < Literal(0) || muCur > right - left)) useBisection = true;
+      if (shift == right && (muCur < -(right - left) || muCur > Literal(0))) useBisection = true;
+      if (abs(fCur)>abs(fPrev)) useBisection = true;
+    }
+
+    // fall back on bisection method if rational interpolation did not work
+    if (useBisection)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "useBisection for k = " << k << ", actual_n = " << actual_n << "\n";
+#endif
+      RealScalar leftShifted, rightShifted;
+      if (shift == left)
+      {
+        leftShifted = (std::numeric_limits<RealScalar>::min)();
+        // I don't understand why the case k==0 would be special there:
+        // if (k == 0) rightShifted = right - left; else 
+        rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.6)); // theoretically we can take 0.5, but let's be safe
+      }
+      else
+      {
+        leftShifted = -(right - left) * RealScalar(0.6);
+        rightShifted = -(std::numeric_limits<RealScalar>::min)();
+      }
+      
+      RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
+
+#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
+      RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
+#endif
+
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      if(!(fLeft * fRight<0))
+      {
+        std::cout << "fLeft: " << leftShifted << " - " << diagShifted.head(10).transpose()  << "\n ; " << bool(left==shift) << " " << (left-shift) << "\n";
+        std::cout << k << " : " <<  fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  " << left << " - " << right << " -> " <<  leftShifted << " " << rightShifted << "   shift=" << shift << "\n";
+      }
+#endif
+      eigen_internal_assert(fLeft * fRight < Literal(0));
+      
+      while (rightShifted - leftShifted > Literal(2) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
+      {
+        RealScalar midShifted = (leftShifted + rightShifted) / Literal(2);
+        fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
+        if (fLeft * fMid < Literal(0))
+        {
+          rightShifted = midShifted;
+        }
+        else
+        {
+          leftShifted = midShifted;
+          fLeft = fMid;
+        }
+      }
+
+      muCur = (leftShifted + rightShifted) / Literal(2);
+    }
+      
+    singVals[k] = shift + muCur;
+    shifts[k] = shift;
+    mus[k] = muCur;
+
+    // perturb singular value slightly if it equals diagonal entry to avoid division by zero later
+    // (deflation is supposed to avoid this from happening)
+    // - this does no seem to be necessary anymore -
+//     if (singVals[k] == left) singVals[k] *= 1 + NumTraits<RealScalar>::epsilon();
+//     if (singVals[k] == right) singVals[k] *= 1 - NumTraits<RealScalar>::epsilon();
+  }
+}
+
+
+// zhat is perturbation of col0 for which singular vectors can be computed stably (see Section 3.1)
+template <typename MatrixType>
+void BDCSVD<MatrixType>::perturbCol0
+   (const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+    const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat)
+{
+  using std::sqrt;
+  Index n = col0.size();
+  Index m = perm.size();
+  if(m==0)
+  {
+    zhat.setZero();
+    return;
+  }
+  Index last = perm(m-1);
+  // The offset permits to skip deflated entries while computing zhat
+  for (Index k = 0; k < n; ++k)
+  {
+    if (col0(k) == Literal(0)) // deflated
+      zhat(k) = Literal(0);
+    else
+    {
+      // see equation (3.6)
+      RealScalar dk = diag(k);
+      RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
+
+      for(Index l = 0; l<m; ++l)
+      {
+        Index i = perm(l);
+        if(i!=k)
+        {
+          Index j = i<k ? i : perm(l-1);
+          prod *= ((singVals(j)+dk) / ((diag(i)+dk))) * ((mus(j)+(shifts(j)-dk)) / ((diag(i)-dk)));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+          if(i!=k && std::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
+            std::cout << "     " << ((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) << " == (" << (singVals(j)+dk) << " * " << (mus(j)+(shifts(j)-dk))
+                       << ") / (" << (diag(i)+dk) << " * " << (diag(i)-dk) << ")\n";
+#endif
+        }
+      }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(last) + dk) << " * " << mus(last) + shifts(last) << " - " << dk << "\n";
+#endif
+      RealScalar tmp = sqrt(prod);
+      zhat(k) = col0(k) > Literal(0) ? tmp : -tmp;
+    }
+  }
+}
+
+// compute singular vectors
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVecs
+   (const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+    const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V)
+{
+  Index n = zhat.size();
+  Index m = perm.size();
+  
+  for (Index k = 0; k < n; ++k)
+  {
+    if (zhat(k) == Literal(0))
+    {
+      U.col(k) = VectorType::Unit(n+1, k);
+      if (m_compV) V.col(k) = VectorType::Unit(n, k);
+    }
+    else
+    {
+      U.col(k).setZero();
+      for(Index l=0;l<m;++l)
+      {
+        Index i = perm(l);
+        U(i,k) = zhat(i)/(((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+      }
+      U(n,k) = Literal(0);
+      U.col(k).normalize();
+    
+      if (m_compV)
+      {
+        V.col(k).setZero();
+        for(Index l=1;l<m;++l)
+        {
+          Index i = perm(l);
+          V(i,k) = diag(i) * zhat(i) / (((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+        }
+        V(0,k) = Literal(-1);
+        V.col(k).normalize();
+      }
+    }
+  }
+  U.col(n) = VectorType::Unit(n+1, n);
+}
+
+
+// page 12_13
+// i >= 1, di almost null and zi non null.
+// We use a rotation to zero out zi applied to the left of M
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size)
+{
+  using std::abs;
+  using std::sqrt;
+  using std::pow;
+  Index start = firstCol + shift;
+  RealScalar c = m_computed(start, start);
+  RealScalar s = m_computed(start+i, start);
+  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+  if (r == Literal(0))
+  {
+    m_computed(start+i, start+i) = Literal(0);
+    return;
+  }
+  m_computed(start,start) = r;  
+  m_computed(start+i, start) = Literal(0);
+  m_computed(start+i, start+i) = Literal(0);
+  
+  JacobiRotation<RealScalar> J(c/r,-s/r);
+  if (m_compU)  m_naiveU.middleRows(firstCol, size+1).applyOnTheRight(firstCol, firstCol+i, J);
+  else          m_naiveU.applyOnTheRight(firstCol, firstCol+i, J);
+}// end deflation 43
+
+
+// page 13
+// i,j >= 1, i!=j and |di - dj| < epsilon * norm2(M)
+// We apply two rotations to have zj = 0;
+// TODO deflation44 is still broken and not properly tested
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size)
+{
+  using std::abs;
+  using std::sqrt;
+  using std::conj;
+  using std::pow;
+  RealScalar c = m_computed(firstColm+i, firstColm);
+  RealScalar s = m_computed(firstColm+j, firstColm);
+  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "deflation 4.4: " << i << "," << j << " -> " << c << " " << s << " " << r << " ; "
+    << m_computed(firstColm + i-1, firstColm)  << " "
+    << m_computed(firstColm + i, firstColm)  << " "
+    << m_computed(firstColm + i+1, firstColm) << " "
+    << m_computed(firstColm + i+2, firstColm) << "\n";
+  std::cout << m_computed(firstColm + i-1, firstColm + i-1)  << " "
+    << m_computed(firstColm + i, firstColm+i)  << " "
+    << m_computed(firstColm + i+1, firstColm+i+1) << " "
+    << m_computed(firstColm + i+2, firstColm+i+2) << "\n";
+#endif
+  if (r==Literal(0))
+  {
+    m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
+    return;
+  }
+  c/=r;
+  s/=r;
+  m_computed(firstColm + i, firstColm) = r;  
+  m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
+  m_computed(firstColm + j, firstColm) = Literal(0);
+
+  JacobiRotation<RealScalar> J(c,-s);
+  if (m_compU)  m_naiveU.middleRows(firstColu, size+1).applyOnTheRight(firstColu + i, firstColu + j, J);
+  else          m_naiveU.applyOnTheRight(firstColu+i, firstColu+j, J);
+  if (m_compV)  m_naiveV.middleRows(firstRowW, size).applyOnTheRight(firstColW + i, firstColW + j, J);
+}// end deflation 44
+
+
+// acts on block from (firstCol+shift, firstCol+shift) to (lastCol+shift, lastCol+shift) [inclusive]
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift)
+{
+  using std::sqrt;
+  using std::abs;
+  const Index length = lastCol + 1 - firstCol;
+  
+  Block<MatrixXr,Dynamic,1> col0(m_computed, firstCol+shift, firstCol+shift, length, 1);
+  Diagonal<MatrixXr> fulldiag(m_computed);
+  VectorBlock<Diagonal<MatrixXr>,Dynamic> diag(fulldiag, firstCol+shift, length);
+  
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  RealScalar maxDiag = diag.tail((std::max)(Index(1),length-1)).cwiseAbs().maxCoeff();
+  RealScalar epsilon_strict = numext::maxi<RealScalar>(considerZero,NumTraits<RealScalar>::epsilon() * maxDiag);
+  RealScalar epsilon_coarse = Literal(8) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(col0.cwiseAbs().maxCoeff(), maxDiag);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE  
+  std::cout << "\ndeflate:" << diag.head(k+1).transpose() << "  |  " << diag.segment(k+1,length-k-1).transpose() << "\n";
+#endif
+  
+  //condition 4.1
+  if (diag(0) < epsilon_coarse)
+  { 
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+    std::cout << "deflation 4.1, because " << diag(0) << " < " << epsilon_coarse << "\n";
+#endif
+    diag(0) = epsilon_coarse;
+  }
+
+  //condition 4.2
+  for (Index i=1;i<length;++i)
+    if (abs(col0(i)) < epsilon_strict)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "deflation 4.2, set z(" << i << ") to zero because " << abs(col0(i)) << " < " << epsilon_strict << "  (diag(" << i << ")=" << diag(i) << ")\n";
+#endif
+      col0(i) = Literal(0);
+    }
+
+  //condition 4.3
+  for (Index i=1;i<length; i++)
+    if (diag(i) < epsilon_coarse)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "deflation 4.3, cancel z(" << i << ")=" << col0(i) << " because diag(" << i << ")=" << diag(i) << " < " << epsilon_coarse << "\n";
+#endif
+      deflation43(firstCol, shift, i, length);
+    }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "to be sorted: " << diag.transpose() << "\n\n";
+#endif
+  {
+    // Check for total deflation
+    // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting
+    bool total_deflation = (col0.tail(length-1).array()<considerZero).all();
+    
+    // Sort the diagonal entries, since diag(1:k-1) and diag(k:length) are already sorted, let's do a sorted merge.
+    // First, compute the respective permutation.
+    Index *permutation = m_workspaceI.data();
+    {
+      permutation[0] = 0;
+      Index p = 1;
+      
+      // Move deflated diagonal entries at the end.
+      for(Index i=1; i<length; ++i)
+        if(abs(diag(i))<considerZero)
+          permutation[p++] = i;
+        
+      Index i=1, j=k+1;
+      for( ; p < length; ++p)
+      {
+             if (i > k)             permutation[p] = j++;
+        else if (j >= length)       permutation[p] = i++;
+        else if (diag(i) < diag(j)) permutation[p] = j++;
+        else                        permutation[p] = i++;
+      }
+    }
+    
+    // If we have a total deflation, then we have to insert diag(0) at the right place
+    if(total_deflation)
+    {
+      for(Index i=1; i<length; ++i)
+      {
+        Index pi = permutation[i];
+        if(abs(diag(pi))<considerZero || diag(0)<diag(pi))
+          permutation[i-1] = permutation[i];
+        else
+        {
+          permutation[i-1] = 0;
+          break;
+        }
+      }
+    }
+    
+    // Current index of each col, and current column of each index
+    Index *realInd = m_workspaceI.data()+length;
+    Index *realCol = m_workspaceI.data()+2*length;
+    
+    for(int pos = 0; pos< length; pos++)
+    {
+      realCol[pos] = pos;
+      realInd[pos] = pos;
+    }
+    
+    for(Index i = total_deflation?0:1; i < length; i++)
+    {
+      const Index pi = permutation[length - (total_deflation ? i+1 : i)];
+      const Index J = realCol[pi];
+      
+      using std::swap;
+      // swap diagonal and first column entries:
+      swap(diag(i), diag(J));
+      if(i!=0 && J!=0) swap(col0(i), col0(J));
+
+      // change columns
+      if (m_compU) m_naiveU.col(firstCol+i).segment(firstCol, length + 1).swap(m_naiveU.col(firstCol+J).segment(firstCol, length + 1));
+      else         m_naiveU.col(firstCol+i).segment(0, 2)                .swap(m_naiveU.col(firstCol+J).segment(0, 2));
+      if (m_compV) m_naiveV.col(firstColW + i).segment(firstRowW, length).swap(m_naiveV.col(firstColW + J).segment(firstRowW, length));
+
+      //update real pos
+      const Index realI = realInd[i];
+      realCol[realI] = J;
+      realCol[pi] = i;
+      realInd[J] = realI;
+      realInd[i] = pi;
+    }
+  }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "sorted: " << diag.transpose().format(bdcsvdfmt) << "\n";
+  std::cout << "      : " << col0.transpose() << "\n\n";
+#endif
+    
+  //condition 4.4
+  {
+    Index i = length-1;
+    while(i>0 && (abs(diag(i))<considerZero || abs(col0(i))<considerZero)) --i;
+    for(; i>1;--i)
+       if( (diag(i) - diag(i-1)) < NumTraits<RealScalar>::epsilon()*maxDiag )
+      {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+        std::cout << "deflation 4.4 with i = " << i << " because " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*diag(i) << "\n";
+#endif
+        eigen_internal_assert(abs(diag(i) - diag(i-1))<epsilon_coarse && " diagonal entries are not properly sorted");
+        deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i-1, i, length);
+      }
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  for(Index j=2;j<length;++j)
+    assert(diag(j-1)<=diag(j) || abs(diag(j))<considerZero);
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+}//end deflation
+
+#ifndef __CUDACC__
+/** \svd_module
+  *
+  * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
+  *
+  * \sa class BDCSVD
+  */
+template<typename Derived>
+BDCSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
+{
+  return BDCSVD<PlainObject>(*this, computationOptions);
+}
+#endif
+
+} // end namespace Eigen
+
+#endif
diff --git a/vendor/eigen/Eigen/src/SVD/JacobiSVD.h b/vendor/eigen/Eigen/src/SVD/JacobiSVD.h
index 89ace38..43488b1 100644
--- a/vendor/eigen/Eigen/src/SVD/JacobiSVD.h
+++ b/vendor/eigen/Eigen/src/SVD/JacobiSVD.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -51,7 +52,6 @@ template<typename MatrixType, int QRPreconditioner, int Case>
 class qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
 {
 public:
-  typedef typename MatrixType::Index Index;
   void allocate(const JacobiSVD<MatrixType, QRPreconditioner>&) {}
   bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
   {
@@ -65,7 +65,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -106,7 +105,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -114,9 +112,11 @@ public:
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
+    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
+              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
+              : MatrixType::Options
   };
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
+  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
           TransposeTypeWithSameStorageOrder;
 
   void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
@@ -156,8 +156,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
-
   void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
   {
     if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
@@ -197,7 +195,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -205,10 +202,12 @@ public:
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
+    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
+              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
+              : MatrixType::Options
   };
 
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
+  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
           TransposeTypeWithSameStorageOrder;
 
   void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
@@ -256,8 +255,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
-
   void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
   {
     if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
@@ -296,7 +293,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -358,8 +354,8 @@ template<typename MatrixType, int QRPreconditioner>
 struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
 {
   typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType&, SVD&, Index, Index) {}
+  typedef typename MatrixType::RealScalar RealScalar;
+  static bool run(typename SVD::WorkMatrixType&, SVD&, Index, Index, RealScalar&) { return true; }
 };
 
 template<typename MatrixType, int QRPreconditioner>
@@ -368,20 +364,30 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
   typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
+  static bool run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q, RealScalar& maxDiagEntry)
   {
     using std::sqrt;
+    using std::abs;
     Scalar z;
     JacobiRotation<Scalar> rot;
     RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
-    
+
+    const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+    const RealScalar precision = NumTraits<Scalar>::epsilon();
+
     if(n==0)
     {
-      z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-      work_matrix.row(p) *= z;
-      if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
-      if(work_matrix.coeff(q,q)!=Scalar(0))
+      // make sure first column is zero
+      work_matrix.coeffRef(p,p) = work_matrix.coeffRef(q,p) = Scalar(0);
+
+      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
+      {
+        // work_matrix.coeff(p,q) can be zero if work_matrix.coeff(q,p) is not zero but small enough to underflow when computing n
+        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        work_matrix.row(p) *= z;
+        if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
+      }
+      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
       {
         z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
         work_matrix.row(q) *= z;
@@ -395,52 +401,33 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
       rot.s() = work_matrix.coeff(q,p) / n;
       work_matrix.applyOnTheLeft(p,q,rot);
       if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
-      if(work_matrix.coeff(p,q) != Scalar(0))
+      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
       {
-        Scalar z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
         work_matrix.col(q) *= z;
         if(svd.computeV()) svd.m_matrixV.col(q) *= z;
       }
-      if(work_matrix.coeff(q,q) != Scalar(0))
+      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
       {
         z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
         work_matrix.row(q) *= z;
         if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
       }
     }
+
+    // update largest diagonal entry
+    maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(work_matrix.coeff(p,p)), abs(work_matrix.coeff(q,q))));
+    // and check whether the 2x2 block is already diagonal
+    RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
+    return abs(work_matrix.coeff(p,q))>threshold || abs(work_matrix.coeff(q,p)) > threshold;
   }
 };
 
-template<typename MatrixType, typename RealScalar, typename Index>
-void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
-                            JacobiRotation<RealScalar> *j_left,
-                            JacobiRotation<RealScalar> *j_right)
+template<typename _MatrixType, int QRPreconditioner> 
+struct traits<JacobiSVD<_MatrixType,QRPreconditioner> >
 {
-  using std::sqrt;
-  using std::abs;
-  Matrix<RealScalar,2,2> m;
-  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
-       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
-  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))
-  {
-    rot1.c() = RealScalar(0);
-    rot1.s() = d > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
-  }
-  else
-  {
-    RealScalar t2d2 = numext::hypot(t,d);
-    rot1.c() = abs(t)/t2d2;
-    rot1.s() = d/t2d2;
-    if(t<RealScalar(0))
-      rot1.s() = -rot1.s();
-  }
-  m.applyOnTheLeft(0,1,rot1);
-  j_right->makeJacobi(m,0,1);
-  *j_left  = rot1 * j_right->transpose();
-}
+  typedef _MatrixType MatrixType;
+};
 
 } // end namespace internal
 
@@ -451,8 +438,8 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
   *
   * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
   *
-  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
-  * \param QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
+  * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+  * \tparam QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
   *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
   *
   * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
@@ -498,13 +485,14 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
   * \sa MatrixBase::jacobiSvd()
   */
 template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
+ : public SVDBase<JacobiSVD<_MatrixType,QRPreconditioner> >
 {
+    typedef SVDBase<JacobiSVD> Base;
   public:
 
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
@@ -515,13 +503,10 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       MatrixOptions = MatrixType::Options
     };
 
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
-                   MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
-            MatrixUType;
-    typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
-                   MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
-            MatrixVType;
-    typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+    typedef typename Base::MatrixUType MatrixUType;
+    typedef typename Base::MatrixVType MatrixVType;
+    typedef typename Base::SingularValuesType SingularValuesType;
+    
     typedef typename internal::plain_row_type<MatrixType>::type RowType;
     typedef typename internal::plain_col_type<MatrixType>::type ColType;
     typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
@@ -534,11 +519,6 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       * perform decompositions via JacobiSVD::compute(const MatrixType&).
       */
     JacobiSVD()
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1), m_diagSize(0)
     {}
 
 
@@ -549,11 +529,6 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       * \sa JacobiSVD()
       */
     JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1)
     {
       allocate(rows, cols, computationOptions);
     }
@@ -568,12 +543,7 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
      * available with the (non-default) FullPivHouseholderQR preconditioner.
      */
-    JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1)
+    explicit JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
     {
       compute(matrix, computationOptions);
     }
@@ -601,164 +571,33 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       return compute(matrix, m_computationOptions);
     }
 
-    /** \returns the \a U matrix.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-     * the U matrix is n-by-n if you asked for #ComputeFullU, and is n-by-m if you asked for #ComputeThinU.
-     *
-     * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
-     *
-     * This method asserts that you asked for \a U to be computed.
-     */
-    const MatrixUType& matrixU() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeU() && "This JacobiSVD decomposition didn't compute U. Did you ask for it?");
-      return m_matrixU;
-    }
-
-    /** \returns the \a V matrix.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-     * the V matrix is p-by-p if you asked for #ComputeFullV, and is p-by-m if you asked for ComputeThinV.
-     *
-     * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
-     *
-     * This method asserts that you asked for \a V to be computed.
-     */
-    const MatrixVType& matrixV() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?");
-      return m_matrixV;
-    }
-
-    /** \returns the vector of singular values.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
-     * returned vector has size \a m.  Singular values are always sorted in decreasing order.
-     */
-    const SingularValuesType& singularValues() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      return m_singularValues;
-    }
-
-    /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
-    inline bool computeU() const { return m_computeFullU || m_computeThinU; }
-    /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
-    inline bool computeV() const { return m_computeFullV || m_computeThinV; }
-
-    /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
-      *
-      * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
-      * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<JacobiSVD, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeU() && computeV() && "JacobiSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-      return internal::solve_retval<JacobiSVD, Rhs>(*this, b.derived());
-    }
-
-    /** \returns the number of singular values that are not exactly 0 */
-    Index nonzeroSingularValues() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      return m_nonzeroSingularValues;
-    }
-    
-    /** \returns the rank of the matrix of which \c *this is the SVD.
-      *
-      * \note This method has to determine which singular values should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index rank() const
-    {
-      using std::abs;
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      if(m_singularValues.size()==0) return 0;
-      RealScalar premultiplied_threshold = m_singularValues.coeff(0) * threshold();
-      Index i = m_nonzeroSingularValues-1;
-      while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
-      return i+1;
-    }
-    
-    /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
-      * which need to determine when singular values are to be considered nonzero.
-      * This is not used for the SVD decomposition itself.
-      *
-      * When it needs to get the threshold value, Eigen calls threshold().
-      * The default is \c NumTraits<Scalar>::epsilon()
-      *
-      * \param threshold The new value to use as the threshold.
-      *
-      * A singular value will be considered nonzero if its value is strictly greater than
-      *  \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
-      *
-      * If you want to come back to the default behavior, call setThreshold(Default_t)
-      */
-    JacobiSVD& setThreshold(const RealScalar& threshold)
-    {
-      m_usePrescribedThreshold = true;
-      m_prescribedThreshold = threshold;
-      return *this;
-    }
-
-    /** Allows to come back to the default behavior, letting Eigen use its default formula for
-      * determining the threshold.
-      *
-      * You should pass the special object Eigen::Default as parameter here.
-      * \code svd.setThreshold(Eigen::Default); \endcode
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    JacobiSVD& setThreshold(Default_t)
-    {
-      m_usePrescribedThreshold = false;
-      return *this;
-    }
-
-    /** Returns the threshold that will be used by certain methods such as rank().
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    RealScalar threshold() const
-    {
-      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-      return m_usePrescribedThreshold ? m_prescribedThreshold
-                                      : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
-    }
-
-    inline Index rows() const { return m_rows; }
-    inline Index cols() const { return m_cols; }
+    using Base::computeU;
+    using Base::computeV;
+    using Base::rows;
+    using Base::cols;
+    using Base::rank;
 
   private:
     void allocate(Index rows, Index cols, unsigned int computationOptions);
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
 
   protected:
-    MatrixUType m_matrixU;
-    MatrixVType m_matrixV;
-    SingularValuesType m_singularValues;
+    using Base::m_matrixU;
+    using Base::m_matrixV;
+    using Base::m_singularValues;
+    using Base::m_isInitialized;
+    using Base::m_isAllocated;
+    using Base::m_usePrescribedThreshold;
+    using Base::m_computeFullU;
+    using Base::m_computeThinU;
+    using Base::m_computeFullV;
+    using Base::m_computeThinV;
+    using Base::m_computationOptions;
+    using Base::m_nonzeroSingularValues;
+    using Base::m_rows;
+    using Base::m_cols;
+    using Base::m_diagSize;
+    using Base::m_prescribedThreshold;
     WorkMatrixType m_workMatrix;
-    bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
-    bool m_computeFullU, m_computeThinU;
-    bool m_computeFullV, m_computeThinV;
-    unsigned int m_computationOptions;
-    Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
-    RealScalar m_prescribedThreshold;
 
     template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
     friend struct internal::svd_precondition_2x2_block_to_be_real;
@@ -823,8 +662,6 @@ template<typename MatrixType, int QRPreconditioner>
 JacobiSVD<MatrixType, QRPreconditioner>&
 JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
 {
-  check_template_parameters();
-  
   using std::abs;
   allocate(matrix.rows(), matrix.cols(), computationOptions);
 
@@ -832,8 +669,8 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   // only worsening the precision of U and V as we accumulate more rotations
   const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
 
-  // limit for very small denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
-  const RealScalar considerAsZero = RealScalar(2) * std::numeric_limits<RealScalar>::denorm_min();
+  // limit for denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
+  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
 
   // Scaling factor to reduce over/under-flows
   RealScalar scale = matrix.cwiseAbs().maxCoeff();
@@ -857,6 +694,7 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   }
 
   /*** step 2. The main Jacobi SVD iteration. ***/
+  RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
 
   bool finished = false;
   while(!finished)
@@ -872,25 +710,27 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
         // if this 2x2 sub-matrix is not diagonal already...
         // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
         // keep us iterating forever. Similarly, small denormal numbers are considered zero.
-        using std::max;
-        RealScalar threshold = (max)(considerAsZero, precision * (max)(abs(m_workMatrix.coeff(p,p)),
-                                                                       abs(m_workMatrix.coeff(q,q))));
-        // We compare both values to threshold instead of calling max to be robust to NaN (See bug 791)
+        RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
         if(abs(m_workMatrix.coeff(p,q))>threshold || abs(m_workMatrix.coeff(q,p)) > threshold)
         {
           finished = false;
-
           // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
-          internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
-          JacobiRotation<RealScalar> j_left, j_right;
-          internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
-
-          // accumulate resulting Jacobi rotations
-          m_workMatrix.applyOnTheLeft(p,q,j_left);
-          if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
-
-          m_workMatrix.applyOnTheRight(p,q,j_right);
-          if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+          // the complex to real operation returns true if the updated 2x2 block is not already diagonal
+          if(internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q, maxDiagEntry))
+          {
+            JacobiRotation<RealScalar> j_left, j_right;
+            internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
+
+            // accumulate resulting Jacobi rotations
+            m_workMatrix.applyOnTheLeft(p,q,j_left);
+            if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
+
+            m_workMatrix.applyOnTheRight(p,q,j_right);
+            if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+
+            // keep track of the largest diagonal coefficient
+            maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(m_workMatrix.coeff(p,p)), abs(m_workMatrix.coeff(q,q))));
+          }
         }
       }
     }
@@ -900,10 +740,25 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
 
   for(Index i = 0; i < m_diagSize; ++i)
   {
-    RealScalar a = abs(m_workMatrix.coeff(i,i));
-    m_singularValues.coeffRef(i) = a;
-    if(computeU() && (a!=RealScalar(0))) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+    // For a complex matrix, some diagonal coefficients might note have been
+    // treated by svd_precondition_2x2_block_to_be_real, and the imaginary part
+    // of some diagonal entry might not be null.
+    if(NumTraits<Scalar>::IsComplex && abs(numext::imag(m_workMatrix.coeff(i,i)))>considerAsZero)
+    {
+      RealScalar a = abs(m_workMatrix.coeff(i,i));
+      m_singularValues.coeffRef(i) = abs(a);
+      if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+    }
+    else
+    {
+      // m_workMatrix.coeff(i,i) is already real, no difficulty:
+      RealScalar a = numext::real(m_workMatrix.coeff(i,i));
+      m_singularValues.coeffRef(i) = abs(a);
+      if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
+    }
   }
+  
+  m_singularValues *= scale;
 
   /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
 
@@ -925,38 +780,11 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
       if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
     }
   }
-  
-  m_singularValues *= scale;
 
   m_isInitialized = true;
   return *this;
 }
 
-namespace internal {
-template<typename _MatrixType, int QRPreconditioner, typename Rhs>
-struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-  : solve_retval_base<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-{
-  typedef JacobiSVD<_MatrixType, QRPreconditioner> JacobiSVDType;
-  EIGEN_MAKE_SOLVE_HELPERS(JacobiSVDType,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    eigen_assert(rhs().rows() == dec().rows());
-
-    // A = U S V^*
-    // So A^{-1} = V S^{-1} U^*
-
-    Matrix<Scalar, Dynamic, Rhs::ColsAtCompileTime, 0, _MatrixType::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime> tmp;
-    Index rank = dec().rank();
-    
-    tmp.noalias() = dec().matrixU().leftCols(rank).adjoint() * rhs();
-    tmp = dec().singularValues().head(rank).asDiagonal().inverse() * tmp;
-    dst = dec().matrixV().leftCols(rank) * tmp;
-  }
-};
-} // end namespace internal
-
 /** \svd_module
   *
   * \return the singular value decomposition of \c *this computed by two-sided
diff --git a/vendor/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h b/vendor/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h
new file mode 100644
index 0000000..5027215
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h
@@ -0,0 +1,90 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ *   Content : Eigen bindings to LAPACKe
+ *    Singular Value Decomposition - SVD.
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_JACOBISVD_LAPACKE_H
+#define EIGEN_JACOBISVD_LAPACKE_H
+
+namespace Eigen { 
+
+/** \internal Specialization for the data types supported by LAPACKe */
+
+#define EIGEN_LAPACKE_SVD(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
+template<> inline \
+JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>& \
+JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix, unsigned int computationOptions) \
+{ \
+  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
+  /*typedef MatrixType::Scalar Scalar;*/ \
+  /*typedef MatrixType::RealScalar RealScalar;*/ \
+  allocate(matrix.rows(), matrix.cols(), computationOptions); \
+\
+  /*const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();*/ \
+  m_nonzeroSingularValues = m_diagSize; \
+\
+  lapack_int lda = internal::convert_index<lapack_int>(matrix.outerStride()), ldu, ldvt; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
+  char jobu, jobvt; \
+  LAPACKE_TYPE *u, *vt, dummy; \
+  jobu  = (m_computeFullU) ? 'A' : (m_computeThinU) ? 'S' : 'N'; \
+  jobvt = (m_computeFullV) ? 'A' : (m_computeThinV) ? 'S' : 'N'; \
+  if (computeU()) { \
+    ldu  = internal::convert_index<lapack_int>(m_matrixU.outerStride()); \
+    u    = (LAPACKE_TYPE*)m_matrixU.data(); \
+  } else { ldu=1; u=&dummy; }\
+  MatrixType localV; \
+  ldvt = (m_computeFullV) ? internal::convert_index<lapack_int>(m_cols) : (m_computeThinV) ? internal::convert_index<lapack_int>(m_diagSize) : 1; \
+  if (computeV()) { \
+    localV.resize(ldvt, m_cols); \
+    vt   = (LAPACKE_TYPE*)localV.data(); \
+  } else { ldvt=1; vt=&dummy; }\
+  Matrix<LAPACKE_RTYPE, Dynamic, Dynamic> superb; superb.resize(m_diagSize, 1); \
+  MatrixType m_temp; m_temp = matrix; \
+  LAPACKE_##LAPACKE_PREFIX##gesvd( matrix_order, jobu, jobvt, internal::convert_index<lapack_int>(m_rows), internal::convert_index<lapack_int>(m_cols), (LAPACKE_TYPE*)m_temp.data(), lda, (LAPACKE_RTYPE*)m_singularValues.data(), u, ldu, vt, ldvt, superb.data()); \
+  if (computeV()) m_matrixV = localV.adjoint(); \
+ /* for(int i=0;i<m_diagSize;i++) if (m_singularValues.coeffRef(i) < precision) { m_nonzeroSingularValues--; m_singularValues.coeffRef(i)=RealScalar(0);}*/ \
+  m_isInitialized = true; \
+  return *this; \
+}
+
+EIGEN_LAPACKE_SVD(double,   double,                double, d, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(float,    float,                 float , s, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, ColMajor, LAPACK_COL_MAJOR)
+
+EIGEN_LAPACKE_SVD(double,   double,                double, d, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(float,    float,                 float , s, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, RowMajor, LAPACK_ROW_MAJOR)
+
+} // end namespace Eigen
+
+#endif // EIGEN_JACOBISVD_LAPACKE_H
diff --git a/vendor/eigen/Eigen/src/SVD/SVDBase.h b/vendor/eigen/Eigen/src/SVD/SVDBase.h
new file mode 100644
index 0000000..cc90a3b
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SVD/SVDBase.h
@@ -0,0 +1,313 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at inria.fr>
+//
+// Copyright (C) 2013 Gauthier Brun <brun.gauthier at gmail.com>
+// Copyright (C) 2013 Nicolas Carre <nicolas.carre at ensimag.fr>
+// Copyright (C) 2013 Jean Ceccato <jean.ceccato at ensimag.fr>
+// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli at ensimag.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_SVDBASE_H
+#define EIGEN_SVDBASE_H
+
+namespace Eigen {
+/** \ingroup SVD_Module
+ *
+ *
+ * \class SVDBase
+ *
+ * \brief Base class of SVD algorithms
+ *
+ * \tparam Derived the type of the actual SVD decomposition
+ *
+ * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
+ *   \f[ A = U S V^* \f]
+ * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
+ * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
+ * and right \em singular \em vectors of \a A respectively.
+ *
+ * Singular values are always sorted in decreasing order.
+ *
+ * 
+ * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
+ * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
+ * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
+ * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
+ *  
+ * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+ * terminate in finite (and reasonable) time.
+ * \sa class BDCSVD, class JacobiSVD
+ */
+template<typename Derived>
+class SVDBase
+{
+
+public:
+  typedef typename internal::traits<Derived>::MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
+    MatrixOptions = MatrixType::Options
+  };
+
+  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixUType;
+  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime, MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime> MatrixVType;
+  typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+  
+  Derived& derived() { return *static_cast<Derived*>(this); }
+  const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+  /** \returns the \a U matrix.
+   *
+   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+   * the U matrix is n-by-n if you asked for \link Eigen::ComputeFullU ComputeFullU \endlink, and is n-by-m if you asked for \link Eigen::ComputeThinU ComputeThinU \endlink.
+   *
+   * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
+   *
+   * This method asserts that you asked for \a U to be computed.
+   */
+  const MatrixUType& matrixU() const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    eigen_assert(computeU() && "This SVD decomposition didn't compute U. Did you ask for it?");
+    return m_matrixU;
+  }
+
+  /** \returns the \a V matrix.
+   *
+   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+   * the V matrix is p-by-p if you asked for \link Eigen::ComputeFullV ComputeFullV \endlink, and is p-by-m if you asked for \link Eigen::ComputeThinV ComputeThinV \endlink.
+   *
+   * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
+   *
+   * This method asserts that you asked for \a V to be computed.
+   */
+  const MatrixVType& matrixV() const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    eigen_assert(computeV() && "This SVD decomposition didn't compute V. Did you ask for it?");
+    return m_matrixV;
+  }
+
+  /** \returns the vector of singular values.
+   *
+   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
+   * returned vector has size \a m.  Singular values are always sorted in decreasing order.
+   */
+  const SingularValuesType& singularValues() const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    return m_singularValues;
+  }
+
+  /** \returns the number of singular values that are not exactly 0 */
+  Index nonzeroSingularValues() const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    return m_nonzeroSingularValues;
+  }
+  
+  /** \returns the rank of the matrix of which \c *this is the SVD.
+    *
+    * \note This method has to determine which singular values should be considered nonzero.
+    *       For that, it uses the threshold value that you can control by calling
+    *       setThreshold(const RealScalar&).
+    */
+  inline Index rank() const
+  {
+    using std::abs;
+    eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+    if(m_singularValues.size()==0) return 0;
+    RealScalar premultiplied_threshold = numext::maxi<RealScalar>(m_singularValues.coeff(0) * threshold(), (std::numeric_limits<RealScalar>::min)());
+    Index i = m_nonzeroSingularValues-1;
+    while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
+    return i+1;
+  }
+  
+  /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
+    * which need to determine when singular values are to be considered nonzero.
+    * This is not used for the SVD decomposition itself.
+    *
+    * When it needs to get the threshold value, Eigen calls threshold().
+    * The default is \c NumTraits<Scalar>::epsilon()
+    *
+    * \param threshold The new value to use as the threshold.
+    *
+    * A singular value will be considered nonzero if its value is strictly greater than
+    *  \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
+    *
+    * If you want to come back to the default behavior, call setThreshold(Default_t)
+    */
+  Derived& setThreshold(const RealScalar& threshold)
+  {
+    m_usePrescribedThreshold = true;
+    m_prescribedThreshold = threshold;
+    return derived();
+  }
+
+  /** Allows to come back to the default behavior, letting Eigen use its default formula for
+    * determining the threshold.
+    *
+    * You should pass the special object Eigen::Default as parameter here.
+    * \code svd.setThreshold(Eigen::Default); \endcode
+    *
+    * See the documentation of setThreshold(const RealScalar&).
+    */
+  Derived& setThreshold(Default_t)
+  {
+    m_usePrescribedThreshold = false;
+    return derived();
+  }
+
+  /** Returns the threshold that will be used by certain methods such as rank().
+    *
+    * See the documentation of setThreshold(const RealScalar&).
+    */
+  RealScalar threshold() const
+  {
+    eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+    return m_usePrescribedThreshold ? m_prescribedThreshold
+                                    : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
+  }
+
+  /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
+  inline bool computeU() const { return m_computeFullU || m_computeThinU; }
+  /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
+  inline bool computeV() const { return m_computeFullV || m_computeThinV; }
+
+  inline Index rows() const { return m_rows; }
+  inline Index cols() const { return m_cols; }
+  
+  /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+    *
+    * \param b the right-hand-side of the equation to solve.
+    *
+    * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
+    *
+    * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
+    * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
+    */
+  template<typename Rhs>
+  inline const Solve<Derived, Rhs>
+  solve(const MatrixBase<Rhs>& b) const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    eigen_assert(computeU() && computeV() && "SVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
+    return Solve<Derived, Rhs>(derived(), b.derived());
+  }
+  
+  #ifndef EIGEN_PARSED_BY_DOXYGEN
+  template<typename RhsType, typename DstType>
+  EIGEN_DEVICE_FUNC
+  void _solve_impl(const RhsType &rhs, DstType &dst) const;
+  #endif
+
+protected:
+  
+  static void check_template_parameters()
+  {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+  }
+  
+  // return true if already allocated
+  bool allocate(Index rows, Index cols, unsigned int computationOptions) ;
+
+  MatrixUType m_matrixU;
+  MatrixVType m_matrixV;
+  SingularValuesType m_singularValues;
+  bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
+  bool m_computeFullU, m_computeThinU;
+  bool m_computeFullV, m_computeThinV;
+  unsigned int m_computationOptions;
+  Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
+  RealScalar m_prescribedThreshold;
+
+  /** \brief Default Constructor.
+   *
+   * Default constructor of SVDBase
+   */
+  SVDBase()
+    : m_isInitialized(false),
+      m_isAllocated(false),
+      m_usePrescribedThreshold(false),
+      m_computationOptions(0),
+      m_rows(-1), m_cols(-1), m_diagSize(0)
+  {
+    check_template_parameters();
+  }
+
+
+};
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+template<typename RhsType, typename DstType>
+void SVDBase<Derived>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  eigen_assert(rhs.rows() == rows());
+
+  // A = U S V^*
+  // So A^{-1} = V S^{-1} U^*
+
+  Matrix<Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
+  Index l_rank = rank();
+  tmp.noalias() =  m_matrixU.leftCols(l_rank).adjoint() * rhs;
+  tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
+  dst = m_matrixV.leftCols(l_rank) * tmp;
+}
+#endif
+
+template<typename MatrixType>
+bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+  eigen_assert(rows >= 0 && cols >= 0);
+
+  if (m_isAllocated &&
+      rows == m_rows &&
+      cols == m_cols &&
+      computationOptions == m_computationOptions)
+  {
+    return true;
+  }
+
+  m_rows = rows;
+  m_cols = cols;
+  m_isInitialized = false;
+  m_isAllocated = true;
+  m_computationOptions = computationOptions;
+  m_computeFullU = (computationOptions & ComputeFullU) != 0;
+  m_computeThinU = (computationOptions & ComputeThinU) != 0;
+  m_computeFullV = (computationOptions & ComputeFullV) != 0;
+  m_computeThinV = (computationOptions & ComputeThinV) != 0;
+  eigen_assert(!(m_computeFullU && m_computeThinU) && "SVDBase: you can't ask for both full and thin U");
+  eigen_assert(!(m_computeFullV && m_computeThinV) && "SVDBase: you can't ask for both full and thin V");
+  eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
+	       "SVDBase: thin U and V are only available when your matrix has a dynamic number of columns.");
+
+  m_diagSize = (std::min)(m_rows, m_cols);
+  m_singularValues.resize(m_diagSize);
+  if(RowsAtCompileTime==Dynamic)
+    m_matrixU.resize(m_rows, m_computeFullU ? m_rows : m_computeThinU ? m_diagSize : 0);
+  if(ColsAtCompileTime==Dynamic)
+    m_matrixV.resize(m_cols, m_computeFullV ? m_cols : m_computeThinV ? m_diagSize : 0);
+
+  return false;
+}
+
+}// end namespace
+
+#endif // EIGEN_SVDBASE_H
diff --git a/vendor/eigen/Eigen/src/SVD/UpperBidiagonalization.h b/vendor/eigen/Eigen/src/SVD/UpperBidiagonalization.h
index 587de37..11ac847 100644
--- a/vendor/eigen/Eigen/src/SVD/UpperBidiagonalization.h
+++ b/vendor/eigen/Eigen/src/SVD/UpperBidiagonalization.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -28,15 +29,15 @@ template<typename _MatrixType> class UpperBidiagonalization
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
     typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
     typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
-    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0> BidiagonalType;
+    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0, RowMajor> BidiagonalType;
     typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
     typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
     typedef HouseholderSequence<
               const MatrixType,
-              CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Diagonal<const MatrixType,0> >
+              const typename internal::remove_all<typename Diagonal<const MatrixType,0>::ConjugateReturnType>::type
             > HouseholderUSequenceType;
     typedef HouseholderSequence<
               const typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type,
@@ -52,7 +53,7 @@ template<typename _MatrixType> class UpperBidiagonalization
     */
     UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
 
-    UpperBidiagonalization(const MatrixType& matrix)
+    explicit UpperBidiagonalization(const MatrixType& matrix)
       : m_householder(matrix.rows(), matrix.cols()),
         m_bidiagonal(matrix.cols(), matrix.cols()),
         m_isInitialized(false)
@@ -61,6 +62,7 @@ template<typename _MatrixType> class UpperBidiagonalization
     }
     
     UpperBidiagonalization& compute(const MatrixType& matrix);
+    UpperBidiagonalization& computeUnblocked(const MatrixType& matrix);
     
     const MatrixType& householder() const { return m_householder; }
     const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
@@ -85,45 +87,309 @@ template<typename _MatrixType> class UpperBidiagonalization
     bool m_isInitialized;
 };
 
-template<typename _MatrixType>
-UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+// Standard upper bidiagonalization without fancy optimizations
+// This version should be faster for small matrix size
+template<typename MatrixType>
+void upperbidiagonalization_inplace_unblocked(MatrixType& mat,
+                                              typename MatrixType::RealScalar *diagonal,
+                                              typename MatrixType::RealScalar *upper_diagonal,
+                                              typename MatrixType::Scalar* tempData = 0)
 {
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  
-  eigen_assert(rows >= cols && "UpperBidiagonalization is only for matrices satisfying rows>=cols.");
-  
-  m_householder = matrix;
+  typedef typename MatrixType::Scalar Scalar;
 
-  ColVectorType temp(rows);
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+
+  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixType::MaxRowsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(rows);
+    tempData = tempVector.data();
+  }
 
   for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
   {
     Index remainingRows = rows - k;
     Index remainingCols = cols - k - 1;
 
-    // construct left householder transform in-place in m_householder
-    m_householder.col(k).tail(remainingRows)
-                 .makeHouseholderInPlace(m_householder.coeffRef(k,k),
-                                         m_bidiagonal.template diagonal<0>().coeffRef(k));
-    // apply householder transform to remaining part of m_householder on the left
-    m_householder.bottomRightCorner(remainingRows, remainingCols)
-                 .applyHouseholderOnTheLeft(m_householder.col(k).tail(remainingRows-1),
-                                            m_householder.coeff(k,k),
-                                            temp.data());
+    // construct left householder transform in-place in A
+    mat.col(k).tail(remainingRows)
+       .makeHouseholderInPlace(mat.coeffRef(k,k), diagonal[k]);
+    // apply householder transform to remaining part of A on the left
+    mat.bottomRightCorner(remainingRows, remainingCols)
+       .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), mat.coeff(k,k), tempData);
 
     if(k == cols-1) break;
+
+    // construct right householder transform in-place in mat
+    mat.row(k).tail(remainingCols)
+       .makeHouseholderInPlace(mat.coeffRef(k,k+1), upper_diagonal[k]);
+    // apply householder transform to remaining part of mat on the left
+    mat.bottomRightCorner(remainingRows-1, remainingCols)
+       .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).transpose(), mat.coeff(k,k+1), tempData);
+  }
+}
+
+/** \internal
+  * Helper routine for the block reduction to upper bidiagonal form.
+  *
+  * Let's partition the matrix A:
+  * 
+  *      | A00 A01 |
+  *  A = |         |
+  *      | A10 A11 |
+  *
+  * This function reduces to bidiagonal form the left \c rows x \a blockSize vertical panel [A00/A10]
+  * and the \a blockSize x \c cols horizontal panel [A00 A01] of the matrix \a A. The bottom-right block A11
+  * is updated using matrix-matrix products:
+  *   A22 -= V * Y^T - X * U^T
+  * where V and U contains the left and right Householder vectors. U and V are stored in A10, and A01
+  * respectively, and the update matrices X and Y are computed during the reduction.
+  * 
+  */
+template<typename MatrixType>
+void upperbidiagonalization_blocked_helper(MatrixType& A,
+                                           typename MatrixType::RealScalar *diagonal,
+                                           typename MatrixType::RealScalar *upper_diagonal,
+                                           Index bs,
+                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+                                                      traits<MatrixType>::Flags & RowMajorBit> > X,
+                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+                                                      traits<MatrixType>::Flags & RowMajorBit> > Y)
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename NumTraits<RealScalar>::Literal Literal;
+  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? 1 : Dynamic> ColInnerStride;
+  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? Dynamic : 1> RowInnerStride;
+  typedef Ref<Matrix<Scalar, Dynamic, 1>, 0, ColInnerStride>    SubColumnType;
+  typedef Ref<Matrix<Scalar, 1, Dynamic>, 0, RowInnerStride>    SubRowType;
+  typedef Ref<Matrix<Scalar, Dynamic, Dynamic, StorageOrder > > SubMatType;
+  
+  Index brows = A.rows();
+  Index bcols = A.cols();
+
+  Scalar tau_u, tau_u_prev(0), tau_v;
+
+  for(Index k = 0; k < bs; ++k)
+  {
+    Index remainingRows = brows - k;
+    Index remainingCols = bcols - k - 1;
+
+    SubMatType X_k1( X.block(k,0, remainingRows,k) );
+    SubMatType V_k1( A.block(k,0, remainingRows,k) );
+
+    // 1 - update the k-th column of A
+    SubColumnType v_k = A.col(k).tail(remainingRows);
+          v_k -= V_k1 * Y.row(k).head(k).adjoint();
+    if(k) v_k -= X_k1 * A.col(k).head(k);
+    
+    // 2 - construct left Householder transform in-place
+    v_k.makeHouseholderInPlace(tau_v, diagonal[k]);
+       
+    if(k+1<bcols)
+    {
+      SubMatType Y_k  ( Y.block(k+1,0, remainingCols, k+1) );
+      SubMatType U_k1 ( A.block(0,k+1, k,remainingCols) );
+      
+      // this eases the application of Householder transforAions
+      // A(k,k) will store tau_v later
+      A(k,k) = Scalar(1);
+
+      // 3 - Compute y_k^T = tau_v * ( A^T*v_k - Y_k-1*V_k-1^T*v_k - U_k-1*X_k-1^T*v_k )
+      {
+        SubColumnType y_k( Y.col(k).tail(remainingCols) );
+        
+        // let's use the begining of column k of Y as a temporary vector
+        SubColumnType tmp( Y.col(k).head(k) );
+        y_k.noalias()  = A.block(k,k+1, remainingRows,remainingCols).adjoint() * v_k; // bottleneck
+        tmp.noalias()  = V_k1.adjoint()  * v_k;
+        y_k.noalias() -= Y_k.leftCols(k) * tmp;
+        tmp.noalias()  = X_k1.adjoint()  * v_k;
+        y_k.noalias() -= U_k1.adjoint()  * tmp;
+        y_k *= numext::conj(tau_v);
+      }
+
+      // 4 - update k-th row of A (it will become u_k)
+      SubRowType u_k( A.row(k).tail(remainingCols) );
+      u_k = u_k.conjugate();
+      {
+        u_k -= Y_k * A.row(k).head(k+1).adjoint();
+        if(k) u_k -= U_k1.adjoint() * X.row(k).head(k).adjoint();
+      }
+
+      // 5 - construct right Householder transform in-place
+      u_k.makeHouseholderInPlace(tau_u, upper_diagonal[k]);
+
+      // this eases the application of Householder transformations
+      // A(k,k+1) will store tau_u later
+      A(k,k+1) = Scalar(1);
+
+      // 6 - Compute x_k = tau_u * ( A*u_k - X_k-1*U_k-1^T*u_k - V_k*Y_k^T*u_k )
+      {
+        SubColumnType x_k ( X.col(k).tail(remainingRows-1) );
+        
+        // let's use the begining of column k of X as a temporary vectors
+        // note that tmp0 and tmp1 overlaps
+        SubColumnType tmp0 ( X.col(k).head(k) ),
+                      tmp1 ( X.col(k).head(k+1) );
+                    
+        x_k.noalias()   = A.block(k+1,k+1, remainingRows-1,remainingCols) * u_k.transpose(); // bottleneck
+        tmp0.noalias()  = U_k1 * u_k.transpose();
+        x_k.noalias()  -= X_k1.bottomRows(remainingRows-1) * tmp0;
+        tmp1.noalias()  = Y_k.adjoint() * u_k.transpose();
+        x_k.noalias()  -= A.block(k+1,0, remainingRows-1,k+1) * tmp1;
+        x_k *= numext::conj(tau_u);
+        tau_u = numext::conj(tau_u);
+        u_k = u_k.conjugate();
+      }
+
+      if(k>0) A.coeffRef(k-1,k) = tau_u_prev;
+      tau_u_prev = tau_u;
+    }
+    else
+      A.coeffRef(k-1,k) = tau_u_prev;
+
+    A.coeffRef(k,k) = tau_v;
+  }
+  
+  if(bs<bcols)
+    A.coeffRef(bs-1,bs) = tau_u_prev;
+
+  // update A22
+  if(bcols>bs && brows>bs)
+  {
+    SubMatType A11( A.bottomRightCorner(brows-bs,bcols-bs) );
+    SubMatType A10( A.block(bs,0, brows-bs,bs) );
+    SubMatType A01( A.block(0,bs, bs,bcols-bs) );
+    Scalar tmp = A01(bs-1,0);
+    A01(bs-1,0) = Literal(1);
+    A11.noalias() -= A10 * Y.topLeftCorner(bcols,bs).bottomRows(bcols-bs).adjoint();
+    A11.noalias() -= X.topLeftCorner(brows,bs).bottomRows(brows-bs) * A01;
+    A01(bs-1,0) = tmp;
+  }
+}
+
+/** \internal
+  *
+  * Implementation of a block-bidiagonal reduction.
+  * It is based on the following paper:
+  *   The Design of a Parallel Dense Linear Algebra Software Library: Reduction to Hessenberg, Tridiagonal, and Bidiagonal Form.
+  *   by Jaeyoung Choi, Jack J. Dongarra, David W. Walker. (1995)
+  *   section 3.3
+  */
+template<typename MatrixType, typename BidiagType>
+void upperbidiagonalization_inplace_blocked(MatrixType& A, BidiagType& bidiagonal,
+                                            Index maxBlockSize=32,
+                                            typename MatrixType::Scalar* /*tempData*/ = 0)
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+
+  Index rows = A.rows();
+  Index cols = A.cols();
+  Index size = (std::min)(rows, cols);
+
+  // X and Y are work space
+  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+  Matrix<Scalar,
+         MatrixType::RowsAtCompileTime,
+         Dynamic,
+         StorageOrder,
+         MatrixType::MaxRowsAtCompileTime> X(rows,maxBlockSize);
+  Matrix<Scalar,
+         MatrixType::ColsAtCompileTime,
+         Dynamic,
+         StorageOrder,
+         MatrixType::MaxColsAtCompileTime> Y(cols,maxBlockSize);
+  Index blockSize = (std::min)(maxBlockSize,size);
+
+  Index k = 0;
+  for(k = 0; k < size; k += blockSize)
+  {
+    Index bs = (std::min)(size-k,blockSize);  // actual size of the block
+    Index brows = rows - k;                   // rows of the block
+    Index bcols = cols - k;                   // columns of the block
+
+    // partition the matrix A:
+    // 
+    //      | A00 A01 A02 |
+    //      |             |
+    // A  = | A10 A11 A12 |
+    //      |             |
+    //      | A20 A21 A22 |
+    //
+    // where A11 is a bs x bs diagonal block,
+    // and let:
+    //      | A11 A12 |
+    //  B = |         |
+    //      | A21 A22 |
+
+    BlockType B = A.block(k,k,brows,bcols);
     
-    // construct right householder transform in-place in m_householder
-    m_householder.row(k).tail(remainingCols)
-                 .makeHouseholderInPlace(m_householder.coeffRef(k,k+1),
-                                         m_bidiagonal.template diagonal<1>().coeffRef(k));
-    // apply householder transform to remaining part of m_householder on the left
-    m_householder.bottomRightCorner(remainingRows-1, remainingCols)
-                 .applyHouseholderOnTheRight(m_householder.row(k).tail(remainingCols-1).transpose(),
-                                             m_householder.coeff(k,k+1),
-                                             temp.data());
+    // This stage performs the bidiagonalization of A11, A21, A12, and updating of A22.
+    // Finally, the algorithm continue on the updated A22.
+    //
+    // However, if B is too small, or A22 empty, then let's use an unblocked strategy
+    if(k+bs==cols || bcols<48) // somewhat arbitrary threshold
+    {
+      upperbidiagonalization_inplace_unblocked(B,
+                                               &(bidiagonal.template diagonal<0>().coeffRef(k)),
+                                               &(bidiagonal.template diagonal<1>().coeffRef(k)),
+                                               X.data()
+                                              );
+      break; // We're done
+    }
+    else
+    {
+      upperbidiagonalization_blocked_helper<BlockType>( B,
+                                                        &(bidiagonal.template diagonal<0>().coeffRef(k)),
+                                                        &(bidiagonal.template diagonal<1>().coeffRef(k)),
+                                                        bs,
+                                                        X.topLeftCorner(brows,bs),
+                                                        Y.topLeftCorner(bcols,bs)
+                                                      );
+    }
   }
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::computeUnblocked(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+  m_householder = matrix;
+
+  ColVectorType temp(rows);
+
+  upperbidiagonalization_inplace_unblocked(m_householder,
+                                           &(m_bidiagonal.template diagonal<0>().coeffRef(0)),
+                                           &(m_bidiagonal.template diagonal<1>().coeffRef(0)),
+                                           temp.data());
+
+  m_isInitialized = true;
+  return *this;
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  EIGEN_ONLY_USED_FOR_DEBUG(rows);
+  EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+  m_householder = matrix;
+  upperbidiagonalization_inplace_blocked(m_householder, m_bidiagonal);
+            
   m_isInitialized = true;
   return *this;
 }
diff --git a/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h b/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
index e1f96ba..2907f65 100644
--- a/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -17,43 +17,74 @@ enum SimplicialCholeskyMode {
   SimplicialCholeskyLDLT
 };
 
+namespace internal {
+  template<typename CholMatrixType, typename InputMatrixType>
+  struct simplicial_cholesky_grab_input {
+    typedef CholMatrixType const * ConstCholMatrixPtr;
+    static void run(const InputMatrixType& input, ConstCholMatrixPtr &pmat, CholMatrixType &tmp)
+    {
+      tmp = input;
+      pmat = &tmp;
+    }
+  };
+  
+  template<typename MatrixType>
+  struct simplicial_cholesky_grab_input<MatrixType,MatrixType> {
+    typedef MatrixType const * ConstMatrixPtr;
+    static void run(const MatrixType& input, ConstMatrixPtr &pmat, MatrixType &/*tmp*/)
+    {
+      pmat = &input;
+    }
+  };
+} // end namespace internal
+
 /** \ingroup SparseCholesky_Module
-  * \brief A direct sparse Cholesky factorizations
+  * \brief A base class for direct sparse Cholesky factorizations
   *
-  * These classes provide LL^T and LDL^T Cholesky factorizations of sparse matrices that are
-  * selfadjoint and positive definite. The factorization allows for solving A.X = B where
+  * This is a base class for LL^T and LDL^T Cholesky factorizations of sparse matrices that are
+  * selfadjoint and positive definite. These factorizations allow for solving A.X = B where
   * X and B can be either dense or sparse.
   * 
   * In order to reduce the fill-in, a symmetric permutation P is applied prior to the factorization
   * such that the factorized matrix is P A P^-1.
   *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
+  * \tparam Derived the type of the derived class, that is the actual factorization type.
   *
   */
 template<typename Derived>
-class SimplicialCholeskyBase : internal::noncopyable
+class SimplicialCholeskyBase : public SparseSolverBase<Derived>
 {
+    typedef SparseSolverBase<Derived> Base;
+    using Base::m_isInitialized;
+    
   public:
     typedef typename internal::traits<Derived>::MatrixType MatrixType;
     typedef typename internal::traits<Derived>::OrderingType OrderingType;
     enum { UpLo = internal::traits<Derived>::UpLo };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
+    typedef CholMatrixType const * ConstCholMatrixPtr;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
+    
+    using Base::derived;
 
     /** Default constructor */
     SimplicialCholeskyBase()
-      : m_info(Success), m_isInitialized(false), m_shiftOffset(0), m_shiftScale(1)
+      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
     {}
 
-    SimplicialCholeskyBase(const MatrixType& matrix)
-      : m_info(Success), m_isInitialized(false), m_shiftOffset(0), m_shiftScale(1)
+    explicit SimplicialCholeskyBase(const MatrixType& matrix)
+      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
     {
       derived().compute(matrix);
     }
@@ -79,42 +110,14 @@ class SimplicialCholeskyBase : internal::noncopyable
       return m_info;
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SimplicialCholeskyBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Simplicial LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SimplicialCholeskyBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<SimplicialCholeskyBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SimplicialCholeskyBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Simplicial LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SimplicialCholesky::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<SimplicialCholeskyBase, Rhs>(*this, b.derived());
-    }
-    
     /** \returns the permutation P
       * \sa permutationPinv() */
-    const PermutationMatrix<Dynamic,Dynamic,Index>& permutationP() const
+    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationP() const
     { return m_P; }
     
     /** \returns the inverse P^-1 of the permutation P
       * \sa permutationP() */
-    const PermutationMatrix<Dynamic,Dynamic,Index>& permutationPinv() const
+    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationPinv() const
     { return m_Pinv; }
 
     /** Sets the shift parameters that will be used to adjust the diagonal coefficients during the numerical factorization.
@@ -150,7 +153,7 @@ class SimplicialCholeskyBase : internal::noncopyable
 
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       eigen_assert(m_matrix.rows()==b.rows());
@@ -175,6 +178,12 @@ class SimplicialCholeskyBase : internal::noncopyable
       if(m_P.size()>0)
         dest = m_Pinv * dest;
     }
+    
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(derived(), b, dest);
+    }
 
 #endif // EIGEN_PARSED_BY_DOXYGEN
 
@@ -186,20 +195,33 @@ class SimplicialCholeskyBase : internal::noncopyable
     {
       eigen_assert(matrix.rows()==matrix.cols());
       Index size = matrix.cols();
-      CholMatrixType ap(size,size);
-      ordering(matrix, ap);
-      analyzePattern_preordered(ap, DoLDLT);
-      factorize_preordered<DoLDLT>(ap);
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      ordering(matrix, pmat, tmp);
+      analyzePattern_preordered(*pmat, DoLDLT);
+      factorize_preordered<DoLDLT>(*pmat);
     }
     
     template<bool DoLDLT>
     void factorize(const MatrixType& a)
     {
       eigen_assert(a.rows()==a.cols());
-      int size = a.cols();
-      CholMatrixType ap(size,size);
-      ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
-      factorize_preordered<DoLDLT>(ap);
+      Index size = a.cols();
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      
+      if(m_P.size()==0 && (UpLo&Upper)==Upper)
+      {
+        // If there is no ordering, try to directly use the input matrix without any copy
+        internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, tmp);
+      }
+      else
+      {
+        tmp.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
+        pmat = &tmp;
+      }
+      
+      factorize_preordered<DoLDLT>(*pmat);
     }
 
     template<bool DoLDLT>
@@ -208,14 +230,15 @@ class SimplicialCholeskyBase : internal::noncopyable
     void analyzePattern(const MatrixType& a, bool doLDLT)
     {
       eigen_assert(a.rows()==a.cols());
-      int size = a.cols();
-      CholMatrixType ap(size,size);
-      ordering(a, ap);
-      analyzePattern_preordered(ap,doLDLT);
+      Index size = a.cols();
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      ordering(a, pmat, tmp);
+      analyzePattern_preordered(*pmat,doLDLT);
     }
     void analyzePattern_preordered(const CholMatrixType& a, bool doLDLT);
     
-    void ordering(const MatrixType& a, CholMatrixType& ap);
+    void ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap);
 
     /** keeps off-diagonal entries; drops diagonal entries */
     struct keep_diag {
@@ -226,24 +249,23 @@ class SimplicialCholeskyBase : internal::noncopyable
     };
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     bool m_factorizationIsOk;
     bool m_analysisIsOk;
     
     CholMatrixType m_matrix;
     VectorType m_diag;                                // the diagonal coefficients (LDLT mode)
-    VectorXi m_parent;                                // elimination tree
-    VectorXi m_nonZerosPerCol;
-    PermutationMatrix<Dynamic,Dynamic,Index> m_P;     // the permutation
-    PermutationMatrix<Dynamic,Dynamic,Index> m_Pinv;  // the inverse permutation
+    VectorI m_parent;                                 // elimination tree
+    VectorI m_nonZerosPerCol;
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // the permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // the inverse permutation
 
     RealScalar m_shiftOffset;
     RealScalar m_shiftScale;
 };
 
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialLLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialLDLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialCholesky;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLLT;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLDLT;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialCholesky;
 
 namespace internal {
 
@@ -253,12 +275,12 @@ template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<Simp
   typedef _Ordering OrderingType;
   enum { UpLo = _UpLo };
   typedef typename MatrixType::Scalar                         Scalar;
-  typedef typename MatrixType::Index                          Index;
-  typedef SparseMatrix<Scalar, ColMajor, Index>               CholMatrixType;
-  typedef SparseTriangularView<CholMatrixType, Eigen::Lower>  MatrixL;
-  typedef SparseTriangularView<typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  typedef typename MatrixType::StorageIndex                   StorageIndex;
+  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>        CholMatrixType;
+  typedef TriangularView<const CholMatrixType, Eigen::Lower>  MatrixL;
+  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<SimplicialLDLT<_MatrixType,_UpLo,_Ordering> >
@@ -267,12 +289,12 @@ template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<Simpl
   typedef _Ordering OrderingType;
   enum { UpLo = _UpLo };
   typedef typename MatrixType::Scalar                             Scalar;
-  typedef typename MatrixType::Index                              Index;
-  typedef SparseMatrix<Scalar, ColMajor, Index>                   CholMatrixType;
-  typedef SparseTriangularView<CholMatrixType, Eigen::UnitLower>  MatrixL;
-  typedef SparseTriangularView<typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  typedef typename MatrixType::StorageIndex                       StorageIndex;
+  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>            CholMatrixType;
+  typedef TriangularView<const CholMatrixType, Eigen::UnitLower>  MatrixL;
+  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<SimplicialCholesky<_MatrixType,_UpLo,_Ordering> >
@@ -300,6 +322,8 @@ template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<Simp
   *               or Upper. Default is Lower.
   * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
   *
+  * \implsparsesolverconcept
+  *
   * \sa class SimplicialLDLT, class AMDOrdering, class NaturalOrdering
   */
 template<typename _MatrixType, int _UpLo, typename _Ordering>
@@ -311,7 +335,7 @@ public:
     typedef SimplicialCholeskyBase<SimplicialLLT> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialLLT> Traits;
@@ -321,7 +345,7 @@ public:
     /** Default constructor */
     SimplicialLLT() : Base() {}
     /** Constructs and performs the LLT factorization of \a matrix */
-    SimplicialLLT(const MatrixType& matrix)
+    explicit SimplicialLLT(const MatrixType& matrix)
         : Base(matrix) {}
 
     /** \returns an expression of the factor L */
@@ -389,6 +413,8 @@ public:
   *               or Upper. Default is Lower.
   * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
   *
+  * \implsparsesolverconcept
+  *
   * \sa class SimplicialLLT, class AMDOrdering, class NaturalOrdering
   */
 template<typename _MatrixType, int _UpLo, typename _Ordering>
@@ -400,8 +426,8 @@ public:
     typedef SimplicialCholeskyBase<SimplicialLDLT> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialLDLT> Traits;
     typedef typename Traits::MatrixL  MatrixL;
@@ -411,7 +437,7 @@ public:
     SimplicialLDLT() : Base() {}
 
     /** Constructs and performs the LLT factorization of \a matrix */
-    SimplicialLDLT(const MatrixType& matrix)
+    explicit SimplicialLDLT(const MatrixType& matrix)
         : Base(matrix) {}
 
     /** \returns a vector expression of the diagonal D */
@@ -482,8 +508,8 @@ public:
     typedef SimplicialCholeskyBase<SimplicialCholesky> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialCholesky> Traits;
     typedef internal::traits<SimplicialLDLT<MatrixType,UpLo> > LDLTTraits;
@@ -491,7 +517,7 @@ public:
   public:
     SimplicialCholesky() : Base(), m_LDLT(true) {}
 
-    SimplicialCholesky(const MatrixType& matrix)
+    explicit SimplicialCholesky(const MatrixType& matrix)
       : Base(), m_LDLT(true)
     {
       compute(matrix);
@@ -560,7 +586,7 @@ public:
 
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(Base::m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       eigen_assert(Base::m_matrix.rows()==b.rows());
@@ -596,6 +622,13 @@ public:
         dest = Base::m_Pinv * dest;
     }
     
+    /** \internal */
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(*this, b, dest);
+    }
+    
     Scalar determinant() const
     {
       if(m_LDLT)
@@ -614,58 +647,43 @@ public:
 };
 
 template<typename Derived>
-void SimplicialCholeskyBase<Derived>::ordering(const MatrixType& a, CholMatrixType& ap)
+void SimplicialCholeskyBase<Derived>::ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap)
 {
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
-  // Note that amd compute the inverse permutation
+  pmat = ≈
+  // Note that ordering methods compute the inverse permutation
+  if(!internal::is_same<OrderingType,NaturalOrdering<Index> >::value)
   {
-    CholMatrixType C;
-    C = a.template selfadjointView<UpLo>();
+    {
+      CholMatrixType C;
+      C = a.template selfadjointView<UpLo>();
+      
+      OrderingType ordering;
+      ordering(C,m_Pinv);
+    }
+
+    if(m_Pinv.size()>0) m_P = m_Pinv.inverse();
+    else                m_P.resize(0);
     
-    OrderingType ordering;
-    ordering(C,m_Pinv);
+    ap.resize(size,size);
+    ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
   }
-
-  if(m_Pinv.size()>0)
-    m_P = m_Pinv.inverse();
   else
+  {
+    m_Pinv.resize(0);
     m_P.resize(0);
-
-  ap.resize(size,size);
-  ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
+    if(int(UpLo)==int(Lower) || MatrixType::IsRowMajor)
+    {
+      // we have to transpose the lower part to to the upper one
+      ap.resize(size,size);
+      ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>();
+    }
+    else
+      internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, ap);
+  }  
 }
 
-namespace internal {
-  
-template<typename Derived, typename Rhs>
-struct solve_retval<SimplicialCholeskyBase<Derived>, Rhs>
-  : solve_retval_base<SimplicialCholeskyBase<Derived>, Rhs>
-{
-  typedef SimplicialCholeskyBase<Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve(rhs(),dst);
-  }
-};
-
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<SimplicialCholeskyBase<Derived>, Rhs>
-  : sparse_solve_retval_base<SimplicialCholeskyBase<Derived>, Rhs>
-{
-  typedef SimplicialCholeskyBase<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_SIMPLICIAL_CHOLESKY_H
diff --git a/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h b/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
index 7aaf702..31e0699 100644
--- a/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
+++ b/vendor/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
@@ -50,14 +50,14 @@ namespace Eigen {
 template<typename Derived>
 void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrixType& ap, bool doLDLT)
 {
-  const Index size = ap.rows();
+  const StorageIndex size = StorageIndex(ap.rows());
   m_matrix.resize(size, size);
   m_parent.resize(size);
   m_nonZerosPerCol.resize(size);
 
-  ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex, tags, size, 0);
 
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
   {
     /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */
     m_parent[k] = -1;             /* parent of k is not yet known */
@@ -65,7 +65,7 @@ void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrix
     m_nonZerosPerCol[k] = 0;      /* count of nonzeros in column k of L */
     for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = it.index();
       if(i < k)
       {
         /* follow path from i to root of etree, stop at flagged node */
@@ -82,9 +82,9 @@ void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrix
   }
 
   /* construct Lp index array from m_nonZerosPerCol column counts */
-  Index* Lp = m_matrix.outerIndexPtr();
+  StorageIndex* Lp = m_matrix.outerIndexPtr();
   Lp[0] = 0;
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
     Lp[k+1] = Lp[k] + m_nonZerosPerCol[k] + (doLDLT ? 0 : 1);
 
   m_matrix.resizeNonZeros(Lp[size]);
@@ -104,31 +104,31 @@ void SimplicialCholeskyBase<Derived>::factorize_preordered(const CholMatrixType&
 
   eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
   eigen_assert(ap.rows()==ap.cols());
-  const Index size = ap.rows();
-  eigen_assert(m_parent.size()==size);
-  eigen_assert(m_nonZerosPerCol.size()==size);
+  eigen_assert(m_parent.size()==ap.rows());
+  eigen_assert(m_nonZerosPerCol.size()==ap.rows());
 
-  const Index* Lp = m_matrix.outerIndexPtr();
-  Index* Li = m_matrix.innerIndexPtr();
+  const StorageIndex size = StorageIndex(ap.rows());
+  const StorageIndex* Lp = m_matrix.outerIndexPtr();
+  StorageIndex* Li = m_matrix.innerIndexPtr();
   Scalar* Lx = m_matrix.valuePtr();
 
   ei_declare_aligned_stack_constructed_variable(Scalar, y, size, 0);
-  ei_declare_aligned_stack_constructed_variable(Index,  pattern, size, 0);
-  ei_declare_aligned_stack_constructed_variable(Index,  tags, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,  pattern, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,  tags, size, 0);
 
   bool ok = true;
   m_diag.resize(DoLDLT ? size : 0);
 
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
   {
     // compute nonzero pattern of kth row of L, in topological order
     y[k] = 0.0;                     // Y(0:k) is now all zero
-    Index top = size;               // stack for pattern is empty
+    StorageIndex top = size;               // stack for pattern is empty
     tags[k] = k;                    // mark node k as visited
     m_nonZerosPerCol[k] = 0;        // count of nonzeros in column k of L
-    for(typename MatrixType::InnerIterator it(ap,k); it; ++it)
+    for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = it.index();
       if(i <= k)
       {
         y[i] += numext::conj(it.value());            /* scatter A(i,k) into Y (sum duplicates) */
diff --git a/vendor/eigen/Eigen/src/SparseCore/AmbiVector.h b/vendor/eigen/Eigen/src/SparseCore/AmbiVector.h
index 220c645..8a5cc91 100644
--- a/vendor/eigen/Eigen/src/SparseCore/AmbiVector.h
+++ b/vendor/eigen/Eigen/src/SparseCore/AmbiVector.h
@@ -19,15 +19,15 @@ namespace internal {
   *
   * See BasicSparseLLT and SparseProduct for usage examples.
   */
-template<typename _Scalar, typename _Index>
+template<typename _Scalar, typename _StorageIndex>
 class AmbiVector
 {
   public:
     typedef _Scalar Scalar;
-    typedef _Index Index;
+    typedef _StorageIndex StorageIndex;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
-    AmbiVector(Index size)
+    explicit AmbiVector(Index size)
       : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
     {
       resize(size);
@@ -39,7 +39,7 @@ class AmbiVector
     Index nonZeros() const;
 
     /** Specifies a sub-vector to work on */
-    void setBounds(Index start, Index end) { m_start = start; m_end = end; }
+    void setBounds(Index start, Index end) { m_start = convert_index(start); m_end = convert_index(end); }
 
     void setZero();
 
@@ -55,12 +55,16 @@ class AmbiVector
     {
       if (m_allocatedSize < size)
         reallocate(size);
-      m_size = size;
+      m_size = convert_index(size);
     }
 
-    Index size() const { return m_size; }
+    StorageIndex size() const { return m_size; }
 
   protected:
+    StorageIndex convert_index(Index idx)
+    {
+      return internal::convert_index<StorageIndex>(idx);
+    }
 
     void reallocate(Index size)
     {
@@ -70,15 +74,15 @@ class AmbiVector
       if (size<1000)
       {
         Index allocSize = (size * sizeof(ListEl) + sizeof(Scalar) - 1)/sizeof(Scalar);
-        m_allocatedElements = (allocSize*sizeof(Scalar))/sizeof(ListEl);
+        m_allocatedElements = convert_index((allocSize*sizeof(Scalar))/sizeof(ListEl));
         m_buffer = new Scalar[allocSize];
       }
       else
       {
-        m_allocatedElements = (size*sizeof(Scalar))/sizeof(ListEl);
+        m_allocatedElements = convert_index((size*sizeof(Scalar))/sizeof(ListEl));
         m_buffer = new Scalar[size];
       }
-      m_size = size;
+      m_size = convert_index(size);
       m_start = 0;
       m_end = m_size;
     }
@@ -86,7 +90,7 @@ class AmbiVector
     void reallocateSparse()
     {
       Index copyElements = m_allocatedElements;
-      m_allocatedElements = (std::min)(Index(m_allocatedElements*1.5),m_size);
+      m_allocatedElements = (std::min)(StorageIndex(m_allocatedElements*1.5),m_size);
       Index allocSize = m_allocatedElements * sizeof(ListEl);
       allocSize = (allocSize + sizeof(Scalar) - 1)/sizeof(Scalar);
       Scalar* newBuffer = new Scalar[allocSize];
@@ -99,30 +103,30 @@ class AmbiVector
     // element type of the linked list
     struct ListEl
     {
-      Index next;
-      Index index;
+      StorageIndex next;
+      StorageIndex index;
       Scalar value;
     };
 
     // used to store data in both mode
     Scalar* m_buffer;
     Scalar m_zero;
-    Index m_size;
-    Index m_start;
-    Index m_end;
-    Index m_allocatedSize;
-    Index m_allocatedElements;
-    Index m_mode;
+    StorageIndex m_size;
+    StorageIndex m_start;
+    StorageIndex m_end;
+    StorageIndex m_allocatedSize;
+    StorageIndex m_allocatedElements;
+    StorageIndex m_mode;
 
     // linked list mode
-    Index m_llStart;
-    Index m_llCurrent;
-    Index m_llSize;
+    StorageIndex m_llStart;
+    StorageIndex m_llCurrent;
+    StorageIndex m_llSize;
 };
 
 /** \returns the number of non zeros in the current sub vector */
-template<typename _Scalar,typename _Index>
-_Index AmbiVector<_Scalar,_Index>::nonZeros() const
+template<typename _Scalar,typename _StorageIndex>
+Index AmbiVector<_Scalar,_StorageIndex>::nonZeros() const
 {
   if (m_mode==IsSparse)
     return m_llSize;
@@ -130,8 +134,8 @@ _Index AmbiVector<_Scalar,_Index>::nonZeros() const
     return m_end - m_start;
 }
 
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::init(double estimatedDensity)
 {
   if (estimatedDensity>0.1)
     init(IsDense);
@@ -139,8 +143,8 @@ void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
     init(IsSparse);
 }
 
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::init(int mode)
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::init(int mode)
 {
   m_mode = mode;
   if (m_mode==IsSparse)
@@ -155,15 +159,15 @@ void AmbiVector<_Scalar,_Index>::init(int mode)
   *
   * Don't worry, this function is extremely cheap.
   */
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::restart()
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::restart()
 {
   m_llCurrent = m_llStart;
 }
 
 /** Set all coefficients of current subvector to zero */
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::setZero()
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::setZero()
 {
   if (m_mode==IsDense)
   {
@@ -178,8 +182,8 @@ void AmbiVector<_Scalar,_Index>::setZero()
   }
 }
 
-template<typename _Scalar,typename _Index>
-_Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
+template<typename _Scalar,typename _StorageIndex>
+_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeffRef(Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
@@ -195,7 +199,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
       m_llCurrent = 0;
       ++m_llSize;
       llElements[0].value = Scalar(0);
-      llElements[0].index = i;
+      llElements[0].index = convert_index(i);
       llElements[0].next = -1;
       return llElements[0].value;
     }
@@ -204,7 +208,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
       // this is going to be the new first element of the list
       ListEl& el = llElements[m_llSize];
       el.value = Scalar(0);
-      el.index = i;
+      el.index = convert_index(i);
       el.next = m_llStart;
       m_llStart = m_llSize;
       ++m_llSize;
@@ -213,7 +217,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
     }
     else
     {
-      Index nextel = llElements[m_llCurrent].next;
+      StorageIndex nextel = llElements[m_llCurrent].next;
       eigen_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
       while (nextel >= 0 && llElements[nextel].index<=i)
       {
@@ -237,7 +241,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
         // let's insert a new coefficient
         ListEl& el = llElements[m_llSize];
         el.value = Scalar(0);
-        el.index = i;
+        el.index = convert_index(i);
         el.next = llElements[m_llCurrent].next;
         llElements[m_llCurrent].next = m_llSize;
         ++m_llSize;
@@ -247,8 +251,8 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
   }
 }
 
-template<typename _Scalar,typename _Index>
-_Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
+template<typename _Scalar,typename _StorageIndex>
+_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeff(Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
@@ -275,8 +279,8 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
 }
 
 /** Iterator over the nonzero coefficients */
-template<typename _Scalar,typename _Index>
-class AmbiVector<_Scalar,_Index>::Iterator
+template<typename _Scalar,typename _StorageIndex>
+class AmbiVector<_Scalar,_StorageIndex>::Iterator
 {
   public:
     typedef _Scalar Scalar;
@@ -288,7 +292,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
       * In practice, all coefficients having a magnitude smaller than \a epsilon
       * are skipped.
       */
-    Iterator(const AmbiVector& vec, const RealScalar& epsilon = 0)
+    explicit Iterator(const AmbiVector& vec, const RealScalar& epsilon = 0)
       : m_vector(vec)
     {
       using std::abs;
@@ -320,7 +324,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
       }
     }
 
-    Index index() const { return m_cachedIndex; }
+    StorageIndex index() const { return m_cachedIndex; }
     Scalar value() const { return m_cachedValue; }
 
     operator bool() const { return m_cachedIndex>=0; }
@@ -332,7 +336,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
       {
         do {
           ++m_cachedIndex;
-        } while (m_cachedIndex<m_vector.m_end && abs(m_vector.m_buffer[m_cachedIndex])<m_epsilon);
+        } while (m_cachedIndex<m_vector.m_end && abs(m_vector.m_buffer[m_cachedIndex])<=m_epsilon);
         if (m_cachedIndex<m_vector.m_end)
           m_cachedValue = m_vector.m_buffer[m_cachedIndex];
         else
@@ -343,7 +347,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
         ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
         do {
           m_currentEl = llElements[m_currentEl].next;
-        } while (m_currentEl>=0 && abs(llElements[m_currentEl].value)<m_epsilon);
+        } while (m_currentEl>=0 && abs(llElements[m_currentEl].value)<=m_epsilon);
         if (m_currentEl<0)
         {
           m_cachedIndex = -1;
@@ -359,9 +363,9 @@ class AmbiVector<_Scalar,_Index>::Iterator
 
   protected:
     const AmbiVector& m_vector; // the target vector
-    Index m_currentEl;            // the current element in sparse/linked-list mode
+    StorageIndex m_currentEl;   // the current element in sparse/linked-list mode
     RealScalar m_epsilon;       // epsilon used to prune zero coefficients
-    Index m_cachedIndex;          // current coordinate
+    StorageIndex m_cachedIndex; // current coordinate
     Scalar m_cachedValue;       // current value
     bool m_isDense;             // mode of the vector
 };
diff --git a/vendor/eigen/Eigen/src/SparseCore/CompressedStorage.h b/vendor/eigen/Eigen/src/SparseCore/CompressedStorage.h
index a667cb5..d89fa0d 100644
--- a/vendor/eigen/Eigen/src/SparseCore/CompressedStorage.h
+++ b/vendor/eigen/Eigen/src/SparseCore/CompressedStorage.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -18,13 +18,13 @@ namespace internal {
   * Stores a sparse set of values as a list of values and a list of indices.
   *
   */
-template<typename _Scalar,typename _Index>
+template<typename _Scalar,typename _StorageIndex>
 class CompressedStorage
 {
   public:
 
     typedef _Scalar Scalar;
-    typedef _Index Index;
+    typedef _StorageIndex StorageIndex;
 
   protected:
 
@@ -36,7 +36,7 @@ class CompressedStorage
       : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
     {}
 
-    CompressedStorage(size_t size)
+    explicit CompressedStorage(Index size)
       : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
     {
       resize(size);
@@ -51,8 +51,11 @@ class CompressedStorage
     CompressedStorage& operator=(const CompressedStorage& other)
     {
       resize(other.size());
-      internal::smart_copy(other.m_values,  other.m_values  + m_size, m_values);
-      internal::smart_copy(other.m_indices, other.m_indices + m_size, m_indices);
+      if(other.size()>0)
+      {
+        internal::smart_copy(other.m_values,  other.m_values  + m_size, m_values);
+        internal::smart_copy(other.m_indices, other.m_indices + m_size, m_indices);
+      }
       return *this;
     }
 
@@ -70,9 +73,9 @@ class CompressedStorage
       delete[] m_indices;
     }
 
-    void reserve(size_t size)
+    void reserve(Index size)
     {
-      size_t newAllocatedSize = m_size + size;
+      Index newAllocatedSize = m_size + size;
       if (newAllocatedSize > m_allocatedSize)
         reallocate(newAllocatedSize);
     }
@@ -83,39 +86,40 @@ class CompressedStorage
         reallocate(m_size);
     }
 
-    void resize(size_t size, double reserveSizeFactor = 0)
+    void resize(Index size, double reserveSizeFactor = 0)
     {
       if (m_allocatedSize<size)
-        reallocate(size + size_t(reserveSizeFactor*double(size)));
+      {
+        Index realloc_size = (std::min<Index>)(NumTraits<StorageIndex>::highest(),  size + Index(reserveSizeFactor*double(size)));
+        if(realloc_size<size)
+          internal::throw_std_bad_alloc();
+        reallocate(realloc_size);
+      }
       m_size = size;
     }
 
     void append(const Scalar& v, Index i)
     {
-      Index id = static_cast<Index>(m_size);
+      Index id = m_size;
       resize(m_size+1, 1);
       m_values[id] = v;
-      m_indices[id] = i;
+      m_indices[id] = internal::convert_index<StorageIndex>(i);
     }
 
-    inline size_t size() const { return m_size; }
-    inline size_t allocatedSize() const { return m_allocatedSize; }
+    inline Index size() const { return m_size; }
+    inline Index allocatedSize() const { return m_allocatedSize; }
     inline void clear() { m_size = 0; }
 
-    inline Scalar& value(size_t i) { return m_values[i]; }
-    inline const Scalar& value(size_t i) const { return m_values[i]; }
+    const Scalar* valuePtr() const { return m_values; }
+    Scalar* valuePtr() { return m_values; }
+    const StorageIndex* indexPtr() const { return m_indices; }
+    StorageIndex* indexPtr() { return m_indices; }
 
-    inline Index& index(size_t i) { return m_indices[i]; }
-    inline const Index& index(size_t i) const { return m_indices[i]; }
+    inline Scalar& value(Index i) { eigen_internal_assert(m_values!=0); return m_values[i]; }
+    inline const Scalar& value(Index i) const { eigen_internal_assert(m_values!=0); return m_values[i]; }
 
-    static CompressedStorage Map(Index* indices, Scalar* values, size_t size)
-    {
-      CompressedStorage res;
-      res.m_indices = indices;
-      res.m_values = values;
-      res.m_allocatedSize = res.m_size = size;
-      return res;
-    }
+    inline StorageIndex& index(Index i) { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
+    inline const StorageIndex& index(Index i) const { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
 
     /** \returns the largest \c k such that for all \c j in [0,k) index[\c j]\<\a key */
     inline Index searchLowerIndex(Index key) const
@@ -124,17 +128,17 @@ class CompressedStorage
     }
 
     /** \returns the largest \c k in [start,end) such that for all \c j in [start,k) index[\c j]\<\a key */
-    inline Index searchLowerIndex(size_t start, size_t end, Index key) const
+    inline Index searchLowerIndex(Index start, Index end, Index key) const
     {
       while(end>start)
       {
-        size_t mid = (end+start)>>1;
+        Index mid = (end+start)>>1;
         if (m_indices[mid]<key)
           start = mid+1;
         else
           end = mid;
       }
-      return static_cast<Index>(start);
+      return start;
     }
 
     /** \returns the stored value at index \a key
@@ -147,20 +151,20 @@ class CompressedStorage
         return m_values[m_size-1];
       // ^^  optimization: let's first check if it is the last coefficient
       // (very common in high level algorithms)
-      const size_t id = searchLowerIndex(0,m_size-1,key);
+      const Index id = searchLowerIndex(0,m_size-1,key);
       return ((id<m_size) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
 
     /** Like at(), but the search is performed in the range [start,end) */
-    inline Scalar atInRange(size_t start, size_t end, Index key, const Scalar& defaultValue = Scalar(0)) const
+    inline Scalar atInRange(Index start, Index end, Index key, const Scalar &defaultValue = Scalar(0)) const
     {
       if (start>=end)
-        return Scalar(0);
+        return defaultValue;
       else if (end>start && key==m_indices[end-1])
         return m_values[end-1];
       // ^^  optimization: let's first check if it is the last coefficient
       // (very common in high level algorithms)
-      const size_t id = searchLowerIndex(start,end-1,key);
+      const Index id = searchLowerIndex(start,end-1,key);
       return ((id<end) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
 
@@ -169,16 +173,35 @@ class CompressedStorage
       * such that the keys are sorted. */
     inline Scalar& atWithInsertion(Index key, const Scalar& defaultValue = Scalar(0))
     {
-      size_t id = searchLowerIndex(0,m_size,key);
+      Index id = searchLowerIndex(0,m_size,key);
       if (id>=m_size || m_indices[id]!=key)
       {
-        resize(m_size+1,1);
-        for (size_t j=m_size-1; j>id; --j)
+        if (m_allocatedSize<m_size+1)
+        {
+          m_allocatedSize = 2*(m_size+1);
+          internal::scoped_array<Scalar> newValues(m_allocatedSize);
+          internal::scoped_array<StorageIndex> newIndices(m_allocatedSize);
+
+          // copy first chunk
+          internal::smart_copy(m_values,  m_values +id, newValues.ptr());
+          internal::smart_copy(m_indices, m_indices+id, newIndices.ptr());
+
+          // copy the rest
+          if(m_size>id)
+          {
+            internal::smart_copy(m_values +id,  m_values +m_size, newValues.ptr() +id+1);
+            internal::smart_copy(m_indices+id,  m_indices+m_size, newIndices.ptr()+id+1);
+          }
+          std::swap(m_values,newValues.ptr());
+          std::swap(m_indices,newIndices.ptr());
+        }
+        else if(m_size>id)
         {
-          m_indices[j] = m_indices[j-1];
-          m_values[j] = m_values[j-1];
+          internal::smart_memmove(m_values +id, m_values +m_size, m_values +id+1);
+          internal::smart_memmove(m_indices+id, m_indices+m_size, m_indices+id+1);
         }
-        m_indices[id] = key;
+        m_size++;
+        m_indices[id] = internal::convert_index<StorageIndex>(key);
         m_values[id] = defaultValue;
       }
       return m_values[id];
@@ -186,9 +209,9 @@ class CompressedStorage
 
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
-      size_t k = 0;
-      size_t n = size();
-      for (size_t i=0; i<n; ++i)
+      Index k = 0;
+      Index n = size();
+      for (Index i=0; i<n; ++i)
       {
         if (!internal::isMuchSmallerThan(value(i), reference, epsilon))
         {
@@ -202,27 +225,29 @@ class CompressedStorage
 
   protected:
 
-    inline void reallocate(size_t size)
+    inline void reallocate(Index size)
     {
-      Scalar* newValues  = new Scalar[size];
-      Index* newIndices = new Index[size];
-      size_t copySize = (std::min)(size, m_size);
-      // copy
-      internal::smart_copy(m_values, m_values+copySize, newValues);
-      internal::smart_copy(m_indices, m_indices+copySize, newIndices);
-      // delete old stuff
-      delete[] m_values;
-      delete[] m_indices;
-      m_values = newValues;
-      m_indices = newIndices;
+      #ifdef EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
+        EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
+      #endif
+      eigen_internal_assert(size!=m_allocatedSize);
+      internal::scoped_array<Scalar> newValues(size);
+      internal::scoped_array<StorageIndex> newIndices(size);
+      Index copySize = (std::min)(size, m_size);
+      if (copySize>0) {
+        internal::smart_copy(m_values, m_values+copySize, newValues.ptr());
+        internal::smart_copy(m_indices, m_indices+copySize, newIndices.ptr());
+      }
+      std::swap(m_values,newValues.ptr());
+      std::swap(m_indices,newIndices.ptr());
       m_allocatedSize = size;
     }
 
   protected:
     Scalar* m_values;
-    Index* m_indices;
-    size_t m_size;
-    size_t m_allocatedSize;
+    StorageIndex* m_indices;
+    Index m_size;
+    Index m_allocatedSize;
 
 };
 
diff --git a/vendor/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/vendor/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
index 5c320e2..492eb0a 100644
--- a/vendor/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
+++ b/vendor/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -15,27 +15,31 @@ namespace Eigen {
 namespace internal {
 
 template<typename Lhs, typename Rhs, typename ResultType>
-static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res, bool sortedInsertion = false)
 {
   typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  typedef typename remove_all<Lhs>::type::Index Index;
 
   // make sure to call innerSize/outerSize since we fake the storage order.
   Index rows = lhs.innerSize();
   Index cols = rhs.outerSize();
   eigen_assert(lhs.outerSize() == rhs.innerSize());
-
-  std::vector<bool> mask(rows,false);
-  Matrix<Scalar,Dynamic,1> values(rows);
-  Matrix<Index,Dynamic,1>  indices(rows);
-
+  
+  ei_declare_aligned_stack_constructed_variable(bool,   mask,     rows, 0);
+  ei_declare_aligned_stack_constructed_variable(Scalar, values,   rows, 0);
+  ei_declare_aligned_stack_constructed_variable(Index,  indices,  rows, 0);
+  
+  std::memset(mask,0,sizeof(bool)*rows);
+
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+  
   // estimate the number of non zero entries
   // given a rhs column containing Y non zeros, we assume that the respective Y columns
   // of the lhs differs in average of one non zeros, thus the number of non zeros for
   // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
   // per column of the lhs.
   // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhs.nonZeros() + rhs.nonZeros();
+  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
 
   res.setZero();
   res.reserve(Index(estimated_nnz_prod));
@@ -45,11 +49,11 @@ static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& r
 
     res.startVec(j);
     Index nnz = 0;
-    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
     {
       Scalar y = rhsIt.value();
       Index k = rhsIt.index();
-      for (typename Lhs::InnerIterator lhsIt(lhs, k); lhsIt; ++lhsIt)
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
       {
         Index i = lhsIt.index();
         Scalar x = lhsIt.value();
@@ -64,53 +68,51 @@ static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& r
           values[i] += x * y;
       }
     }
-
-    // unordered insertion
-    for(Index k=0; k<nnz; ++k)
-    {
-      Index i = indices[k];
-      res.insertBackByOuterInnerUnordered(j,i) = values[i];
-      mask[i] = false;
-    }
-
-#if 0
-    // alternative ordered insertion code:
-
-    Index t200 = rows/(log2(200)*1.39);
-    Index t = (rows*100)/139;
-
-    // FIXME reserve nnz non zeros
-    // FIXME implement fast sort algorithms for very small nnz
-    // if the result is sparse enough => use a quick sort
-    // otherwise => loop through the entire vector
-    // In order to avoid to perform an expensive log2 when the
-    // result is clearly very sparse we use a linear bound up to 200.
-    //if((nnz<200 && nnz<t200) || nnz * log2(nnz) < t)
-    //res.startVec(j);
-    if(true)
+    if(!sortedInsertion)
     {
-      if(nnz>1) std::sort(indices.data(),indices.data()+nnz);
+      // unordered insertion
       for(Index k=0; k<nnz; ++k)
       {
         Index i = indices[k];
-        res.insertBackByOuterInner(j,i) = values[i];
+        res.insertBackByOuterInnerUnordered(j,i) = values[i];
         mask[i] = false;
       }
     }
     else
     {
-      // dense path
-      for(Index i=0; i<rows; ++i)
+      // alternative ordered insertion code:
+      const Index t200 = rows/11; // 11 == (log2(200)*1.39)
+      const Index t = (rows*100)/139;
+
+      // FIXME reserve nnz non zeros
+      // FIXME implement faster sorting algorithms for very small nnz
+      // if the result is sparse enough => use a quick sort
+      // otherwise => loop through the entire vector
+      // In order to avoid to perform an expensive log2 when the
+      // result is clearly very sparse we use a linear bound up to 200.
+      if((nnz<200 && nnz<t200) || nnz * numext::log2(int(nnz)) < t)
       {
-        if(mask[i])
+        if(nnz>1) std::sort(indices,indices+nnz);
+        for(Index k=0; k<nnz; ++k)
         {
-          mask[i] = false;
+          Index i = indices[k];
           res.insertBackByOuterInner(j,i) = values[i];
+          mask[i] = false;
+        }
+      }
+      else
+      {
+        // dense path
+        for(Index i=0; i<rows; ++i)
+        {
+          if(mask[i])
+          {
+            mask[i] = false;
+            res.insertBackByOuterInner(j,i) = values[i];
+          }
         }
       }
     }
-#endif
-
   }
   res.finalize();
 }
@@ -134,13 +136,28 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
 
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
-    ColMajorMatrix resCol(lhs.rows(),rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
-    // sort the non zeros:
-    RowMajorMatrix resRow(resCol);
-    res = resRow;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrixAux;
+    typedef typename sparse_eval<ColMajorMatrixAux,ResultType::RowsAtCompileTime,ResultType::ColsAtCompileTime,ColMajorMatrixAux::Flags>::type ColMajorMatrix;
+    
+    // If the result is tall and thin (in the extreme case a column vector)
+    // then it is faster to sort the coefficients inplace instead of transposing twice.
+    // FIXME, the following heuristic is probably not very good.
+    if(lhs.rows()>rhs.cols())
+    {
+      ColMajorMatrix resCol(lhs.rows(),rhs.cols());
+      // perform sorted insertion
+      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol, true);
+      res = resCol.markAsRValue();
+    }
+    else
+    {
+      ColMajorMatrixAux resCol(lhs.rows(),rhs.cols());
+      // ressort to transpose to sort the entries
+      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrixAux>(lhs, rhs, resCol, false);
+      RowMajorMatrix resRow(resCol);
+      res = resRow.markAsRValue();
+    }
   }
 };
 
@@ -149,7 +166,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,C
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
      RowMajorMatrix rhsRow = rhs;
      RowMajorMatrix resRow(lhs.rows(), rhs.cols());
      internal::conservative_sparse_sparse_product_impl<RowMajorMatrix,Lhs,RowMajorMatrix>(rhsRow, lhs, resRow);
@@ -162,7 +179,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
     RowMajorMatrix lhsRow = lhs;
     RowMajorMatrix resRow(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,RowMajorMatrix,RowMajorMatrix>(rhs, lhsRow, resRow);
@@ -175,7 +192,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
     RowMajorMatrix resRow(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
     res = resRow;
@@ -190,7 +207,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
 
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
     res = resCol;
@@ -202,7 +219,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,C
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix lhsCol = lhs;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<ColMajorMatrix,Rhs,ColMajorMatrix>(lhsCol, rhs, resCol);
@@ -215,7 +232,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix rhsCol = rhs;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Lhs,ColMajorMatrix,ColMajorMatrix>(lhs, rhsCol, resCol);
@@ -228,8 +245,8 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     RowMajorMatrix resRow(lhs.rows(),rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
     // sort the non zeros:
@@ -240,6 +257,89 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
 
 } // end namespace internal
 
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_sparse_to_dense_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  Index cols = rhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+
+  for (Index j=0; j<cols; ++j)
+  {
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
+    {
+      Scalar y = rhsIt.value();
+      Index k = rhsIt.index();
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
+      {
+        Index i = lhsIt.index();
+        Scalar x = lhsIt.value();
+        res.coeffRef(i,j) += x * y;
+      }
+    }
+  }
+}
+
+
+} // end namespace internal
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = (traits<Lhs>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+  int RhsStorageOrder = (traits<Rhs>::Flags&RowMajorBit) ? RowMajor : ColMajor>
+struct sparse_sparse_to_dense_product_selector;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    internal::sparse_sparse_to_dense_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
+    ColMajorMatrix lhsCol(lhs);
+    internal::sparse_sparse_to_dense_product_impl<ColMajorMatrix,Rhs,ResultType>(lhsCol, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
+    ColMajorMatrix rhsCol(rhs);
+    internal::sparse_sparse_to_dense_product_impl<Lhs,ColMajorMatrix,ResultType>(lhs, rhsCol, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    Transpose<ResultType> trRes(res);
+    internal::sparse_sparse_to_dense_product_impl<Rhs,Lhs,Transpose<ResultType> >(rhs, lhs, trRes);
+  }
+};
+
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h b/vendor/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
index ab1a266..67718c8 100644
--- a/vendor/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
+++ b/vendor/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -10,9 +10,10 @@
 #ifndef EIGEN_MAPPED_SPARSEMATRIX_H
 #define EIGEN_MAPPED_SPARSEMATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
-/** \class MappedSparseMatrix
+/** \deprecated Use Map<SparseMatrix<> >
+  * \class MappedSparseMatrix
   *
   * \brief Sparse matrix
   *
@@ -22,160 +23,45 @@ namespace Eigen {
   *
   */
 namespace internal {
-template<typename _Scalar, int _Flags, typename _Index>
-struct traits<MappedSparseMatrix<_Scalar, _Flags, _Index> > : traits<SparseMatrix<_Scalar, _Flags, _Index> >
+template<typename _Scalar, int _Flags, typename _StorageIndex>
+struct traits<MappedSparseMatrix<_Scalar, _Flags, _StorageIndex> > : traits<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
 {};
-}
+} // end namespace internal
 
-template<typename _Scalar, int _Flags, typename _Index>
+template<typename _Scalar, int _Flags, typename _StorageIndex>
 class MappedSparseMatrix
-  : public SparseMatrixBase<MappedSparseMatrix<_Scalar, _Flags, _Index> >
+  : public Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
 {
-  public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(MappedSparseMatrix)
-    enum { IsRowMajor = Base::IsRowMajor };
-
-  protected:
-
-    Index   m_outerSize;
-    Index   m_innerSize;
-    Index   m_nnz;
-    Index*  m_outerIndex;
-    Index*  m_innerIndices;
-    Scalar* m_values;
+    typedef Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> > Base;
 
   public:
-
-    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-    inline Index innerSize() const { return m_innerSize; }
-    inline Index outerSize() const { return m_outerSize; }
     
-    bool isCompressed() const { return true; }
-
-    //----------------------------------------
-    // direct access interface
-    inline const Scalar* valuePtr() const { return m_values; }
-    inline Scalar* valuePtr() { return m_values; }
-
-    inline const Index* innerIndexPtr() const { return m_innerIndices; }
-    inline Index* innerIndexPtr() { return m_innerIndices; }
-
-    inline const Index* outerIndexPtr() const { return m_outerIndex; }
-    inline Index* outerIndexPtr() { return m_outerIndex; }
-    //----------------------------------------
-
-    inline Scalar coeff(Index row, Index col) const
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
+    typedef typename Base::StorageIndex StorageIndex;
+    typedef typename Base::Scalar Scalar;
 
-      Index start = m_outerIndex[outer];
-      Index end = m_outerIndex[outer+1];
-      if (start==end)
-        return Scalar(0);
-      else if (end>0 && inner==m_innerIndices[end-1])
-        return m_values[end-1];
-      // ^^  optimization: let's first check if it is the last coefficient
-      // (very common in high level algorithms)
-
-      const Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
-      const Index id = r-&m_innerIndices[0];
-      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = m_outerIndex[outer];
-      Index end = m_outerIndex[outer+1];
-      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
-      Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end],inner);
-      const Index id = r-&m_innerIndices[0];
-      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
-      return m_values[id];
-    }
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const  { return m_nnz; }
-
-    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr)
-      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_nnz(nnz), m_outerIndex(outerIndexPtr),
-        m_innerIndices(innerIndexPtr), m_values(valuePtr)
+    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZeroPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZeroPtr)
     {}
 
     /** Empty destructor */
     inline ~MappedSparseMatrix() {}
 };
 
-template<typename Scalar, int _Flags, typename _Index>
-class MappedSparseMatrix<Scalar,_Flags,_Index>::InnerIterator
-{
-  public:
-    InnerIterator(const MappedSparseMatrix& mat, Index outer)
-      : m_matrix(mat),
-        m_outer(outer),
-        m_id(mat.outerIndexPtr()[outer]),
-        m_start(m_id),
-        m_end(mat.outerIndexPtr()[outer+1])
-    {}
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline Scalar value() const { return m_matrix.valuePtr()[m_id]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.valuePtr()[m_id]); }
-
-    inline Index index() const { return m_matrix.innerIndexPtr()[m_id]; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id < m_end) && (m_id>=m_start); }
-
-  protected:
-    const MappedSparseMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
+namespace internal {
 
-template<typename Scalar, int _Flags, typename _Index>
-class MappedSparseMatrix<Scalar,_Flags,_Index>::ReverseInnerIterator
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct evaluator<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> >
+  : evaluator<SparseCompressedBase<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> > >
 {
-  public:
-    ReverseInnerIterator(const MappedSparseMatrix& mat, Index outer)
-      : m_matrix(mat),
-        m_outer(outer),
-        m_id(mat.outerIndexPtr()[outer+1]),
-        m_start(mat.outerIndexPtr()[outer]),
-        m_end(m_id)
-    {}
-
-    inline ReverseInnerIterator& operator--() { m_id--; return *this; }
-
-    inline Scalar value() const { return m_matrix.valuePtr()[m_id-1]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.valuePtr()[m_id-1]); }
-
-    inline Index index() const { return m_matrix.innerIndexPtr()[m_id-1]; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id <= m_end) && (m_id>m_start); }
-
-  protected:
-    const MappedSparseMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
+  typedef MappedSparseMatrix<_Scalar,_Options,_StorageIndex> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
 };
 
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_MAPPED_SPARSEMATRIX_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseAssign.h b/vendor/eigen/Eigen/src/SparseCore/SparseAssign.h
new file mode 100644
index 0000000..18352a8
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseAssign.h
@@ -0,0 +1,216 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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_SPARSEASSIGN_H
+#define EIGEN_SPARSEASSIGN_H
+
+namespace Eigen { 
+
+template<typename Derived>    
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
+{
+  internal::call_assignment_no_alias(derived(), other.derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  // TODO use the evaluator mechanism
+  other.evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+inline Derived& SparseMatrixBase<Derived>::operator=(const SparseMatrixBase<OtherDerived>& other)
+{
+  // by default sparse evaluation do not alias, so we can safely bypass the generic call_assignment routine
+  internal::Assignment<Derived,OtherDerived,internal::assign_op<Scalar,typename OtherDerived::Scalar> >
+          ::run(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+inline Derived& SparseMatrixBase<Derived>::operator=(const Derived& other)
+{
+  internal::call_assignment_no_alias(derived(), other.derived());
+  return derived();
+}
+
+namespace internal {
+
+template<>
+struct storage_kind_to_evaluator_kind<Sparse> {
+  typedef IteratorBased Kind;
+};
+
+template<>
+struct storage_kind_to_shape<Sparse> {
+  typedef SparseShape Shape;
+};
+
+struct Sparse2Sparse {};
+struct Sparse2Dense  {};
+
+template<> struct AssignmentKind<SparseShape, SparseShape>           { typedef Sparse2Sparse Kind; };
+template<> struct AssignmentKind<SparseShape, SparseTriangularShape> { typedef Sparse2Sparse Kind; };
+template<> struct AssignmentKind<DenseShape,  SparseShape>           { typedef Sparse2Dense  Kind; };
+template<> struct AssignmentKind<DenseShape,  SparseTriangularShape> { typedef Sparse2Dense  Kind; };
+
+
+template<typename DstXprType, typename SrcXprType>
+void assign_sparse_to_sparse(DstXprType &dst, const SrcXprType &src)
+{
+  typedef typename DstXprType::Scalar Scalar;
+  typedef internal::evaluator<DstXprType> DstEvaluatorType;
+  typedef internal::evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  const bool transpose = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit);
+  const Index outerEvaluationSize = (SrcEvaluatorType::Flags&RowMajorBit) ? src.rows() : src.cols();
+  if ((!transpose) && src.isRValue())
+  {
+    // eval without temporary
+    dst.resize(src.rows(), src.cols());
+    dst.setZero();
+    dst.reserve((std::max)(src.rows(),src.cols())*2);
+    for (Index j=0; j<outerEvaluationSize; ++j)
+    {
+      dst.startVec(j);
+      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
+      {
+        Scalar v = it.value();
+        dst.insertBackByOuterInner(j,it.index()) = v;
+      }
+    }
+    dst.finalize();
+  }
+  else
+  {
+    // eval through a temporary
+    eigen_assert(( ((internal::traits<DstXprType>::SupportedAccessPatterns & OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
+              (!((DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit)))) &&
+              "the transpose operation is supposed to be handled in SparseMatrix::operator=");
+
+    enum { Flip = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit) };
+
+    
+    DstXprType temp(src.rows(), src.cols());
+
+    temp.reserve((std::max)(src.rows(),src.cols())*2);
+    for (Index j=0; j<outerEvaluationSize; ++j)
+    {
+      temp.startVec(j);
+      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
+      {
+        Scalar v = it.value();
+        temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
+      }
+    }
+    temp.finalize();
+
+    dst = temp.markAsRValue();
+  }
+}
+
+// Generic Sparse to Sparse assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Sparse>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    assign_sparse_to_sparse(dst.derived(), src.derived());
+  }
+};
+
+// Generic Sparse to Dense assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    if(internal::is_same<Functor,internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> >::value)
+      dst.setZero();
+    
+    internal::evaluator<SrcXprType> srcEval(src);
+    resize_if_allowed(dst, src, func);
+    internal::evaluator<DstXprType> dstEval(dst);
+    
+    const Index outerEvaluationSize = (internal::evaluator<SrcXprType>::Flags&RowMajorBit) ? src.rows() : src.cols();
+    for (Index j=0; j<outerEvaluationSize; ++j)
+      for (typename internal::evaluator<SrcXprType>::InnerIterator i(srcEval,j); i; ++i)
+        func.assignCoeff(dstEval.coeffRef(i.row(),i.col()), i.value());
+  }
+};
+
+// Specialization for "dst = dec.solve(rhs)"
+// NOTE we need to specialize it for Sparse2Sparse to avoid ambiguous specialization error
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Sparse2Sparse>
+{
+  typedef Solve<DecType,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec()._solve_impl(src.rhs(), dst);
+  }
+};
+
+struct Diagonal2Sparse {};
+
+template<> struct AssignmentKind<SparseShape,DiagonalShape> { typedef Diagonal2Sparse Kind; };
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Sparse>
+{
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef Array<StorageIndex,Dynamic,1> ArrayXI;
+  typedef Array<Scalar,Dynamic,1> ArrayXS;
+  template<int Options>
+  static void run(SparseMatrix<Scalar,Options,StorageIndex> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    Index size = src.diagonal().size();
+    dst.makeCompressed();
+    dst.resizeNonZeros(size);
+    Map<ArrayXI>(dst.innerIndexPtr(), size).setLinSpaced(0,StorageIndex(size)-1);
+    Map<ArrayXI>(dst.outerIndexPtr(), size+1).setLinSpaced(0,StorageIndex(size));
+    Map<ArrayXS>(dst.valuePtr(), size) = src.diagonal();
+  }
+  
+  template<typename DstDerived>
+  static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    dst.diagonal() = src.diagonal();
+  }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() += src.diagonal(); }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() -= src.diagonal(); }
+};
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSEASSIGN_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseBlock.h b/vendor/eigen/Eigen/src/SparseCore/SparseBlock.h
index 4f49835..511e92b 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseBlock.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseBlock.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -10,8 +10,9 @@
 #ifndef EIGEN_SPARSE_BLOCK_H
 #define EIGEN_SPARSE_BLOCK_H
 
-namespace Eigen { 
+namespace Eigen {
 
+// Subset of columns or rows
 template<typename XprType, int BlockRows, int BlockCols>
 class BlockImpl<XprType,BlockRows,BlockCols,true,Sparse>
   : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,true> >
@@ -22,185 +23,189 @@ public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
 protected:
     enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
+    typedef SparseMatrixBase<BlockType> Base;
+    using Base::convert_index;
 public:
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-    
-    class InnerIterator: public XprType::InnerIterator
-    {
-        typedef typename BlockImpl::Index Index;
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : XprType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public XprType::ReverseInnerIterator
-    {
-        typedef typename BlockImpl::Index Index;
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : XprType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
 
-    inline BlockImpl(const XprType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
+    inline BlockImpl(XprType& xpr, Index i)
+      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
     {}
 
-    inline BlockImpl(const XprType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
     {}
-    
-    inline const Scalar coeff(int row, int col) const
+
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+    Index nonZeros() const
     {
-      return m_matrix.coeff(row + IsRowMajor ? m_outerStart : 0, col +IsRowMajor ? 0 :  m_outerStart);
+      typedef internal::evaluator<XprType> EvaluatorType;
+      EvaluatorType matEval(m_matrix);
+      Index nnz = 0;
+      Index end = m_outerStart + m_outerSize.value();
+      for(Index j=m_outerStart; j<end; ++j)
+        for(typename EvaluatorType::InnerIterator it(matEval, j); it; ++it)
+          ++nnz;
+      return nnz;
     }
-    
-    inline const Scalar coeff(int index) const
+
+    inline const Scalar coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
+    }
+
+    inline const Scalar coeff(Index index) const
     {
       return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
     }
 
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+    inline const XprType& nestedExpression() const { return m_matrix; }
+    inline XprType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
+    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
+    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
   protected:
 
-    typename XprType::Nested m_matrix;
+    typename internal::ref_selector<XprType>::non_const_type m_matrix;
     Index m_outerStart;
     const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
 
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-  private:
-    Index nonZeros() const;
+  protected:
+    // Disable assignment with clear error message.
+    // Note that simply removing operator= yields compilation errors with ICC+MSVC
+    template<typename T>
+    BlockImpl& operator=(const T&)
+    {
+      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
+      return *this;
+    }
 };
 
 
 /***************************************************************************
-* specialisation for SparseMatrix
+* specialization for SparseMatrix
 ***************************************************************************/
 
-template<typename _Scalar, int _Options, typename _Index, int BlockRows, int BlockCols>
-class BlockImpl<SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true,Sparse>
-  : public SparseMatrixBase<Block<SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true> >
+namespace internal {
+
+template<typename SparseMatrixType, int BlockRows, int BlockCols>
+class sparse_matrix_block_impl
+  : public SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> >
 {
-    typedef SparseMatrix<_Scalar, _Options, _Index> SparseMatrixType;
     typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _MatrixTypeNested;
     typedef Block<SparseMatrixType, BlockRows, BlockCols, true> BlockType;
-    typedef Block<const SparseMatrixType, BlockRows, BlockCols, true> ConstBlockType;
+    typedef SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> > Base;
+    using Base::convert_index;
 public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
 protected:
+    typedef typename Base::IndexVector IndexVector;
     enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
 public:
-    
-    class InnerIterator: public SparseMatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public SparseMatrixType::ReverseInnerIterator
-    {
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
 
-    inline BlockImpl(const SparseMatrixType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
+    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index i)
+      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
     {}
 
-    inline BlockImpl(const SparseMatrixType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
+    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
     {}
 
     template<typename OtherDerived>
     inline BlockType& operator=(const SparseMatrixBase<OtherDerived>& other)
     {
       typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _NestedMatrixType;
-      _NestedMatrixType& matrix = const_cast<_NestedMatrixType&>(m_matrix);;
-      // This assignement is slow if this vector set is not empty
+      _NestedMatrixType& matrix = m_matrix;
+      // This assignment is slow if this vector set is not empty
       // and/or it is not at the end of the nonzeros of the underlying matrix.
 
       // 1 - eval to a temporary to avoid transposition and/or aliasing issues
-      SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, Index> tmp(other);
+      Ref<const SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, StorageIndex> > tmp(other.derived());
+      eigen_internal_assert(tmp.outerSize()==m_outerSize.value());
 
       // 2 - let's check whether there is enough allocated memory
       Index nnz           = tmp.nonZeros();
-      Index start         = m_outerStart==0 ? 0 : matrix.outerIndexPtr()[m_outerStart]; // starting position of the current block
-      Index end           = m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()]; // ending posiiton of the current block
+      Index start         = m_outerStart==0 ? 0 : m_matrix.outerIndexPtr()[m_outerStart]; // starting position of the current block
+      Index end           = m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()]; // ending position of the current block
       Index block_size    = end - start;                                                // available room in the current block
       Index tail_size     = m_matrix.outerIndexPtr()[m_matrix.outerSize()] - end;
-      
+
       Index free_size     = m_matrix.isCompressed()
                           ? Index(matrix.data().allocatedSize()) + block_size
                           : block_size;
 
-      if(nnz>free_size) 
+      Index tmp_start = tmp.outerIndexPtr()[0];
+
+      bool update_trailing_pointers = false;
+      if(nnz>free_size)
       {
         // realloc manually to reduce copies
         typename SparseMatrixType::Storage newdata(m_matrix.data().allocatedSize() - block_size + nnz);
 
-        std::memcpy(&newdata.value(0), &m_matrix.data().value(0), start*sizeof(Scalar));
-        std::memcpy(&newdata.index(0), &m_matrix.data().index(0), start*sizeof(Index));
+        internal::smart_copy(m_matrix.valuePtr(),       m_matrix.valuePtr() + start,      newdata.valuePtr());
+        internal::smart_copy(m_matrix.innerIndexPtr(),  m_matrix.innerIndexPtr() + start, newdata.indexPtr());
 
-        std::memcpy(&newdata.value(start), &tmp.data().value(0), nnz*sizeof(Scalar));
-        std::memcpy(&newdata.index(start), &tmp.data().index(0), nnz*sizeof(Index));
+        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       newdata.valuePtr() + start);
+        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  newdata.indexPtr() + start);
+
+        internal::smart_copy(matrix.valuePtr()+end,       matrix.valuePtr()+end + tail_size,      newdata.valuePtr()+start+nnz);
+        internal::smart_copy(matrix.innerIndexPtr()+end,  matrix.innerIndexPtr()+end + tail_size, newdata.indexPtr()+start+nnz);
 
-        std::memcpy(&newdata.value(start+nnz), &matrix.data().value(end), tail_size*sizeof(Scalar));
-        std::memcpy(&newdata.index(start+nnz), &matrix.data().index(end), tail_size*sizeof(Index));
-        
         newdata.resize(m_matrix.outerIndexPtr()[m_matrix.outerSize()] - block_size + nnz);
 
         matrix.data().swap(newdata);
+
+        update_trailing_pointers = true;
       }
       else
       {
-        // no need to realloc, simply copy the tail at its respective position and insert tmp
-        matrix.data().resize(start + nnz + tail_size);
+        if(m_matrix.isCompressed())
+        {
+          // no need to realloc, simply copy the tail at its respective position and insert tmp
+          matrix.data().resize(start + nnz + tail_size);
 
-        std::memmove(&matrix.data().value(start+nnz), &matrix.data().value(end), tail_size*sizeof(Scalar));
-        std::memmove(&matrix.data().index(start+nnz), &matrix.data().index(end), tail_size*sizeof(Index));
+          internal::smart_memmove(matrix.valuePtr()+end,      matrix.valuePtr() + end+tail_size,      matrix.valuePtr() + start+nnz);
+          internal::smart_memmove(matrix.innerIndexPtr()+end, matrix.innerIndexPtr() + end+tail_size, matrix.innerIndexPtr() + start+nnz);
 
-        std::memcpy(&matrix.data().value(start), &tmp.data().value(0), nnz*sizeof(Scalar));
-        std::memcpy(&matrix.data().index(start), &tmp.data().index(0), nnz*sizeof(Index));
+          update_trailing_pointers = true;
+        }
+
+        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       matrix.valuePtr() + start);
+        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  matrix.innerIndexPtr() + start);
       }
-      
-      // update innerNonZeros
-      if(!m_matrix.isCompressed())
-        for(Index j=0; j<m_outerSize.value(); ++j)
-          matrix.innerNonZeroPtr()[m_outerStart+j] = tmp.innerVector(j).nonZeros();
-
-      // update outer index pointers
-      Index p = start;
-      for(Index k=0; k<m_outerSize.value(); ++k)
+
+      // update outer index pointers and innerNonZeros
+      if(IsVectorAtCompileTime)
       {
-        matrix.outerIndexPtr()[m_outerStart+k] = p;
-        p += tmp.innerVector(k).nonZeros();
+        if(!m_matrix.isCompressed())
+          matrix.innerNonZeroPtr()[m_outerStart] = StorageIndex(nnz);
+        matrix.outerIndexPtr()[m_outerStart] = StorageIndex(start);
       }
-      std::ptrdiff_t offset = nnz - block_size;
-      for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+      else
       {
-        matrix.outerIndexPtr()[k] += offset;
+        StorageIndex p = StorageIndex(start);
+        for(Index k=0; k<m_outerSize.value(); ++k)
+        {
+          StorageIndex nnz_k = internal::convert_index<StorageIndex>(tmp.innerVector(k).nonZeros());
+          if(!m_matrix.isCompressed())
+            matrix.innerNonZeroPtr()[m_outerStart+k] = nnz_k;
+          matrix.outerIndexPtr()[m_outerStart+k] = p;
+          p += nnz_k;
+        }
+      }
+
+      if(update_trailing_pointers)
+      {
+        StorageIndex offset = internal::convert_index<StorageIndex>(nnz - block_size);
+        for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+        {
+          matrix.outerIndexPtr()[k] += offset;
+        }
       }
 
       return derived();
@@ -212,50 +217,46 @@ public:
     }
 
     inline const Scalar* valuePtr() const
-    { return m_matrix.valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    { return m_matrix.valuePtr(); }
     inline Scalar* valuePtr()
-    { return m_matrix.const_cast_derived().valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    { return m_matrix.valuePtr(); }
 
-    inline const Index* innerIndexPtr() const
-    { return m_matrix.innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-    inline Index* innerIndexPtr()
-    { return m_matrix.const_cast_derived().innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    inline const StorageIndex* innerIndexPtr() const
+    { return m_matrix.innerIndexPtr(); }
+    inline StorageIndex* innerIndexPtr()
+    { return m_matrix.innerIndexPtr(); }
 
-    inline const Index* outerIndexPtr() const
+    inline const StorageIndex* outerIndexPtr() const
+    { return m_matrix.outerIndexPtr() + m_outerStart; }
+    inline StorageIndex* outerIndexPtr()
     { return m_matrix.outerIndexPtr() + m_outerStart; }
-    inline Index* outerIndexPtr()
-    { return m_matrix.const_cast_derived().outerIndexPtr() + m_outerStart; }
 
-    Index nonZeros() const
-    {
-      if(m_matrix.isCompressed())
-        return  std::size_t(m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()])
-              - std::size_t(m_matrix.outerIndexPtr()[m_outerStart]);
-      else if(m_outerSize.value()==0)
-        return 0;
-      else
-        return Map<const Matrix<Index,OuterSize,1> >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum();
-    }
-    
-    inline Scalar& coeffRef(int row, int col)
+    inline const StorageIndex* innerNonZeroPtr() const
+    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
+    inline StorageIndex* innerNonZeroPtr()
+    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
+
+    bool isCompressed() const { return m_matrix.innerNonZeroPtr()==0; }
+
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      return m_matrix.const_cast_derived().coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
+      return m_matrix.coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
     }
-    
-    inline const Scalar coeff(int row, int col) const
+
+    inline const Scalar coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
     }
-    
-    inline const Scalar coeff(int index) const
+
+    inline const Scalar coeff(Index index) const
     {
       return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
     }
 
     const Scalar& lastCoeff() const
     {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(BlockImpl);
-      eigen_assert(nonZeros()>0);
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(sparse_matrix_block_impl);
+      eigen_assert(Base::nonZeros()>0);
       if(m_matrix.isCompressed())
         return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart+1]-1];
       else
@@ -265,110 +266,62 @@ public:
     EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
     EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
+    inline const SparseMatrixType& nestedExpression() const { return m_matrix; }
+    inline SparseMatrixType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
+    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
+    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
   protected:
 
-    typename SparseMatrixType::Nested m_matrix;
+    typename internal::ref_selector<SparseMatrixType>::non_const_type m_matrix;
     Index m_outerStart;
     const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
 
 };
 
+} // namespace internal
 
-template<typename _Scalar, int _Options, typename _Index, int BlockRows, int BlockCols>
-class BlockImpl<const SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true,Sparse>
-  : public SparseMatrixBase<Block<const SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true> >
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+class BlockImpl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
+  : public internal::sparse_matrix_block_impl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
 {
-    typedef SparseMatrix<_Scalar, _Options, _Index> SparseMatrixType;
-    typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _MatrixTypeNested;
-    typedef Block<const SparseMatrixType, BlockRows, BlockCols, true> BlockType;
 public:
-    enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
-    EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-protected:
-    enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
-public:
-    
-    class InnerIterator: public SparseMatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public SparseMatrixType::ReverseInnerIterator
-    {
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-
-    inline BlockImpl(const SparseMatrixType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
-    {}
-
-    inline BlockImpl(const SparseMatrixType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
-    {}
-
-    inline const Scalar* valuePtr() const
-    { return m_matrix.valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-
-    inline const Index* innerIndexPtr() const
-    { return m_matrix.innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-
-    inline const Index* outerIndexPtr() const
-    { return m_matrix.outerIndexPtr() + m_outerStart; }
-
-    Index nonZeros() const
-    {
-      if(m_matrix.isCompressed())
-        return  std::size_t(m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()])
-              - std::size_t(m_matrix.outerIndexPtr()[m_outerStart]);
-      else if(m_outerSize.value()==0)
-        return 0;
-      else
-        return Map<const Matrix<Index,OuterSize,1> >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum();
-    }
-    
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-    
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
-    }
-
-    const Scalar& lastCoeff() const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(BlockImpl);
-      eigen_assert(nonZeros()>0);
-      if(m_matrix.isCompressed())
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart+1]-1];
-      else
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart]+m_matrix.innerNonZeroPtr()[m_outerStart]-1];
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
+  typedef _StorageIndex StorageIndex;
+  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
+  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
+  inline BlockImpl(SparseMatrixType& xpr, Index i)
+    : Base(xpr, i)
+  {}
+
+  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+    : Base(xpr, startRow, startCol, blockRows, blockCols)
+  {}
+
+  using Base::operator=;
+};
 
-    typename SparseMatrixType::Nested m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+class BlockImpl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
+  : public internal::sparse_matrix_block_impl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
+{
+public:
+  typedef _StorageIndex StorageIndex;
+  typedef const SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
+  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
+  inline BlockImpl(SparseMatrixType& xpr, Index i)
+    : Base(xpr, i)
+  {}
+
+  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+    : Base(xpr, startRow, startCol, blockRows, blockCols)
+  {}
+
+  using Base::operator=;
+private:
+  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr, Index i);
+  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr);
 };
 
 //----------
@@ -397,7 +350,7 @@ SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
   return Block<Derived,Dynamic,Dynamic,true>(derived(),
                                              IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
                                              IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-  
+
 }
 
 /** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
@@ -410,130 +363,241 @@ SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
   return Block<const Derived,Dynamic,Dynamic,true>(derived(),
                                                   IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
                                                   IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-  
+
 }
 
 /** Generic implementation of sparse Block expression.
-  * Real-only. 
+  * Real-only.
   */
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
 class BlockImpl<XprType,BlockRows,BlockCols,InnerPanel,Sparse>
   : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,InnerPanel> >, internal::no_assignment_operator
 {
-  typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
-  typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef SparseMatrixBase<BlockType> Base;
+    using Base::convert_index;
 public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
 
+    typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
+
     /** Column or Row constructor
       */
-    inline BlockImpl(const XprType& xpr, int i)
+    inline BlockImpl(XprType& xpr, Index i)
       : m_matrix(xpr),
-        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? convert_index(i) : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? convert_index(i) : 0),
         m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
         m_blockCols(BlockCols==1 ? 1 : xpr.cols())
     {}
 
     /** Dynamic-size constructor
       */
-    inline BlockImpl(const XprType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_startRow(startRow), m_startCol(startCol), m_blockRows(blockRows), m_blockCols(blockCols)
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_startRow(convert_index(startRow)), m_startCol(convert_index(startCol)), m_blockRows(convert_index(blockRows)), m_blockCols(convert_index(blockCols))
     {}
 
-    inline int rows() const { return m_blockRows.value(); }
-    inline int cols() const { return m_blockCols.value(); }
+    inline Index rows() const { return m_blockRows.value(); }
+    inline Index cols() const { return m_blockCols.value(); }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      return m_matrix.const_cast_derived()
-               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+      return m_matrix.coeffRef(row + m_startRow.value(), col + m_startCol.value());
     }
 
-    inline const Scalar coeff(int row, int col) const
+    inline const Scalar coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
     }
 
-    inline Scalar& coeffRef(int index)
+    inline Scalar& coeffRef(Index index)
     {
-      return m_matrix.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_matrix.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
-    inline const Scalar coeff(int index) const
+    inline const Scalar coeff(Index index) const
     {
-      return m_matrix
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_matrix.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
-    
-    inline const _MatrixTypeNested& nestedExpression() const { return m_matrix; }
-    
-    class InnerIterator : public _MatrixTypeNested::InnerIterator
-    {
-      typedef typename _MatrixTypeNested::InnerIterator Base;
-      const BlockType& m_block;
-      Index m_end;
-    public:
-
-      EIGEN_STRONG_INLINE InnerIterator(const BlockType& block, Index outer)
-        : Base(block.derived().nestedExpression(), outer + (IsRowMajor ? block.m_startRow.value() : block.m_startCol.value())),
-          m_block(block),
-          m_end(IsRowMajor ? block.m_startCol.value()+block.m_blockCols.value() : block.m_startRow.value()+block.m_blockRows.value())
-      {
-        while( (Base::operator bool()) && (Base::index() < (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value())) )
-          Base::operator++();
-      }
 
-      inline Index index()  const { return Base::index() - (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value()); }
-      inline Index outer()  const { return Base::outer() - (IsRowMajor ? m_block.m_startRow.value() : m_block.m_startCol.value()); }
-      inline Index row()    const { return Base::row()   - m_block.m_startRow.value(); }
-      inline Index col()    const { return Base::col()   - m_block.m_startCol.value(); }
-      
-      inline operator bool() const { return Base::operator bool() && Base::index() < m_end; }
-    };
-    class ReverseInnerIterator : public _MatrixTypeNested::ReverseInnerIterator
-    {
-      typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
-      const BlockType& m_block;
-      Index m_begin;
-    public:
-
-      EIGEN_STRONG_INLINE ReverseInnerIterator(const BlockType& block, Index outer)
-        : Base(block.derived().nestedExpression(), outer + (IsRowMajor ? block.m_startRow.value() : block.m_startCol.value())),
-          m_block(block),
-          m_begin(IsRowMajor ? block.m_startCol.value() : block.m_startRow.value())
-      {
-        while( (Base::operator bool()) && (Base::index() >= (IsRowMajor ? m_block.m_startCol.value()+block.m_blockCols.value() : m_block.m_startRow.value()+block.m_blockRows.value())) )
-          Base::operator--();
-      }
+    inline const XprType& nestedExpression() const { return m_matrix; }
+    inline XprType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return m_startRow.value(); }
+    Index startCol() const { return m_startCol.value(); }
+    Index blockRows() const { return m_blockRows.value(); }
+    Index blockCols() const { return m_blockCols.value(); }
 
-      inline Index index()  const { return Base::index() - (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value()); }
-      inline Index outer()  const { return Base::outer() - (IsRowMajor ? m_block.m_startRow.value() : m_block.m_startCol.value()); }
-      inline Index row()    const { return Base::row()   - m_block.m_startRow.value(); }
-      inline Index col()    const { return Base::col()   - m_block.m_startCol.value(); }
-      
-      inline operator bool() const { return Base::operator bool() && Base::index() >= m_begin; }
-    };
   protected:
-    friend class InnerIterator;
-    friend class ReverseInnerIterator;
-    
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
+//     friend class internal::GenericSparseBlockInnerIteratorImpl<XprType,BlockRows,BlockCols,InnerPanel>;
+    friend struct internal::unary_evaluator<Block<XprType,BlockRows,BlockCols,InnerPanel>, internal::IteratorBased, Scalar >;
 
-    typename XprType::Nested m_matrix;
+    Index nonZeros() const { return Dynamic; }
+
+    typename internal::ref_selector<XprType>::non_const_type m_matrix;
     const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
     const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
     const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
     const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
-  private:
-    Index nonZeros() const;
+
+  protected:
+    // Disable assignment with clear error message.
+    // Note that simply removing operator= yields compilation errors with ICC+MSVC
+    template<typename T>
+    BlockImpl& operator=(const T&)
+    {
+      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
+      return *this;
+    }
+
 };
 
+namespace internal {
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased >
+ : public evaluator_base<Block<ArgType,BlockRows,BlockCols,InnerPanel> >
+{
+    class InnerVectorInnerIterator;
+    class OuterVectorInnerIterator;
+  public:
+    typedef Block<ArgType,BlockRows,BlockCols,InnerPanel> XprType;
+    typedef typename XprType::StorageIndex StorageIndex;
+    typedef typename XprType::Scalar Scalar;
+
+    enum {
+      IsRowMajor = XprType::IsRowMajor,
+
+      OuterVector =  (BlockCols==1 && ArgType::IsRowMajor)
+                    | // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                      // revert to || as soon as not needed anymore.
+                     (BlockRows==1 && !ArgType::IsRowMajor),
+
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+
+    typedef typename internal::conditional<OuterVector,OuterVectorInnerIterator,InnerVectorInnerIterator>::type InnerIterator;
+
+    explicit unary_evaluator(const XprType& op)
+      : m_argImpl(op.nestedExpression()), m_block(op)
+    {}
+
+    inline Index nonZerosEstimate() const {
+      Index nnz = m_block.nonZeros();
+      if(nnz<0)
+        return m_argImpl.nonZerosEstimate() * m_block.size() / m_block.nestedExpression().size();
+      return nnz;
+    }
+
+  protected:
+    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_block;
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::InnerVectorInnerIterator
+ : public EvalIterator
+{
+  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  const XprType& m_block;
+  Index m_end;
+public:
+
+  EIGEN_STRONG_INLINE InnerVectorInnerIterator(const unary_evaluator& aEval, Index outer)
+    : EvalIterator(aEval.m_argImpl, outer + (IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol())),
+      m_block(aEval.m_block),
+      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows())
+  {
+    while( (EvalIterator::operator bool()) && (EvalIterator::index() < (IsRowMajor ? m_block.startCol() : m_block.startRow())) )
+      EvalIterator::operator++();
+  }
+
+  inline StorageIndex index() const { return EvalIterator::index() - convert_index<StorageIndex>(IsRowMajor ? m_block.startCol() : m_block.startRow()); }
+  inline Index outer()  const { return EvalIterator::outer() - (IsRowMajor ? m_block.startRow() : m_block.startCol()); }
+  inline Index row()    const { return EvalIterator::row()   - m_block.startRow(); }
+  inline Index col()    const { return EvalIterator::col()   - m_block.startCol(); }
+
+  inline operator bool() const { return EvalIterator::operator bool() && EvalIterator::index() < m_end; }
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::OuterVectorInnerIterator
+{
+  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  const unary_evaluator& m_eval;
+  Index m_outerPos;
+  const Index m_innerIndex;
+  Index m_end;
+  EvalIterator m_it;
+public:
+
+  EIGEN_STRONG_INLINE OuterVectorInnerIterator(const unary_evaluator& aEval, Index outer)
+    : m_eval(aEval),
+      m_outerPos( (IsRowMajor ? aEval.m_block.startCol() : aEval.m_block.startRow()) ),
+      m_innerIndex(IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol()),
+      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows()),
+      m_it(m_eval.m_argImpl, m_outerPos)
+  {
+    EIGEN_UNUSED_VARIABLE(outer);
+    eigen_assert(outer==0);
+
+    while(m_it && m_it.index() < m_innerIndex) ++m_it;
+    if((!m_it) || (m_it.index()!=m_innerIndex))
+      ++(*this);
+  }
+
+  inline StorageIndex index() const { return convert_index<StorageIndex>(m_outerPos - (IsRowMajor ? m_eval.m_block.startCol() : m_eval.m_block.startRow())); }
+  inline Index outer()  const { return 0; }
+  inline Index row()    const { return IsRowMajor ? 0 : index(); }
+  inline Index col()    const { return IsRowMajor ? index() : 0; }
+
+  inline Scalar value() const { return m_it.value(); }
+  inline Scalar& valueRef() { return m_it.valueRef(); }
+
+  inline OuterVectorInnerIterator& operator++()
+  {
+    // search next non-zero entry
+    while(++m_outerPos<m_end)
+    {
+      // Restart iterator at the next inner-vector:
+      m_it.~EvalIterator();
+      ::new (&m_it) EvalIterator(m_eval.m_argImpl, m_outerPos);
+      // search for the key m_innerIndex in the current outer-vector
+      while(m_it && m_it.index() < m_innerIndex) ++m_it;
+      if(m_it && m_it.index()==m_innerIndex) break;
+    }
+    return *this;
+  }
+
+  inline operator bool() const { return m_outerPos < m_end; }
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+struct unary_evaluator<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
+  : evaluator<SparseCompressedBase<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
+{
+  typedef Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+struct unary_evaluator<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
+  : evaluator<SparseCompressedBase<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
+{
+  typedef Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
+};
+
+} // end namespace internal
+
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_BLOCK_H
-
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseColEtree.h b/vendor/eigen/Eigen/src/SparseCore/SparseColEtree.h
index f8745f4..ebe02d1 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseColEtree.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseColEtree.h
@@ -58,30 +58,29 @@ Index etree_find (Index i, IndexVector& pp)
   * \param perm The permutation to apply to the column of \b mat
   */
 template <typename MatrixType, typename IndexVector>
-int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowElt, typename MatrixType::Index *perm=0)
+int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowElt, typename MatrixType::StorageIndex *perm=0)
 {
-  typedef typename MatrixType::Index Index;
-  Index nc = mat.cols(); // Number of columns 
-  Index m = mat.rows();
-  Index diagSize = (std::min)(nc,m);
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  StorageIndex nc = convert_index<StorageIndex>(mat.cols()); // Number of columns
+  StorageIndex m = convert_index<StorageIndex>(mat.rows());
+  StorageIndex diagSize = (std::min)(nc,m);
   IndexVector root(nc); // root of subtree of etree 
   root.setZero();
   IndexVector pp(nc); // disjoint sets 
   pp.setZero(); // Initialize disjoint sets 
   parent.resize(mat.cols());
   //Compute first nonzero column in each row 
-  Index row,col; 
   firstRowElt.resize(m);
   firstRowElt.setConstant(nc);
   firstRowElt.segment(0, diagSize).setLinSpaced(diagSize, 0, diagSize-1);
   bool found_diag;
-  for (col = 0; col < nc; col++)
+  for (StorageIndex col = 0; col < nc; col++)
   {
-    Index pcol = col;
+    StorageIndex pcol = col;
     if(perm) pcol  = perm[col];
     for (typename MatrixType::InnerIterator it(mat, pcol); it; ++it)
     { 
-      row = it.row();
+      Index row = it.row();
       firstRowElt(row) = (std::min)(firstRowElt(row), col);
     }
   }
@@ -89,8 +88,8 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
           except use (firstRowElt[r],c) in place of an edge (r,c) of A.
     Thus each row clique in A'*A is replaced by a star
     centered at its first vertex, which has the same fill. */
-  Index rset, cset, rroot; 
-  for (col = 0; col < nc; col++) 
+  StorageIndex rset, cset, rroot;
+  for (StorageIndex col = 0; col < nc; col++) 
   {
     found_diag = col>=m;
     pp(col) = col; 
@@ -99,7 +98,7 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
     parent(col) = nc; 
     /* The diagonal element is treated here even if it does not exist in the matrix
      * hence the loop is executed once more */ 
-    Index pcol = col;
+    StorageIndex pcol = col;
     if(perm) pcol  = perm[col];
     for (typename MatrixType::InnerIterator it(mat, pcol); it||!found_diag; ++it)
     { //  A sequence of interleaved find and union is performed 
@@ -107,7 +106,7 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
       if(it) i = it.index();
       if (i == col) found_diag = true;
       
-      row = firstRowElt(i);
+      StorageIndex row = firstRowElt(i);
       if (row >= col) continue; 
       rset = internal::etree_find(row, pp); // Find the name of the set containing row
       rroot = root(rset);
@@ -127,10 +126,11 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
   * Depth-first search from vertex n.  No recursion.
   * This routine was contributed by Cédric Doucet, CEDRAT Group, Meylan, France.
 */
-template <typename Index, typename IndexVector>
-void nr_etdfs (Index n, IndexVector& parent, IndexVector& first_kid, IndexVector& next_kid, IndexVector& post, Index postnum)
+template <typename IndexVector>
+void nr_etdfs (typename IndexVector::Scalar n, IndexVector& parent, IndexVector& first_kid, IndexVector& next_kid, IndexVector& post, typename IndexVector::Scalar postnum)
 {
-  Index current = n, first, next;
+  typedef typename IndexVector::Scalar StorageIndex;
+  StorageIndex current = n, first, next;
   while (postnum != n) 
   {
     // No kid for the current node
@@ -174,22 +174,22 @@ void nr_etdfs (Index n, IndexVector& parent, IndexVector& first_kid, IndexVector
   * \param parent Input tree
   * \param post postordered tree
   */
-template <typename Index, typename IndexVector>
-void treePostorder(Index n, IndexVector& parent, IndexVector& post)
+template <typename IndexVector>
+void treePostorder(typename IndexVector::Scalar n, IndexVector& parent, IndexVector& post)
 {
+  typedef typename IndexVector::Scalar StorageIndex;
   IndexVector first_kid, next_kid; // Linked list of children 
-  Index postnum; 
+  StorageIndex postnum; 
   // Allocate storage for working arrays and results 
   first_kid.resize(n+1); 
   next_kid.setZero(n+1);
   post.setZero(n+1);
   
   // Set up structure describing children
-  Index v, dad; 
   first_kid.setConstant(-1); 
-  for (v = n-1; v >= 0; v--) 
+  for (StorageIndex v = n-1; v >= 0; v--) 
   {
-    dad = parent(v);
+    StorageIndex dad = parent(v);
     next_kid(v) = first_kid(dad); 
     first_kid(dad) = v; 
   }
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseCompressedBase.h b/vendor/eigen/Eigen/src/SparseCore/SparseCompressedBase.h
new file mode 100644
index 0000000..5ccb466
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseCompressedBase.h
@@ -0,0 +1,341 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_SPARSE_COMPRESSED_BASE_H
+#define EIGEN_SPARSE_COMPRESSED_BASE_H
+
+namespace Eigen { 
+
+template<typename Derived> class SparseCompressedBase;
+  
+namespace internal {
+
+template<typename Derived>
+struct traits<SparseCompressedBase<Derived> > : traits<Derived>
+{};
+
+} // end namespace internal
+
+/** \ingroup SparseCore_Module
+  * \class SparseCompressedBase
+  * \brief Common base class for sparse [compressed]-{row|column}-storage format.
+  *
+  * This class defines the common interface for all derived classes implementing the compressed sparse storage format, such as:
+  *  - SparseMatrix
+  *  - Ref<SparseMatrixType,Options>
+  *  - Map<SparseMatrixType>
+  *
+  */
+template<typename Derived>
+class SparseCompressedBase
+  : public SparseMatrixBase<Derived>
+{
+  public:
+    typedef SparseMatrixBase<Derived> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseCompressedBase)
+    using Base::operator=;
+    using Base::IsRowMajor;
+    
+    class InnerIterator;
+    class ReverseInnerIterator;
+    
+  protected:
+    typedef typename Base::IndexVector IndexVector;
+    Eigen::Map<IndexVector> innerNonZeros() { return Eigen::Map<IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
+    const  Eigen::Map<const IndexVector> innerNonZeros() const { return Eigen::Map<const IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
+        
+  public:
+    
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const
+    {
+      if(Derived::IsVectorAtCompileTime && outerIndexPtr()==0)
+        return derived().nonZeros();
+      else if(isCompressed())
+        return outerIndexPtr()[derived().outerSize()]-outerIndexPtr()[0];
+      else if(derived().outerSize()==0)
+        return 0;
+      else
+        return innerNonZeros().sum();
+    }
+    
+    /** \returns a const pointer to the array of values.
+      * This function is aimed at interoperability with other libraries.
+      * \sa innerIndexPtr(), outerIndexPtr() */
+    inline const Scalar* valuePtr() const { return derived().valuePtr(); }
+    /** \returns a non-const pointer to the array of values.
+      * This function is aimed at interoperability with other libraries.
+      * \sa innerIndexPtr(), outerIndexPtr() */
+    inline Scalar* valuePtr() { return derived().valuePtr(); }
+
+    /** \returns a const pointer to the array of inner indices.
+      * This function is aimed at interoperability with other libraries.
+      * \sa valuePtr(), outerIndexPtr() */
+    inline const StorageIndex* innerIndexPtr() const { return derived().innerIndexPtr(); }
+    /** \returns a non-const pointer to the array of inner indices.
+      * This function is aimed at interoperability with other libraries.
+      * \sa valuePtr(), outerIndexPtr() */
+    inline StorageIndex* innerIndexPtr() { return derived().innerIndexPtr(); }
+
+    /** \returns a const pointer to the array of the starting positions of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 for SparseVector
+      * \sa valuePtr(), innerIndexPtr() */
+    inline const StorageIndex* outerIndexPtr() const { return derived().outerIndexPtr(); }
+    /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 for SparseVector
+      * \sa valuePtr(), innerIndexPtr() */
+    inline StorageIndex* outerIndexPtr() { return derived().outerIndexPtr(); }
+
+    /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 in compressed mode */
+    inline const StorageIndex* innerNonZeroPtr() const { return derived().innerNonZeroPtr(); }
+    /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 in compressed mode */
+    inline StorageIndex* innerNonZeroPtr() { return derived().innerNonZeroPtr(); }
+    
+    /** \returns whether \c *this is in compressed form. */
+    inline bool isCompressed() const { return innerNonZeroPtr()==0; }
+
+    /** \returns a read-only view of the stored coefficients as a 1D array expression.
+      *
+      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
+      *
+      * \sa valuePtr(), isCompressed() */
+    const Map<const Array<Scalar,Dynamic,1> > coeffs() const { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
+
+    /** \returns a read-write view of the stored coefficients as a 1D array expression
+      *
+      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
+      *
+      * Here is an example:
+      * \include SparseMatrix_coeffs.cpp
+      * and the output is:
+      * \include SparseMatrix_coeffs.out
+      *
+      * \sa valuePtr(), isCompressed() */
+    Map<Array<Scalar,Dynamic,1> > coeffs() { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
+
+  protected:
+    /** Default constructor. Do nothing. */
+    SparseCompressedBase() {}
+  private:
+    template<typename OtherDerived> explicit SparseCompressedBase(const SparseCompressedBase<OtherDerived>&);
+};
+
+template<typename Derived>
+class SparseCompressedBase<Derived>::InnerIterator
+{
+  public:
+    InnerIterator()
+      : m_values(0), m_indices(0), m_outer(0), m_id(0), m_end(0)
+    {}
+
+    InnerIterator(const InnerIterator& other)
+      : m_values(other.m_values), m_indices(other.m_indices), m_outer(other.m_outer), m_id(other.m_id), m_end(other.m_end)
+    {}
+
+    InnerIterator& operator=(const InnerIterator& other)
+    {
+      m_values = other.m_values;
+      m_indices = other.m_indices;
+      const_cast<OuterType&>(m_outer).setValue(other.m_outer.value());
+      m_id = other.m_id;
+      m_end = other.m_end;
+      return *this;
+    }
+
+    InnerIterator(const SparseCompressedBase& mat, Index outer)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
+    {
+      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
+      {
+        m_id = 0;
+        m_end = mat.nonZeros();
+      }
+      else
+      {
+        m_id = mat.outerIndexPtr()[outer];
+        if(mat.isCompressed())
+          m_end = mat.outerIndexPtr()[outer+1];
+        else
+          m_end = m_id + mat.innerNonZeroPtr()[outer];
+      }
+    }
+
+    explicit InnerIterator(const SparseCompressedBase& mat)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_id(0), m_end(mat.nonZeros())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    explicit InnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
+      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_id(0), m_end(data.size())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
+
+    inline StorageIndex index() const { return m_indices[m_id]; }
+    inline Index outer() const { return m_outer.value(); }
+    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
+
+    inline operator bool() const { return (m_id < m_end); }
+
+  protected:
+    const Scalar* m_values;
+    const StorageIndex* m_indices;
+    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
+    const OuterType m_outer;
+    Index m_id;
+    Index m_end;
+  private:
+    // If you get here, then you're not using the right InnerIterator type, e.g.:
+    //   SparseMatrix<double,RowMajor> A;
+    //   SparseMatrix<double>::InnerIterator it(A,0);
+    template<typename T> InnerIterator(const SparseMatrixBase<T>&, Index outer);
+};
+
+template<typename Derived>
+class SparseCompressedBase<Derived>::ReverseInnerIterator
+{
+  public:
+    ReverseInnerIterator(const SparseCompressedBase& mat, Index outer)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
+    {
+      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
+      {
+        m_start = 0;
+        m_id = mat.nonZeros();
+      }
+      else
+      {
+        m_start = mat.outerIndexPtr()[outer];
+        if(mat.isCompressed())
+          m_id = mat.outerIndexPtr()[outer+1];
+        else
+          m_id = m_start + mat.innerNonZeroPtr()[outer];
+      }
+    }
+
+    explicit ReverseInnerIterator(const SparseCompressedBase& mat)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_start(0), m_id(mat.nonZeros())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    explicit ReverseInnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
+      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_start(0), m_id(data.size())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    inline ReverseInnerIterator& operator--() { --m_id; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id-1]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id-1]); }
+
+    inline StorageIndex index() const { return m_indices[m_id-1]; }
+    inline Index outer() const { return m_outer.value(); }
+    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
+
+    inline operator bool() const { return (m_id > m_start); }
+
+  protected:
+    const Scalar* m_values;
+    const StorageIndex* m_indices;
+    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
+    const OuterType m_outer;
+    Index m_start;
+    Index m_id;
+};
+
+namespace internal {
+
+template<typename Derived>
+struct evaluator<SparseCompressedBase<Derived> >
+  : evaluator_base<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::InnerIterator InnerIterator;
+  
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = Derived::Flags
+  };
+  
+  evaluator() : m_matrix(0), m_zero(0)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  explicit evaluator(const Derived &mat) : m_matrix(&mat), m_zero(0)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_matrix->nonZeros();
+  }
+  
+  operator Derived&() { return m_matrix->const_cast_derived(); }
+  operator const Derived&() const { return *m_matrix; }
+  
+  typedef typename DenseCoeffsBase<Derived,ReadOnlyAccessors>::CoeffReturnType CoeffReturnType;
+  const Scalar& coeff(Index row, Index col) const
+  {
+    Index p = find(row,col);
+
+    if(p==Dynamic)
+      return m_zero;
+    else
+      return m_matrix->const_cast_derived().valuePtr()[p];
+  }
+
+  Scalar& coeffRef(Index row, Index col)
+  {
+    Index p = find(row,col);
+    eigen_assert(p!=Dynamic && "written coefficient does not exist");
+    return m_matrix->const_cast_derived().valuePtr()[p];
+  }
+
+protected:
+
+  Index find(Index row, Index col) const
+  {
+    eigen_internal_assert(row>=0 && row<m_matrix->rows() && col>=0 && col<m_matrix->cols());
+
+    const Index outer = Derived::IsRowMajor ? row : col;
+    const Index inner = Derived::IsRowMajor ? col : row;
+
+    Index start = m_matrix->outerIndexPtr()[outer];
+    Index end = m_matrix->isCompressed() ? m_matrix->outerIndexPtr()[outer+1] : m_matrix->outerIndexPtr()[outer] + m_matrix->innerNonZeroPtr()[outer];
+    eigen_assert(end>=start && "you are using a non finalized sparse matrix or written coefficient does not exist");
+    const Index p = std::lower_bound(m_matrix->innerIndexPtr()+start, m_matrix->innerIndexPtr()+end,inner) - m_matrix->innerIndexPtr();
+
+    return ((p<end) && (m_matrix->innerIndexPtr()[p]==inner)) ? p : Dynamic;
+  }
+
+  const Derived *m_matrix;
+  const Scalar m_zero;
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_COMPRESSED_BASE_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/vendor/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
index 5462737..e315e35 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -28,88 +28,57 @@ namespace Eigen {
 //                         generic      sparse
 //  4 - dense op dense     product      dense
 //                         generic      dense
-
-namespace internal {
-
-template<> struct promote_storage_type<Dense,Sparse>
-{ typedef Sparse ret; };
-
-template<> struct promote_storage_type<Sparse,Dense>
-{ typedef Sparse ret; };
-
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived,
-  typename _LhsStorageMode = typename traits<Lhs>::StorageKind,
-  typename _RhsStorageMode = typename traits<Rhs>::StorageKind>
-class sparse_cwise_binary_op_inner_iterator_selector;
-
-} // end namespace internal
+//
+// TODO to ease compiler job, we could specialize product/quotient with a scalar
+//      and fallback to cwise-unary evaluator using bind1st_op and bind2nd_op.
 
 template<typename BinaryOp, typename Lhs, typename Rhs>
 class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Sparse>
   : public SparseMatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
   public:
-    class InnerIterator;
-    class ReverseInnerIterator;
     typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+    typedef SparseMatrixBase<Derived> Base;
     EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
     CwiseBinaryOpImpl()
     {
       EIGEN_STATIC_ASSERT((
                 (!internal::is_same<typename internal::traits<Lhs>::StorageKind,
                                     typename internal::traits<Rhs>::StorageKind>::value)
-            ||  ((Lhs::Flags&RowMajorBit) == (Rhs::Flags&RowMajorBit))),
+            ||  ((internal::evaluator<Lhs>::Flags&RowMajorBit) == (internal::evaluator<Rhs>::Flags&RowMajorBit))),
             THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH);
     }
 };
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator
-  : public internal::sparse_cwise_binary_op_inner_iterator_selector<BinaryOp,Lhs,Rhs,typename CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator>
-{
-  public:
-    typedef typename Lhs::Index Index;
-    typedef internal::sparse_cwise_binary_op_inner_iterator_selector<
-      BinaryOp,Lhs,Rhs, InnerIterator> Base;
-
-    // NOTE: we have to prefix Index by "typename Lhs::" to avoid an ICE with VC11
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseBinaryOpImpl& binOp, typename Lhs::Index outer)
-      : Base(binOp.derived(),outer)
-    {}
-};
-
-/***************************************************************************
-* Implementation of inner-iterators
-***************************************************************************/
-
-// template<typename T> struct internal::func_is_conjunction { enum { ret = false }; };
-// template<typename T> struct internal::func_is_conjunction<internal::scalar_product_op<T> > { enum { ret = true }; };
-
-// TODO generalize the internal::scalar_product_op specialization to all conjunctions if any !
-
 namespace internal {
 
-// sparse - sparse  (generic)
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived, Sparse, Sparse>
-{
-    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename traits<CwiseBinaryXpr>::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
+  
+// Generic "sparse OP sparse"
+template<typename XprType> struct binary_sparse_evaluator;
 
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+protected:
+  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
+  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
+
+  class InnerIterator
+  {
   public:
-
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
     {
       this->operator++();
     }
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
       if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
       {
@@ -135,12 +104,13 @@ class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived
         m_value = 0; // this is to avoid a compilation warning
         m_id = -1;
       }
-      return *static_cast<Derived*>(this);
+      return *this;
     }
 
     EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_id; }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
     EIGEN_STRONG_INLINE Index row() const { return Lhs::IsRowMajor ? m_lhsIter.row() : index(); }
     EIGEN_STRONG_INLINE Index col() const { return Lhs::IsRowMajor ? index() : m_lhsIter.col(); }
 
@@ -151,25 +121,303 @@ class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived
     RhsIterator m_rhsIter;
     const BinaryOp& m_functor;
     Scalar m_value;
-    Index m_id;
+    StorageIndex m_id;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    Flags = XprType::Flags
+  };
+  
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_lhsImpl.nonZerosEstimate() + m_rhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
 };
 
-// sparse - sparse  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Sparse>
+// dense op sparse
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IteratorBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
+protected:
+  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
   public:
 
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.rhs().innerSize())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    {
+      ++m_id;
+      if(m_id<m_innerSize)
+      {
+        Scalar lhsVal = m_lhsEval.coeff(IsRowMajor?m_rhsIter.outer():m_id,
+                                        IsRowMajor?m_id:m_rhsIter.outer());
+        if(m_rhsIter && m_rhsIter.index()==m_id)
+        {
+          m_value = m_functor(lhsVal, m_rhsIter.value());
+          ++m_rhsIter;
+        }
+        else
+          m_value = m_functor(lhsVal, Scalar(0));
+      }
+
+      return *this;
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
+
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_rhsIter.outer() : m_id; }
+    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_rhsIter.outer(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
+
+  protected:
+    const evaluator<Lhs> &m_lhsEval;
+    RhsIterator m_rhsIter;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    StorageIndex m_id;
+    StorageIndex m_innerSize;
+  };
+
+
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(Rhs::Flags)&RowMajorBit)
+  };
+
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()),
+      m_rhsImpl(xpr.rhs()),
+      m_expr(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  inline Index nonZerosEstimate() const {
+    return m_expr.size();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+  const XprType &m_expr;
+};
+
+// sparse op dense
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IndexBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+protected:
+  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.lhs().innerSize())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    {
+      ++m_id;
+      if(m_id<m_innerSize)
+      {
+        Scalar rhsVal = m_rhsEval.coeff(IsRowMajor?m_lhsIter.outer():m_id,
+                                        IsRowMajor?m_id:m_lhsIter.outer());
+        if(m_lhsIter && m_lhsIter.index()==m_id)
+        {
+          m_value = m_functor(m_lhsIter.value(), rhsVal);
+          ++m_lhsIter;
+        }
+        else
+          m_value = m_functor(Scalar(0),rhsVal);
+      }
+
+      return *this;
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
+
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_lhsIter.outer() : m_id; }
+    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_lhsIter.outer(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
+
+  protected:
+    LhsIterator m_lhsIter;
+    const evaluator<Rhs> &m_rhsEval;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    StorageIndex m_id;
+    StorageIndex m_innerSize;
+  };
+
+
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(Lhs::Flags)&RowMajorBit)
+  };
+
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()),
+      m_rhsImpl(xpr.rhs()),
+      m_expr(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  inline Index nonZerosEstimate() const {
+    return m_expr.size();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+  const XprType &m_expr;
+};
+
+template<typename T,
+         typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
+         typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
+         typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+         typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct sparse_conjunction_evaluator;
+
+// "sparse .* sparse"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "dense .* sparse"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IndexBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "sparse .* dense"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IndexBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// "sparse ./ dense"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs>, IteratorBased, IndexBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// "sparse && sparse"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "dense && sparse"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IndexBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "sparse && dense"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IndexBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// "sparse ^ sparse"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IteratorBased, IteratorBased>
+  : evaluator_base<XprType>
+{
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef typename evaluator<LhsArg>::InnerIterator  LhsIterator;
+  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
+
+  class InnerIterator
+  {
+  public:
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
     {
       while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
       {
@@ -180,7 +428,7 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
       }
     }
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
       ++m_lhsIter;
       ++m_rhsIter;
@@ -191,12 +439,13 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
         else
           ++m_rhsIter;
       }
-      return *static_cast<Derived*>(this);
+      return *this;
     }
-
+    
     EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
     EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
     EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
 
@@ -205,91 +454,184 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
   protected:
     LhsIterator m_lhsIter;
     RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
+    const BinaryOp& m_functor;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    Flags = XprType::Flags
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return (std::min)(m_lhsImpl.nonZerosEstimate(), m_rhsImpl.nonZerosEstimate());
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
 };
 
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Dense>
+// "dense ^ sparse"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IndexBased, IteratorBased>
+  : evaluator_base<XprType>
 {
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename traits<CwiseBinaryXpr>::RhsNested RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename Lhs::Index Index;
-    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef evaluator<LhsArg> LhsEvaluator;
+  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(RhsArg::Flags)&RowMajorBit)==RowMajorBit };
 
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_rhs(xpr.rhs()), m_lhsIter(xpr.lhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+  public:
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_outer(outer)
     {}
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
-      ++m_lhsIter;
-      return *static_cast<Derived*>(this);
+      ++m_rhsIter;
+      return *this;
     }
 
     EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_lhsIter.value(),
-                       m_rhs.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
+    { return m_functor(m_lhsEval.coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_rhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
 
+    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
+    
   protected:
-    RhsNested m_rhs;
-    LhsIterator m_lhsIter;
-    const BinaryFunc m_functor;
+    const LhsEvaluator &m_lhsEval;
+    RhsIterator m_rhsIter;
+    const BinaryOp& m_functor;
     const Index m_outer;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(RhsArg::Flags)&RowMajorBit)
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_rhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
 };
 
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Dense, Sparse>
+// "sparse ^ dense"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IteratorBased, IndexBased>
+  : evaluator_base<XprType>
 {
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef typename evaluator<LhsArg>::InnerIterator LhsIterator;
+  typedef evaluator<RhsArg> RhsEvaluator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(LhsArg::Flags)&RowMajorBit)==RowMajorBit };
 
-    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
   public:
-
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_xpr(xpr), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_outer(outer)
     {}
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
-      ++m_rhsIter;
-      return *static_cast<Derived*>(this);
+      ++m_lhsIter;
+      return *this;
     }
 
     EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_xpr.lhs().coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
-
-    EIGEN_STRONG_INLINE Index index() const { return m_rhsIter.index(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
+    { return m_functor(m_lhsIter.value(),
+                       m_rhsEval.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
 
-    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
 
+    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
+    
   protected:
-    const CwiseBinaryXpr& m_xpr;
-    RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
+    LhsIterator m_lhsIter;
+    const evaluator<RhsArg> &m_rhsEval;
+    const BinaryOp& m_functor;
     const Index m_outer;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(LhsArg::Flags)&RowMajorBit)
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_lhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
 };
 
-} // end namespace internal
+}
 
 /***************************************************************************
 * Implementation of SparseMatrixBase and SparseCwise functions/operators
@@ -297,6 +639,22 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
 
 template<typename Derived>
 template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
+{
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
+{
+  call_assignment(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 SparseMatrixBase<Derived>::operator-=(const SparseMatrixBase<OtherDerived> &other)
 {
@@ -313,12 +671,56 @@ SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& othe
 
 template<typename Derived>
 template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator+=(const DiagonalBase<OtherDerived>& other)
+{
+  call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator-=(const DiagonalBase<OtherDerived>& other)
+{
+  call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+    
+template<typename Derived>
+template<typename OtherDerived>
 EIGEN_STRONG_INLINE const typename SparseMatrixBase<Derived>::template CwiseProductDenseReturnType<OtherDerived>::Type
 SparseMatrixBase<Derived>::cwiseProduct(const MatrixBase<OtherDerived> &other) const
 {
   return typename CwiseProductDenseReturnType<OtherDerived>::Type(derived(), other.derived());
 }
 
+template<typename DenseDerived, typename SparseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
+operator+(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
+}
+
+template<typename SparseDerived, typename DenseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
+operator+(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
+}
+
+template<typename DenseDerived, typename SparseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
+operator-(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
+}
+
+template<typename SparseDerived, typename DenseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
+operator-(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/vendor/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
index 5a50c78..ea79737 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -12,138 +12,121 @@
 
 namespace Eigen { 
 
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>
-  : public SparseMatrixBase<CwiseUnaryOp<UnaryOp, MatrixType> >
+namespace internal {
+  
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>
+  : public evaluator_base<CwiseUnaryOp<UnaryOp,ArgType> >
 {
   public:
+    typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
 
     class InnerIterator;
-    class ReverseInnerIterator;
-
-    typedef CwiseUnaryOp<UnaryOp, MatrixType> Derived;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
+    {
+      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+    }
+    
+    inline Index nonZerosEstimate() const {
+      return m_argImpl.nonZerosEstimate();
+    }
 
   protected:
-    typedef typename internal::traits<Derived>::_XprTypeNested _MatrixTypeNested;
-    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
-    typedef typename _MatrixTypeNested::ReverseInnerIterator MatrixTypeReverseIterator;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
+    
+    const UnaryOp m_functor;
+    evaluator<ArgType> m_argImpl;
 };
 
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::InnerIterator
-    : public CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeIterator
+template<typename UnaryOp, typename ArgType>
+class unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::InnerIterator
+    : public unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator
 {
-    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
-    typedef typename CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeIterator Base;
+    typedef typename XprType::Scalar Scalar;
+    typedef typename unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
 
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryOpImpl& unaryOp, typename CwiseUnaryOpImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
     {}
 
     EIGEN_STRONG_INLINE InnerIterator& operator++()
     { Base::operator++(); return *this; }
 
-    EIGEN_STRONG_INLINE typename CwiseUnaryOpImpl::Scalar value() const { return m_functor(Base::value()); }
-
-  protected:
-    const UnaryOp m_functor;
-  private:
-    typename CwiseUnaryOpImpl::Scalar& valueRef();
-};
-
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::ReverseInnerIterator
-    : public CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeReverseIterator
-{
-    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
-    typedef typename CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeReverseIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const CwiseUnaryOpImpl& unaryOp, typename CwiseUnaryOpImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
-    {}
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    EIGEN_STRONG_INLINE typename CwiseUnaryOpImpl::Scalar value() const { return m_functor(Base::value()); }
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
 
   protected:
     const UnaryOp m_functor;
   private:
-    typename CwiseUnaryOpImpl::Scalar& valueRef();
+    Scalar& valueRef();
 };
 
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>
-  : public SparseMatrixBase<CwiseUnaryView<ViewOp, MatrixType> >
+template<typename ViewOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>
+  : public evaluator_base<CwiseUnaryView<ViewOp,ArgType> >
 {
   public:
+    typedef CwiseUnaryView<ViewOp, ArgType> XprType;
 
     class InnerIterator;
-    class ReverseInnerIterator;
-
-    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
+    {
+      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<ViewOp>::Cost);
+      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+    }
 
   protected:
-    typedef typename internal::traits<Derived>::_MatrixTypeNested _MatrixTypeNested;
-    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
-    typedef typename _MatrixTypeNested::ReverseInnerIterator MatrixTypeReverseIterator;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
+    
+    const ViewOp m_functor;
+    evaluator<ArgType> m_argImpl;
 };
 
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::InnerIterator
-    : public CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeIterator
+template<typename ViewOp, typename ArgType>
+class unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::InnerIterator
+    : public unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator
 {
-    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
-    typedef typename CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeIterator Base;
+    typedef typename XprType::Scalar Scalar;
+    typedef typename unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
 
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryViewImpl& unaryOp, typename CwiseUnaryViewImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
     {}
 
     EIGEN_STRONG_INLINE InnerIterator& operator++()
     { Base::operator++(); return *this; }
 
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar value() const { return m_functor(Base::value()); }
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar& valueRef() { return m_functor(Base::valueRef()); }
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
+    EIGEN_STRONG_INLINE Scalar& valueRef() { return m_functor(Base::valueRef()); }
 
   protected:
     const ViewOp m_functor;
 };
 
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::ReverseInnerIterator
-    : public CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeReverseIterator
-{
-    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
-    typedef typename CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeReverseIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const CwiseUnaryViewImpl& unaryOp, typename CwiseUnaryViewImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
-    {}
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar value() const { return m_functor(Base::value()); }
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar& valueRef() { return m_functor(Base::valueRef()); }
-
-  protected:
-    const ViewOp m_functor;
-};
+} // end namespace internal
 
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
 SparseMatrixBase<Derived>::operator*=(const Scalar& other)
 {
+  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+    for (EvalIterator i(thisEval,j); i; ++i)
       i.valueRef() *= other;
   return derived();
 }
@@ -152,8 +135,10 @@ template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
 SparseMatrixBase<Derived>::operator/=(const Scalar& other)
 {
+  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+    for (EvalIterator i(thisEval,j); i; ++i)
       i.valueRef() /= other;
   return derived();
 }
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseDenseProduct.h b/vendor/eigen/Eigen/src/SparseCore/SparseDenseProduct.h
index ccb6ae7..0547db5 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseDenseProduct.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseDenseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -12,196 +12,93 @@
 
 namespace Eigen { 
 
-template<typename Lhs, typename Rhs, int InnerSize> struct SparseDenseProductReturnType
-{
-  typedef SparseTimeDenseProduct<Lhs,Rhs> Type;
-};
-
-template<typename Lhs, typename Rhs> struct SparseDenseProductReturnType<Lhs,Rhs,1>
-{
-  typedef typename internal::conditional<
-    Lhs::IsRowMajor,
-    SparseDenseOuterProduct<Rhs,Lhs,true>,
-    SparseDenseOuterProduct<Lhs,Rhs,false> >::type Type;
-};
-
-template<typename Lhs, typename Rhs, int InnerSize> struct DenseSparseProductReturnType
-{
-  typedef DenseTimeSparseProduct<Lhs,Rhs> Type;
-};
-
-template<typename Lhs, typename Rhs> struct DenseSparseProductReturnType<Lhs,Rhs,1>
-{
-  typedef typename internal::conditional<
-    Rhs::IsRowMajor,
-    SparseDenseOuterProduct<Rhs,Lhs,true>,
-    SparseDenseOuterProduct<Lhs,Rhs,false> >::type Type;
-};
-
 namespace internal {
 
-template<typename Lhs, typename Rhs, bool Tr>
-struct traits<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
-{
-  typedef Sparse StorageKind;
-  typedef typename scalar_product_traits<typename traits<Lhs>::Scalar,
-                                         typename traits<Rhs>::Scalar>::ReturnType Scalar;
-  typedef typename Lhs::Index Index;
-  typedef typename Lhs::Nested LhsNested;
-  typedef typename Rhs::Nested RhsNested;
-  typedef typename remove_all<LhsNested>::type _LhsNested;
-  typedef typename remove_all<RhsNested>::type _RhsNested;
-
-  enum {
-    LhsCoeffReadCost = traits<_LhsNested>::CoeffReadCost,
-    RhsCoeffReadCost = traits<_RhsNested>::CoeffReadCost,
-
-    RowsAtCompileTime    = Tr ? int(traits<Rhs>::RowsAtCompileTime)     : int(traits<Lhs>::RowsAtCompileTime),
-    ColsAtCompileTime    = Tr ? int(traits<Lhs>::ColsAtCompileTime)     : int(traits<Rhs>::ColsAtCompileTime),
-    MaxRowsAtCompileTime = Tr ? int(traits<Rhs>::MaxRowsAtCompileTime)  : int(traits<Lhs>::MaxRowsAtCompileTime),
-    MaxColsAtCompileTime = Tr ? int(traits<Lhs>::MaxColsAtCompileTime)  : int(traits<Rhs>::MaxColsAtCompileTime),
-
-    Flags = Tr ? RowMajorBit : 0,
-
-    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + NumTraits<Scalar>::MulCost
-  };
-};
-
-} // end namespace internal
-
-template<typename Lhs, typename Rhs, bool Tr>
-class SparseDenseOuterProduct
- : public SparseMatrixBase<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
-{
-  public:
-
-    typedef SparseMatrixBase<SparseDenseOuterProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SparseDenseOuterProduct)
-    typedef internal::traits<SparseDenseOuterProduct> Traits;
-
-  private:
-
-    typedef typename Traits::LhsNested LhsNested;
-    typedef typename Traits::RhsNested RhsNested;
-    typedef typename Traits::_LhsNested _LhsNested;
-    typedef typename Traits::_RhsNested _RhsNested;
-
-  public:
-
-    class InnerIterator;
-
-    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      EIGEN_STATIC_ASSERT(!Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
-    }
-
-    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Rhs& rhs, const Lhs& lhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      EIGEN_STATIC_ASSERT(Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return Tr ? m_rhs.rows() : m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return Tr ? m_lhs.cols() : m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-template<typename Lhs, typename Rhs, bool Transpose>
-class SparseDenseOuterProduct<Lhs,Rhs,Transpose>::InnerIterator : public _LhsNested::InnerIterator
-{
-    typedef typename _LhsNested::InnerIterator Base;
-    typedef typename SparseDenseOuterProduct::Index Index;
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const SparseDenseOuterProduct& prod, Index outer)
-      : Base(prod.lhs(), 0), m_outer(outer), m_factor(get(prod.rhs(), outer, typename internal::traits<Rhs>::StorageKind() ))
-    { }
-
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return Transpose ? m_outer : Base::index(); }
-    inline Index col() const { return Transpose ? Base::index() : m_outer; }
-
-    inline Scalar value() const { return Base::value() * m_factor; }
-
-  protected:
-    static Scalar get(const _RhsNested &rhs, Index outer, Dense = Dense())
-    {
-      return rhs.coeff(outer);
-    }
-    
-    static Scalar get(const _RhsNested &rhs, Index outer, Sparse = Sparse())
-    {
-      typename Traits::_RhsNested::InnerIterator it(rhs, outer);
-      if (it && it.index()==0)
-        return it.value();
-      
-      return Scalar(0);
-    }
-    
-    Index m_outer;
-    Scalar m_factor;
-};
-
-namespace internal {
-template<typename Lhs, typename Rhs>
-struct traits<SparseTimeDenseProduct<Lhs,Rhs> >
- : traits<ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs> >
-{
-  typedef Dense StorageKind;
-  typedef MatrixXpr XprKind;
-};
+template <> struct product_promote_storage_type<Sparse,Dense, OuterProduct> { typedef Sparse ret; };
+template <> struct product_promote_storage_type<Dense,Sparse, OuterProduct> { typedef Sparse ret; };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,
+         typename AlphaType,
          int LhsStorageOrder = ((SparseLhsType::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor,
          bool ColPerCol = ((DenseRhsType::Flags&RowMajorBit)==0) || DenseRhsType::ColsAtCompileTime==1>
 struct sparse_time_dense_product_impl;
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, true>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, true>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::Index Index;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  typedef evaluator<Lhs> LhsEval;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    LhsEval lhsEval(lhs);
+    
+    Index n = lhs.outerSize();
+#ifdef EIGEN_HAS_OPENMP
+    Eigen::initParallel();
+    Index threads = Eigen::nbThreads();
+#endif
+    
     for(Index c=0; c<rhs.cols(); ++c)
     {
-      Index n = lhs.outerSize();
-      for(Index j=0; j<n; ++j)
+#ifdef EIGEN_HAS_OPENMP
+      // This 20000 threshold has been found experimentally on 2D and 3D Poisson problems.
+      // It basically represents the minimal amount of work to be done to be worth it.
+      if(threads>1 && lhsEval.nonZerosEstimate() > 20000)
+      {
+        #pragma omp parallel for schedule(dynamic,(n+threads*4-1)/(threads*4)) num_threads(threads)
+        for(Index i=0; i<n; ++i)
+          processRow(lhsEval,rhs,res,alpha,i,c);
+      }
+      else
+#endif
       {
-        typename Res::Scalar tmp(0);
-        for(LhsInnerIterator it(lhs,j); it ;++it)
-          tmp += it.value() * rhs.coeff(it.index(),c);
-        res.coeffRef(j,c) += alpha * tmp;
+        for(Index i=0; i<n; ++i)
+          processRow(lhsEval,rhs,res,alpha,i,c);
       }
     }
   }
+  
+  static void processRow(const LhsEval& lhsEval, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha, Index i, Index col)
+  {
+    typename Res::Scalar tmp(0);
+    for(LhsInnerIterator it(lhsEval,i); it ;++it)
+      tmp += it.value() * rhs.coeff(it.index(),col);
+    res.coeffRef(i,col) += alpha * tmp;
+  }
+  
 };
 
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, true>
+// FIXME: what is the purpose of the following specialization? Is it for the BlockedSparse format?
+// -> let's disable it for now as it is conflicting with generic scalar*matrix and matrix*scalar operators
+// template<typename T1, typename T2/*, int _Options, typename _StrideType*/>
+// struct ScalarBinaryOpTraits<T1, Ref<T2/*, _Options, _StrideType*/> >
+// {
+//   enum {
+//     Defined = 1
+//   };
+//   typedef typename CwiseUnaryOp<scalar_multiple2_op<T1, typename T2::Scalar>, T2>::PlainObject ReturnType;
+// };
+
+template<typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType, ColMajor, true>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index c=0; c<rhs.cols(); ++c)
     {
       for(Index j=0; j<lhs.outerSize(); ++j)
       {
-        typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
-        for(LhsInnerIterator it(lhs,j); it ;++it)
+//        typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
+        typename ScalarBinaryOpTraits<AlphaType, typename Rhs::Scalar>::ReturnType rhs_j(alpha * rhs.coeff(j,c));
+        for(LhsInnerIterator it(lhsEval,j); it ;++it)
           res.coeffRef(it.index(),c) += it.value() * rhs_j;
       }
     }
@@ -209,38 +106,38 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, C
 };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, false>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, false>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index j=0; j<lhs.outerSize(); ++j)
     {
       typename Res::RowXpr res_j(res.row(j));
-      for(LhsInnerIterator it(lhs,j); it ;++it)
+      for(LhsInnerIterator it(lhsEval,j); it ;++it)
         res_j += (alpha*it.value()) * rhs.row(it.index());
     }
   }
 };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, false>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, ColMajor, false>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index j=0; j<lhs.outerSize(); ++j)
     {
       typename Rhs::ConstRowXpr rhs_j(rhs.row(j));
-      for(LhsInnerIterator it(lhs,j); it ;++it)
+      for(LhsInnerIterator it(lhsEval,j); it ;++it)
         res.row(it.index()) += (alpha*it.value()) * rhs_j;
     }
   }
@@ -249,63 +146,175 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, C
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,typename AlphaType>
 inline void sparse_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
 {
-  sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType>::run(lhs, rhs, res, alpha);
+  sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType>::run(lhs, rhs, res, alpha);
 }
 
 } // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class SparseTimeDenseProduct
-  : public ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseTimeDenseProduct)
-
-    SparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
-    {
-      internal::sparse_time_dense_product(m_lhs, m_rhs, dest, alpha);
-    }
+namespace internal {
 
-  private:
-    SparseTimeDenseProduct& operator=(const SparseTimeDenseProduct&);
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SparseShape,DenseShape,ProductType> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? 1 : Rhs::ColsAtCompileTime>::type LhsNested;
+    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==0) ? 1 : Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::sparse_time_dense_product(lhsNested, rhsNested, dst, alpha);
+  }
 };
 
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, DenseShape, ProductType>
+  : generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
+{};
 
-// dense = dense * sparse
-namespace internal {
-template<typename Lhs, typename Rhs>
-struct traits<DenseTimeSparseProduct<Lhs,Rhs> >
- : traits<ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs> >
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SparseShape,ProductType> >
 {
-  typedef Dense StorageKind;
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? Dynamic : 1>::type LhsNested;
+    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==RowMajorBit) ? 1 : Lhs::RowsAtCompileTime>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    
+    // transpose everything
+    Transpose<Dst> dstT(dst);
+    internal::sparse_time_dense_product(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
+  }
 };
-} // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class DenseTimeSparseProduct
-  : public ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs>
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, DenseShape, SparseTriangularShape, ProductType>
+  : generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
+{};
+
+template<typename LhsT, typename RhsT, bool NeedToTranspose>
+struct sparse_dense_outer_product_evaluator
 {
+protected:
+  typedef typename conditional<NeedToTranspose,RhsT,LhsT>::type Lhs1;
+  typedef typename conditional<NeedToTranspose,LhsT,RhsT>::type ActualRhs;
+  typedef Product<LhsT,RhsT,DefaultProduct> ProdXprType;
+  
+  // if the actual left-hand side is a dense vector,
+  // then build a sparse-view so that we can seamlessly iterate over it.
+  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
+            Lhs1, SparseView<Lhs1> >::type ActualLhs;
+  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
+            Lhs1 const&, SparseView<Lhs1> >::type LhsArg;
+            
+  typedef evaluator<ActualLhs> LhsEval;
+  typedef evaluator<ActualRhs> RhsEval;
+  typedef typename evaluator<ActualLhs>::InnerIterator LhsIterator;
+  typedef typename ProdXprType::Scalar Scalar;
+  
+public:
+  enum {
+    Flags = NeedToTranspose ? RowMajorBit : 0,
+    CoeffReadCost = HugeCost
+  };
+  
+  class InnerIterator : public LhsIterator
+  {
   public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseProduct)
-
-    DenseTimeSparseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    InnerIterator(const sparse_dense_outer_product_evaluator &xprEval, Index outer)
+      : LhsIterator(xprEval.m_lhsXprImpl, 0),
+        m_outer(outer),
+        m_empty(false),
+        m_factor(get(xprEval.m_rhsXprImpl, outer, typename internal::traits<ActualRhs>::StorageKind() ))
     {}
+    
+    EIGEN_STRONG_INLINE Index outer() const { return m_outer; }
+    EIGEN_STRONG_INLINE Index row()   const { return NeedToTranspose ? m_outer : LhsIterator::index(); }
+    EIGEN_STRONG_INLINE Index col()   const { return NeedToTranspose ? LhsIterator::index() : m_outer; }
 
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+    EIGEN_STRONG_INLINE Scalar value() const { return LhsIterator::value() * m_factor; }
+    EIGEN_STRONG_INLINE operator bool() const { return LhsIterator::operator bool() && (!m_empty); }
+    
+  protected:
+    Scalar get(const RhsEval &rhs, Index outer, Dense = Dense()) const
+    {
+      return rhs.coeff(outer);
+    }
+    
+    Scalar get(const RhsEval &rhs, Index outer, Sparse = Sparse())
     {
-      Transpose<const _LhsNested> lhs_t(m_lhs);
-      Transpose<const _RhsNested> rhs_t(m_rhs);
-      Transpose<Dest> dest_t(dest);
-      internal::sparse_time_dense_product(rhs_t, lhs_t, dest_t, alpha);
+      typename RhsEval::InnerIterator it(rhs, outer);
+      if (it && it.index()==0 && it.value()!=Scalar(0))
+        return it.value();
+      m_empty = true;
+      return Scalar(0);
     }
+    
+    Index m_outer;
+    bool m_empty;
+    Scalar m_factor;
+  };
+  
+  sparse_dense_outer_product_evaluator(const Lhs1 &lhs, const ActualRhs &rhs)
+     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  // transpose case
+  sparse_dense_outer_product_evaluator(const ActualRhs &rhs, const Lhs1 &lhs)
+     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+    
+protected:
+  const LhsArg m_lhs;
+  evaluator<ActualLhs> m_lhsXprImpl;
+  evaluator<ActualRhs> m_rhsXprImpl;
+};
 
-  private:
-    DenseTimeSparseProduct& operator=(const DenseTimeSparseProduct&);
+// sparse * dense outer product
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, SparseShape, DenseShape>
+  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor>
+{
+  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor> Base;
+  
+  typedef Product<Lhs, Rhs> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+
+  explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs())
+  {}
+  
 };
 
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, DenseShape, SparseShape>
+  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor>
+{
+  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor> Base;
+  
+  typedef Product<Lhs, Rhs> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+
+  explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs())
+  {}
+  
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h b/vendor/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
index 1bb590e..941c03b 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -26,171 +26,113 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Lhs, typename Rhs>
-struct traits<SparseDiagonalProduct<Lhs, Rhs> >
-{
-  typedef typename remove_all<Lhs>::type _Lhs;
-  typedef typename remove_all<Rhs>::type _Rhs;
-  typedef typename _Lhs::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = _Lhs::RowsAtCompileTime,
-    ColsAtCompileTime = _Rhs::ColsAtCompileTime,
-
-    MaxRowsAtCompileTime = _Lhs::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _Rhs::MaxColsAtCompileTime,
-
-    SparseFlags = is_diagonal<_Lhs>::ret ? int(_Rhs::Flags) : int(_Lhs::Flags),
-    Flags = (SparseFlags&RowMajorBit),
-    CoeffReadCost = Dynamic
-  };
+enum {
+  SDP_AsScalarProduct,
+  SDP_AsCwiseProduct
 };
+  
+template<typename SparseXprType, typename DiagonalCoeffType, int SDP_Tag>
+struct sparse_diagonal_product_evaluator;
 
-enum {SDP_IsDiagonal, SDP_IsSparseRowMajor, SDP_IsSparseColMajor};
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType, int RhsMode, int LhsMode>
-class sparse_diagonal_product_inner_iterator_selector;
-
-} // end namespace internal
-
-template<typename Lhs, typename Rhs>
-class SparseDiagonalProduct
-  : public SparseMatrixBase<SparseDiagonalProduct<Lhs,Rhs> >,
-    internal::no_assignment_operator
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, DiagonalShape, SparseShape>
+  : public sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct>
 {
-    typedef typename Lhs::Nested LhsNested;
-    typedef typename Rhs::Nested RhsNested;
-
-    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
-    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
-
-    enum {
-      LhsMode = internal::is_diagonal<_LhsNested>::ret ? internal::SDP_IsDiagonal
-              : (_LhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor,
-      RhsMode = internal::is_diagonal<_RhsNested>::ret ? internal::SDP_IsDiagonal
-              : (_RhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor
-    };
-
-  public:
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseDiagonalProduct)
-
-    typedef internal::sparse_diagonal_product_inner_iterator_selector
-                      <_LhsNested,_RhsNested,SparseDiagonalProduct,LhsMode,RhsMode> InnerIterator;
-    
-    // We do not want ReverseInnerIterator for diagonal-sparse products,
-    // but this dummy declaration is needed to make diag * sparse * diag compile.
-    class ReverseInnerIterator;
-
-    EIGEN_STRONG_INLINE SparseDiagonalProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      eigen_assert(lhs.cols() == rhs.rows() && "invalid sparse matrix * diagonal matrix product");
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  enum { CoeffReadCost = HugeCost, Flags = Rhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
+  
+  typedef sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct> Base;
+  explicit product_evaluator(const XprType& xpr) : Base(xpr.rhs(), xpr.lhs().diagonal()) {}
 };
 
-namespace internal {
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseRowMajor>
-  : public CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, SparseShape, DiagonalShape>
+  : public sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct>
 {
-    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-  public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.rhs()*(expr.lhs().diagonal().coeff(outer)), outer)
-    {}
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  enum { CoeffReadCost = HugeCost, Flags = Lhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
+  
+  typedef sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct> Base;
+  explicit product_evaluator(const XprType& xpr) : Base(xpr.lhs(), xpr.rhs().diagonal().transpose()) {}
 };
 
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseColMajor>
-  : public CwiseBinaryOp<
-      scalar_product_op<typename Lhs::Scalar>,
-      const typename Rhs::ConstInnerVectorReturnType,
-      const typename Lhs::DiagonalVectorType>::InnerIterator
+template<typename SparseXprType, typename DiagonalCoeffType>
+struct sparse_diagonal_product_evaluator<SparseXprType, DiagonalCoeffType, SDP_AsScalarProduct>
 {
-    typedef typename CwiseBinaryOp<
-      scalar_product_op<typename Lhs::Scalar>,
-      const typename Rhs::ConstInnerVectorReturnType,
-      const typename Lhs::DiagonalVectorType>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-    Index m_outer;
+protected:
+  typedef typename evaluator<SparseXprType>::InnerIterator SparseXprInnerIterator;
+  typedef typename SparseXprType::Scalar Scalar;
+  
+public:
+  class InnerIterator : public SparseXprInnerIterator
+  {
   public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0), m_outer(outer)
+    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
+      : SparseXprInnerIterator(xprEval.m_sparseXprImpl, outer),
+        m_coeff(xprEval.m_diagCoeffImpl.coeff(outer))
     {}
     
-    inline Index outer() const { return m_outer; }
-    inline Index col() const { return m_outer; }
-};
+    EIGEN_STRONG_INLINE Scalar value() const { return m_coeff * SparseXprInnerIterator::value(); }
+  protected:
+    typename DiagonalCoeffType::Scalar m_coeff;
+  };
+  
+  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagonalCoeffType &diagCoeff)
+    : m_sparseXprImpl(sparseXpr), m_diagCoeffImpl(diagCoeff)
+  {}
 
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseColMajor,SDP_IsDiagonal>
-  : public CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator
-{
-    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-  public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.lhs()*expr.rhs().diagonal().coeff(outer), outer)
-    {}
+  Index nonZerosEstimate() const { return m_sparseXprImpl.nonZerosEstimate(); }
+    
+protected:
+  evaluator<SparseXprType> m_sparseXprImpl;
+  evaluator<DiagonalCoeffType> m_diagCoeffImpl;
 };
 
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseRowMajor,SDP_IsDiagonal>
-  : public CwiseBinaryOp<
-      scalar_product_op<typename Rhs::Scalar>,
-      const typename Lhs::ConstInnerVectorReturnType,
-      const Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator
+
+template<typename SparseXprType, typename DiagCoeffType>
+struct sparse_diagonal_product_evaluator<SparseXprType, DiagCoeffType, SDP_AsCwiseProduct>
 {
-    typedef typename CwiseBinaryOp<
-      scalar_product_op<typename Rhs::Scalar>,
-      const typename Lhs::ConstInnerVectorReturnType,
-      const Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-    Index m_outer;
+  typedef typename SparseXprType::Scalar Scalar;
+  typedef typename SparseXprType::StorageIndex StorageIndex;
+  
+  typedef typename nested_eval<DiagCoeffType,SparseXprType::IsRowMajor ? SparseXprType::RowsAtCompileTime
+                                                                       : SparseXprType::ColsAtCompileTime>::type DiagCoeffNested;
+  
+  class InnerIterator
+  {
+    typedef typename evaluator<SparseXprType>::InnerIterator SparseXprIter;
   public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0), m_outer(outer)
+    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
+      : m_sparseIter(xprEval.m_sparseXprEval, outer), m_diagCoeffNested(xprEval.m_diagCoeffNested)
     {}
     
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return m_outer; }
+    inline Scalar value() const { return m_sparseIter.value() * m_diagCoeffNested.coeff(index()); }
+    inline StorageIndex index() const  { return m_sparseIter.index(); }
+    inline Index outer() const  { return m_sparseIter.outer(); }
+    inline Index col() const    { return SparseXprType::IsRowMajor ? m_sparseIter.index() : m_sparseIter.outer(); }
+    inline Index row() const    { return SparseXprType::IsRowMajor ? m_sparseIter.outer() : m_sparseIter.index(); }
+    
+    EIGEN_STRONG_INLINE InnerIterator& operator++() { ++m_sparseIter; return *this; }
+    inline operator bool() const  { return m_sparseIter; }
+    
+  protected:
+    SparseXprIter m_sparseIter;
+    DiagCoeffNested m_diagCoeffNested;
+  };
+  
+  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagCoeffType &diagCoeff)
+    : m_sparseXprEval(sparseXpr), m_diagCoeffNested(diagCoeff)
+  {}
+
+  Index nonZerosEstimate() const { return m_sparseXprEval.nonZerosEstimate(); }
+    
+protected:
+  evaluator<SparseXprType> m_sparseXprEval;
+  DiagCoeffNested m_diagCoeffNested;
 };
 
 } // end namespace internal
 
-// SparseMatrixBase functions
-
-template<typename Derived>
-template<typename OtherDerived>
-const SparseDiagonalProduct<Derived,OtherDerived>
-SparseMatrixBase<Derived>::operator*(const DiagonalBase<OtherDerived> &other) const
-{
-  return SparseDiagonalProduct<Derived,OtherDerived>(this->derived(), other.derived());
-}
-
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseDot.h b/vendor/eigen/Eigen/src/SparseCore/SparseDot.h
index db39c9a..38bc4aa 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseDot.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseDot.h
@@ -26,7 +26,8 @@ SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
   eigen_assert(size() == other.size());
   eigen_assert(other.size()>0 && "you are using a non initialized vector");
 
-  typename Derived::InnerIterator i(derived(),0);
+  internal::evaluator<Derived> thisEval(derived());
+  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
   Scalar res(0);
   while (i)
   {
@@ -49,16 +50,12 @@ SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) cons
 
   eigen_assert(size() == other.size());
 
-  typedef typename Derived::Nested  Nested;
-  typedef typename OtherDerived::Nested  OtherNested;
-  typedef typename internal::remove_all<Nested>::type  NestedCleaned;
-  typedef typename internal::remove_all<OtherNested>::type  OtherNestedCleaned;
+  internal::evaluator<Derived> thisEval(derived());
+  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
+  
+  internal::evaluator<OtherDerived>  otherEval(other.derived());
+  typename internal::evaluator<OtherDerived>::InnerIterator j(otherEval, 0);
 
-  Nested nthis(derived());
-  OtherNested nother(other.derived());
-
-  typename NestedCleaned::InnerIterator i(nthis,0);
-  typename OtherNestedCleaned::InnerIterator j(nother,0);
   Scalar res(0);
   while (i && j)
   {
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseFuzzy.h b/vendor/eigen/Eigen/src/SparseCore/SparseFuzzy.h
index 45f36e9..7d47eb9 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseFuzzy.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseFuzzy.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -10,17 +10,20 @@
 #ifndef EIGEN_SPARSE_FUZZY_H
 #define EIGEN_SPARSE_FUZZY_H
 
-// template<typename Derived>
-// template<typename OtherDerived>
-// bool SparseMatrixBase<Derived>::isApprox(
-//   const OtherDerived& other,
-//   typename NumTraits<Scalar>::Real prec
-// ) const
-// {
-//   const typename internal::nested<Derived,2>::type nested(derived());
-//   const typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
-//   return    (nested - otherNested).cwise().abs2().sum()
-//          <= prec * prec * (std::min)(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
-// }
+namespace Eigen {
+  
+template<typename Derived>
+template<typename OtherDerived>
+bool SparseMatrixBase<Derived>::isApprox(const SparseMatrixBase<OtherDerived>& other, const RealScalar &prec) const
+{
+  const typename internal::nested_eval<Derived,2,PlainObject>::type actualA(derived());
+  typename internal::conditional<bool(IsRowMajor)==bool(OtherDerived::IsRowMajor),
+    const typename internal::nested_eval<OtherDerived,2,PlainObject>::type,
+    const PlainObject>::type actualB(other.derived());
+
+  return (actualA - actualB).squaredNorm() <= prec * prec * numext::mini(actualA.squaredNorm(), actualB.squaredNorm());
+}
+
+} // end namespace Eigen
 
 #endif // EIGEN_SPARSE_FUZZY_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseMap.h b/vendor/eigen/Eigen/src/SparseCore/SparseMap.h
new file mode 100644
index 0000000..f99be33
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseMap.h
@@ -0,0 +1,305 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_SPARSE_MAP_H
+#define EIGEN_SPARSE_MAP_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct traits<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    Flags = TraitsBase::Flags & (~NestByRefBit)
+  };
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct traits<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    Flags = TraitsBase::Flags & (~ (NestByRefBit | LvalueBit))
+  };
+};
+
+} // end namespace internal
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
+> class SparseMapBase;
+
+/** \ingroup SparseCore_Module
+  * class SparseMapBase
+  * \brief Common base class for Map and Ref instance of sparse matrix and vector.
+  */
+template<typename Derived>
+class SparseMapBase<Derived,ReadOnlyAccessors>
+  : public SparseCompressedBase<Derived>
+{
+  public:
+    typedef SparseCompressedBase<Derived> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
+    enum { IsRowMajor = Base::IsRowMajor };
+    using Base::operator=;
+  protected:
+    
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         Scalar *, const Scalar *>::type ScalarPointer;
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         StorageIndex *, const StorageIndex *>::type IndexPointer;
+
+    Index   m_outerSize;
+    Index   m_innerSize;
+    Array<StorageIndex,2,1>  m_zero_nnz;
+    IndexPointer  m_outerIndex;
+    IndexPointer  m_innerIndices;
+    ScalarPointer m_values;
+    IndexPointer  m_innerNonZeros;
+
+  public:
+
+    /** \copydoc SparseMatrixBase::rows() */
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    /** \copydoc SparseMatrixBase::cols() */
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+    /** \copydoc SparseMatrixBase::innerSize() */
+    inline Index innerSize() const { return m_innerSize; }
+    /** \copydoc SparseMatrixBase::outerSize() */
+    inline Index outerSize() const { return m_outerSize; }
+    /** \copydoc SparseCompressedBase::nonZeros */
+    inline Index nonZeros() const { return m_zero_nnz[1]; }
+    
+    /** \copydoc SparseCompressedBase::isCompressed */
+    bool isCompressed() const { return m_innerNonZeros==0; }
+
+    //----------------------------------------
+    // direct access interface
+    /** \copydoc SparseMatrix::valuePtr */
+    inline const Scalar* valuePtr() const { return m_values; }
+    /** \copydoc SparseMatrix::innerIndexPtr */
+    inline const StorageIndex* innerIndexPtr() const { return m_innerIndices; }
+    /** \copydoc SparseMatrix::outerIndexPtr */
+    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
+    /** \copydoc SparseMatrix::innerNonZeroPtr */
+    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
+    //----------------------------------------
+
+    /** \copydoc SparseMatrix::coeff */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = isCompressed() ? m_outerIndex[outer+1] : start + m_innerNonZeros[outer];
+      if (start==end)
+        return Scalar(0);
+      else if (end>0 && inner==m_innerIndices[end-1])
+        return m_values[end-1];
+      // ^^  optimization: let's first check if it is the last coefficient
+      // (very common in high level algorithms)
+
+      const StorageIndex* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
+      const Index id = r-&m_innerIndices[0];
+      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
+    }
+
+    inline SparseMapBase(Index rows, Index cols, Index nnz, IndexPointer outerIndexPtr, IndexPointer innerIndexPtr,
+                              ScalarPointer valuePtr, IndexPointer innerNonZerosPtr = 0)
+      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(outerIndexPtr),
+        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(innerNonZerosPtr)
+    {}
+
+    // for vectors
+    inline SparseMapBase(Index size, Index nnz, IndexPointer innerIndexPtr, ScalarPointer valuePtr)
+      : m_outerSize(1), m_innerSize(size), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(m_zero_nnz.data()),
+        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(0)
+    {}
+
+    /** Empty destructor */
+    inline ~SparseMapBase() {}
+
+  protected:
+    inline SparseMapBase() {}
+};
+
+/** \ingroup SparseCore_Module
+  * class SparseMapBase
+  * \brief Common base class for writable Map and Ref instance of sparse matrix and vector.
+  */
+template<typename Derived>
+class SparseMapBase<Derived,WriteAccessors>
+  : public SparseMapBase<Derived,ReadOnlyAccessors>
+{
+    typedef MapBase<Derived, ReadOnlyAccessors> ReadOnlyMapBase;
+    
+  public:
+    typedef SparseMapBase<Derived, ReadOnlyAccessors> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
+    enum { IsRowMajor = Base::IsRowMajor };
+    
+    using Base::operator=;
+
+  public:
+    
+    //----------------------------------------
+    // direct access interface
+    using Base::valuePtr;
+    using Base::innerIndexPtr;
+    using Base::outerIndexPtr;
+    using Base::innerNonZeroPtr;
+    /** \copydoc SparseMatrix::valuePtr */
+    inline Scalar* valuePtr()              { return Base::m_values; }
+    /** \copydoc SparseMatrix::innerIndexPtr */
+    inline StorageIndex* innerIndexPtr()   { return Base::m_innerIndices; }
+    /** \copydoc SparseMatrix::outerIndexPtr */
+    inline StorageIndex* outerIndexPtr()   { return Base::m_outerIndex; }
+    /** \copydoc SparseMatrix::innerNonZeroPtr */
+    inline StorageIndex* innerNonZeroPtr() { return Base::m_innerNonZeros; }
+    //----------------------------------------
+
+    /** \copydoc SparseMatrix::coeffRef */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = Base::m_outerIndex[outer];
+      Index end = Base::isCompressed() ? Base::m_outerIndex[outer+1] : start + Base::m_innerNonZeros[outer];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      StorageIndex* r = std::lower_bound(&Base::m_innerIndices[start],&Base::m_innerIndices[end],inner);
+      const Index id = r - &Base::m_innerIndices[0];
+      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
+      return const_cast<Scalar*>(Base::m_values)[id];
+    }
+    
+    inline SparseMapBase(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr,
+                         Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+
+    // for vectors
+    inline SparseMapBase(Index size, Index nnz, StorageIndex* innerIndexPtr, Scalar* valuePtr)
+      : Base(size, nnz, innerIndexPtr, valuePtr)
+    {}
+
+    /** Empty destructor */
+    inline ~SparseMapBase() {}
+
+  protected:
+    inline SparseMapBase() {}
+};
+
+/** \ingroup SparseCore_Module
+  *
+  * \brief Specialization of class Map for SparseMatrix-like storage.
+  *
+  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
+  *
+  * \sa class Map, class SparseMatrix, class Ref<SparseMatrixType,Options>
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public SparseMapBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+#else
+template<typename SparseMatrixType>
+class Map<SparseMatrixType>
+  : public SparseMapBase<Derived,WriteAccessors>
+#endif
+{
+  public:
+    typedef SparseMapBase<Map> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
+    enum { IsRowMajor = Base::IsRowMajor };
+
+  public:
+
+    /** Constructs a read-write Map to a sparse matrix of size \a rows x \a cols, containing \a nnz non-zero coefficients,
+      * stored as a sparse format as defined by the pointers \a outerIndexPtr, \a innerIndexPtr, and \a valuePtr.
+      * If the optional parameter \a innerNonZerosPtr is the null pointer, then a standard compressed format is assumed.
+      *
+      * This constructor is available only if \c SparseMatrixType is non-const.
+      *
+      * More details on the expected storage schemes are given in the \ref TutorialSparse "manual pages".
+      */
+    inline Map(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr,
+               StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Empty destructor */
+    inline ~Map() {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public SparseMapBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+  public:
+    typedef SparseMapBase<Map> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
+    enum { IsRowMajor = Base::IsRowMajor };
+
+  public:
+#endif
+    /** This is the const version of the above constructor.
+      *
+      * This constructor is available only if \c SparseMatrixType is const, e.g.:
+      * \code Map<const SparseMatrix<double> >  \endcode
+      */
+    inline Map(Index rows, Index cols, Index nnz, const StorageIndex* outerIndexPtr,
+               const StorageIndex* innerIndexPtr, const Scalar* valuePtr, const StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+
+    /** Empty destructor */
+    inline ~Map() {}
+};
+
+namespace internal {
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_MAP_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseMatrix.h b/vendor/eigen/Eigen/src/SparseCore/SparseMatrix.h
index 2ff2015..323c232 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseMatrix.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -32,18 +32,22 @@ namespace Eigen {
   * \tparam _Scalar the scalar type, i.e. the type of the coefficients
   * \tparam _Options Union of bit flags controlling the storage scheme. Currently the only possibility
   *                 is ColMajor or RowMajor. The default is 0 which means column-major.
-  * \tparam _Index the type of the indices. It has to be a \b signed type (e.g., short, int, std::ptrdiff_t). Default is \c int.
+  * \tparam _StorageIndex the type of the indices. It has to be a \b signed type (e.g., short, int, std::ptrdiff_t). Default is \c int.
+  *
+  * \warning In %Eigen 3.2, the undocumented type \c SparseMatrix::Index was improperly defined as the storage index type (e.g., int),
+  *          whereas it is now (starting from %Eigen 3.3) deprecated and always defined as Eigen::Index.
+  *          Codes making use of \c SparseMatrix::Index, might thus likely have to be changed to use \c SparseMatrix::StorageIndex instead.
   *
   * 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_SPARSEMATRIX_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
   */
 
 namespace internal {
-template<typename _Scalar, int _Options, typename _Index>
-struct traits<SparseMatrix<_Scalar, _Options, _Index> >
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct traits<SparseMatrix<_Scalar, _Options, _StorageIndex> >
 {
   typedef _Scalar Scalar;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   typedef MatrixXpr XprKind;
   enum {
@@ -51,22 +55,21 @@ struct traits<SparseMatrix<_Scalar, _Options, _Index> >
     ColsAtCompileTime = Dynamic,
     MaxRowsAtCompileTime = Dynamic,
     MaxColsAtCompileTime = Dynamic,
-    Flags = _Options | NestByRefBit | LvalueBit,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = _Options | NestByRefBit | LvalueBit | CompressedAccessBit,
     SupportedAccessPatterns = InnerRandomAccessPattern
   };
 };
 
-template<typename _Scalar, int _Options, typename _Index, int DiagIndex>
-struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _Index>, DiagIndex> >
+template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
+struct traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
 {
-  typedef SparseMatrix<_Scalar, _Options, _Index> MatrixType;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> MatrixType;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
 
   typedef _Scalar Scalar;
   typedef Dense StorageKind;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef MatrixXpr XprKind;
 
   enum {
@@ -74,47 +77,61 @@ struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _Index>, DiagIndex>
     ColsAtCompileTime = 1,
     MaxRowsAtCompileTime = Dynamic,
     MaxColsAtCompileTime = 1,
-    Flags = 0,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost*10
+    Flags = LvalueBit
+  };
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
+struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
+ : public traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
+{
+  enum {
+    Flags = 0
   };
 };
 
 } // end namespace internal
 
-template<typename _Scalar, int _Options, typename _Index>
+template<typename _Scalar, int _Options, typename _StorageIndex>
 class SparseMatrix
-  : public SparseMatrixBase<SparseMatrix<_Scalar, _Options, _Index> >
+  : public SparseCompressedBase<SparseMatrix<_Scalar, _Options, _StorageIndex> >
 {
+    typedef SparseCompressedBase<SparseMatrix> Base;
+    using Base::convert_index;
+    friend class SparseVector<_Scalar,0,_StorageIndex>;
   public:
+    using Base::isCompressed;
+    using Base::nonZeros;
     EIGEN_SPARSE_PUBLIC_INTERFACE(SparseMatrix)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, +=)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, -=)
+    using Base::operator+=;
+    using Base::operator-=;
 
     typedef MappedSparseMatrix<Scalar,Flags> Map;
+    typedef Diagonal<SparseMatrix> DiagonalReturnType;
+    typedef Diagonal<const SparseMatrix> ConstDiagonalReturnType;
+    typedef typename Base::InnerIterator InnerIterator;
+    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
+    
+
     using Base::IsRowMajor;
-    typedef internal::CompressedStorage<Scalar,Index> Storage;
+    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
     enum {
       Options = _Options
     };
 
+    typedef typename Base::IndexVector IndexVector;
+    typedef typename Base::ScalarVector ScalarVector;
   protected:
-
     typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
 
     Index m_outerSize;
     Index m_innerSize;
-    Index* m_outerIndex;
-    Index* m_innerNonZeros;     // optional, if null then the data is compressed
+    StorageIndex* m_outerIndex;
+    StorageIndex* m_innerNonZeros;     // optional, if null then the data is compressed
     Storage m_data;
-    
-    Eigen::Map<Matrix<Index,Dynamic,1> > innerNonZeros() { return Eigen::Map<Matrix<Index,Dynamic,1> >(m_innerNonZeros, m_innerNonZeros?m_outerSize:0); }
-    const  Eigen::Map<const Matrix<Index,Dynamic,1> > innerNonZeros() const { return Eigen::Map<const Matrix<Index,Dynamic,1> >(m_innerNonZeros, m_innerNonZeros?m_outerSize:0); }
 
   public:
     
-    /** \returns whether \c *this is in compressed form. */
-    inline bool isCompressed() const { return m_innerNonZeros==0; }
-
     /** \returns the number of rows of the matrix */
     inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
     /** \returns the number of columns of the matrix */
@@ -128,38 +145,38 @@ class SparseMatrix
     /** \returns a const pointer to the array of values.
       * This function is aimed at interoperability with other libraries.
       * \sa innerIndexPtr(), outerIndexPtr() */
-    inline const Scalar* valuePtr() const { return &m_data.value(0); }
+    inline const Scalar* valuePtr() const { return m_data.valuePtr(); }
     /** \returns a non-const pointer to the array of values.
       * This function is aimed at interoperability with other libraries.
       * \sa innerIndexPtr(), outerIndexPtr() */
-    inline Scalar* valuePtr() { return &m_data.value(0); }
+    inline Scalar* valuePtr() { return m_data.valuePtr(); }
 
     /** \returns a const pointer to the array of inner indices.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), outerIndexPtr() */
-    inline const Index* innerIndexPtr() const { return &m_data.index(0); }
+    inline const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
     /** \returns a non-const pointer to the array of inner indices.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), outerIndexPtr() */
-    inline Index* innerIndexPtr() { return &m_data.index(0); }
+    inline StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
 
     /** \returns a const pointer to the array of the starting positions of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), innerIndexPtr() */
-    inline const Index* outerIndexPtr() const { return m_outerIndex; }
+    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
     /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), innerIndexPtr() */
-    inline Index* outerIndexPtr() { return m_outerIndex; }
+    inline StorageIndex* outerIndexPtr() { return m_outerIndex; }
 
     /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \warning it returns the null pointer 0 in compressed mode */
-    inline const Index* innerNonZeroPtr() const { return m_innerNonZeros; }
+    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
     /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \warning it returns the null pointer 0 in compressed mode */
-    inline Index* innerNonZeroPtr() { return m_innerNonZeros; }
+    inline StorageIndex* innerNonZeroPtr() { return m_innerNonZeros; }
 
     /** \internal */
     inline Storage& data() { return m_data; }
@@ -175,7 +192,7 @@ class SparseMatrix
       const Index outer = IsRowMajor ? row : col;
       const Index inner = IsRowMajor ? col : row;
       Index end = m_innerNonZeros ? m_outerIndex[outer] + m_innerNonZeros[outer] : m_outerIndex[outer+1];
-      return m_data.atInRange(m_outerIndex[outer], end, inner);
+      return m_data.atInRange(m_outerIndex[outer], end, StorageIndex(inner));
     }
 
     /** \returns a non-const reference to the value of the matrix at position \a i, \a j
@@ -198,7 +215,7 @@ class SparseMatrix
       eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
       if(end<=start)
         return insert(row,col);
-      const Index p = m_data.searchLowerIndex(start,end-1,inner);
+      const Index p = m_data.searchLowerIndex(start,end-1,StorageIndex(inner));
       if((p<end) && (m_data.index(p)==inner))
         return m_data.value(p);
       else
@@ -209,45 +226,34 @@ class SparseMatrix
       * The non zero coefficient must \b not already exist.
       *
       * If the matrix \c *this is in compressed mode, then \c *this is turned into uncompressed
-      * mode while reserving room for 2 non zeros per inner vector. It is strongly recommended to first
-      * call reserve(const SizesType &) to reserve a more appropriate number of elements per
-      * inner vector that better match your scenario.
+      * mode while reserving room for 2 x this->innerSize() non zeros if reserve(Index) has not been called earlier.
+      * In this case, the insertion procedure is optimized for a \e sequential insertion mode where elements are assumed to be
+      * inserted by increasing outer-indices.
+      * 
+      * If that's not the case, then it is strongly recommended to either use a triplet-list to assemble the matrix, or to first
+      * call reserve(const SizesType &) to reserve the appropriate number of non-zero elements per inner vector.
       *
-      * This function performs a sorted insertion in O(1) if the elements of each inner vector are
-      * inserted in increasing inner index order, and in O(nnz_j) for a random insertion.
+      * Assuming memory has been appropriately reserved, this function performs a sorted insertion in O(1)
+      * if the elements of each inner vector are inserted in increasing inner index order, and in O(nnz_j) for a random insertion.
       *
       */
-    Scalar& insert(Index row, Index col)
-    {
-      eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
-      
-      if(isCompressed())
-      {
-        reserve(Matrix<Index,Dynamic,1>::Constant(outerSize(), 2));
-      }
-      return insertUncompressed(row,col);
-    }
+    Scalar& insert(Index row, Index col);
 
   public:
 
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    /** Removes all non zeros but keep allocated memory */
+    /** Removes all non zeros but keep allocated memory
+      *
+      * This function does not free the currently allocated memory. To release as much as memory as possible,
+      * call \code mat.data().squeeze(); \endcode after resizing it.
+      * 
+      * \sa resize(Index,Index), data()
+      */
     inline void setZero()
     {
       m_data.clear();
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
-      if(m_innerNonZeros)
-        memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(Index));
-    }
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const
-    {
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
       if(m_innerNonZeros)
-        return innerNonZeros().sum();
-      return static_cast<Index>(m_data.size());
+        memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
     }
 
     /** Preallocates \a reserveSize non zeros.
@@ -262,22 +268,25 @@ class SparseMatrix
     #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** Preallocates \a reserveSize[\c j] non zeros for each column (resp. row) \c j.
       *
-      * This function turns the matrix in non-compressed mode */
+      * This function turns the matrix in non-compressed mode.
+      * 
+      * The type \c SizesType must expose the following interface:
+        \code
+        typedef value_type;
+        const value_type& operator[](i) const;
+        \endcode
+      * for \c i in the [0,this->outerSize()[ range.
+      * Typical choices include std::vector<int>, Eigen::VectorXi, Eigen::VectorXi::Constant, etc.
+      */
     template<class SizesType>
     inline void reserve(const SizesType& reserveSizes);
     #else
     template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::value_type& enableif = typename SizesType::value_type())
-    {
-      EIGEN_UNUSED_VARIABLE(enableif);
-      reserveInnerVectors(reserveSizes);
-    }
-    template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::Scalar& enableif =
-    #if (!defined(_MSC_VER)) || (_MSC_VER>=1500) // MSVC 2005 fails to compile with this typename
+    inline void reserve(const SizesType& reserveSizes, const typename SizesType::value_type& enableif =
+    #if (!EIGEN_COMP_MSVC) || (EIGEN_COMP_MSVC>=1500) // MSVC 2005 fails to compile with this typename
         typename
     #endif
-        SizesType::Scalar())
+        SizesType::value_type())
     {
       EIGEN_UNUSED_VARIABLE(enableif);
       reserveInnerVectors(reserveSizes);
@@ -289,15 +298,15 @@ class SparseMatrix
     {
       if(isCompressed())
       {
-        std::size_t totalReserveSize = 0;
+        Index totalReserveSize = 0;
         // turn the matrix into non-compressed mode
-        m_innerNonZeros = static_cast<Index*>(std::malloc(m_outerSize * sizeof(Index)));
+        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
         if (!m_innerNonZeros) internal::throw_std_bad_alloc();
         
         // temporarily use m_innerSizes to hold the new starting points.
-        Index* newOuterIndex = m_innerNonZeros;
+        StorageIndex* newOuterIndex = m_innerNonZeros;
         
-        Index count = 0;
+        StorageIndex count = 0;
         for(Index j=0; j<m_outerSize; ++j)
         {
           newOuterIndex[j] = count;
@@ -305,10 +314,10 @@ class SparseMatrix
           totalReserveSize += reserveSizes[j];
         }
         m_data.reserve(totalReserveSize);
-        Index previousOuterIndex = m_outerIndex[m_outerSize];
+        StorageIndex previousOuterIndex = m_outerIndex[m_outerSize];
         for(Index j=m_outerSize-1; j>=0; --j)
         {
-          Index innerNNZ = previousOuterIndex - m_outerIndex[j];
+          StorageIndex innerNNZ = previousOuterIndex - m_outerIndex[j];
           for(Index i=innerNNZ-1; i>=0; --i)
           {
             m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
@@ -324,15 +333,15 @@ class SparseMatrix
       }
       else
       {
-        Index* newOuterIndex = static_cast<Index*>(std::malloc((m_outerSize+1)*sizeof(Index)));
+        StorageIndex* newOuterIndex = static_cast<StorageIndex*>(std::malloc((m_outerSize+1)*sizeof(StorageIndex)));
         if (!newOuterIndex) internal::throw_std_bad_alloc();
         
-        Index count = 0;
+        StorageIndex count = 0;
         for(Index j=0; j<m_outerSize; ++j)
         {
           newOuterIndex[j] = count;
-          Index alreadyReserved = (m_outerIndex[j+1]-m_outerIndex[j]) - m_innerNonZeros[j];
-          Index toReserve = std::max<Index>(reserveSizes[j], alreadyReserved);
+          StorageIndex alreadyReserved = (m_outerIndex[j+1]-m_outerIndex[j]) - m_innerNonZeros[j];
+          StorageIndex toReserve = std::max<StorageIndex>(reserveSizes[j], alreadyReserved);
           count += toReserve + m_innerNonZeros[j];
         }
         newOuterIndex[m_outerSize] = count;
@@ -343,7 +352,7 @@ class SparseMatrix
           Index offset = newOuterIndex[j] - m_outerIndex[j];
           if(offset>0)
           {
-            Index innerNNZ = m_innerNonZeros[j];
+            StorageIndex innerNNZ = m_innerNonZeros[j];
             for(Index i=innerNNZ-1; i>=0; --i)
             {
               m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
@@ -380,11 +389,11 @@ class SparseMatrix
       * \sa insertBack, startVec */
     inline Scalar& insertBackByOuterInner(Index outer, Index inner)
     {
-      eigen_assert(size_t(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
+      eigen_assert(Index(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
       eigen_assert( (m_outerIndex[outer+1]-m_outerIndex[outer]==0 || m_data.index(m_data.size()-1)<inner) && "Invalid ordered insertion (invalid inner index)");
       Index p = m_outerIndex[outer+1];
       ++m_outerIndex[outer+1];
-      m_data.append(0, inner);
+      m_data.append(Scalar(0), inner);
       return m_data.value(p);
     }
 
@@ -394,7 +403,7 @@ class SparseMatrix
     {
       Index p = m_outerIndex[outer+1];
       ++m_outerIndex[outer+1];
-      m_data.append(0, inner);
+      m_data.append(Scalar(0), inner);
       return m_data.value(p);
     }
 
@@ -414,7 +423,7 @@ class SparseMatrix
     {
       if(isCompressed())
       {
-        Index size = static_cast<Index>(m_data.size());
+        StorageIndex size = internal::convert_index<StorageIndex>(m_data.size());
         Index i = m_outerSize;
         // find the last filled column
         while (i>=0 && m_outerIndex[i]==0)
@@ -433,7 +442,13 @@ class SparseMatrix
     template<typename InputIterators>
     void setFromTriplets(const InputIterators& begin, const InputIterators& end);
 
-    void sumupDuplicates();
+    template<typename InputIterators,typename DupFunctor>
+    void setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func);
+
+    void sumupDuplicates() { collapseDuplicates(internal::scalar_sum_op<Scalar,Scalar>()); }
+
+    template<typename DupFunctor>
+    void collapseDuplicates(DupFunctor dup_func = DupFunctor());
 
     //---
     
@@ -451,6 +466,8 @@ class SparseMatrix
       if(isCompressed())
         return;
       
+      eigen_internal_assert(m_outerIndex!=0 && m_outerSize>0);
+      
       Index oldStart = m_outerIndex[1];
       m_outerIndex[1] = m_innerNonZeros[0];
       for(Index j=1; j<m_outerSize; ++j)
@@ -479,7 +496,7 @@ class SparseMatrix
     {
       if(m_innerNonZeros != 0)
         return; 
-      m_innerNonZeros = static_cast<Index*>(std::malloc(m_outerSize * sizeof(Index)));
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
       for (Index i = 0; i < m_outerSize; i++)
       {
         m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i]; 
@@ -503,10 +520,9 @@ class SparseMatrix
     void prune(const KeepFunc& keep = KeepFunc())
     {
       // TODO optimize the uncompressed mode to avoid moving and allocating the data twice
-      // TODO also implement a unit test
       makeCompressed();
 
-      Index k = 0;
+      StorageIndex k = 0;
       for(Index j=0; j<m_outerSize; ++j)
       {
         Index previousStart = m_outerIndex[j];
@@ -527,7 +543,12 @@ class SparseMatrix
     }
 
     /** Resizes the matrix to a \a rows x \a cols matrix leaving old values untouched.
-      * \sa resizeNonZeros(Index), reserve(), setZero()
+      *
+      * If the sizes of the matrix are decreased, then the matrix is turned to \b uncompressed-mode
+      * and the storage of the out of bounds coefficients is kept and reserved.
+      * Call makeCompressed() to pack the entries and squeeze extra memory.
+      *
+      * \sa reserve(), setZero(), makeCompressed()
       */
     void conservativeResize(Index rows, Index cols) 
     {
@@ -539,13 +560,13 @@ class SparseMatrix
 
       Index innerChange = IsRowMajor ? cols - this->cols() : rows - this->rows();
       Index outerChange = IsRowMajor ? rows - this->rows() : cols - this->cols();
-      Index newInnerSize = IsRowMajor ? cols : rows;
+      StorageIndex newInnerSize = convert_index(IsRowMajor ? cols : rows);
 
       // Deals with inner non zeros
       if (m_innerNonZeros)
       {
         // Resize m_innerNonZeros
-        Index *newInnerNonZeros = static_cast<Index*>(std::realloc(m_innerNonZeros, (m_outerSize + outerChange) * sizeof(Index)));
+        StorageIndex *newInnerNonZeros = static_cast<StorageIndex*>(std::realloc(m_innerNonZeros, (m_outerSize + outerChange) * sizeof(StorageIndex)));
         if (!newInnerNonZeros) internal::throw_std_bad_alloc();
         m_innerNonZeros = newInnerNonZeros;
         
@@ -555,7 +576,7 @@ class SparseMatrix
       else if (innerChange < 0) 
       {
         // Inner size decreased: allocate a new m_innerNonZeros
-        m_innerNonZeros = static_cast<Index*>(std::malloc((m_outerSize+outerChange+1) * sizeof(Index)));
+        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc((m_outerSize+outerChange+1) * sizeof(StorageIndex)));
         if (!m_innerNonZeros) internal::throw_std_bad_alloc();
         for(Index i = 0; i < m_outerSize; i++)
           m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i];
@@ -566,8 +587,8 @@ class SparseMatrix
       {
         for(Index i = 0; i < m_outerSize + (std::min)(outerChange, Index(0)); i++)
         {
-          Index &n = m_innerNonZeros[i];
-          Index start = m_outerIndex[i];
+          StorageIndex &n = m_innerNonZeros[i];
+          StorageIndex start = m_outerIndex[i];
           while (n > 0 && m_data.index(start+n-1) >= newInnerSize) --n; 
         }
       }
@@ -578,12 +599,12 @@ class SparseMatrix
       if (outerChange == 0)
         return;
           
-      Index *newOuterIndex = static_cast<Index*>(std::realloc(m_outerIndex, (m_outerSize + outerChange + 1) * sizeof(Index)));
+      StorageIndex *newOuterIndex = static_cast<StorageIndex*>(std::realloc(m_outerIndex, (m_outerSize + outerChange + 1) * sizeof(StorageIndex)));
       if (!newOuterIndex) internal::throw_std_bad_alloc();
       m_outerIndex = newOuterIndex;
       if (outerChange > 0)
       {
-        Index last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
+        StorageIndex last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
         for(Index i=m_outerSize; i<m_outerSize+outerChange+1; i++)          
           m_outerIndex[i] = last; 
       }
@@ -591,7 +612,11 @@ class SparseMatrix
     }
     
     /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero.
-      * \sa resizeNonZeros(Index), reserve(), setZero()
+      * 
+      * This function does not free the currently allocated memory. To release as much as memory as possible,
+      * call \code mat.data().squeeze(); \endcode after resizing it.
+      * 
+      * \sa reserve(), setZero()
       */
     void resize(Index rows, Index cols)
     {
@@ -601,7 +626,7 @@ class SparseMatrix
       if (m_outerSize != outerSize || m_outerSize==0)
       {
         std::free(m_outerIndex);
-        m_outerIndex = static_cast<Index*>(std::malloc((outerSize + 1) * sizeof(Index)));
+        m_outerIndex = static_cast<StorageIndex*>(std::malloc((outerSize + 1) * sizeof(StorageIndex)));
         if (!m_outerIndex) internal::throw_std_bad_alloc();
         
         m_outerSize = outerSize;
@@ -611,19 +636,24 @@ class SparseMatrix
         std::free(m_innerNonZeros);
         m_innerNonZeros = 0;
       }
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
     }
 
     /** \internal
       * Resize the nonzero vector to \a size */
     void resizeNonZeros(Index size)
     {
-      // TODO remove this function
       m_data.resize(size);
     }
 
-    /** \returns a const expression of the diagonal coefficients */
-    const Diagonal<const SparseMatrix> diagonal() const { return *this; }
+    /** \returns a const expression of the diagonal coefficients. */
+    const ConstDiagonalReturnType diagonal() const { return ConstDiagonalReturnType(*this); }
+    
+    /** \returns a read-write expression of the diagonal coefficients.
+      * \warning If the diagonal entries are written, then all diagonal
+      * entries \b must already exist, otherwise an assertion will be raised.
+      */
+    DiagonalReturnType diagonal() { return DiagonalReturnType(*this); }
 
     /** Default constructor yielding an empty \c 0 \c x \c 0 matrix */
     inline SparseMatrix()
@@ -649,7 +679,16 @@ class SparseMatrix
       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)
       check_template_parameters();
-      *this = other.derived();
+      const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
+      if (needToTranspose)
+        *this = other.derived();
+      else
+      {
+        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        #endif
+        internal::call_assignment_no_alias(*this, other.derived());
+      }
     }
     
     /** Constructs a sparse matrix from the sparse selfadjoint view \a other */
@@ -658,7 +697,7 @@ class SparseMatrix
       : m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
     {
       check_template_parameters();
-      *this = other;
+      Base::operator=(other);
     }
 
     /** Copy constructor (it performs a deep copy) */
@@ -678,6 +717,15 @@ class SparseMatrix
       initAssignment(other);
       other.evalTo(*this);
     }
+    
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    explicit SparseMatrix(const DiagonalBase<OtherDerived>& other)
+      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
+    {
+      check_template_parameters();
+      *this = other.derived();
+    }
 
     /** Swaps the content of two sparse matrices of the same type.
       * This is a fast operation that simply swaps the underlying pointers and parameters. */
@@ -697,9 +745,9 @@ class SparseMatrix
     {
       eigen_assert(rows() == cols() && "ONLY FOR SQUARED MATRICES");
       this->m_data.resize(rows());
-      Eigen::Map<Matrix<Index, Dynamic, 1> >(&this->m_data.index(0), rows()).setLinSpaced(0, rows()-1);
-      Eigen::Map<Matrix<Scalar, Dynamic, 1> >(&this->m_data.value(0), rows()).setOnes();
-      Eigen::Map<Matrix<Index, Dynamic, 1> >(this->m_outerIndex, rows()+1).setLinSpaced(0, rows());
+      Eigen::Map<IndexVector>(this->m_data.indexPtr(), rows()).setLinSpaced(0, StorageIndex(rows()-1));
+      Eigen::Map<ScalarVector>(this->m_data.valuePtr(), rows()).setOnes();
+      Eigen::Map<IndexVector>(this->m_outerIndex, rows()+1).setLinSpaced(0, StorageIndex(rows()));
       std::free(m_innerNonZeros);
       m_innerNonZeros = 0;
     }
@@ -711,10 +759,13 @@ class SparseMatrix
       }
       else if(this!=&other)
       {
+        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        #endif
         initAssignment(other);
         if(other.isCompressed())
         {
-          memcpy(m_outerIndex, other.m_outerIndex, (m_outerSize+1)*sizeof(Index));
+          internal::smart_copy(other.m_outerIndex, other.m_outerIndex + m_outerSize + 1, m_outerIndex);
           m_data = other.m_data;
         }
         else
@@ -725,22 +776,11 @@ class SparseMatrix
       return *this;
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename Lhs, typename Rhs>
-    inline SparseMatrix& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
-    { return Base::operator=(product); }
-    
-    template<typename OtherDerived>
-    inline SparseMatrix& operator=(const ReturnByValue<OtherDerived>& other)
-    {
-      initAssignment(other);
-      return Base::operator=(other.derived());
-    }
-    
+#ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename OtherDerived>
     inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
     { return Base::operator=(other.derived()); }
-    #endif
+#endif // EIGEN_PARSED_BY_DOXYGEN
 
     template<typename OtherDerived>
     EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other);
@@ -750,30 +790,38 @@ class SparseMatrix
       EIGEN_DBG_SPARSE(
         s << "Nonzero entries:\n";
         if(m.isCompressed())
+        {
           for (Index i=0; i<m.nonZeros(); ++i)
             s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
+        }
         else
+        {
           for (Index i=0; i<m.outerSize(); ++i)
           {
             Index p = m.m_outerIndex[i];
             Index pe = m.m_outerIndex[i]+m.m_innerNonZeros[i];
             Index k=p;
-            for (; k<pe; ++k)
+            for (; k<pe; ++k) {
               s << "(" << m.m_data.value(k) << "," << m.m_data.index(k) << ") ";
-            for (; k<m.m_outerIndex[i+1]; ++k)
+            }
+            for (; k<m.m_outerIndex[i+1]; ++k) {
               s << "(_,_) ";
+            }
           }
+        }
         s << std::endl;
         s << std::endl;
         s << "Outer pointers:\n";
-        for (Index i=0; i<m.outerSize(); ++i)
+        for (Index i=0; i<m.outerSize(); ++i) {
           s << m.m_outerIndex[i] << " ";
+        }
         s << " $" << std::endl;
         if(!m.isCompressed())
         {
           s << "Inner non zeros:\n";
-          for (Index i=0; i<m.outerSize(); ++i)
+          for (Index i=0; i<m.outerSize(); ++i) {
             s << m.m_innerNonZeros[i] << " ";
+          }
           s << " $" << std::endl;
         }
         s << std::endl;
@@ -789,10 +837,8 @@ class SparseMatrix
       std::free(m_innerNonZeros);
     }
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
     /** Overloaded for performance */
     Scalar sum() const;
-#endif
     
 #   ifdef EIGEN_SPARSEMATRIX_PLUGIN
 #     include EIGEN_SPARSEMATRIX_PLUGIN
@@ -819,15 +865,15 @@ protected:
       * A vector object that is equal to 0 everywhere but v at the position i */
     class SingletonVector
     {
-        Index m_index;
-        Index m_value;
+        StorageIndex m_index;
+        StorageIndex m_value;
       public:
-        typedef Index value_type;
+        typedef StorageIndex value_type;
         SingletonVector(Index i, Index v)
-          : m_index(i), m_value(v)
+          : m_index(convert_index(i)), m_value(convert_index(v))
         {}
 
-        Index operator[](Index i) const { return i==m_index ? m_value : 0; }
+        StorageIndex operator[](Index i) const { return i==m_index ? m_value : 0; }
     };
 
     /** \internal
@@ -846,14 +892,14 @@ public:
       eigen_assert(m_innerNonZeros[outer]<=(m_outerIndex[outer+1] - m_outerIndex[outer]));
 
       Index p = m_outerIndex[outer] + m_innerNonZeros[outer]++;
-      m_data.index(p) = inner;
+      m_data.index(p) = convert_index(inner);
       return (m_data.value(p) = 0);
     }
 
 private:
   static void check_template_parameters()
   {
-    EIGEN_STATIC_ASSERT(NumTraits<Index>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
+    EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
     EIGEN_STATIC_ASSERT((Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
   }
 
@@ -868,87 +914,20 @@ private:
   };
 };
 
-template<typename Scalar, int _Options, typename _Index>
-class SparseMatrix<Scalar,_Options,_Index>::InnerIterator
-{
-  public:
-    InnerIterator(const SparseMatrix& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer), m_id(mat.m_outerIndex[outer])
-    {
-      if(mat.isCompressed())
-        m_end = mat.m_outerIndex[outer+1];
-      else
-        m_end = m_id + mat.m_innerNonZeros[outer];
-    }
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
-
-    inline Index index() const { return m_indices[m_id]; }
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const Scalar* m_values;
-    const Index* m_indices;
-    const Index m_outer;
-    Index m_id;
-    Index m_end;
-};
-
-template<typename Scalar, int _Options, typename _Index>
-class SparseMatrix<Scalar,_Options,_Index>::ReverseInnerIterator
-{
-  public:
-    ReverseInnerIterator(const SparseMatrix& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer), m_start(mat.m_outerIndex[outer])
-    {
-      if(mat.isCompressed())
-        m_id = mat.m_outerIndex[outer+1];
-      else
-        m_id = m_start + mat.m_innerNonZeros[outer];
-    }
-
-    inline ReverseInnerIterator& operator--() { --m_id; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id-1]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id-1]); }
-
-    inline Index index() const { return m_indices[m_id-1]; }
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id > m_start); }
-
-  protected:
-    const Scalar* m_values;
-    const Index* m_indices;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-};
-
 namespace internal {
 
-template<typename InputIterator, typename SparseMatrixType>
-void set_from_triplets(const InputIterator& begin, const InputIterator& end, SparseMatrixType& mat, int Options = 0)
+template<typename InputIterator, typename SparseMatrixType, typename DupFunctor>
+void set_from_triplets(const InputIterator& begin, const InputIterator& end, SparseMatrixType& mat, DupFunctor dup_func)
 {
-  EIGEN_UNUSED_VARIABLE(Options);
   enum { IsRowMajor = SparseMatrixType::IsRowMajor };
   typedef typename SparseMatrixType::Scalar Scalar;
-  typedef typename SparseMatrixType::Index Index;
-  SparseMatrix<Scalar,IsRowMajor?ColMajor:RowMajor,Index> trMat(mat.rows(),mat.cols());
+  typedef typename SparseMatrixType::StorageIndex StorageIndex;
+  SparseMatrix<Scalar,IsRowMajor?ColMajor:RowMajor,StorageIndex> trMat(mat.rows(),mat.cols());
 
   if(begin!=end)
   {
     // pass 1: count the nnz per inner-vector
-    Matrix<Index,Dynamic,1> wi(trMat.outerSize());
+    typename SparseMatrixType::IndexVector wi(trMat.outerSize());
     wi.setZero();
     for(InputIterator it(begin); it!=end; ++it)
     {
@@ -962,7 +941,7 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
       trMat.insertBackUncompressed(it->row(),it->col()) = it->value();
 
     // pass 3:
-    trMat.sumupDuplicates();
+    trMat.collapseDuplicates(dup_func);
   }
 
   // pass 4: transposed copy -> implicit sorting
@@ -1009,26 +988,43 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
   * an abstract iterator over a complex data-structure that would be expensive to evaluate. The triplets should rather
   * be explicitely stored into a std::vector for instance.
   */
-template<typename Scalar, int _Options, typename _Index>
+template<typename Scalar, int _Options, typename _StorageIndex>
 template<typename InputIterators>
-void SparseMatrix<Scalar,_Options,_Index>::setFromTriplets(const InputIterators& begin, const InputIterators& end)
+void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end)
+{
+  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex> >(begin, end, *this, internal::scalar_sum_op<Scalar,Scalar>());
+}
+
+/** The same as setFromTriplets but when duplicates are met the functor \a dup_func is applied:
+  * \code
+  * value = dup_func(OldValue, NewValue)
+  * \endcode 
+  * Here is a C++11 example keeping the latest entry only:
+  * \code
+  * mat.setFromTriplets(triplets.begin(), triplets.end(), [] (const Scalar&,const Scalar &b) { return b; });
+  * \endcode
+  */
+template<typename Scalar, int _Options, typename _StorageIndex>
+template<typename InputIterators,typename DupFunctor>
+void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func)
 {
-  internal::set_from_triplets(begin, end, *this);
+  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex>, DupFunctor>(begin, end, *this, dup_func);
 }
 
 /** \internal */
-template<typename Scalar, int _Options, typename _Index>
-void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
+template<typename Scalar, int _Options, typename _StorageIndex>
+template<typename DupFunctor>
+void SparseMatrix<Scalar,_Options,_StorageIndex>::collapseDuplicates(DupFunctor dup_func)
 {
   eigen_assert(!isCompressed());
   // TODO, in practice we should be able to use m_innerNonZeros for that task
-  Matrix<Index,Dynamic,1> wi(innerSize());
+  IndexVector wi(innerSize());
   wi.fill(-1);
-  Index count = 0;
+  StorageIndex count = 0;
   // for each inner-vector, wi[inner_index] will hold the position of first element into the index/value buffers
   for(Index j=0; j<outerSize(); ++j)
   {
-    Index start   = count;
+    StorageIndex start   = count;
     Index oldEnd  = m_outerIndex[j]+m_innerNonZeros[j];
     for(Index k=m_outerIndex[j]; k<oldEnd; ++k)
     {
@@ -1036,7 +1032,7 @@ void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
       if(wi(i)>=start)
       {
         // we already meet this entry => accumulate it
-        m_data.value(wi(i)) += m_data.value(k);
+        m_data.value(wi(i)) = dup_func(m_data.value(wi(i)), m_data.value(k));
       }
       else
       {
@@ -1056,39 +1052,48 @@ void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
   m_data.resize(m_outerIndex[m_outerSize]);
 }
 
-template<typename Scalar, int _Options, typename _Index>
+template<typename Scalar, int _Options, typename _StorageIndex>
 template<typename OtherDerived>
-EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Options,_Index>::operator=(const SparseMatrixBase<OtherDerived>& other)
+EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_StorageIndex>& SparseMatrix<Scalar,_Options,_StorageIndex>::operator=(const SparseMatrixBase<OtherDerived>& other)
 {
   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)
-  
-  const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+
+  #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+    EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+  #endif
+      
+  const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
   if (needToTranspose)
   {
+    #ifdef EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
+      EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
+    #endif
     // two passes algorithm:
     //  1 - compute the number of coeffs per dest inner vector
     //  2 - do the actual copy/eval
     // Since each coeff of the rhs has to be evaluated twice, let's evaluate it if needed
-    typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
+    typedef typename internal::nested_eval<OtherDerived,2,typename internal::plain_matrix_type<OtherDerived>::type >::type OtherCopy;
     typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
+    typedef internal::evaluator<_OtherCopy> OtherCopyEval;
     OtherCopy otherCopy(other.derived());
+    OtherCopyEval otherCopyEval(otherCopy);
 
     SparseMatrix dest(other.rows(),other.cols());
-    Eigen::Map<Matrix<Index, Dynamic, 1> > (dest.m_outerIndex,dest.outerSize()).setZero();
+    Eigen::Map<IndexVector> (dest.m_outerIndex,dest.outerSize()).setZero();
 
     // pass 1
     // FIXME the above copy could be merged with that pass
     for (Index j=0; j<otherCopy.outerSize(); ++j)
-      for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
         ++dest.m_outerIndex[it.index()];
 
     // prefix sum
-    Index count = 0;
-    Matrix<Index,Dynamic,1> positions(dest.outerSize());
+    StorageIndex count = 0;
+    IndexVector positions(dest.outerSize());
     for (Index j=0; j<dest.outerSize(); ++j)
     {
-      Index tmp = dest.m_outerIndex[j];
+      StorageIndex tmp = dest.m_outerIndex[j];
       dest.m_outerIndex[j] = count;
       positions[j] = count;
       count += tmp;
@@ -1097,9 +1102,9 @@ EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Opt
     // alloc
     dest.m_data.resize(count);
     // pass 2
-    for (Index j=0; j<otherCopy.outerSize(); ++j)
+    for (StorageIndex j=0; j<otherCopy.outerSize(); ++j)
     {
-      for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
       {
         Index pos = positions[it.index()]++;
         dest.m_data.index(pos) = j;
@@ -1112,26 +1117,148 @@ EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Opt
   else
   {
     if(other.isRValue())
+    {
       initAssignment(other.derived());
+    }
     // there is no special optimization
     return Base::operator=(other.derived());
   }
 }
 
-template<typename _Scalar, int _Options, typename _Index>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& SparseMatrix<_Scalar,_Options,_Index>::insertUncompressed(Index row, Index col)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insert(Index row, Index col)
+{
+  eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
+  
+  const Index outer = IsRowMajor ? row : col;
+  const Index inner = IsRowMajor ? col : row;
+  
+  if(isCompressed())
+  {
+    if(nonZeros()==0)
+    {
+      // reserve space if not already done
+      if(m_data.allocatedSize()==0)
+        m_data.reserve(2*m_innerSize);
+      
+      // turn the matrix into non-compressed mode
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
+      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
+      
+      memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
+      
+      // pack all inner-vectors to the end of the pre-allocated space
+      // and allocate the entire free-space to the first inner-vector
+      StorageIndex end = convert_index(m_data.allocatedSize());
+      for(Index j=1; j<=m_outerSize; ++j)
+        m_outerIndex[j] = end;
+    }
+    else
+    {
+      // turn the matrix into non-compressed mode
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
+      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
+      for(Index j=0; j<m_outerSize; ++j)
+        m_innerNonZeros[j] = m_outerIndex[j+1]-m_outerIndex[j];
+    }
+  }
+  
+  // check whether we can do a fast "push back" insertion
+  Index data_end = m_data.allocatedSize();
+  
+  // First case: we are filling a new inner vector which is packed at the end.
+  // We assume that all remaining inner-vectors are also empty and packed to the end.
+  if(m_outerIndex[outer]==data_end)
+  {
+    eigen_internal_assert(m_innerNonZeros[outer]==0);
+    
+    // pack previous empty inner-vectors to end of the used-space
+    // and allocate the entire free-space to the current inner-vector.
+    StorageIndex p = convert_index(m_data.size());
+    Index j = outer;
+    while(j>=0 && m_innerNonZeros[j]==0)
+      m_outerIndex[j--] = p;
+    
+    // push back the new element
+    ++m_innerNonZeros[outer];
+    m_data.append(Scalar(0), inner);
+    
+    // check for reallocation
+    if(data_end != m_data.allocatedSize())
+    {
+      // m_data has been reallocated
+      //  -> move remaining inner-vectors back to the end of the free-space
+      //     so that the entire free-space is allocated to the current inner-vector.
+      eigen_internal_assert(data_end < m_data.allocatedSize());
+      StorageIndex new_end = convert_index(m_data.allocatedSize());
+      for(Index k=outer+1; k<=m_outerSize; ++k)
+        if(m_outerIndex[k]==data_end)
+          m_outerIndex[k] = new_end;
+    }
+    return m_data.value(p);
+  }
+  
+  // Second case: the next inner-vector is packed to the end
+  // and the current inner-vector end match the used-space.
+  if(m_outerIndex[outer+1]==data_end && m_outerIndex[outer]+m_innerNonZeros[outer]==m_data.size())
+  {
+    eigen_internal_assert(outer+1==m_outerSize || m_innerNonZeros[outer+1]==0);
+    
+    // add space for the new element
+    ++m_innerNonZeros[outer];
+    m_data.resize(m_data.size()+1);
+    
+    // check for reallocation
+    if(data_end != m_data.allocatedSize())
+    {
+      // m_data has been reallocated
+      //  -> move remaining inner-vectors back to the end of the free-space
+      //     so that the entire free-space is allocated to the current inner-vector.
+      eigen_internal_assert(data_end < m_data.allocatedSize());
+      StorageIndex new_end = convert_index(m_data.allocatedSize());
+      for(Index k=outer+1; k<=m_outerSize; ++k)
+        if(m_outerIndex[k]==data_end)
+          m_outerIndex[k] = new_end;
+    }
+    
+    // and insert it at the right position (sorted insertion)
+    Index startId = m_outerIndex[outer];
+    Index p = m_outerIndex[outer]+m_innerNonZeros[outer]-1;
+    while ( (p > startId) && (m_data.index(p-1) > inner) )
+    {
+      m_data.index(p) = m_data.index(p-1);
+      m_data.value(p) = m_data.value(p-1);
+      --p;
+    }
+    
+    m_data.index(p) = convert_index(inner);
+    return (m_data.value(p) = 0);
+  }
+  
+  if(m_data.size() != m_data.allocatedSize())
+  {
+    // make sure the matrix is compatible to random un-compressed insertion:
+    m_data.resize(m_data.allocatedSize());
+    this->reserveInnerVectors(Array<StorageIndex,Dynamic,1>::Constant(m_outerSize, 2));
+  }
+  
+  return insertUncompressed(row,col);
+}
+    
+template<typename _Scalar, int _Options, typename _StorageIndex>
+EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertUncompressed(Index row, Index col)
 {
   eigen_assert(!isCompressed());
 
   const Index outer = IsRowMajor ? row : col;
-  const Index inner = IsRowMajor ? col : row;
+  const StorageIndex inner = convert_index(IsRowMajor ? col : row);
 
   Index room = m_outerIndex[outer+1] - m_outerIndex[outer];
-  Index innerNNZ = m_innerNonZeros[outer];
+  StorageIndex innerNNZ = m_innerNonZeros[outer];
   if(innerNNZ>=room)
   {
     // this inner vector is full, we need to reallocate the whole buffer :(
-    reserve(SingletonVector(outer,std::max<Index>(2,innerNNZ)));
+    reserve(SingletonVector(outer,std::max<StorageIndex>(2,innerNNZ)));
   }
 
   Index startId = m_outerIndex[outer];
@@ -1142,7 +1269,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
     m_data.value(p) = m_data.value(p-1);
     --p;
   }
-  eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exist, you must call coeffRef to this end");
+  eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exists, you must call coeffRef to this end");
 
   m_innerNonZeros[outer]++;
 
@@ -1150,8 +1277,8 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
   return (m_data.value(p) = 0);
 }
 
-template<typename _Scalar, int _Options, typename _Index>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& SparseMatrix<_Scalar,_Options,_Index>::insertCompressed(Index row, Index col)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertCompressed(Index row, Index col)
 {
   eigen_assert(isCompressed());
 
@@ -1164,7 +1291,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
     // we start a new inner vector
     while (previousOuter>=0 && m_outerIndex[previousOuter]==0)
     {
-      m_outerIndex[previousOuter] = static_cast<Index>(m_data.size());
+      m_outerIndex[previousOuter] = convert_index(m_data.size());
       --previousOuter;
     }
     m_outerIndex[outer+1] = m_outerIndex[outer];
@@ -1174,11 +1301,11 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
   // starts with: [ 0 0 0 0 0 1 ...] and we are inserted in, e.g.,
   // the 2nd inner vector...
   bool isLastVec = (!(previousOuter==-1 && m_data.size()!=0))
-                && (size_t(m_outerIndex[outer+1]) == m_data.size());
+                && (std::size_t(m_outerIndex[outer+1]) == m_data.size());
 
-  size_t startId = m_outerIndex[outer];
-  // FIXME let's make sure sizeof(long int) == sizeof(size_t)
-  size_t p = m_outerIndex[outer+1];
+  std::size_t startId = m_outerIndex[outer];
+  // FIXME let's make sure sizeof(long int) == sizeof(std::size_t)
+  std::size_t p = m_outerIndex[outer+1];
   ++m_outerIndex[outer+1];
 
   double reallocRatio = 1;
@@ -1257,6 +1384,20 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
   return (m_data.value(p) = 0);
 }
 
+namespace internal {
+
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct evaluator<SparseMatrix<_Scalar,_Options,_StorageIndex> >
+  : evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > >
+{
+  typedef evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > > Base;
+  typedef SparseMatrix<_Scalar,_Options,_StorageIndex> SparseMatrixType;
+  evaluator() : Base() {}
+  explicit evaluator(const SparseMatrixType &mat) : Base(mat) {}
+};
+
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEMATRIX_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseMatrixBase.h b/vendor/eigen/Eigen/src/SparseCore/SparseMatrixBase.h
index 9341d9a..c6b548f 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -18,38 +18,41 @@ namespace Eigen {
   *
   * \brief Base class of any sparse matrices or sparse expressions
   *
-  * \tparam Derived
+  * \tparam Derived is the derived type, e.g. a sparse matrix type, or an expression, etc.
   *
   * 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_SPARSEMATRIXBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
   */
 template<typename Derived> class SparseMatrixBase
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  : public internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
-                                            typename NumTraits<typename internal::traits<Derived>::Scalar>::Real,
-                                            EigenBase<Derived> >
-#else
   : public EigenBase<Derived>
-#endif // not EIGEN_PARSED_BY_DOXYGEN
 {
   public:
 
     typedef typename internal::traits<Derived>::Scalar Scalar;
+    
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
+      *
+      * It is an alias for the Scalar type */
+    typedef Scalar value_type;
+    
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+
+    /** The integer type used to \b store indices within a SparseMatrix.
+      * For a \c SparseMatrix<Scalar,Options,IndexType> it an alias of the third template parameter \c IndexType. */
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+
     typedef typename internal::add_const_on_value_type_if_arithmetic<
                          typename internal::packet_traits<Scalar>::type
                      >::type PacketReturnType;
 
     typedef SparseMatrixBase StorageBaseType;
+
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
+    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
     
     template<typename OtherDerived>
-    Derived& operator=(const EigenBase<OtherDerived> &other)
-    {
-      other.derived().evalTo(derived());
-      return derived();
-    }
+    Derived& operator=(const EigenBase<OtherDerived> &other);
 
     enum {
 
@@ -89,11 +92,6 @@ template<typename Derived> class SparseMatrixBase
           * constructed from this one. See the \ref flags "list of flags".
           */
 
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-          * this expression.
-          */
-
       IsRowMajor = Flags&RowMajorBit ? 1 : 0,
       
       InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
@@ -109,10 +107,11 @@ template<typename Derived> class SparseMatrixBase
                         CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Eigen::Transpose<const Derived> >,
                         Transpose<const Derived>
                      >::type AdjointReturnType;
+    typedef Transpose<Derived> TransposeReturnType;
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
 
-
-    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor, Index> PlainObject;
-
+    // FIXME storage order do not match evaluator storage order
+    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor, StorageIndex> PlainObject;
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** This is the "real scalar" type; if the \a Scalar type is already real numbers
@@ -130,6 +129,8 @@ template<typename Derived> class SparseMatrixBase
     /** \internal Represents a matrix with all coefficients equal to one another*/
     typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Matrix<Scalar,Dynamic,Dynamic> > ConstantReturnType;
 
+    /** type of the equivalent dense matrix */
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
     /** type of the equivalent square matrix */
     typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
                           EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
@@ -139,11 +140,20 @@ template<typename Derived> class SparseMatrixBase
     inline Derived& const_cast_derived() const
     { return *static_cast<Derived*>(const_cast<SparseMatrixBase*>(this)); }
 
-    typedef internal::special_scalar_op_base<Derived, Scalar, RealScalar, EigenBase<Derived> > Base;
-    using Base::operator*;
+    typedef EigenBase<Derived> Base;
+
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+#define EIGEN_DOC_UNARY_ADDONS(METHOD,OP)           /** <p>This method does not change the sparsity of \c *this: the OP is applied to explicitly stored coefficients only. \sa SparseCompressedBase::coeffs() </p> */
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL      /** <p> \warning This method returns a read-only expression for any sparse matrices. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND) /** <p> \warning This method returns a read-write expression for COND sparse matrices only. Otherwise, the returned expression is read-only. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
+#else
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
+#endif
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/CommonCwiseBinaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
@@ -152,8 +162,10 @@ template<typename Derived> class SparseMatrixBase
 #   ifdef EIGEN_SPARSEMATRIXBASE_PLUGIN
 #     include EIGEN_SPARSEMATRIXBASE_PLUGIN
 #   endif
-#   undef EIGEN_CURRENT_STORAGE_BASE_CLASS
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
+#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
 
     /** \returns the number of rows. \sa cols() */
     inline Index rows() const { return derived().rows(); }
@@ -162,9 +174,6 @@ template<typename Derived> class SparseMatrixBase
     /** \returns the number of coefficients, which is \a rows()*cols().
       * \sa rows(), cols(). */
     inline Index size() const { return rows() * cols(); }
-    /** \returns the number of nonzero coefficients which is in practice the number
-      * of stored coefficients. */
-    inline Index nonZeros() const { return derived().nonZeros(); }
     /** \returns true if either the number of rows or the number of columns is equal to 1.
       * In other words, this function returns
       * \code rows()==1 || cols()==1 \endcode
@@ -184,93 +193,23 @@ template<typename Derived> class SparseMatrixBase
 
     
     template<typename OtherDerived>
-    Derived& operator=(const ReturnByValue<OtherDerived>& other)
-    {
-      other.evalTo(derived());
-      return derived();
-    }
-
+    Derived& operator=(const ReturnByValue<OtherDerived>& other);
 
     template<typename OtherDerived>
-    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      return assign(other.derived());
-    }
+    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other);
 
-    inline Derived& operator=(const Derived& other)
-    {
-//       if (other.isRValue())
-//         derived().swap(other.const_cast_derived());
-//       else
-      return assign(other.derived());
-    }
+    inline Derived& operator=(const Derived& other);
 
   protected:
 
     template<typename OtherDerived>
-    inline Derived& assign(const OtherDerived& other)
-    {
-      const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      const Index outerSize = (int(OtherDerived::Flags) & RowMajorBit) ? other.rows() : other.cols();
-      if ((!transpose) && other.isRValue())
-      {
-        // eval without temporary
-        derived().resize(other.rows(), other.cols());
-        derived().setZero();
-        derived().reserve((std::max)(this->rows(),this->cols())*2);
-        for (Index j=0; j<outerSize; ++j)
-        {
-          derived().startVec(j);
-          for (typename OtherDerived::InnerIterator it(other, j); it; ++it)
-          {
-            Scalar v = it.value();
-            derived().insertBackByOuterInner(j,it.index()) = v;
-          }
-        }
-        derived().finalize();
-      }
-      else
-      {
-        assignGeneric(other);
-      }
-      return derived();
-    }
+    inline Derived& assign(const OtherDerived& other);
 
     template<typename OtherDerived>
-    inline void assignGeneric(const OtherDerived& other)
-    {
-      //const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      eigen_assert(( ((internal::traits<Derived>::SupportedAccessPatterns&OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
-                  (!((Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit)))) &&
-                  "the transpose operation is supposed to be handled in SparseMatrix::operator=");
-
-      enum { Flip = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit) };
-
-      const Index outerSize = other.outerSize();
-      //typedef typename internal::conditional<transpose, LinkedVectorMatrix<Scalar,Flags&RowMajorBit>, Derived>::type TempType;
-      // thanks to shallow copies, we always eval to a tempary
-      Derived temp(other.rows(), other.cols());
-
-      temp.reserve((std::max)(this->rows(),this->cols())*2);
-      for (Index j=0; j<outerSize; ++j)
-      {
-        temp.startVec(j);
-        for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
-        {
-          Scalar v = it.value();
-          temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
-        }
-      }
-      temp.finalize();
-
-      derived() = temp.markAsRValue();
-    }
+    inline void assignGeneric(const OtherDerived& other);
 
   public:
 
-    template<typename Lhs, typename Rhs>
-    inline Derived& operator=(const SparseSparseProduct<Lhs,Rhs>& product);
-
     friend std::ostream & operator << (std::ostream & s, const SparseMatrixBase& m)
     {
       typedef typename Derived::Nested Nested;
@@ -278,11 +217,12 @@ template<typename Derived> class SparseMatrixBase
 
       if (Flags&RowMajorBit)
       {
-        const Nested nm(m.derived());
+        Nested nm(m.derived());
+        internal::evaluator<NestedCleaned> thisEval(nm);
         for (Index row=0; row<nm.outerSize(); ++row)
         {
           Index col = 0;
-          for (typename NestedCleaned::InnerIterator it(nm.derived(), row); it; ++it)
+          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, row); it; ++it)
           {
             for ( ; col<it.index(); ++col)
               s << "0 ";
@@ -296,10 +236,11 @@ template<typename Derived> class SparseMatrixBase
       }
       else
       {
-        const Nested nm(m.derived());
+        Nested nm(m.derived());
+        internal::evaluator<NestedCleaned> thisEval(nm);
         if (m.cols() == 1) {
           Index row = 0;
-          for (typename NestedCleaned::InnerIterator it(nm.derived(), 0); it; ++it)
+          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, 0); it; ++it)
           {
             for ( ; row<it.index(); ++row)
               s << "0" << std::endl;
@@ -311,8 +252,8 @@ template<typename Derived> class SparseMatrixBase
         }
         else
         {
-          SparseMatrix<Scalar, RowMajorBit, Index> trans = m;
-          s << static_cast<const SparseMatrixBase<SparseMatrix<Scalar, RowMajorBit, Index> >&>(trans);
+          SparseMatrix<Scalar, RowMajorBit, StorageIndex> trans = m;
+          s << static_cast<const SparseMatrixBase<SparseMatrix<Scalar, RowMajorBit, StorageIndex> >&>(trans);
         }
       }
       return s;
@@ -322,12 +263,22 @@ template<typename Derived> class SparseMatrixBase
     Derived& operator+=(const SparseMatrixBase<OtherDerived>& other);
     template<typename OtherDerived>
     Derived& operator-=(const SparseMatrixBase<OtherDerived>& other);
+    
+    template<typename OtherDerived>
+    Derived& operator+=(const DiagonalBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const DiagonalBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator+=(const EigenBase<OtherDerived> &other);
+    template<typename OtherDerived>
+    Derived& operator-=(const EigenBase<OtherDerived> &other);
 
     Derived& operator*=(const Scalar& other);
     Derived& operator/=(const Scalar& other);
 
     template<typename OtherDerived> struct CwiseProductDenseReturnType {
-      typedef CwiseBinaryOp<internal::scalar_product_op<typename internal::scalar_product_traits<
+      typedef CwiseBinaryOp<internal::scalar_product_op<typename ScalarBinaryOpTraits<
                                                           typename internal::traits<Derived>::Scalar,
                                                           typename internal::traits<OtherDerived>::Scalar
                                                         >::ReturnType>,
@@ -340,36 +291,37 @@ template<typename Derived> class SparseMatrixBase
     EIGEN_STRONG_INLINE const typename CwiseProductDenseReturnType<OtherDerived>::Type
     cwiseProduct(const MatrixBase<OtherDerived> &other) const;
 
-    // sparse * sparse
-    template<typename OtherDerived>
-    const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
-    operator*(const SparseMatrixBase<OtherDerived> &other) const;
-
     // sparse * diagonal
     template<typename OtherDerived>
-    const SparseDiagonalProduct<Derived,OtherDerived>
-    operator*(const DiagonalBase<OtherDerived> &other) const;
+    const Product<Derived,OtherDerived>
+    operator*(const DiagonalBase<OtherDerived> &other) const
+    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
 
     // diagonal * sparse
     template<typename OtherDerived> friend
-    const SparseDiagonalProduct<OtherDerived,Derived>
+    const Product<OtherDerived,Derived>
     operator*(const DiagonalBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
-    { return SparseDiagonalProduct<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
-
-    /** dense * sparse (return a dense object unless it is an outer product) */
-    template<typename OtherDerived> friend
-    const typename DenseSparseProductReturnType<OtherDerived,Derived>::Type
-    operator*(const MatrixBase<OtherDerived>& lhs, const Derived& rhs)
-    { return typename DenseSparseProductReturnType<OtherDerived,Derived>::Type(lhs.derived(),rhs); }
-
-    /** sparse * dense (returns a dense object unless it is an outer product) */
+    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
+    
+    // sparse * sparse
+    template<typename OtherDerived>
+    const Product<Derived,OtherDerived,AliasFreeProduct>
+    operator*(const SparseMatrixBase<OtherDerived> &other) const;
+    
+    // sparse * dense
     template<typename OtherDerived>
-    const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
+    const Product<Derived,OtherDerived>
     operator*(const MatrixBase<OtherDerived> &other) const
-    { return typename SparseDenseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived()); }
+    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
+    
+    // dense * sparse
+    template<typename OtherDerived> friend
+    const Product<OtherDerived,Derived>
+    operator*(const MatrixBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
+    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
     
      /** \returns an expression of P H P^-1 where H is the matrix represented by \c *this */
-    SparseSymmetricPermutationProduct<Derived,Upper|Lower> twistedBy(const PermutationMatrix<Dynamic,Dynamic,Index>& perm) const
+    SparseSymmetricPermutationProduct<Derived,Upper|Lower> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
     {
       return SparseSymmetricPermutationProduct<Derived,Upper|Lower>(derived(), perm);
     }
@@ -377,22 +329,16 @@ template<typename Derived> class SparseMatrixBase
     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;
+    inline const TriangularView<const Derived, Mode> triangularView() const;
+    
+    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SparseSelfAdjointView<Derived, UpLo> Type; };
+    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SparseSelfAdjointView<const Derived, UpLo> Type; };
 
-    template<unsigned int UpLo> inline const SparseSelfAdjointView<Derived, UpLo> selfadjointView() const;
-    template<unsigned int UpLo> inline SparseSelfAdjointView<Derived, UpLo> selfadjointView();
+    template<unsigned int UpLo> inline 
+    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+    template<unsigned int UpLo> inline
+    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
 
     template<typename OtherDerived> Scalar dot(const MatrixBase<OtherDerived>& other) const;
     template<typename OtherDerived> Scalar dot(const SparseMatrixBase<OtherDerived>& other) const;
@@ -400,9 +346,9 @@ template<typename Derived> class SparseMatrixBase
     RealScalar norm()  const;
     RealScalar blueNorm() const;
 
-    Transpose<Derived> transpose() { return derived(); }
-    const Transpose<const Derived> transpose() const { return derived(); }
-    const AdjointReturnType adjoint() const { return transpose(); }
+    TransposeReturnType transpose() { return TransposeReturnType(derived()); }
+    const ConstTransposeReturnType transpose() const { return ConstTransposeReturnType(derived()); }
+    const AdjointReturnType adjoint() const { return AdjointReturnType(transpose()); }
 
     // inner-vector
     typedef Block<Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true>       InnerVectorReturnType;
@@ -416,25 +362,14 @@ template<typename Derived> class SparseMatrixBase
     InnerVectorsReturnType innerVectors(Index outerStart, Index outerSize);
     const ConstInnerVectorsReturnType innerVectors(Index outerStart, Index outerSize) const;
 
-    /** \internal use operator= */
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& dst) const
-    {
-      dst.setZero();
-      for (Index j=0; j<outerSize(); ++j)
-        for (typename Derived::InnerIterator i(derived(),j); i; ++i)
-          dst.coeffRef(i.row(),i.col()) = i.value();
-    }
-
-    Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> toDense() const
+    DenseMatrixType toDense() const
     {
-      return derived();
+      return DenseMatrixType(derived());
     }
 
     template<typename OtherDerived>
     bool isApprox(const SparseMatrixBase<OtherDerived>& other,
-                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-    { return toDense().isApprox(other.toDense(),prec); }
+                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
 
     template<typename OtherDerived>
     bool isApprox(const MatrixBase<OtherDerived>& other,
@@ -450,10 +385,19 @@ template<typename Derived> class SparseMatrixBase
     { return typename internal::eval<Derived>::type(derived()); }
 
     Scalar sum() const;
+    
+    inline const SparseView<Derived>
+    pruned(const Scalar& reference = Scalar(0), const RealScalar& epsilon = NumTraits<Scalar>::dummy_precision()) const;
 
   protected:
 
     bool m_isRValue;
+
+    static inline StorageIndex convert_index(const Index idx) {
+      return internal::convert_index<StorageIndex>(idx);
+    }
+  private:
+    template<typename Dest> void evalTo(Dest &) const;
 };
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparsePermutation.h b/vendor/eigen/Eigen/src/SparseCore/SparsePermutation.h
index 75e2100..ef38357 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparsePermutation.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparsePermutation.h
@@ -16,131 +16,161 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct traits<permut_sparsematrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, SparseShape>
 {
-  typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-  typedef typename MatrixTypeNestedCleaned::Scalar Scalar;
-  typedef typename MatrixTypeNestedCleaned::Index Index;
-  enum {
-    SrcStorageOrder = MatrixTypeNestedCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
-    MoveOuter = SrcStorageOrder==RowMajor ? Side==OnTheLeft : Side==OnTheRight
-  };
+    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
 
-  typedef typename internal::conditional<MoveOuter,
-        SparseMatrix<Scalar,SrcStorageOrder,Index>,
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,Index> >::type ReturnType;
-};
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct permut_sparsematrix_product_retval
- : public ReturnByValue<permut_sparsematrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename MatrixTypeNestedCleaned::Scalar Scalar;
-    typedef typename MatrixTypeNestedCleaned::Index Index;
+    typedef typename MatrixTypeCleaned::Scalar Scalar;
+    typedef typename MatrixTypeCleaned::StorageIndex StorageIndex;
 
     enum {
-      SrcStorageOrder = MatrixTypeNestedCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
+      SrcStorageOrder = MatrixTypeCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
       MoveOuter = SrcStorageOrder==RowMajor ? Side==OnTheLeft : Side==OnTheRight
     };
+    
+    typedef typename internal::conditional<MoveOuter,
+        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex>,
+        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> >::type ReturnType;
 
-    permut_sparsematrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
-      : m_permutation(perm), m_matrix(matrix)
-    {}
-
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
+    template<typename Dest,typename PermutationType>
+    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
     {
+      MatrixType mat(xpr);
       if(MoveOuter)
       {
-        SparseMatrix<Scalar,SrcStorageOrder,Index> tmp(m_matrix.rows(), m_matrix.cols());
-        Matrix<Index,Dynamic,1> sizes(m_matrix.outerSize());
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
+        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex> tmp(mat.rows(), mat.cols());
+        Matrix<StorageIndex,Dynamic,1> sizes(mat.outerSize());
+        for(Index j=0; j<mat.outerSize(); ++j)
         {
-          Index jp = m_permutation.indices().coeff(j);
-          sizes[((Side==OnTheLeft) ^ Transposed) ? jp : j] = m_matrix.innerVector(((Side==OnTheRight) ^ Transposed) ? jp : j).nonZeros();
+          Index jp = perm.indices().coeff(j);
+          sizes[((Side==OnTheLeft) ^ Transposed) ? jp : j] = StorageIndex(mat.innerVector(((Side==OnTheRight) ^ Transposed) ? jp : j).nonZeros());
         }
         tmp.reserve(sizes);
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
+        for(Index j=0; j<mat.outerSize(); ++j)
         {
-          Index jp = m_permutation.indices().coeff(j);
+          Index jp = perm.indices().coeff(j);
           Index jsrc = ((Side==OnTheRight) ^ Transposed) ? jp : j;
           Index jdst = ((Side==OnTheLeft) ^ Transposed) ? jp : j;
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,jsrc); it; ++it)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,jsrc); it; ++it)
             tmp.insertByOuterInner(jdst,it.index()) = it.value();
         }
         dst = tmp;
       }
       else
       {
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,Index> tmp(m_matrix.rows(), m_matrix.cols());
-        Matrix<Index,Dynamic,1> sizes(tmp.outerSize());
+        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> tmp(mat.rows(), mat.cols());
+        Matrix<StorageIndex,Dynamic,1> sizes(tmp.outerSize());
         sizes.setZero();
-        PermutationMatrix<Dynamic,Dynamic,Index> perm;
+        PermutationMatrix<Dynamic,Dynamic,StorageIndex> perm_cpy;
         if((Side==OnTheLeft) ^ Transposed)
-          perm = m_permutation;
+          perm_cpy = perm;
         else
-          perm = m_permutation.transpose();
+          perm_cpy = perm.transpose();
 
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,j); it; ++it)
-            sizes[perm.indices().coeff(it.index())]++;
+        for(Index j=0; j<mat.outerSize(); ++j)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
+            sizes[perm_cpy.indices().coeff(it.index())]++;
         tmp.reserve(sizes);
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,j); it; ++it)
-            tmp.insertByOuterInner(perm.indices().coeff(it.index()),j) = it.value();
+        for(Index j=0; j<mat.outerSize(); ++j)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
+            tmp.insertByOuterInner(perm_cpy.indices().coeff(it.index()),j) = it.value();
         dst = tmp;
       }
     }
-
-  protected:
-    const PermutationType& m_permutation;
-    typename MatrixType::Nested m_matrix;
 };
 
 }
 
+namespace internal {
+
+template <int ProductTag> struct product_promote_storage_type<Sparse,             PermutationStorage, ProductTag> { typedef Sparse ret; };
+template <int ProductTag> struct product_promote_storage_type<PermutationStorage, Sparse,             ProductTag> { typedef Sparse ret; };
+
+// TODO, the following two overloads are only needed to define the right temporary type through 
+// typename traits<permutation_sparse_matrix_product<Rhs,Lhs,OnTheRight,false> >::ReturnType
+// whereas it should be correctly handled by traits<Product<> >::PlainObject
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, PermutationShape, SparseShape>
+  : public evaluator<typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType>
+{
+  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
+  typedef typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, Rhs, PermutationShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
 
+protected:
+  PlainObject m_result;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, SparseShape, PermutationShape >
+  : public evaluator<typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType>
+{
+  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
+  typedef typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, Rhs, SparseShape, PermutationShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // end namespace internal
 
 /** \returns the matrix with the permutation applied to the columns
   */
 template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, false>
+inline const Product<SparseDerived, PermDerived, AliasFreeProduct>
 operator*(const SparseMatrixBase<SparseDerived>& matrix, const PermutationBase<PermDerived>& perm)
-{
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, false>(perm, matrix.derived());
-}
+{ return Product<SparseDerived, PermDerived, AliasFreeProduct>(matrix.derived(), perm.derived()); }
 
 /** \returns the matrix with the permutation applied to the rows
   */
 template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, false>
+inline const Product<PermDerived, SparseDerived, AliasFreeProduct>
 operator*( const PermutationBase<PermDerived>& perm, const SparseMatrixBase<SparseDerived>& matrix)
-{
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, false>(perm, matrix.derived());
-}
-
+{ return  Product<PermDerived, SparseDerived, AliasFreeProduct>(perm.derived(), matrix.derived()); }
 
 
 /** \returns the matrix with the inverse permutation applied to the columns.
   */
-template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, true>
-operator*(const SparseMatrixBase<SparseDerived>& matrix, const Transpose<PermutationBase<PermDerived> >& tperm)
+template<typename SparseDerived, typename PermutationType>
+inline const Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>
+operator*(const SparseMatrixBase<SparseDerived>& matrix, const InverseImpl<PermutationType, PermutationStorage>& tperm)
 {
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, true>(tperm.nestedPermutation(), matrix.derived());
+  return Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>(matrix.derived(), tperm.derived());
 }
 
 /** \returns the matrix with the inverse permutation applied to the rows.
   */
-template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, true>
-operator*(const Transpose<PermutationBase<PermDerived> >& tperm, const SparseMatrixBase<SparseDerived>& matrix)
+template<typename SparseDerived, typename PermutationType>
+inline const Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>
+operator*(const InverseImpl<PermutationType,PermutationStorage>& tperm, const SparseMatrixBase<SparseDerived>& matrix)
 {
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, true>(tperm.nestedPermutation(), matrix.derived());
+  return Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>(tperm.derived(), matrix.derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseProduct.h b/vendor/eigen/Eigen/src/SparseCore/SparseProduct.h
index cf76630..4cbf687 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseProduct.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -12,158 +12,6 @@
 
 namespace Eigen { 
 
-template<typename Lhs, typename Rhs>
-struct SparseSparseProductReturnType
-{
-  typedef typename internal::traits<Lhs>::Scalar Scalar;
-  typedef typename internal::traits<Lhs>::Index Index;
-  enum {
-    LhsRowMajor = internal::traits<Lhs>::Flags & RowMajorBit,
-    RhsRowMajor = internal::traits<Rhs>::Flags & RowMajorBit,
-    TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
-    TransposeLhs = LhsRowMajor && (!RhsRowMajor)
-  };
-
-  typedef typename internal::conditional<TransposeLhs,
-    SparseMatrix<Scalar,0,Index>,
-    typename internal::nested<Lhs,Rhs::RowsAtCompileTime>::type>::type LhsNested;
-
-  typedef typename internal::conditional<TransposeRhs,
-    SparseMatrix<Scalar,0,Index>,
-    typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type>::type RhsNested;
-
-  typedef SparseSparseProduct<LhsNested, RhsNested> Type;
-};
-
-namespace internal {
-template<typename LhsNested, typename RhsNested>
-struct traits<SparseSparseProduct<LhsNested, RhsNested> >
-{
-  typedef MatrixXpr XprKind;
-  // clean the nested types:
-  typedef typename remove_all<LhsNested>::type _LhsNested;
-  typedef typename remove_all<RhsNested>::type _RhsNested;
-  typedef typename _LhsNested::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
-                                         typename traits<_RhsNested>::Index>::type Index;
-
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-
-    RowsAtCompileTime    = _LhsNested::RowsAtCompileTime,
-    ColsAtCompileTime    = _RhsNested::ColsAtCompileTime,
-    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-    EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
-
-    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
-
-    Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeAssigningBit
-          | EvalBeforeNestingBit,
-
-    CoeffReadCost = Dynamic
-  };
-
-  typedef Sparse StorageKind;
-};
-
-} // end namespace internal
-
-template<typename LhsNested, typename RhsNested>
-class SparseSparseProduct : internal::no_assignment_operator,
-  public SparseMatrixBase<SparseSparseProduct<LhsNested, RhsNested> >
-{
-  public:
-
-    typedef SparseMatrixBase<SparseSparseProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SparseSparseProduct)
-
-  private:
-
-    typedef typename internal::traits<SparseSparseProduct>::_LhsNested _LhsNested;
-    typedef typename internal::traits<SparseSparseProduct>::_RhsNested _RhsNested;
-
-  public:
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs), m_tolerance(0), m_conservative(true)
-    {
-      init();
-    }
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs, const RealScalar& tolerance)
-      : m_lhs(lhs), m_rhs(rhs), m_tolerance(tolerance), m_conservative(false)
-    {
-      init();
-    }
-
-    SparseSparseProduct pruned(const Scalar& reference = 0, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision()) const
-    {
-      using std::abs;
-      return SparseSparseProduct(m_lhs,m_rhs,abs(reference)*epsilon);
-    }
-
-    template<typename Dest>
-    void evalTo(Dest& result) const
-    {
-      if(m_conservative)
-        internal::conservative_sparse_sparse_product_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result);
-      else
-        internal::sparse_sparse_product_with_pruning_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result,m_tolerance);
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    void init()
-    {
-      eigen_assert(m_lhs.cols() == m_rhs.rows());
-
-      enum {
-        ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
-                      || _RhsNested::RowsAtCompileTime==Dynamic
-                      || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
-        AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
-        SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
-      };
-      // note to the lost user:
-      //    * for a dot product use: v1.dot(v2)
-      //    * for a coeff-wise product use: v1.cwise()*v2
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-      EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-    }
-
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-    RealScalar m_tolerance;
-    bool m_conservative;
-};
-
-// sparse = sparse * sparse
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<Lhs,Rhs>& product)
-{
-  product.evalTo(derived());
-  return derived();
-}
-
 /** \returns an expression of the product of two sparse matrices.
   * By default a conservative product preserving the symbolic non zeros is performed.
   * The automatic pruning of the small values can be achieved by calling the pruned() function
@@ -177,12 +25,145 @@ inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<L
   * */
 template<typename Derived>
 template<typename OtherDerived>
-inline const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
+inline const Product<Derived,OtherDerived,AliasFreeProduct>
 SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
 {
-  return typename SparseSparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+  return Product<Derived,OtherDerived,AliasFreeProduct>(derived(), other.derived());
 }
 
+namespace internal {
+
+// sparse * sparse
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    evalTo(dst, lhs, rhs, typename evaluator_traits<Dest>::Shape());
+  }
+
+  // dense += sparse * sparse
+  template<typename Dest,typename ActualLhs>
+  static void addTo(Dest& dst, const ActualLhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
+  {
+    typedef typename nested_eval<ActualLhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::sparse_sparse_to_dense_product_selector<typename remove_all<LhsNested>::type,
+                                                      typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
+  }
+
+  // dense -= sparse * sparse
+  template<typename Dest>
+  static void subTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
+  {
+    addTo(dst, -lhs, rhs);
+  }
+
+protected:
+
+  // sparse = sparse * sparse
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, SparseShape)
+  {
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::conservative_sparse_sparse_product_selector<typename remove_all<LhsNested>::type,
+                                                          typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
+  }
+
+  // dense = sparse * sparse
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, DenseShape)
+  {
+    dst.setZero();
+    addTo(dst, lhs, rhs);
+  }
+};
+
+// sparse * sparse-triangular
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, SparseTriangularShape, ProductType>
+ : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{};
+
+// sparse-triangular * sparse
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, SparseShape, ProductType>
+ : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{};
+
+// dense = sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    generic_product_impl<Lhs, Rhs>::evalTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+// dense += sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::add_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    generic_product_impl<Lhs, Rhs>::addTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+// dense -= sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::sub_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    generic_product_impl<Lhs, Rhs>::subTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+template<typename Lhs, typename Rhs, int Options>
+struct unary_evaluator<SparseView<Product<Lhs, Rhs, Options> >, IteratorBased>
+ : public evaluator<typename Product<Lhs, Rhs, DefaultProduct>::PlainObject>
+{
+  typedef SparseView<Product<Lhs, Rhs, Options> > XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  explicit unary_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    using std::abs;
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(xpr.nestedExpression().lhs());
+    RhsNested rhsNested(xpr.nestedExpression().rhs());
+
+    internal::sparse_sparse_product_with_pruning_selector<typename remove_all<LhsNested>::type,
+                                                          typename remove_all<RhsNested>::type, PlainObject>::run(lhsNested,rhsNested,m_result,
+                                                                                                                  abs(xpr.reference())*xpr.epsilon());
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEPRODUCT_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseRedux.h b/vendor/eigen/Eigen/src/SparseCore/SparseRedux.h
index f3da93a..4587749 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseRedux.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseRedux.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -18,8 +18,9 @@ SparseMatrixBase<Derived>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
   Scalar res(0);
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator iter(derived(),j); iter; ++iter)
+    for (typename internal::evaluator<Derived>::InnerIterator iter(thisEval,j); iter; ++iter)
       res += iter.value();
   return res;
 }
@@ -29,7 +30,10 @@ typename internal::traits<SparseMatrix<_Scalar,_Options,_Index> >::Scalar
 SparseMatrix<_Scalar,_Options,_Index>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+  if(this->isCompressed())
+    return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
+  else
+    return Base::sum();
 }
 
 template<typename _Scalar, int _Options, typename _Index>
@@ -37,7 +41,7 @@ typename internal::traits<SparseVector<_Scalar,_Options, _Index> >::Scalar
 SparseVector<_Scalar,_Options,_Index>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+  return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseRef.h b/vendor/eigen/Eigen/src/SparseCore/SparseRef.h
new file mode 100644
index 0000000..d91f38f
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseRef.h
@@ -0,0 +1,397 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud at 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_SPARSE_REF_H
+#define EIGEN_SPARSE_REF_H
+
+namespace Eigen {
+
+enum {
+  StandardCompressedFormat = 2 /**< used by Ref<SparseMatrix> to specify whether the input storage must be in standard compressed form */
+};
+  
+namespace internal {
+
+template<typename Derived> class SparseRefBase;
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  enum {
+    Options = _Options,
+    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
+  };
+
+  template<typename Derived> struct match {
+    enum {
+      StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
+      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && StorageOrderMatch
+    };
+    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
+  };
+  
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+{
+  enum {
+    Flags = (traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
+  };
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<SparseVector<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  enum {
+    Options = _Options,
+    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
+  };
+
+  template<typename Derived> struct match {
+    enum {
+      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && Derived::IsVectorAtCompileTime
+    };
+    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
+  };
+
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+{
+  enum {
+    Flags = (traits<SparseVector<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
+  };
+};
+
+template<typename Derived>
+struct traits<SparseRefBase<Derived> > : public traits<Derived> {};
+
+template<typename Derived> class SparseRefBase
+  : public SparseMapBase<Derived>
+{
+public:
+
+  typedef SparseMapBase<Derived> Base;
+  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseRefBase)
+
+  SparseRefBase()
+    : Base(RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime, 0, 0, 0, 0, 0)
+  {}
+  
+protected:
+
+  template<typename Expression>
+  void construct(Expression& expr)
+  {
+    if(expr.outerIndexPtr()==0)
+      ::new (static_cast<Base*>(this)) Base(expr.size(), expr.nonZeros(), expr.innerIndexPtr(), expr.valuePtr());
+    else
+      ::new (static_cast<Base*>(this)) Base(expr.rows(), expr.cols(), expr.nonZeros(), expr.outerIndexPtr(), expr.innerIndexPtr(), expr.valuePtr(), expr.innerNonZeroPtr());
+  }
+};
+
+} // namespace internal
+
+
+/** 
+  * \ingroup SparseCore_Module
+  *
+  * \brief A sparse matrix expression referencing an existing sparse expression
+  *
+  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
+  * \tparam Options specifies whether the a standard compressed format is required \c Options is  \c #StandardCompressedFormat, or \c 0.
+  *                The default is \c 0.
+  *
+  * \sa class Ref
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType >
+  : public internal::SparseRefBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
+#else
+template<typename SparseMatrixType, int Options>
+class Ref<SparseMatrixType, Options>
+  : public SparseMapBase<Derived,WriteAccessors> // yes, that's weird to use Derived here, but that works!
+#endif
+{
+    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+    typedef internal::traits<Ref> Traits;
+    template<int OtherOptions>
+    inline Ref(const SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
+    template<int OtherOptions>
+    inline Ref(const MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<int OtherOptions>
+    inline Ref(SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.derived());
+    }
+    
+    template<int OtherOptions>
+    inline Ref(MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.derived());
+    }
+    
+    template<typename Derived>
+    inline Ref(const SparseCompressedBase<Derived>& expr)
+    #else
+    /** Implicit constructor from any sparse expression (2D matrix or 1D vector) */
+    template<typename Derived>
+    inline Ref(SparseCompressedBase<Derived>& expr)
+    #endif
+    {
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.const_cast_derived());
+    }
+};
+
+// this is the const ref version
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public internal::SparseRefBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> TPlainObjectType;
+    typedef internal::traits<Ref> Traits;
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    template<typename Derived>
+    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
+    {
+      construct(expr.derived(), typename Traits::template match<Derived>::type());
+    }
+
+    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
+      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+    }
+
+    template<typename OtherRef>
+    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
+      construct(other.derived(), typename Traits::template match<OtherRef>::type());
+    }
+
+    ~Ref() {
+      if(m_hasCopy) {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        obj->~TPlainObjectType();
+      }
+    }
+
+  protected:
+
+    template<typename Expression>
+    void construct(const Expression& expr,internal::true_type)
+    {
+      if((Options & int(StandardCompressedFormat)) && (!expr.isCompressed()))
+      {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        ::new (obj) TPlainObjectType(expr);
+        m_hasCopy = true;
+        Base::construct(*obj);
+      }
+      else
+      {
+        Base::construct(expr);
+      }
+    }
+
+    template<typename Expression>
+    void construct(const Expression& expr, internal::false_type)
+    {
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      ::new (obj) TPlainObjectType(expr);
+      m_hasCopy = true;
+      Base::construct(*obj);
+    }
+
+  protected:
+    char m_object_bytes[sizeof(TPlainObjectType)];
+    bool m_hasCopy;
+};
+
+
+
+/**
+  * \ingroup SparseCore_Module
+  *
+  * \brief A sparse vector expression referencing an existing sparse vector expression
+  *
+  * \tparam SparseVectorType the equivalent sparse vector type of the referenced data, it must be a template instance of class SparseVector.
+  *
+  * \sa class Ref
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType >
+  : public internal::SparseRefBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
+#else
+template<typename SparseVectorType>
+class Ref<SparseVectorType>
+  : public SparseMapBase<Derived,WriteAccessors>
+#endif
+{
+    typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
+    typedef internal::traits<Ref> Traits;
+    template<int OtherOptions>
+    inline Ref(const SparseVector<MatScalar,OtherOptions,MatIndex>& expr);
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<int OtherOptions>
+    inline Ref(SparseVector<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseVector<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      Base::construct(expr.derived());
+    }
+
+    template<typename Derived>
+    inline Ref(const SparseCompressedBase<Derived>& expr)
+    #else
+    /** Implicit constructor from any 1D sparse vector expression */
+    template<typename Derived>
+    inline Ref(SparseCompressedBase<Derived>& expr)
+    #endif
+    {
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      Base::construct(expr.const_cast_derived());
+    }
+};
+
+// this is the const ref version
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public internal::SparseRefBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+    typedef SparseVector<MatScalar,MatOptions,MatIndex> TPlainObjectType;
+    typedef internal::traits<Ref> Traits;
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    template<typename Derived>
+    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
+    {
+      construct(expr.derived(), typename Traits::template match<Derived>::type());
+    }
+
+    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
+      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+    }
+
+    template<typename OtherRef>
+    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
+      construct(other.derived(), typename Traits::template match<OtherRef>::type());
+    }
+
+    ~Ref() {
+      if(m_hasCopy) {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        obj->~TPlainObjectType();
+      }
+    }
+
+  protected:
+
+    template<typename Expression>
+    void construct(const Expression& expr,internal::true_type)
+    {
+      Base::construct(expr);
+    }
+
+    template<typename Expression>
+    void construct(const Expression& expr, internal::false_type)
+    {
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      ::new (obj) TPlainObjectType(expr);
+      m_hasCopy = true;
+      Base::construct(*obj);
+    }
+
+  protected:
+    char m_object_bytes[sizeof(TPlainObjectType)];
+    bool m_hasCopy;
+};
+
+namespace internal {
+
+// FIXME shall we introduce a general evaluatior_ref that we can specialize for any sparse object once, and thus remove this copy-pasta thing...
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_REF_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h b/vendor/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
index 0eda96b..5ab64f1 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -11,14 +11,14 @@
 #define EIGEN_SPARSE_SELFADJOINTVIEW_H
 
 namespace Eigen { 
-
+  
 /** \ingroup SparseCore_Module
   * \class SparseSelfAdjointView
   *
   * \brief Pseudo expression to manipulate a triangular sparse matrix as a selfadjoint matrix.
   *
   * \param MatrixType the type of the dense matrix storing the coefficients
-  * \param UpLo can be either \c #Lower or \c #Upper
+  * \param Mode can be either \c #Lower or \c #Upper
   *
   * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
   * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
@@ -26,38 +26,40 @@ namespace Eigen {
   *
   * \sa SparseMatrixBase::selfadjointView()
   */
-template<typename Lhs, typename Rhs, int UpLo>
-class SparseSelfAdjointTimeDenseProduct;
-
-template<typename Lhs, typename Rhs, int UpLo>
-class DenseTimeSparseSelfAdjointProduct;
-
 namespace internal {
   
-template<typename MatrixType, unsigned int UpLo>
-struct traits<SparseSelfAdjointView<MatrixType,UpLo> > : traits<MatrixType> {
+template<typename MatrixType, unsigned int Mode>
+struct traits<SparseSelfAdjointView<MatrixType,Mode> > : traits<MatrixType> {
 };
 
-template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+template<int SrcMode,int DstMode,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
 
-template<int UpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+template<int Mode,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
 
 }
 
-template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
-  : public EigenBase<SparseSelfAdjointView<MatrixType,UpLo> >
+template<typename MatrixType, unsigned int _Mode> class SparseSelfAdjointView
+  : public EigenBase<SparseSelfAdjointView<MatrixType,_Mode> >
 {
   public:
-
+    
+    enum {
+      Mode = _Mode,
+      TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0),
+      RowsAtCompileTime = internal::traits<SparseSelfAdjointView>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<SparseSelfAdjointView>::ColsAtCompileTime
+    };
+
+    typedef EigenBase<SparseSelfAdjointView> Base;
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Index,Dynamic,1> VectorI;
-    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
     typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
-
-    inline SparseSelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    
+    explicit inline SparseSelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
     {
       eigen_assert(rows()==cols() && "SelfAdjointView is only for squared matrices");
     }
@@ -67,7 +69,7 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
 
     /** \internal \returns a reference to the nested matrix */
     const _MatrixTypeNested& matrix() const { return m_matrix; }
-    _MatrixTypeNested& matrix() { return m_matrix.const_cast_derived(); }
+    typename internal::remove_reference<MatrixTypeNested>::type& matrix() { return m_matrix; }
 
     /** \returns an expression of the matrix product between a sparse self-adjoint matrix \c *this and a sparse matrix \a rhs.
       *
@@ -75,10 +77,10 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
       * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
       */
     template<typename OtherDerived>
-    SparseSparseProduct<typename OtherDerived::PlainObject, OtherDerived>
+    Product<SparseSelfAdjointView, OtherDerived>
     operator*(const SparseMatrixBase<OtherDerived>& rhs) const
     {
-      return SparseSparseProduct<typename OtherDerived::PlainObject, OtherDerived>(*this, rhs.derived());
+      return Product<SparseSelfAdjointView, OtherDerived>(*this, rhs.derived());
     }
 
     /** \returns an expression of the matrix product between a sparse matrix \a lhs and a sparse self-adjoint matrix \a rhs.
@@ -87,26 +89,26 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
       * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
       */
     template<typename OtherDerived> friend
-    SparseSparseProduct<OtherDerived, typename OtherDerived::PlainObject >
+    Product<OtherDerived, SparseSelfAdjointView>
     operator*(const SparseMatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
     {
-      return SparseSparseProduct<OtherDerived, typename OtherDerived::PlainObject>(lhs.derived(), rhs);
+      return Product<OtherDerived, SparseSelfAdjointView>(lhs.derived(), rhs);
     }
     
     /** Efficient sparse self-adjoint matrix times dense vector/matrix product */
     template<typename OtherDerived>
-    SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>
+    Product<SparseSelfAdjointView,OtherDerived>
     operator*(const MatrixBase<OtherDerived>& rhs) const
     {
-      return SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>(m_matrix, rhs.derived());
+      return Product<SparseSelfAdjointView,OtherDerived>(*this, rhs.derived());
     }
 
     /** Efficient dense vector/matrix times sparse self-adjoint matrix product */
     template<typename OtherDerived> friend
-    DenseTimeSparseSelfAdjointProduct<OtherDerived,MatrixType,UpLo>
+    Product<OtherDerived,SparseSelfAdjointView>
     operator*(const MatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
     {
-      return DenseTimeSparseSelfAdjointProduct<OtherDerived,_MatrixTypeNested,UpLo>(lhs.derived(), rhs.m_matrix);
+      return Product<OtherDerived,SparseSelfAdjointView>(lhs.derived(), rhs);
     }
 
     /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
@@ -120,56 +122,48 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
     template<typename DerivedU>
     SparseSelfAdjointView& rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
     
-    /** \internal triggered by sparse_matrix = SparseSelfadjointView; */
-    template<typename DestScalar,int StorageOrder> void evalTo(SparseMatrix<DestScalar,StorageOrder,Index>& _dest) const
-    {
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, _dest);
-    }
-    
-    template<typename DestScalar> void evalTo(DynamicSparseMatrix<DestScalar,ColMajor,Index>& _dest) const
-    {
-      // TODO directly evaluate into _dest;
-      SparseMatrix<DestScalar,ColMajor,Index> tmp(_dest.rows(),_dest.cols());
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, tmp);
-      _dest = tmp;
-    }
-    
     /** \returns an expression of P H P^-1 */
-    SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo> twistedBy(const PermutationMatrix<Dynamic,Dynamic,Index>& perm) const
+    // TODO implement twists in a more evaluator friendly fashion
+    SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
     {
-      return SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo>(m_matrix, perm);
+      return SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode>(m_matrix, perm);
     }
-    
-    template<typename SrcMatrixType,int SrcUpLo>
-    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcUpLo>& permutedMatrix)
+
+    template<typename SrcMatrixType,int SrcMode>
+    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcMode>& permutedMatrix)
     {
-      permutedMatrix.evalTo(*this);
+      internal::call_assignment_no_alias_no_transpose(*this, permutedMatrix);
       return *this;
     }
 
-
     SparseSelfAdjointView& operator=(const SparseSelfAdjointView& src)
     {
-      PermutationMatrix<Dynamic> pnull;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
       return *this = src.twistedBy(pnull);
     }
 
-    template<typename SrcMatrixType,unsigned int SrcUpLo>
-    SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcUpLo>& src)
+    template<typename SrcMatrixType,unsigned int SrcMode>
+    SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcMode>& src)
     {
-      PermutationMatrix<Dynamic> pnull;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
       return *this = src.twistedBy(pnull);
     }
     
-
-    // const SparseLLT<PlainObject, UpLo> llt() const;
-    // const SparseLDLT<PlainObject, UpLo> ldlt() const;
-
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
+                && "SparseSelfadjointView::resize() does not actually allow to resize.");
+    }
+    
   protected:
 
-    typename MatrixType::Nested m_matrix;
-    mutable VectorI m_countPerRow;
-    mutable VectorI m_countPerCol;
+    MatrixTypeNested m_matrix;
+    //mutable VectorI m_countPerRow;
+    //mutable VectorI m_countPerCol;
+  private:
+    template<typename Dest> void evalTo(Dest &) const;
 };
 
 /***************************************************************************
@@ -178,146 +172,268 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
 
 template<typename Derived>
 template<unsigned int UpLo>
-const SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView() const
+typename SparseMatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView() const
 {
-  return derived();
+  return SparseSelfAdjointView<const Derived, UpLo>(derived());
 }
 
 template<typename Derived>
 template<unsigned int UpLo>
-SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView()
+typename SparseMatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView()
 {
-  return derived();
+  return SparseSelfAdjointView<Derived, UpLo>(derived());
 }
 
 /***************************************************************************
 * Implementation of SparseSelfAdjointView methods
 ***************************************************************************/
 
-template<typename MatrixType, unsigned int UpLo>
+template<typename MatrixType, unsigned int Mode>
 template<typename DerivedU>
-SparseSelfAdjointView<MatrixType,UpLo>&
-SparseSelfAdjointView<MatrixType,UpLo>::rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha)
+SparseSelfAdjointView<MatrixType,Mode>&
+SparseSelfAdjointView<MatrixType,Mode>::rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha)
 {
-  SparseMatrix<Scalar,MatrixType::Flags&RowMajorBit?RowMajor:ColMajor> tmp = u * u.adjoint();
+  SparseMatrix<Scalar,(MatrixType::Flags&RowMajorBit)?RowMajor:ColMajor> tmp = u * u.adjoint();
   if(alpha==Scalar(0))
-    m_matrix.const_cast_derived() = tmp.template triangularView<UpLo>();
+    m_matrix = tmp.template triangularView<Mode>();
   else
-    m_matrix.const_cast_derived() += alpha * tmp.template triangularView<UpLo>();
+    m_matrix += alpha * tmp.template triangularView<Mode>();
 
   return *this;
 }
 
+namespace internal {
+  
+// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
+//      in the future selfadjoint-ness should be defined by the expression traits
+//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<SparseSelfAdjointView<MatrixType,Mode> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SparseSelfAdjointShape Shape;
+};
+
+struct SparseSelfAdjoint2Sparse {};
+
+template<> struct AssignmentKind<SparseShape,SparseSelfAdjointShape> { typedef SparseSelfAdjoint2Sparse Kind; };
+template<> struct AssignmentKind<SparseSelfAdjointShape,SparseShape> { typedef Sparse2Sparse Kind; };
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, SparseSelfAdjoint2Sparse>
+{
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  typedef internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> AssignOpType;
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignOpType&/*func*/)
+  {
+    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), dst);
+  }
+
+  // FIXME: the handling of += and -= in sparse matrices should be cleanup so that next two overloads could be reduced to:
+  template<typename DestScalar,int StorageOrder,typename AssignFunc>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignFunc& func)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    call_assignment_no_alias_no_transpose(dst, tmp, func);
+  }
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
+                  const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    dst += tmp;
+  }
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
+                  const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    dst -= tmp;
+  }
+  
+  template<typename DestScalar>
+  static void run(DynamicSparseMatrix<DestScalar,ColMajor,StorageIndex>& dst, const SrcXprType &src, const AssignOpType&/*func*/)
+  {
+    // TODO directly evaluate into dst;
+    SparseMatrix<DestScalar,ColMajor,StorageIndex> tmp(dst.rows(),dst.cols());
+    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), tmp);
+    dst = tmp;
+  }
+};
+
+} // end namespace internal
+
 /***************************************************************************
 * Implementation of sparse self-adjoint time dense matrix
 ***************************************************************************/
 
 namespace internal {
-template<typename Lhs, typename Rhs, int UpLo>
-struct traits<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo> >
- : traits<ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
-{
-  typedef Dense StorageKind;
-};
-}
 
-template<typename Lhs, typename Rhs, int UpLo>
-class SparseSelfAdjointTimeDenseProduct
-  : public ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+template<int Mode, typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
+inline void sparse_selfadjoint_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
 {
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseSelfAdjointTimeDenseProduct)
-
-    SparseSelfAdjointTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
+  EIGEN_ONLY_USED_FOR_DEBUG(alpha);
+  
+  typedef typename internal::nested_eval<SparseLhsType,DenseRhsType::MaxColsAtCompileTime>::type SparseLhsTypeNested;
+  typedef typename internal::remove_all<SparseLhsTypeNested>::type SparseLhsTypeNestedCleaned;
+  typedef evaluator<SparseLhsTypeNestedCleaned> LhsEval;
+  typedef typename LhsEval::InnerIterator LhsIterator;
+  typedef typename SparseLhsType::Scalar LhsScalar;
+  
+  enum {
+    LhsIsRowMajor = (LhsEval::Flags&RowMajorBit)==RowMajorBit,
+    ProcessFirstHalf =
+              ((Mode&(Upper|Lower))==(Upper|Lower))
+          || ( (Mode&Upper) && !LhsIsRowMajor)
+          || ( (Mode&Lower) && LhsIsRowMajor),
+    ProcessSecondHalf = !ProcessFirstHalf
+  };
+  
+  SparseLhsTypeNested lhs_nested(lhs);
+  LhsEval lhsEval(lhs_nested);
 
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  // work on one column at once
+  for (Index k=0; k<rhs.cols(); ++k)
+  {
+    for (Index j=0; j<lhs.outerSize(); ++j)
     {
-      EIGEN_ONLY_USED_FOR_DEBUG(alpha);
-      // TODO use alpha
-      eigen_assert(alpha==Scalar(1) && "alpha != 1 is not implemented yet, sorry");
-      typedef typename internal::remove_all<Lhs>::type _Lhs;
-      typedef typename _Lhs::InnerIterator LhsInnerIterator;
-      enum {
-        LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit,
-        ProcessFirstHalf =
-                 ((UpLo&(Upper|Lower))==(Upper|Lower))
-              || ( (UpLo&Upper) && !LhsIsRowMajor)
-              || ( (UpLo&Lower) && LhsIsRowMajor),
-        ProcessSecondHalf = !ProcessFirstHalf
-      };
-      for (Index j=0; j<m_lhs.outerSize(); ++j)
+      LhsIterator i(lhsEval,j);
+      // handle diagonal coeff
+      if (ProcessSecondHalf)
       {
-        LhsInnerIterator i(m_lhs,j);
-        if (ProcessSecondHalf)
-        {
-          while (i && i.index()<j) ++i;
-          if(i && i.index()==j)
-          {
-            dest.row(j) += i.value() * m_rhs.row(j);
-            ++i;
-          }
-        }
-        for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
+        while (i && i.index()<j) ++i;
+        if(i && i.index()==j)
         {
-          Index a = LhsIsRowMajor ? j : i.index();
-          Index b = LhsIsRowMajor ? i.index() : j;
-          typename Lhs::Scalar v = i.value();
-          dest.row(a) += (v) * m_rhs.row(b);
-          dest.row(b) += numext::conj(v) * m_rhs.row(a);
+          res(j,k) += alpha * i.value() * rhs(j,k);
+          ++i;
         }
-        if (ProcessFirstHalf && i && (i.index()==j))
-          dest.row(j) += i.value() * m_rhs.row(j);
       }
+
+      // premultiplied rhs for scatters
+      typename ScalarBinaryOpTraits<AlphaType, typename DenseRhsType::Scalar>::ReturnType rhs_j(alpha*rhs(j,k));
+      // accumulator for partial scalar product
+      typename DenseResType::Scalar res_j(0);
+      for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
+      {
+        LhsScalar lhs_ij = i.value();
+        if(!LhsIsRowMajor) lhs_ij = numext::conj(lhs_ij);
+        res_j += lhs_ij * rhs(i.index(),k);
+        res(i.index(),k) += numext::conj(lhs_ij) * rhs_j;
+      }
+      res(j,k) += alpha * res_j;
+
+      // handle diagonal coeff
+      if (ProcessFirstHalf && i && (i.index()==j))
+        res(j,k) += alpha * i.value() * rhs(j,k);
     }
+  }
+}
 
-  private:
-    SparseSelfAdjointTimeDenseProduct& operator=(const SparseSelfAdjointTimeDenseProduct&);
+
+template<typename LhsView, typename Rhs, int ProductType>
+struct generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType>
+: generic_product_impl_base<LhsView, Rhs, generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType> >
+{
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const LhsView& lhsView, const Rhs& rhs, const typename Dest::Scalar& alpha)
+  {
+    typedef typename LhsView::_MatrixTypeNested Lhs;
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhsView.matrix());
+    RhsNested rhsNested(rhs);
+    
+    internal::sparse_selfadjoint_time_dense_product<LhsView::Mode>(lhsNested, rhsNested, dst, alpha);
+  }
 };
 
-namespace internal {
-template<typename Lhs, typename Rhs, int UpLo>
-struct traits<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo> >
- : traits<ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
-{};
-}
+template<typename Lhs, typename RhsView, int ProductType>
+struct generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType>
+: generic_product_impl_base<Lhs, RhsView, generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType> >
+{
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const RhsView& rhsView, const typename Dest::Scalar& alpha)
+  {
+    typedef typename RhsView::_MatrixTypeNested Rhs;
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhsView.matrix());
+    
+    // transpose everything
+    Transpose<Dest> dstT(dst);
+    internal::sparse_selfadjoint_time_dense_product<RhsView::TransposeMode>(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
+  }
+};
 
-template<typename Lhs, typename Rhs, int UpLo>
-class DenseTimeSparseSelfAdjointProduct
-  : public ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+// NOTE: these two overloads are needed to evaluate the sparse selfadjoint view into a full sparse matrix
+// TODO: maybe the copy could be handled by generic_product_impl so that these overloads would not be needed anymore
+
+template<typename LhsView, typename Rhs, int ProductTag>
+struct product_evaluator<Product<LhsView, Rhs, DefaultProduct>, ProductTag, SparseSelfAdjointShape, SparseShape>
+  : public evaluator<typename Product<typename Rhs::PlainObject, Rhs, DefaultProduct>::PlainObject>
 {
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseSelfAdjointProduct)
+  typedef Product<LhsView, Rhs, DefaultProduct> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
 
-    DenseTimeSparseSelfAdjointProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
+  product_evaluator(const XprType& xpr)
+    : m_lhs(xpr.lhs()), m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<typename Rhs::PlainObject, Rhs, SparseShape, SparseShape, ProductTag>::evalTo(m_result, m_lhs, xpr.rhs());
+  }
+  
+protected:
+  typename Rhs::PlainObject m_lhs;
+  PlainObject m_result;
+};
 
-    template<typename Dest> void scaleAndAddTo(Dest& /*dest*/, const Scalar& /*alpha*/) const
-    {
-      // TODO
-    }
+template<typename Lhs, typename RhsView, int ProductTag>
+struct product_evaluator<Product<Lhs, RhsView, DefaultProduct>, ProductTag, SparseShape, SparseSelfAdjointShape>
+  : public evaluator<typename Product<Lhs, typename Lhs::PlainObject, DefaultProduct>::PlainObject>
+{
+  typedef Product<Lhs, RhsView, DefaultProduct> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
 
-  private:
-    DenseTimeSparseSelfAdjointProduct& operator=(const DenseTimeSparseSelfAdjointProduct&);
+  product_evaluator(const XprType& xpr)
+    : m_rhs(xpr.rhs()), m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, typename Lhs::PlainObject, SparseShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), m_rhs);
+  }
+  
+protected:
+  typename Lhs::PlainObject m_rhs;
+  PlainObject m_result;
 };
 
+} // namespace internal
+
 /***************************************************************************
 * Implementation of symmetric copies and permutations
 ***************************************************************************/
 namespace internal {
-  
-template<typename MatrixType, int UpLo>
-struct traits<SparseSymmetricPermutationProduct<MatrixType,UpLo> > : traits<MatrixType> {
-};
 
-template<int UpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+template<int Mode,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::Scalar Scalar;
-  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
-  typedef Matrix<Index,Dynamic,1> VectorI;
+  typedef SparseMatrix<Scalar,DestOrder,StorageIndex> Dest;
+  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+  typedef evaluator<MatrixType> MatEval;
+  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
   
+  MatEval matEval(mat);
   Dest& dest(_dest.derived());
   enum {
     StorageOrderMatch = int(Dest::IsRowMajor) == int(MatrixType::IsRowMajor)
@@ -331,17 +447,17 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
   for(Index j = 0; j<size; ++j)
   {
     Index jp = perm ? perm[j] : j;
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
       Index i = it.index();
       Index r = it.row();
       Index c = it.col();
       Index ip = perm ? perm[i] : i;
-      if(UpLo==(Upper|Lower))
+      if(Mode==(Upper|Lower))
         count[StorageOrderMatch ? jp : ip]++;
       else if(r==c)
         count[ip]++;
-      else if(( UpLo==Lower && r>c) || ( UpLo==Upper && r<c))
+      else if(( Mode==Lower && r>c) || ( Mode==Upper && r<c))
       {
         count[ip]++;
         count[jp]++;
@@ -359,18 +475,18 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
     count[j] = dest.outerIndexPtr()[j];
   
   // copy data
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = internal::convert_index<StorageIndex>(it.index());
       Index r = it.row();
       Index c = it.col();
       
-      Index jp = perm ? perm[j] : j;
-      Index ip = perm ? perm[i] : i;
+      StorageIndex jp = perm ? perm[j] : j;
+      StorageIndex ip = perm ? perm[i] : i;
       
-      if(UpLo==(Upper|Lower))
+      if(Mode==(Upper|Lower))
       {
         Index k = count[StorageOrderMatch ? jp : ip]++;
         dest.innerIndexPtr()[k] = StorageOrderMatch ? ip : jp;
@@ -382,7 +498,7 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
         dest.innerIndexPtr()[k] = ip;
         dest.valuePtr()[k] = it.value();
       }
-      else if(( (UpLo&Lower)==Lower && r>c) || ( (UpLo&Upper)==Upper && r<c))
+      else if(( (Mode&Lower)==Lower && r>c) || ( (Mode&Upper)==Upper && r<c))
       {
         if(!StorageOrderMatch)
           std::swap(ip,jp);
@@ -397,35 +513,40 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
   }
 }
 
-template<int _SrcUpLo,int _DstUpLo,typename MatrixType,int DstOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DstOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+template<int _SrcMode,int _DstMode,typename MatrixType,int DstOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DstOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::Scalar Scalar;
-  SparseMatrix<Scalar,DstOrder,Index>& dest(_dest.derived());
-  typedef Matrix<Index,Dynamic,1> VectorI;
+  SparseMatrix<Scalar,DstOrder,StorageIndex>& dest(_dest.derived());
+  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+  typedef evaluator<MatrixType> MatEval;
+  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
+
   enum {
     SrcOrder = MatrixType::IsRowMajor ? RowMajor : ColMajor,
     StorageOrderMatch = int(SrcOrder) == int(DstOrder),
-    DstUpLo = DstOrder==RowMajor ? (_DstUpLo==Upper ? Lower : Upper) : _DstUpLo,
-    SrcUpLo = SrcOrder==RowMajor ? (_SrcUpLo==Upper ? Lower : Upper) : _SrcUpLo
+    DstMode = DstOrder==RowMajor ? (_DstMode==Upper ? Lower : Upper) : _DstMode,
+    SrcMode = SrcOrder==RowMajor ? (_SrcMode==Upper ? Lower : Upper) : _SrcMode
   };
+
+  MatEval matEval(mat);
   
   Index size = mat.rows();
   VectorI count(size);
   count.setZero();
   dest.resize(size,size);
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
-    Index jp = perm ? perm[j] : j;
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    StorageIndex jp = perm ? perm[j] : j;
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
-      if((int(SrcUpLo)==int(Lower) && i<j) || (int(SrcUpLo)==int(Upper) && i>j))
+      StorageIndex i = it.index();
+      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
         continue;
                   
-      Index ip = perm ? perm[i] : i;
-      count[int(DstUpLo)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+      StorageIndex ip = perm ? perm[i] : i;
+      count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
     }
   }
   dest.outerIndexPtr()[0] = 0;
@@ -435,23 +556,23 @@ void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixTyp
   for(Index j=0; j<size; ++j)
     count[j] = dest.outerIndexPtr()[j];
   
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
     
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
-      if((int(SrcUpLo)==int(Lower) && i<j) || (int(SrcUpLo)==int(Upper) && i>j))
+      StorageIndex i = it.index();
+      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
         continue;
                   
-      Index jp = perm ? perm[j] : j;
-      Index ip = perm? perm[i] : i;
+      StorageIndex jp = perm ? perm[j] : j;
+      StorageIndex ip = perm? perm[i] : i;
       
-      Index k = count[int(DstUpLo)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
-      dest.innerIndexPtr()[k] = int(DstUpLo)==int(Lower) ? (std::max)(ip,jp) : (std::min)(ip,jp);
+      Index k = count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+      dest.innerIndexPtr()[k] = int(DstMode)==int(Lower) ? (std::max)(ip,jp) : (std::min)(ip,jp);
       
       if(!StorageOrderMatch) std::swap(ip,jp);
-      if( ((int(DstUpLo)==int(Lower) && ip<jp) || (int(DstUpLo)==int(Upper) && ip>jp)))
+      if( ((int(DstMode)==int(Lower) && ip<jp) || (int(DstMode)==int(Upper) && ip>jp)))
         dest.valuePtr()[k] = numext::conj(it.value());
       else
         dest.valuePtr()[k] = it.value();
@@ -461,19 +582,33 @@ void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixTyp
 
 }
 
-template<typename MatrixType,int UpLo>
+// TODO implement twists in a more evaluator friendly fashion
+
+namespace internal {
+
+template<typename MatrixType, int Mode>
+struct traits<SparseSymmetricPermutationProduct<MatrixType,Mode> > : traits<MatrixType> {
+};
+
+}
+
+template<typename MatrixType,int Mode>
 class SparseSymmetricPermutationProduct
-  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,UpLo> >
+  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,Mode> >
 {
   public:
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    enum {
+      RowsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::ColsAtCompileTime
+    };
   protected:
-    typedef PermutationMatrix<Dynamic,Dynamic,Index> Perm;
+    typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> Perm;
   public:
-    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
     typedef typename MatrixType::Nested MatrixTypeNested;
-    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type NestedExpression;
     
     SparseSymmetricPermutationProduct(const MatrixType& mat, const Perm& perm)
       : m_matrix(mat), m_perm(perm)
@@ -481,20 +616,9 @@ class SparseSymmetricPermutationProduct
     
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
-    
-    template<typename DestScalar, int Options, typename DstIndex>
-    void evalTo(SparseMatrix<DestScalar,Options,DstIndex>& _dest) const
-    {
-//       internal::permute_symm_to_fullsymm<UpLo>(m_matrix,_dest,m_perm.indices().data());
-      SparseMatrix<DestScalar,(Options&RowMajor)==RowMajor ? ColMajor : RowMajor, DstIndex> tmp;
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix,tmp,m_perm.indices().data());
-      _dest = tmp;
-    }
-    
-    template<typename DestType,unsigned int DestUpLo> void evalTo(SparseSelfAdjointView<DestType,DestUpLo>& dest) const
-    {
-      internal::permute_symm_to_symm<UpLo,DestUpLo>(m_matrix,dest.matrix(),m_perm.indices().data());
-    }
+        
+    const NestedExpression& matrix() const { return m_matrix; }
+    const Perm& perm() const { return m_perm; }
     
   protected:
     MatrixTypeNested m_matrix;
@@ -502,6 +626,31 @@ class SparseSymmetricPermutationProduct
 
 };
 
+namespace internal {
+  
+template<typename DstXprType, typename MatrixType, int Mode, typename Scalar>
+struct Assignment<DstXprType, SparseSymmetricPermutationProduct<MatrixType,Mode>, internal::assign_op<Scalar,typename MatrixType::Scalar>, Sparse2Sparse>
+{
+  typedef SparseSymmetricPermutationProduct<MatrixType,Mode> SrcXprType;
+  typedef typename DstXprType::StorageIndex DstIndex;
+  template<int Options>
+  static void run(SparseMatrix<Scalar,Options,DstIndex> &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
+  {
+    // internal::permute_symm_to_fullsymm<Mode>(m_matrix,_dest,m_perm.indices().data());
+    SparseMatrix<Scalar,(Options&RowMajor)==RowMajor ? ColMajor : RowMajor, DstIndex> tmp;
+    internal::permute_symm_to_fullsymm<Mode>(src.matrix(),tmp,src.perm().indices().data());
+    dst = tmp;
+  }
+  
+  template<typename DestType,unsigned int DestMode>
+  static void run(SparseSelfAdjointView<DestType,DestMode>& dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
+  {
+    internal::permute_symm_to_symm<Mode,DestMode>(src.matrix(),dst.matrix(),src.perm().indices().data());
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseSolverBase.h b/vendor/eigen/Eigen/src/SparseCore/SparseSolverBase.h
new file mode 100644
index 0000000..b4c9a42
--- /dev/null
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseSolverBase.h
@@ -0,0 +1,124 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud at 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_SPARSESOLVERBASE_H
+#define EIGEN_SPARSESOLVERBASE_H
+
+namespace Eigen { 
+
+namespace internal {
+
+  /** \internal
+  * Helper functions to solve with a sparse right-hand-side and result.
+  * The rhs is decomposed into small vertical panels which are solved through dense temporaries.
+  */
+template<typename Decomposition, typename Rhs, typename Dest>
+typename enable_if<Rhs::ColsAtCompileTime!=1 && Dest::ColsAtCompileTime!=1>::type
+solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
+{
+  EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  typedef typename Dest::Scalar DestScalar;
+  // we process the sparse rhs per block of NbColsAtOnce columns temporarily stored into a dense matrix.
+  static const Index NbColsAtOnce = 4;
+  Index rhsCols = rhs.cols();
+  Index size = rhs.rows();
+  // the temporary matrices do not need more columns than NbColsAtOnce:
+  Index tmpCols = (std::min)(rhsCols, NbColsAtOnce); 
+  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmp(size,tmpCols);
+  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmpX(size,tmpCols);
+  for(Index k=0; k<rhsCols; k+=NbColsAtOnce)
+  {
+    Index actualCols = std::min<Index>(rhsCols-k, NbColsAtOnce);
+    tmp.leftCols(actualCols) = rhs.middleCols(k,actualCols);
+    tmpX.leftCols(actualCols) = dec.solve(tmp.leftCols(actualCols));
+    dest.middleCols(k,actualCols) = tmpX.leftCols(actualCols).sparseView();
+  }
+}
+
+// Overload for vector as rhs
+template<typename Decomposition, typename Rhs, typename Dest>
+typename enable_if<Rhs::ColsAtCompileTime==1 || Dest::ColsAtCompileTime==1>::type
+solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
+{
+  typedef typename Dest::Scalar DestScalar;
+  Index size = rhs.rows();
+  Eigen::Matrix<DestScalar,Dynamic,1> rhs_dense(rhs);
+  Eigen::Matrix<DestScalar,Dynamic,1> dest_dense(size);
+  dest_dense = dec.solve(rhs_dense);
+  dest = dest_dense.sparseView();
+}
+
+} // end namespace internal
+
+/** \class SparseSolverBase
+  * \ingroup SparseCore_Module
+  * \brief A base class for sparse solvers
+  *
+  * \tparam Derived the actual type of the solver.
+  *
+  */
+template<typename Derived>
+class SparseSolverBase : internal::noncopyable
+{
+  public:
+
+    /** Default constructor */
+    SparseSolverBase()
+      : m_isInitialized(false)
+    {}
+
+    ~SparseSolverBase()
+    {}
+
+    Derived& derived() { return *static_cast<Derived*>(this); }
+    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * \sa compute()
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "Solver is not initialized.");
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+    
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * \sa compute()
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const SparseMatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "Solver is not initialized.");
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal default implementation of solving with a sparse rhs */
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(derived(), b.derived(), dest.derived());
+    }
+    #endif // EIGEN_PARSED_BY_DOXYGEN
+
+  protected:
+    
+    mutable bool m_isInitialized;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSESOLVERBASE_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h b/vendor/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
index fcc18f5..21c4190 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -22,7 +22,7 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
   // return sparse_sparse_product_with_pruning_impl2(lhs,rhs,res);
 
   typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  typedef typename remove_all<Lhs>::type::Index Index;
+  typedef typename remove_all<Lhs>::type::StorageIndex StorageIndex;
 
   // make sure to call innerSize/outerSize since we fake the storage order.
   Index rows = lhs.innerSize();
@@ -31,24 +31,27 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
   eigen_assert(lhs.outerSize() == rhs.innerSize());
 
   // allocate a temporary buffer
-  AmbiVector<Scalar,Index> tempVector(rows);
+  AmbiVector<Scalar,StorageIndex> tempVector(rows);
 
+  // mimics a resizeByInnerOuter:
+  if(ResultType::IsRowMajor)
+    res.resize(cols, rows);
+  else
+    res.resize(rows, cols);
+  
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+  
   // estimate the number of non zero entries
   // given a rhs column containing Y non zeros, we assume that the respective Y columns
   // of the lhs differs in average of one non zeros, thus the number of non zeros for
   // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
   // per column of the lhs.
   // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhs.nonZeros() + rhs.nonZeros();
-
-  // mimics a resizeByInnerOuter:
-  if(ResultType::IsRowMajor)
-    res.resize(cols, rows);
-  else
-    res.resize(rows, cols);
+  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
 
   res.reserve(estimated_nnz_prod);
-  double ratioColRes = double(estimated_nnz_prod)/double(lhs.rows()*rhs.cols());
+  double ratioColRes = double(estimated_nnz_prod)/(double(lhs.rows())*double(rhs.cols()));
   for (Index j=0; j<cols; ++j)
   {
     // FIXME:
@@ -56,18 +59,18 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
     // let's do a more accurate determination of the nnz ratio for the current column j of res
     tempVector.init(ratioColRes);
     tempVector.setZero();
-    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
     {
       // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
       tempVector.restart();
       Scalar x = rhsIt.value();
-      for (typename Lhs::InnerIterator lhsIt(lhs, rhsIt.index()); lhsIt; ++lhsIt)
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, rhsIt.index()); lhsIt; ++lhsIt)
       {
         tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
       }
     }
     res.startVec(j);
-    for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector,tolerance); it; ++it)
+    for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector,tolerance); it; ++it)
       res.insertBackByOuterInner(j,it.index()) = it.value();
   }
   res.finalize();
@@ -100,7 +103,7 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,C
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
   {
     // we need a col-major matrix to hold the result
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> SparseTemporaryType;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> SparseTemporaryType;
     SparseTemporaryType _res(res.rows(), res.cols());
     internal::sparse_sparse_product_with_pruning_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res, tolerance);
     res = _res;
@@ -126,8 +129,8 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,R
   typedef typename ResultType::RealScalar RealScalar;
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::Index> ColMajorMatrixLhs;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::Index> ColMajorMatrixRhs;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
     ColMajorMatrixLhs colLhs(lhs);
     ColMajorMatrixRhs colRhs(rhs);
     internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,ColMajorMatrixRhs,ResultType>(colLhs, colRhs, res, tolerance);
@@ -140,8 +143,53 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,R
   }
 };
 
-// NOTE the 2 others cases (col row *) must never occur since they are caught
-// by ProductReturnType which transforms it to (col col *) by evaluating rhs.
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixLhs;
+    RowMajorMatrixLhs rowLhs(lhs);
+    sparse_sparse_product_with_pruning_selector<RowMajorMatrixLhs,Rhs,ResultType,RowMajor,RowMajor>(rowLhs,rhs,res,tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixRhs;
+    RowMajorMatrixRhs rowRhs(rhs);
+    sparse_sparse_product_with_pruning_selector<Lhs,RowMajorMatrixRhs,ResultType,RowMajor,RowMajor,RowMajor>(lhs,rowRhs,res,tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
+    ColMajorMatrixRhs colRhs(rhs);
+    internal::sparse_sparse_product_with_pruning_impl<Lhs,ColMajorMatrixRhs,ResultType>(lhs, colRhs, res, tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
+    ColMajorMatrixLhs colLhs(lhs);
+    internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,Rhs,ResultType>(colLhs, rhs, res, tolerance);
+  }
+};
 
 } // end namespace internal
 
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseTranspose.h b/vendor/eigen/Eigen/src/SparseCore/SparseTranspose.h
index 76d031d..3757d4c 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseTranspose.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseTranspose.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -12,52 +12,81 @@
 
 namespace Eigen { 
 
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
-  : public SparseMatrixBase<Transpose<MatrixType> >
-{
-    typedef typename internal::remove_all<typename MatrixType::Nested>::type _MatrixTypeNested;
+namespace internal {
+  template<typename MatrixType,int CompressedAccess=int(MatrixType::Flags&CompressedAccessBit)>
+  class SparseTransposeImpl
+    : public SparseMatrixBase<Transpose<MatrixType> >
+  {};
+  
+  template<typename MatrixType>
+  class SparseTransposeImpl<MatrixType,CompressedAccessBit>
+    : public SparseCompressedBase<Transpose<MatrixType> >
+  {
+    typedef SparseCompressedBase<Transpose<MatrixType> > Base;
   public:
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Transpose<MatrixType> )
-
-    class InnerIterator;
-    class ReverseInnerIterator;
+    using Base::derived;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
 
     inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
-};
+    
+    inline const Scalar* valuePtr() const { return derived().nestedExpression().valuePtr(); }
+    inline const StorageIndex* innerIndexPtr() const { return derived().nestedExpression().innerIndexPtr(); }
+    inline const StorageIndex* outerIndexPtr() const { return derived().nestedExpression().outerIndexPtr(); }
+    inline const StorageIndex* innerNonZeroPtr() const { return derived().nestedExpression().innerNonZeroPtr(); }
 
-// NOTE: VC10 and VC11 trigger an ICE if don't put typename TransposeImpl<MatrixType,Sparse>:: in front of Index,
-// a typedef typename TransposeImpl<MatrixType,Sparse>::Index Index;
-// does not fix the issue.
-// An alternative is to define the nested class in the parent class itself.
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::InnerIterator
-  : public _MatrixTypeNested::InnerIterator
+    inline Scalar* valuePtr() { return derived().nestedExpression().valuePtr(); }
+    inline StorageIndex* innerIndexPtr() { return derived().nestedExpression().innerIndexPtr(); }
+    inline StorageIndex* outerIndexPtr() { return derived().nestedExpression().outerIndexPtr(); }
+    inline StorageIndex* innerNonZeroPtr() { return derived().nestedExpression().innerNonZeroPtr(); }
+  };
+}
+  
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
+  : public internal::SparseTransposeImpl<MatrixType>
 {
-    typedef typename _MatrixTypeNested::InnerIterator Base;
-    typedef typename TransposeImpl::Index Index;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const TransposeImpl& trans, typename TransposeImpl<MatrixType,Sparse>::Index outer)
-      : Base(trans.derived().nestedExpression(), outer)
-    {}
-    typename TransposeImpl<MatrixType,Sparse>::Index row() const { return Base::col(); }
-    typename TransposeImpl<MatrixType,Sparse>::Index col() const { return Base::row(); }
+  protected:
+    typedef internal::SparseTransposeImpl<MatrixType> Base;
 };
 
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::ReverseInnerIterator
-  : public _MatrixTypeNested::ReverseInnerIterator
+namespace internal {
+  
+template<typename ArgType>
+struct unary_evaluator<Transpose<ArgType>, IteratorBased>
+  : public evaluator_base<Transpose<ArgType> >
 {
-    typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
-    typedef typename TransposeImpl::Index Index;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
   public:
+    typedef Transpose<ArgType> XprType;
+    
+    inline Index nonZerosEstimate() const {
+      return m_argImpl.nonZerosEstimate();
+    }
 
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const TransposeImpl& xpr, typename TransposeImpl<MatrixType,Sparse>::Index outer)
-      : Base(xpr.derived().nestedExpression(), outer)
-    {}
-    typename TransposeImpl<MatrixType,Sparse>::Index row() const { return Base::col(); }
-    typename TransposeImpl<MatrixType,Sparse>::Index col() const { return Base::row(); }
+    class InnerIterator : public EvalIterator
+    {
+    public:
+      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+        : EvalIterator(unaryOp.m_argImpl,outer)
+      {}
+      
+      Index row() const { return EvalIterator::col(); }
+      Index col() const { return EvalIterator::row(); }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) :m_argImpl(op.nestedExpression()) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseTriangularView.h b/vendor/eigen/Eigen/src/SparseCore/SparseTriangularView.h
index 333127b..9ac1202 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseTriangularView.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseTriangularView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam at inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,19 +11,19 @@
 #ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
 #define EIGEN_SPARSE_TRIANGULARVIEW_H
 
-namespace Eigen { 
-
-namespace internal {
-  
-template<typename MatrixType, int Mode>
-struct traits<SparseTriangularView<MatrixType,Mode> >
-: public traits<MatrixType>
-{};
-
-} // namespace internal
-
-template<typename MatrixType, int Mode> class SparseTriangularView
-  : public SparseMatrixBase<SparseTriangularView<MatrixType,Mode> >
+namespace Eigen {
+
+/** \ingroup SparseCore_Module
+  *
+  * \brief Base class for a triangular part in a \b sparse matrix
+  *
+  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
+  * It extends class TriangularView with additional methods which are available for sparse expressions only.
+  *
+  * \sa class TriangularView, SparseMatrixBase::triangularView()
+  */
+template<typename MatrixType, unsigned int Mode> class TriangularViewImpl<MatrixType,Mode,Sparse>
+  : public SparseMatrixBase<TriangularView<MatrixType,Mode> >
 {
     enum { SkipFirst = ((Mode&Lower) && !(MatrixType::Flags&RowMajorBit))
                     || ((Mode&Upper) &&  (MatrixType::Flags&RowMajorBit)),
@@ -31,147 +31,157 @@ template<typename MatrixType, int Mode> class SparseTriangularView
            SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
            HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
     };
+    
+    typedef TriangularView<MatrixType,Mode> TriangularViewType;
+    
+  protected:
+    // dummy solve function to make TriangularView happy.
+    void solve() const;
 
+    typedef SparseMatrixBase<TriangularViewType> Base;
   public:
     
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseTriangularView)
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
+    EIGEN_SPARSE_PUBLIC_INTERFACE(TriangularViewType)
+    
     typedef typename MatrixType::Nested MatrixTypeNested;
     typedef typename internal::remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
     typedef typename internal::remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
 
-    inline SparseTriangularView(const MatrixType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type
-    solve(const MatrixBase<OtherDerived>& other) const;
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
+      if(!(internal::is_same<RhsType,DstType>::value && internal::extract_data(dst) == internal::extract_data(rhs)))
+        dst = rhs;
+      this->solveInPlace(dst);
+    }
 
+    /** Applies the inverse of \c *this to the dense vector or matrix \a other, "in-place" */
     template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
-    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
 
-  protected:
-    MatrixTypeNested m_matrix;
+    /** Applies the inverse of \c *this to the sparse vector or matrix \a other, "in-place" */
+    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
+  
 };
 
-template<typename MatrixType, int Mode>
-class SparseTriangularView<MatrixType,Mode>::InnerIterator : public MatrixTypeNestedCleaned::InnerIterator
+namespace internal {
+
+template<typename ArgType, unsigned int Mode>
+struct unary_evaluator<TriangularView<ArgType,Mode>, IteratorBased>
+ : evaluator_base<TriangularView<ArgType,Mode> >
 {
-    typedef typename MatrixTypeNestedCleaned::InnerIterator Base;
-    typedef typename SparseTriangularView::Index Index;
-  public:
+  typedef TriangularView<ArgType,Mode> XprType;
+  
+protected:
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+  
+  enum { SkipFirst = ((Mode&Lower) && !(ArgType::Flags&RowMajorBit))
+                    || ((Mode&Upper) &&  (ArgType::Flags&RowMajorBit)),
+         SkipLast = !SkipFirst,
+         SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
+         HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
+  };
+  
+public:
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    Flags = XprType::Flags
+  };
+    
+  explicit unary_evaluator(const XprType &xpr) : m_argImpl(xpr.nestedExpression()), m_arg(xpr.nestedExpression()) {}
+  
+  inline Index nonZerosEstimate() const {
+    return m_argImpl.nonZerosEstimate();
+  }
+  
+  class InnerIterator : public EvalIterator
+  {
+      typedef EvalIterator Base;
+    public:
 
-    EIGEN_STRONG_INLINE InnerIterator(const SparseTriangularView& view, Index outer)
-      : Base(view.nestedExpression(), outer), m_returnOne(false)
-    {
-      if(SkipFirst)
+      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& xprEval, Index outer)
+        : Base(xprEval.m_argImpl,outer), m_returnOne(false), m_containsDiag(Base::outer()<xprEval.m_arg.innerSize())
       {
-        while((*this) && ((HasUnitDiag||SkipDiag)  ? this->index()<=outer : this->index()<outer))
-          Base::operator++();
-        if(HasUnitDiag)
-          m_returnOne = true;
+        if(SkipFirst)
+        {
+          while((*this) && ((HasUnitDiag||SkipDiag)  ? this->index()<=outer : this->index()<outer))
+            Base::operator++();
+          if(HasUnitDiag)
+            m_returnOne = m_containsDiag;
+        }
+        else if(HasUnitDiag && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+        {
+          if((!SkipFirst) && Base::operator bool())
+            Base::operator++();
+          m_returnOne = m_containsDiag;
+        }
       }
-      else if(HasUnitDiag && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+
+      EIGEN_STRONG_INLINE InnerIterator& operator++()
       {
-        if((!SkipFirst) && Base::operator bool())
+        if(HasUnitDiag && m_returnOne)
+          m_returnOne = false;
+        else
+        {
           Base::operator++();
-        m_returnOne = true;
+          if(HasUnitDiag && (!SkipFirst) && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+          {
+            if((!SkipFirst) && Base::operator bool())
+              Base::operator++();
+            m_returnOne = m_containsDiag;
+          }
+        }
+        return *this;
       }
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      if(HasUnitDiag && m_returnOne)
-        m_returnOne = false;
-      else
+      
+      EIGEN_STRONG_INLINE operator bool() const
       {
-        Base::operator++();
-        if(HasUnitDiag && (!SkipFirst) && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+        if(HasUnitDiag && m_returnOne)
+          return true;
+        if(SkipFirst) return  Base::operator bool();
+        else
         {
-          if((!SkipFirst) && Base::operator bool())
-            Base::operator++();
-          m_returnOne = true;
+          if (SkipDiag) return (Base::operator bool() && this->index() < this->outer());
+          else return (Base::operator bool() && this->index() <= this->outer());
         }
       }
-      return *this;
-    }
-
-    inline Index row() const { return (MatrixType::Flags&RowMajorBit ? Base::outer() : this->index()); }
-    inline Index col() const { return (MatrixType::Flags&RowMajorBit ? this->index() : Base::outer()); }
-    inline Index index() const
-    {
-      if(HasUnitDiag && m_returnOne)  return Base::outer();
-      else                            return Base::index();
-    }
-    inline Scalar value() const
-    {
-      if(HasUnitDiag && m_returnOne)  return Scalar(1);
-      else                            return Base::value();
-    }
 
-    EIGEN_STRONG_INLINE operator bool() const
-    {
-      if(HasUnitDiag && m_returnOne)
-        return true;
-      if(SkipFirst) return  Base::operator bool();
-      else
+//       inline Index row() const { return (ArgType::Flags&RowMajorBit ? Base::outer() : this->index()); }
+//       inline Index col() const { return (ArgType::Flags&RowMajorBit ? this->index() : Base::outer()); }
+      inline StorageIndex index() const
       {
-        if (SkipDiag) return (Base::operator bool() && this->index() < this->outer());
-        else return (Base::operator bool() && this->index() <= this->outer());
+        if(HasUnitDiag && m_returnOne)  return internal::convert_index<StorageIndex>(Base::outer());
+        else                            return Base::index();
       }
-    }
-  protected:
-    bool m_returnOne;
-};
-
-template<typename MatrixType, int Mode>
-class SparseTriangularView<MatrixType,Mode>::ReverseInnerIterator : public MatrixTypeNestedCleaned::ReverseInnerIterator
-{
-    typedef typename MatrixTypeNestedCleaned::ReverseInnerIterator Base;
-    typedef typename SparseTriangularView::Index Index;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const SparseTriangularView& view, Index outer)
-      : Base(view.nestedExpression(), outer)
-    {
-      eigen_assert((!HasUnitDiag) && "ReverseInnerIterator does not support yet triangular views with a unit diagonal");
-      if(SkipLast) {
-        while((*this) && (SkipDiag ? this->index()>=outer : this->index()>outer))
-          --(*this);
-      }
-    }
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    inline Index row() const { return Base::row(); }
-    inline Index col() const { return Base::col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const
-    {
-      if (SkipLast) return Base::operator bool() ;
-      else
+      inline Scalar value() const
       {
-        if(SkipDiag) return (Base::operator bool() && this->index() > this->outer());
-        else return (Base::operator bool() && this->index() >= this->outer());
+        if(HasUnitDiag && m_returnOne)  return Scalar(1);
+        else                            return Base::value();
       }
-    }
+
+    protected:
+      bool m_returnOne;
+      bool m_containsDiag;
+    private:
+      Scalar& valueRef();
+  };
+  
+protected:
+  evaluator<ArgType> m_argImpl;
+  const ArgType& m_arg;
 };
 
+} // end namespace internal
+
 template<typename Derived>
 template<int Mode>
-inline const SparseTriangularView<Derived, Mode>
+inline const TriangularView<const Derived, Mode>
 SparseMatrixBase<Derived>::triangularView() const
 {
-  return derived();
+  return TriangularView<const Derived, Mode>(derived());
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseUtil.h b/vendor/eigen/Eigen/src/SparseCore/SparseUtil.h
index d627546..74df0d4 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseUtil.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseUtil.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -37,42 +37,23 @@ EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
 }
 
 #define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
-
-#define _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, BaseClass) \
-  typedef BaseClass Base; \
-  typedef typename Eigen::internal::traits<Derived >::Scalar Scalar; \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-  typedef typename Eigen::internal::nested<Derived >::type Nested; \
-  typedef typename Eigen::internal::traits<Derived >::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived >::Index Index; \
-  enum { RowsAtCompileTime = Eigen::internal::traits<Derived >::RowsAtCompileTime, \
-        ColsAtCompileTime = Eigen::internal::traits<Derived >::ColsAtCompileTime, \
-        Flags = Eigen::internal::traits<Derived >::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived >::CoeffReadCost, \
-        SizeAtCompileTime = Base::SizeAtCompileTime, \
-        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
-  using Base::derived; \
-  using Base::const_cast_derived;
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =)
+
 
 #define EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) \
-  _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, Eigen::SparseMatrixBase<Derived >)
+  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived)
 
+  
 const int CoherentAccessPattern     = 0x1;
 const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
 const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
 const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
 
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class DynamicSparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseVector;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class MappedSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class DynamicSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseVector;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class MappedSparseMatrix;
 
-template<typename MatrixType, int Mode>           class SparseTriangularView;
 template<typename MatrixType, unsigned int UpLo>  class SparseSelfAdjointView;
 template<typename Lhs, typename Rhs>              class SparseDiagonalProduct;
 template<typename MatrixType> class SparseView;
@@ -84,42 +65,44 @@ template<typename Lhs, typename Rhs, bool Transpose> class SparseDenseOuterProdu
 
 template<typename Lhs, typename Rhs> struct SparseSparseProductReturnType;
 template<typename Lhs, typename Rhs,
-         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct DenseSparseProductReturnType;         
+         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct DenseSparseProductReturnType;
+         
 template<typename Lhs, typename Rhs,
          int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct SparseDenseProductReturnType;
 template<typename MatrixType,int UpLo> class SparseSymmetricPermutationProduct;
 
 namespace internal {
 
-template<typename T,int Rows,int Cols> struct sparse_eval;
+template<typename T,int Rows,int Cols,int Flags> struct sparse_eval;
 
 template<typename T> struct eval<T,Sparse>
-  : public sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime>
+  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime,traits<T>::Flags>
 {};
 
-template<typename T,int Cols> struct sparse_eval<T,1,Cols> {
+template<typename T,int Cols,int Flags> struct sparse_eval<T,1,Cols,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
+    typedef typename traits<T>::StorageIndex _StorageIndex;
   public:
-    typedef SparseVector<_Scalar, RowMajor, _Index> type;
+    typedef SparseVector<_Scalar, RowMajor, _StorageIndex> type;
 };
 
-template<typename T,int Rows> struct sparse_eval<T,Rows,1> {
+template<typename T,int Rows,int Flags> struct sparse_eval<T,Rows,1,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
+    typedef typename traits<T>::StorageIndex _StorageIndex;
   public:
-    typedef SparseVector<_Scalar, ColMajor, _Index> type;
+    typedef SparseVector<_Scalar, ColMajor, _StorageIndex> type;
 };
 
-template<typename T,int Rows,int Cols> struct sparse_eval {
+// TODO this seems almost identical to plain_matrix_type<T, Sparse>
+template<typename T,int Rows,int Cols,int Flags> struct sparse_eval {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
-    enum { _Options = ((traits<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
+    typedef typename traits<T>::StorageIndex _StorageIndex;
+    enum { _Options = ((Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
   public:
-    typedef SparseMatrix<_Scalar, _Options, _Index> type;
+    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
 };
 
-template<typename T> struct sparse_eval<T,1,1> {
+template<typename T,int Flags> struct sparse_eval<T,1,1,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
   public:
     typedef Matrix<_Scalar, 1, 1> type;
@@ -128,12 +111,35 @@ template<typename T> struct sparse_eval<T,1,1> {
 template<typename T> struct plain_matrix_type<T,Sparse>
 {
   typedef typename traits<T>::Scalar _Scalar;
-  typedef typename traits<T>::Index _Index;
-  enum { _Options = ((traits<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
+  typedef typename traits<T>::StorageIndex _StorageIndex;
+  enum { _Options = ((evaluator<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
   public:
-    typedef SparseMatrix<_Scalar, _Options, _Index> type;
+    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
+};
+
+template<typename T>
+struct plain_object_eval<T,Sparse>
+  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime, evaluator<T>::Flags>
+{};
+
+template<typename Decomposition, typename RhsType>
+struct solve_traits<Decomposition,RhsType,Sparse>
+{
+  typedef typename sparse_eval<RhsType, RhsType::RowsAtCompileTime, RhsType::ColsAtCompileTime,traits<RhsType>::Flags>::type PlainObject;
 };
 
+template<typename Derived>
+struct generic_xpr_base<Derived, MatrixXpr, Sparse>
+{
+  typedef SparseMatrixBase<Derived> type;
+};
+
+struct SparseTriangularShape  { static std::string debugName() { return "SparseTriangularShape"; } };
+struct SparseSelfAdjointShape { static std::string debugName() { return "SparseSelfAdjointShape"; } };
+
+template<> struct glue_shapes<SparseShape,SelfAdjointShape> { typedef SparseSelfAdjointShape type;  };
+template<> struct glue_shapes<SparseShape,TriangularShape > { typedef SparseTriangularShape  type;  };
+
 } // end namespace internal
 
 /** \ingroup SparseCore_Module
@@ -144,26 +150,26 @@ template<typename T> struct plain_matrix_type<T,Sparse>
   *
   * \sa SparseMatrix::setFromTriplets()
   */
-template<typename Scalar, typename Index=typename SparseMatrix<Scalar>::Index >
+template<typename Scalar, typename StorageIndex=typename SparseMatrix<Scalar>::StorageIndex >
 class Triplet
 {
 public:
   Triplet() : m_row(0), m_col(0), m_value(0) {}
 
-  Triplet(const Index& i, const Index& j, const Scalar& v = Scalar(0))
+  Triplet(const StorageIndex& i, const StorageIndex& j, const Scalar& v = Scalar(0))
     : m_row(i), m_col(j), m_value(v)
   {}
 
   /** \returns the row index of the element */
-  const Index& row() const { return m_row; }
+  const StorageIndex& row() const { return m_row; }
 
   /** \returns the column index of the element */
-  const Index& col() const { return m_col; }
+  const StorageIndex& col() const { return m_col; }
 
   /** \returns the value of the element */
   const Scalar& value() const { return m_value; }
 protected:
-  Index m_row, m_col;
+  StorageIndex m_row, m_col;
   Scalar m_value;
 };
 
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseVector.h b/vendor/eigen/Eigen/src/SparseCore/SparseVector.h
index 49865d0..19b0fbc 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseVector.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseVector.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -22,15 +22,15 @@ namespace Eigen {
   * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
   *
   * 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_SPARSEVECTOR_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
   */
 
 namespace internal {
-template<typename _Scalar, int _Options, typename _Index>
-struct traits<SparseVector<_Scalar, _Options, _Index> >
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct traits<SparseVector<_Scalar, _Options, _StorageIndex> >
 {
   typedef _Scalar Scalar;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   typedef MatrixXpr XprKind;
   enum {
@@ -40,8 +40,7 @@ struct traits<SparseVector<_Scalar, _Options, _Index> >
     ColsAtCompileTime = IsColVector ? 1 : Dynamic,
     MaxRowsAtCompileTime = RowsAtCompileTime,
     MaxColsAtCompileTime = ColsAtCompileTime,
-    Flags = _Options | NestByRefBit | LvalueBit | (IsColVector ? 0 : RowMajorBit),
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = _Options | NestByRefBit | LvalueBit | (IsColVector ? 0 : RowMajorBit) | CompressedAccessBit,
     SupportedAccessPatterns = InnerRandomAccessPattern
   };
 };
@@ -61,18 +60,18 @@ struct sparse_vector_assign_selector;
 
 }
 
-template<typename _Scalar, int _Options, typename _Index>
+template<typename _Scalar, int _Options, typename _StorageIndex>
 class SparseVector
-  : public SparseMatrixBase<SparseVector<_Scalar, _Options, _Index> >
+  : public SparseCompressedBase<SparseVector<_Scalar, _Options, _StorageIndex> >
 {
-    typedef SparseMatrixBase<SparseVector> SparseBase;
-    
+    typedef SparseCompressedBase<SparseVector> Base;
+    using Base::convert_index;
   public:
     EIGEN_SPARSE_PUBLIC_INTERFACE(SparseVector)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, +=)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, -=)
     
-    typedef internal::CompressedStorage<Scalar,Index> Storage;
+    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
     enum { IsColVector = internal::traits<SparseVector>::IsColVector };
     
     enum {
@@ -84,11 +83,16 @@ class SparseVector
     EIGEN_STRONG_INLINE Index innerSize() const { return m_size; }
     EIGEN_STRONG_INLINE Index outerSize() const { return 1; }
 
-    EIGEN_STRONG_INLINE const Scalar* valuePtr() const { return &m_data.value(0); }
-    EIGEN_STRONG_INLINE Scalar* valuePtr() { return &m_data.value(0); }
+    EIGEN_STRONG_INLINE const Scalar* valuePtr() const { return m_data.valuePtr(); }
+    EIGEN_STRONG_INLINE Scalar* valuePtr() { return m_data.valuePtr(); }
 
-    EIGEN_STRONG_INLINE const Index* innerIndexPtr() const { return &m_data.index(0); }
-    EIGEN_STRONG_INLINE Index* innerIndexPtr() { return &m_data.index(0); }
+    EIGEN_STRONG_INLINE const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
+    EIGEN_STRONG_INLINE StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
+
+    inline const StorageIndex* outerIndexPtr() const { return 0; }
+    inline StorageIndex* outerIndexPtr() { return 0; }
+    inline const StorageIndex* innerNonZeroPtr() const { return 0; }
+    inline StorageIndex* innerNonZeroPtr() { return 0; }
     
     /** \internal */
     inline Storage& data() { return m_data; }
@@ -103,13 +107,13 @@ class SparseVector
     inline Scalar coeff(Index i) const
     {
       eigen_assert(i>=0 && i<m_size);
-      return m_data.at(i);
+      return m_data.at(StorageIndex(i));
     }
 
     inline Scalar& coeffRef(Index row, Index col)
     {
       eigen_assert(IsColVector ? (col==0 && row>=0 && row<m_size) : (row==0 && col>=0 && col<m_size));
-      return coeff(IsColVector ? row : col);
+      return coeffRef(IsColVector ? row : col);
     }
 
     /** \returns a reference to the coefficient value at given index \a i
@@ -121,18 +125,19 @@ class SparseVector
     inline Scalar& coeffRef(Index i)
     {
       eigen_assert(i>=0 && i<m_size);
-      return m_data.atWithInsertion(i);
+
+      return m_data.atWithInsertion(StorageIndex(i));
     }
 
   public:
 
-    class InnerIterator;
-    class ReverseInnerIterator;
+    typedef typename Base::InnerIterator InnerIterator;
+    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
 
     inline void setZero() { m_data.clear(); }
 
     /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
+    inline Index nonZeros() const  { return m_data.size(); }
 
     inline void startVec(Index outer)
     {
@@ -151,6 +156,18 @@ class SparseVector
       m_data.append(0, i);
       return m_data.value(m_data.size()-1);
     }
+    
+    Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
+    {
+      EIGEN_UNUSED_VARIABLE(outer);
+      eigen_assert(outer==0);
+      return insertBackUnordered(inner);
+    }
+    inline Scalar& insertBackUnordered(Index i)
+    {
+      m_data.append(0, i);
+      return m_data.value(m_data.size()-1);
+    }
 
     inline Scalar& insert(Index row, Index col)
     {
@@ -177,7 +194,7 @@ class SparseVector
         m_data.value(p+1) = m_data.value(p);
         --p;
       }
-      m_data.index(p+1) = i;
+      m_data.index(p+1) = convert_index(i);
       m_data.value(p+1) = 0;
       return m_data.value(p+1);
     }
@@ -189,28 +206,59 @@ class SparseVector
 
     inline void finalize() {}
 
+    /** \copydoc SparseMatrix::prune(const Scalar&,const RealScalar&) */
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       m_data.prune(reference,epsilon);
     }
 
+    /** Resizes the sparse vector to \a rows x \a cols
+      *
+      * This method is provided for compatibility with matrices.
+      * For a column vector, \a cols must be equal to 1.
+      * For a row vector, \a rows must be equal to 1.
+      *
+      * \sa resize(Index)
+      */
     void resize(Index rows, Index cols)
     {
-      eigen_assert(rows==1 || cols==1);
+      eigen_assert((IsColVector ? cols : rows)==1 && "Outer dimension must equal 1");
       resize(IsColVector ? rows : cols);
     }
 
+    /** Resizes the sparse vector to \a newSize
+      * This method deletes all entries, thus leaving an empty sparse vector
+      *
+      * \sa  conservativeResize(), setZero() */
     void resize(Index newSize)
     {
       m_size = newSize;
       m_data.clear();
     }
 
+    /** Resizes the sparse vector to \a newSize, while leaving old values untouched.
+      *
+      * If the size of the vector is decreased, then the storage of the out-of bounds coefficients is kept and reserved.
+      * Call .data().squeeze() to free extra memory.
+      *
+      * \sa reserve(), setZero()
+      */
+    void conservativeResize(Index newSize)
+    {
+      if (newSize < m_size)
+      {
+        Index i = 0;
+        while (i<m_data.size() && m_data.index(i)<newSize) ++i;
+        m_data.resize(i);
+      }
+      m_size = newSize;
+    }
+
     void resizeNonZeros(Index size) { m_data.resize(size); }
 
     inline SparseVector() : m_size(0) { check_template_parameters(); resize(0); }
 
-    inline SparseVector(Index size) : m_size(0) { check_template_parameters(); resize(size); }
+    explicit inline SparseVector(Index size) : m_size(0) { check_template_parameters(); resize(size); }
 
     inline SparseVector(Index rows, Index cols) : m_size(0) { check_template_parameters(); resize(rows,cols); }
 
@@ -218,12 +266,15 @@ class SparseVector
     inline SparseVector(const SparseMatrixBase<OtherDerived>& other)
       : m_size(0)
     {
+      #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+      #endif
       check_template_parameters();
       *this = other.derived();
     }
 
     inline SparseVector(const SparseVector& other)
-      : SparseBase(other), m_size(0)
+      : Base(other), m_size(0)
     {
       check_template_parameters();
       *this = other.derived();
@@ -239,6 +290,14 @@ class SparseVector
       m_data.swap(other.m_data);
     }
 
+    template<int OtherOptions>
+    inline void swap(SparseMatrix<Scalar,OtherOptions,StorageIndex>& other)
+    {
+      eigen_assert(other.outerSize()==1);
+      std::swap(m_size, other.m_innerSize);
+      m_data.swap(other.m_data);
+    }
+
     inline SparseVector& operator=(const SparseVector& other)
     {
       if (other.isRValue())
@@ -337,7 +396,7 @@ protected:
   
     static void check_template_parameters()
     {
-      EIGEN_STATIC_ASSERT(NumTraits<Index>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
+      EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
       EIGEN_STATIC_ASSERT((_Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
     }
     
@@ -345,77 +404,46 @@ protected:
     Index m_size;
 };
 
-template<typename Scalar, int _Options, typename _Index>
-class SparseVector<Scalar,_Options,_Index>::InnerIterator
-{
-  public:
-    InnerIterator(const SparseVector& vec, Index outer=0)
-      : m_data(vec.m_data), m_id(0), m_end(static_cast<Index>(m_data.size()))
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-    }
-
-    InnerIterator(const internal::CompressedStorage<Scalar,Index>& data)
-      : m_data(data), m_id(0), m_end(static_cast<Index>(m_data.size()))
-    {}
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline Scalar value() const { return m_data.value(m_id); }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id)); }
-
-    inline Index index() const { return m_data.index(m_id); }
-    inline Index row() const { return IsColVector ? index() : 0; }
-    inline Index col() const { return IsColVector ? 0 : index(); }
-
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const internal::CompressedStorage<Scalar,Index>& m_data;
-    Index m_id;
-    const Index m_end;
-};
+namespace internal {
 
-template<typename Scalar, int _Options, typename _Index>
-class SparseVector<Scalar,_Options,_Index>::ReverseInnerIterator
+template<typename _Scalar, int _Options, typename _Index>
+struct evaluator<SparseVector<_Scalar,_Options,_Index> >
+  : evaluator_base<SparseVector<_Scalar,_Options,_Index> >
 {
-  public:
-    ReverseInnerIterator(const SparseVector& vec, Index outer=0)
-      : m_data(vec.m_data), m_id(static_cast<Index>(m_data.size())), m_start(0)
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-    }
-
-    ReverseInnerIterator(const internal::CompressedStorage<Scalar,Index>& data)
-      : m_data(data), m_id(static_cast<Index>(m_data.size())), m_start(0)
-    {}
-
-    inline ReverseInnerIterator& operator--() { m_id--; return *this; }
-
-    inline Scalar value() const { return m_data.value(m_id-1); }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id-1)); }
-
-    inline Index index() const { return m_data.index(m_id-1); }
-    inline Index row() const { return IsColVector ? index() : 0; }
-    inline Index col() const { return IsColVector ? 0 : index(); }
-
-    inline operator bool() const { return (m_id > m_start); }
+  typedef SparseVector<_Scalar,_Options,_Index> SparseVectorType;
+  typedef evaluator_base<SparseVectorType> Base;
+  typedef typename SparseVectorType::InnerIterator InnerIterator;
+  typedef typename SparseVectorType::ReverseInnerIterator ReverseInnerIterator;
+  
+  enum {
+    CoeffReadCost = NumTraits<_Scalar>::ReadCost,
+    Flags = SparseVectorType::Flags
+  };
 
-  protected:
-    const internal::CompressedStorage<Scalar,Index>& m_data;
-    Index m_id;
-    const Index m_start;
+  evaluator() : Base() {}
+  
+  explicit evaluator(const SparseVectorType &mat) : m_matrix(&mat)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_matrix->nonZeros();
+  }
+  
+  operator SparseVectorType&() { return m_matrix->const_cast_derived(); }
+  operator const SparseVectorType&() const { return *m_matrix; }
+  
+  const SparseVectorType *m_matrix;
 };
 
-namespace internal {
-
 template< typename Dest, typename Src>
 struct sparse_vector_assign_selector<Dest,Src,SVA_Inner> {
   static void run(Dest& dst, const Src& src) {
     eigen_internal_assert(src.innerSize()==src.size());
-    for(typename Src::InnerIterator it(src, 0); it; ++it)
+    typedef internal::evaluator<Src> SrcEvaluatorType;
+    SrcEvaluatorType srcEval(src);
+    for(typename SrcEvaluatorType::InnerIterator it(srcEval, 0); it; ++it)
       dst.insert(it.index()) = it.value();
   }
 };
@@ -424,9 +452,11 @@ template< typename Dest, typename Src>
 struct sparse_vector_assign_selector<Dest,Src,SVA_Outer> {
   static void run(Dest& dst, const Src& src) {
     eigen_internal_assert(src.outerSize()==src.size());
-    for(typename Dest::Index i=0; i<src.size(); ++i)
+    typedef internal::evaluator<Src> SrcEvaluatorType;
+    SrcEvaluatorType srcEval(src);
+    for(Index i=0; i<src.size(); ++i)
     {
-      typename Src::InnerIterator it(src, i);
+      typename SrcEvaluatorType::InnerIterator it(srcEval, i);
       if(it)
         dst.insert(i) = it.value();
     }
diff --git a/vendor/eigen/Eigen/src/SparseCore/SparseView.h b/vendor/eigen/Eigen/src/SparseCore/SparseView.h
index 2820b39..7c4aea7 100644
--- a/vendor/eigen/Eigen/src/SparseCore/SparseView.h
+++ b/vendor/eigen/Eigen/src/SparseCore/SparseView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2010 Daniel Lowengrub <lowdanie at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -18,7 +18,7 @@ namespace internal {
 template<typename MatrixType>
 struct traits<SparseView<MatrixType> > : traits<MatrixType>
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   enum {
     Flags = int(traits<MatrixType>::Flags) & (RowMajorBit)
@@ -27,71 +27,225 @@ struct traits<SparseView<MatrixType> > : traits<MatrixType>
 
 } // end namespace internal
 
+/** \ingroup SparseCore_Module
+  * \class SparseView
+  *
+  * \brief Expression of a dense or sparse matrix with zero or too small values removed
+  *
+  * \tparam MatrixType the type of the object of which we are removing the small entries
+  *
+  * This class represents an expression of a given dense or sparse matrix with
+  * entries smaller than \c reference * \c epsilon are removed.
+  * It is the return type of MatrixBase::sparseView() and SparseMatrixBase::pruned()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::sparseView(), SparseMatrixBase::pruned()
+  */
 template<typename MatrixType>
 class SparseView : public SparseMatrixBase<SparseView<MatrixType> >
 {
   typedef typename MatrixType::Nested MatrixTypeNested;
   typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef SparseMatrixBase<SparseView > Base;
 public:
   EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView)
+  typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
   explicit SparseView(const MatrixType& mat, const Scalar& reference = Scalar(0),
                       const RealScalar &epsilon = NumTraits<Scalar>::dummy_precision())
     : m_matrix(mat), m_reference(reference), m_epsilon(epsilon) {}
 
-  class InnerIterator;
-
   inline Index rows() const { return m_matrix.rows(); }
   inline Index cols() const { return m_matrix.cols(); }
 
   inline Index innerSize() const { return m_matrix.innerSize(); }
   inline Index outerSize() const { return m_matrix.outerSize(); }
-
+  
+  /** \returns the nested expression */
+  const typename internal::remove_all<MatrixTypeNested>::type&
+  nestedExpression() const { return m_matrix; }
+  
+  Scalar reference() const { return m_reference; }
+  RealScalar epsilon() const { return m_epsilon; }
+  
 protected:
   MatrixTypeNested m_matrix;
   Scalar m_reference;
-  typename NumTraits<Scalar>::Real m_epsilon;
+  RealScalar m_epsilon;
 };
 
-template<typename MatrixType>
-class SparseView<MatrixType>::InnerIterator : public _MatrixTypeNested::InnerIterator
-{
-  typedef typename SparseView::Index Index;
-public:
-  typedef typename _MatrixTypeNested::InnerIterator IterBase;
-  InnerIterator(const SparseView& view, Index outer) :
-  IterBase(view.m_matrix, outer), m_view(view)
-  {
-    incrementToNonZero();
-  }
-
-  EIGEN_STRONG_INLINE InnerIterator& operator++()
-  {
-    IterBase::operator++();
-    incrementToNonZero();
-    return *this;
-  }
-
-  using IterBase::value;
+namespace internal {
 
-protected:
-  const SparseView& m_view;
+// TODO find a way to unify the two following variants
+// This is tricky because implementing an inner iterator on top of an IndexBased evaluator is
+// not easy because the evaluators do not expose the sizes of the underlying expression.
+  
+template<typename ArgType>
+struct unary_evaluator<SparseView<ArgType>, IteratorBased>
+  : public evaluator_base<SparseView<ArgType> >
+{
+    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+  public:
+    typedef SparseView<ArgType> XprType;
+    
+    class InnerIterator : public EvalIterator
+    {
+        typedef typename XprType::Scalar Scalar;
+      public:
+
+        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
+          : EvalIterator(sve.m_argImpl,outer), m_view(sve.m_view)
+        {
+          incrementToNonZero();
+        }
+
+        EIGEN_STRONG_INLINE InnerIterator& operator++()
+        {
+          EvalIterator::operator++();
+          incrementToNonZero();
+          return *this;
+        }
+
+        using EvalIterator::value;
+
+      protected:
+        const XprType &m_view;
+
+      private:
+        void incrementToNonZero()
+        {
+          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_view.reference(), m_view.epsilon()))
+          {
+            EvalIterator::operator++();
+          }
+        }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_view;
+};
 
-private:
-  void incrementToNonZero()
-  {
-    while((bool(*this)) && internal::isMuchSmallerThan(value(), m_view.m_reference, m_view.m_epsilon))
+template<typename ArgType>
+struct unary_evaluator<SparseView<ArgType>, IndexBased>
+  : public evaluator_base<SparseView<ArgType> >
+{
+  public:
+    typedef SparseView<ArgType> XprType;
+  protected:
+    enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
+    typedef typename XprType::Scalar Scalar;
+    typedef typename XprType::StorageIndex StorageIndex;
+  public:
+    
+    class InnerIterator
     {
-      IterBase::operator++();
-    }
-  }
+      public:
+
+        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
+          : m_sve(sve), m_inner(0), m_outer(outer), m_end(sve.m_view.innerSize())
+        {
+          incrementToNonZero();
+        }
+
+        EIGEN_STRONG_INLINE InnerIterator& operator++()
+        {
+          m_inner++;
+          incrementToNonZero();
+          return *this;
+        }
+
+        EIGEN_STRONG_INLINE Scalar value() const
+        {
+          return (IsRowMajor) ? m_sve.m_argImpl.coeff(m_outer, m_inner)
+                              : m_sve.m_argImpl.coeff(m_inner, m_outer);
+        }
+
+        EIGEN_STRONG_INLINE StorageIndex index() const { return m_inner; }
+        inline Index row() const { return IsRowMajor ? m_outer : index(); }
+        inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+        EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+      protected:
+        const unary_evaluator &m_sve;
+        Index m_inner;
+        const Index m_outer;
+        const Index m_end;
+
+      private:
+        void incrementToNonZero()
+        {
+          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_sve.m_view.reference(), m_sve.m_view.epsilon()))
+          {
+            m_inner++;
+          }
+        }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_view;
 };
 
+} // end namespace internal
+
+/** \ingroup SparseCore_Module
+  *
+  * \returns a sparse expression of the dense expression \c *this with values smaller than
+  * \a reference * \a epsilon removed.
+  *
+  * This method is typically used when prototyping to convert a quickly assembled dense Matrix \c D to a SparseMatrix \c S:
+  * \code
+  * MatrixXd D(n,m);
+  * SparseMatrix<double> S;
+  * S = D.sparseView();             // suppress numerical zeros (exact)
+  * S = D.sparseView(reference);
+  * S = D.sparseView(reference,epsilon);
+  * \endcode
+  * where \a reference is a meaningful non zero reference value,
+  * and \a epsilon is a tolerance factor defaulting to NumTraits<Scalar>::dummy_precision().
+  *
+  * \sa SparseMatrixBase::pruned(), class SparseView */
+template<typename Derived>
+const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& reference,
+                                                          const typename NumTraits<Scalar>::Real& epsilon) const
+{
+  return SparseView<Derived>(derived(), reference, epsilon);
+}
+
+/** \returns an expression of \c *this with values smaller than
+  * \a reference * \a epsilon removed.
+  *
+  * This method is typically used in conjunction with the product of two sparse matrices
+  * to automatically prune the smallest values as follows:
+  * \code
+  * C = (A*B).pruned();             // suppress numerical zeros (exact)
+  * C = (A*B).pruned(ref);
+  * C = (A*B).pruned(ref,epsilon);
+  * \endcode
+  * where \c ref is a meaningful non zero reference value.
+  * */
 template<typename Derived>
-const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& m_reference,
-                                                          const typename NumTraits<Scalar>::Real& m_epsilon) const
+const SparseView<Derived>
+SparseMatrixBase<Derived>::pruned(const Scalar& reference,
+                                  const RealScalar& epsilon) const
 {
-  return SparseView<Derived>(derived(), m_reference, m_epsilon);
+  return SparseView<Derived>(derived(), reference, epsilon);
 }
 
 } // end namespace Eigen
diff --git a/vendor/eigen/Eigen/src/SparseCore/TriangularSolver.h b/vendor/eigen/Eigen/src/SparseCore/TriangularSolver.h
index ccc12af..f9c56ba 100644
--- a/vendor/eigen/Eigen/src/SparseCore/TriangularSolver.h
+++ b/vendor/eigen/Eigen/src/SparseCore/TriangularSolver.h
@@ -28,16 +28,19 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,RowMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=0; i<lhs.rows(); ++i)
+      for(Index i=0; i<lhs.rows(); ++i)
       {
         Scalar tmp = other.coeff(i,col);
         Scalar lastVal(0);
-        int lastIndex = 0;
-        for(typename Lhs::InnerIterator it(lhs, i); it; ++it)
+        Index lastIndex = 0;
+        for(LhsIterator it(lhsEval, i); it; ++it)
         {
           lastVal = it.value();
           lastIndex = it.index();
@@ -62,15 +65,18 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=lhs.rows()-1 ; i>=0 ; --i)
+      for(Index i=lhs.rows()-1 ; i>=0 ; --i)
       {
         Scalar tmp = other.coeff(i,col);
         Scalar l_ii(0);
-        typename Lhs::InnerIterator it(lhs, i);
+        LhsIterator it(lhsEval, i);
         while(it && it.index()<i)
           ++it;
         if(!(Mode & UnitDiag))
@@ -86,10 +92,8 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
           tmp -= it.value() * other.coeff(it.index(),col);
         }
 
-        if (Mode & UnitDiag)
-          other.coeffRef(i,col) = tmp;
-        else
-          other.coeffRef(i,col) = tmp/l_ii;
+        if (Mode & UnitDiag)  other.coeffRef(i,col) = tmp;
+        else                  other.coeffRef(i,col) = tmp/l_ii;
       }
     }
   }
@@ -100,16 +104,19 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=0; i<lhs.cols(); ++i)
+      for(Index i=0; i<lhs.cols(); ++i)
       {
         Scalar& tmp = other.coeffRef(i,col);
         if (tmp!=Scalar(0)) // optimization when other is actually sparse
         {
-          typename Lhs::InnerIterator it(lhs, i);
+          LhsIterator it(lhsEval, i);
           while(it && it.index()<i)
             ++it;
           if(!(Mode & UnitDiag))
@@ -132,11 +139,14 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=lhs.cols()-1; i>=0; --i)
+      for(Index i=lhs.cols()-1; i>=0; --i)
       {
         Scalar& tmp = other.coeffRef(i,col);
         if (tmp!=Scalar(0)) // optimization when other is actually sparse
@@ -144,13 +154,13 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
           if(!(Mode & UnitDiag))
           {
             // TODO replace this by a binary search. make sure the binary search is safe for partially sorted elements
-            typename Lhs::ReverseInnerIterator it(lhs, i);
+            LhsIterator it(lhsEval, i);
             while(it && it.index()!=i)
-              --it;
+              ++it;
             eigen_assert(it && it.index()==i);
             other.coeffRef(i,col) /= it.value();
           }
-          typename Lhs::InnerIterator it(lhs, i);
+          LhsIterator it(lhsEval, i);
           for(; it && it.index()<i; ++it)
             other.coeffRef(it.index(), col) -= tmp * it.value();
         }
@@ -161,11 +171,13 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
 
 } // end namespace internal
 
-template<typename ExpressionType,int Mode>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+template<typename ExpressionType,unsigned int Mode>
 template<typename OtherDerived>
-void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDerived>& other) const
+void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(MatrixBase<OtherDerived>& other) const
 {
-  eigen_assert(m_matrix.cols() == m_matrix.rows() && m_matrix.cols() == other.rows());
+  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
   eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
@@ -174,21 +186,12 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDer
     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
   OtherCopy otherCopy(other.derived());
 
-  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(m_matrix, otherCopy);
+  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(derived().nestedExpression(), otherCopy);
 
   if (copy)
     other = otherCopy;
 }
-
-template<typename ExpressionType,int Mode>
-template<typename OtherDerived>
-typename internal::plain_matrix_type_column_major<OtherDerived>::type
-SparseTriangularView<ExpressionType,Mode>::solve(const MatrixBase<OtherDerived>& other) const
-{
-  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
-  solveInPlace(res);
-  return res;
-}
+#endif
 
 // pure sparse path
 
@@ -208,18 +211,18 @@ template<typename Lhs, typename Rhs, int Mode, int UpLo>
 struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
+                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
   static void run(const Lhs& lhs, Rhs& other)
   {
     const bool IsLower = (UpLo==Lower);
-    AmbiVector<Scalar,Index> tempVector(other.rows()*2);
+    AmbiVector<Scalar,StorageIndex> tempVector(other.rows()*2);
     tempVector.setBounds(0,other.rows());
 
     Rhs res(other.rows(), other.cols());
     res.reserve(other.nonZeros());
 
-    for(int col=0 ; col<other.cols() ; ++col)
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
       // FIXME estimate number of non zeros
       tempVector.init(.99/*float(other.col(col).nonZeros())/float(other.rows())*/);
@@ -230,7 +233,7 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
         tempVector.coeffRef(rhsIt.index()) = rhsIt.value();
       }
 
-      for(int i=IsLower?0:lhs.cols()-1;
+      for(Index i=IsLower?0:lhs.cols()-1;
           IsLower?i<lhs.cols():i>=0;
           i+=IsLower?1:-1)
       {
@@ -267,9 +270,9 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
       }
 
 
-      int count = 0;
+      Index count = 0;
       // FIXME compute a reference value to filter zeros
-      for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector/*,1e-12*/); it; ++it)
+      for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector/*,1e-12*/); it; ++it)
       {
         ++ count;
 //         std::cerr << "fill " << it.index() << ", " << col << "\n";
@@ -286,11 +289,12 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
 
 } // end namespace internal
 
-template<typename ExpressionType,int Mode>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename ExpressionType,unsigned int Mode>
 template<typename OtherDerived>
-void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
+void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
 {
-  eigen_assert(m_matrix.cols() == m_matrix.rows() && m_matrix.cols() == other.rows());
+  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
   eigen_assert( (!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
 //   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
@@ -299,35 +303,12 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<Ot
 //     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
 //   OtherCopy otherCopy(other.derived());
 
-  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(m_matrix, other.derived());
+  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(derived().nestedExpression(), other.derived());
 
 //   if (copy)
 //     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
+#endif
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU.h
index bdc4f19..f883ab3 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam at inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud at 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
@@ -14,7 +14,7 @@
 
 namespace Eigen {
 
-template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename _MatrixType::Index> > class SparseLU;
+template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename _MatrixType::StorageIndex> > class SparseLU;
 template <typename MappedSparseMatrixType> struct SparseLUMatrixLReturnType;
 template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixUReturnType;
 
@@ -64,33 +64,45 @@ template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixURetu
   * 
   * \tparam _MatrixType The type of the sparse matrix. It must be a column-major SparseMatrix<>
   * \tparam _OrderingType The ordering method to use, either AMD, COLAMD or METIS. Default is COLMAD
+  *
+  * \implsparsesolverconcept
   * 
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  * \sa \ref TutorialSparseSolverConcept
   * \sa \ref OrderingMethods_Module
   */
 template <typename _MatrixType, typename _OrderingType>
-class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typename _MatrixType::Index>
+class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >, public internal::SparseLUImpl<typename _MatrixType::Scalar, typename _MatrixType::StorageIndex>
 {
+  protected:
+    typedef SparseSolverBase<SparseLU<_MatrixType,_OrderingType> > APIBase;
+    using APIBase::m_isInitialized;
   public:
+    using APIBase::_solve_impl;
+    
     typedef _MatrixType MatrixType; 
     typedef _OrderingType OrderingType;
     typedef typename MatrixType::Scalar Scalar; 
     typedef typename MatrixType::RealScalar RealScalar; 
-    typedef typename MatrixType::Index Index; 
-    typedef SparseMatrix<Scalar,ColMajor,Index> NCMatrix;
-    typedef internal::MappedSuperNodalMatrix<Scalar, Index> SCMatrix; 
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> NCMatrix;
+    typedef internal::MappedSuperNodalMatrix<Scalar, StorageIndex> SCMatrix;
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    typedef Matrix<Index,Dynamic,1> IndexVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
-    typedef internal::SparseLUImpl<Scalar, Index> Base;
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
+    typedef internal::SparseLUImpl<Scalar, StorageIndex> Base;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
     
   public:
-    SparseLU():m_isInitialized(true),m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
+    SparseLU():m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
     {
       initperfvalues(); 
     }
-    SparseLU(const MatrixType& matrix):m_isInitialized(true),m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
+    explicit SparseLU(const MatrixType& matrix)
+      : m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
     {
       initperfvalues(); 
       compute(matrix);
@@ -141,9 +153,9 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       * y = b; matrixU().solveInPlace(y);
       * \endcode
       */
-    SparseLUMatrixUReturnType<SCMatrix,MappedSparseMatrix<Scalar,ColMajor,Index> > matrixU() const
+    SparseLUMatrixUReturnType<SCMatrix,MappedSparseMatrix<Scalar,ColMajor,StorageIndex> > matrixU() const
     {
-      return SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix<Scalar,ColMajor,Index> >(m_Lstore, m_Ustore);
+      return SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix<Scalar,ColMajor,StorageIndex> >(m_Lstore, m_Ustore);
     }
 
     /**
@@ -168,6 +180,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       m_diagpivotthresh = thresh; 
     }
 
+#ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
       *
       * \warning the destination matrix X in X = this->solve(B) must be colmun-major.
@@ -175,26 +188,8 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       * \sa compute()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<SparseLU, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_factorizationIsOk && "SparseLU is not initialized."); 
-      eigen_assert(rows()==B.rows()
-                    && "SparseLU::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::solve_retval<SparseLU, Rhs>(*this, B.derived());
-    }
-
-    /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SparseLU, Rhs> solve(const SparseMatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_factorizationIsOk && "SparseLU is not initialized."); 
-      eigen_assert(rows()==B.rows()
-                    && "SparseLU::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::sparse_solve_retval<SparseLU, Rhs>(*this, B.derived());
-    }
+    inline const Solve<SparseLU, Rhs> solve(const MatrixBase<Rhs>& B) const;
+#endif // EIGEN_PARSED_BY_DOXYGEN
     
     /** \brief Reports whether previous computation was successful.
       *
@@ -219,7 +214,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
     }
 
     template<typename Rhs, typename Dest>
-    bool _solve(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
+    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
     {
       Dest& X(X_base.derived());
       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first");
@@ -255,8 +250,9 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       *
       * \sa logAbsDeterminant(), signDeterminant()
       */
-     Scalar absDeterminant()
+    Scalar absDeterminant()
     {
+      using std::abs;
       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
       // Initialize with the determinant of the row matrix
       Scalar det = Scalar(1.);
@@ -268,42 +264,43 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
         {
           if(it.index() == j)
           {
-            using std::abs;
             det *= abs(it.value());
             break;
           }
         }
-       }
-       return det;
-     }
+      }
+      return det;
+    }
 
-     /** \returns the natural log of the absolute value of the determinant of the matrix
-       * of which **this is the QR decomposition
-       *
-       * \note This method is useful to work around the risk of overflow/underflow that's
-       * inherent to the determinant computation.
-       *
-       * \sa absDeterminant(), signDeterminant()
-       */
-     Scalar logAbsDeterminant() const
-     {
-       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-       Scalar det = Scalar(0.);
-       for (Index j = 0; j < this->cols(); ++j)
-       {
-         for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-         {
-           if(it.row() < j) continue;
-           if(it.row() == j)
-           {
-             using std::log; using std::abs;
-             det += log(abs(it.value()));
-             break;
-           }
-         }
-       }
-       return det;
-     }
+    /** \returns the natural log of the absolute value of the determinant of the matrix
+      * of which **this is the QR decomposition
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's
+      * inherent to the determinant computation.
+      *
+      * \sa absDeterminant(), signDeterminant()
+      */
+    Scalar logAbsDeterminant() const
+    {
+      using std::log;
+      using std::abs;
+
+      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
+      Scalar det = Scalar(0.);
+      for (Index j = 0; j < this->cols(); ++j)
+      {
+        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
+        {
+          if(it.row() < j) continue;
+          if(it.row() == j)
+          {
+            det += log(abs(it.value()));
+            break;
+          }
+        }
+      }
+      return det;
+    }
 
     /** \returns A number representing the sign of the determinant
       *
@@ -355,7 +352,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
           }
         }
       }
-      return det * Scalar(m_detPermR * m_detPermC);
+      return (m_detPermR * m_detPermC) > 0 ? det : -det;
     }
 
   protected:
@@ -372,13 +369,12 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       
     // Variables 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     bool m_factorizationIsOk;
     bool m_analysisIsOk;
     std::string m_lastError;
     NCMatrix m_mat; // The input (permuted ) matrix 
     SCMatrix m_Lstore; // The lower triangular matrix (supernodal)
-    MappedSparseMatrix<Scalar,ColMajor,Index> m_Ustore; // The upper triangular matrix
+    MappedSparseMatrix<Scalar,ColMajor,StorageIndex> m_Ustore; // The upper triangular matrix
     PermutationType m_perm_c; // Column permutation 
     PermutationType m_perm_r ; // Row permutation
     IndexVector m_etree; // Column elimination tree 
@@ -388,7 +384,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
     // SparseLU options 
     bool m_symmetricmode;
     // values for performance 
-    internal::perfvalues<Index> m_perfv; 
+    internal::perfvalues m_perfv;
     RealScalar m_diagpivotthresh; // Specifies the threshold used for a diagonal entry to be an acceptable pivot
     Index m_nnzL, m_nnzU; // Nonzeros in L and U factors
     Index m_detPermR, m_detPermC; // Determinants of the permutation matrices
@@ -417,30 +413,32 @@ void SparseLU<MatrixType, OrderingType>::analyzePattern(const MatrixType& mat)
   
   //TODO  It is possible as in SuperLU to compute row and columns scaling vectors to equilibrate the matrix mat.
   
+  // Firstly, copy the whole input matrix. 
+  m_mat = mat;
+  
+  // Compute fill-in ordering
   OrderingType ord; 
-  ord(mat,m_perm_c);
+  ord(m_mat,m_perm_c);
   
   // Apply the permutation to the column of the input  matrix
-  //First copy the whole input matrix. 
-  m_mat = mat;
-  if (m_perm_c.size()) {
+  if (m_perm_c.size())
+  {
     m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers. FIXME : This vector is filled but not subsequently used.  
-    //Then, permute only the column pointers
-    const Index * outerIndexPtr;
-    if (mat.isCompressed()) outerIndexPtr = mat.outerIndexPtr();
-    else
-    {
-      Index *outerIndexPtr_t = new Index[mat.cols()+1];
-      for(Index i = 0; i <= mat.cols(); i++) outerIndexPtr_t[i] = m_mat.outerIndexPtr()[i];
-      outerIndexPtr = outerIndexPtr_t;
-    }
+    // Then, permute only the column pointers
+    ei_declare_aligned_stack_constructed_variable(StorageIndex,outerIndexPtr,mat.cols()+1,mat.isCompressed()?const_cast<StorageIndex*>(mat.outerIndexPtr()):0);
+    
+    // If the input matrix 'mat' is uncompressed, then the outer-indices do not match the ones of m_mat, and a copy is thus needed.
+    if(!mat.isCompressed()) 
+      IndexVector::Map(outerIndexPtr, mat.cols()+1) = IndexVector::Map(m_mat.outerIndexPtr(),mat.cols()+1);
+    
+    // Apply the permutation and compute the nnz per column.
     for (Index i = 0; i < mat.cols(); i++)
     {
       m_mat.outerIndexPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i];
       m_mat.innerNonZeroPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i+1] - outerIndexPtr[i];
     }
-    if(!mat.isCompressed()) delete[] outerIndexPtr;
   }
+  
   // Compute the column elimination tree of the permuted matrix 
   IndexVector firstRowElt;
   internal::coletree(m_mat, m_etree,firstRowElt); 
@@ -449,7 +447,7 @@ void SparseLU<MatrixType, OrderingType>::analyzePattern(const MatrixType& mat)
   if (!m_symmetricmode) {
     IndexVector post, iwork; 
     // Post order etree
-    internal::treePostorder(m_mat.cols(), m_etree, post); 
+    internal::treePostorder(StorageIndex(m_mat.cols()), m_etree, post); 
       
    
     // Renumber etree in postorder 
@@ -501,7 +499,9 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
   eigen_assert((matrix.rows() == matrix.cols()) && "Only for squared matrices");
   
-  typedef typename IndexVector::Scalar Index; 
+  typedef typename IndexVector::Scalar StorageIndex; 
+  
+  m_isInitialized = true;
   
   
   // Apply the column permutation computed in analyzepattern()
@@ -511,11 +511,11 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   {
     m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers.
     //Then, permute only the column pointers
-    const Index * outerIndexPtr;
+    const StorageIndex * outerIndexPtr;
     if (matrix.isCompressed()) outerIndexPtr = matrix.outerIndexPtr();
     else
     {
-      Index* outerIndexPtr_t = new Index[matrix.cols()+1];
+      StorageIndex* outerIndexPtr_t = new StorageIndex[matrix.cols()+1];
       for(Index i = 0; i <= matrix.cols(); i++) outerIndexPtr_t[i] = m_mat.outerIndexPtr()[i];
       outerIndexPtr = outerIndexPtr_t;
     }
@@ -529,7 +529,7 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   else 
   { //FIXME This should not be needed if the empty permutation is handled transparently
     m_perm_c.resize(matrix.cols());
-    for(Index i = 0; i < matrix.cols(); ++i) m_perm_c.indices()(i) = i;
+    for(StorageIndex i = 0; i < matrix.cols(); ++i) m_perm_c.indices()(i) = i;
   }
   
   Index m = m_mat.rows();
@@ -694,7 +694,7 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   // Create supernode matrix L 
   m_Lstore.setInfos(m, n, m_glu.lusup, m_glu.xlusup, m_glu.lsub, m_glu.xlsub, m_glu.supno, m_glu.xsup); 
   // Create the column major upper sparse matrix  U; 
-  new (&m_Ustore) MappedSparseMatrix<Scalar, ColMajor, Index> ( m, n, m_nnzU, m_glu.xusub.data(), m_glu.usub.data(), m_glu.ucol.data() ); 
+  new (&m_Ustore) MappedSparseMatrix<Scalar, ColMajor, StorageIndex> ( m, n, m_nnzU, m_glu.xusub.data(), m_glu.usub.data(), m_glu.ucol.data() );
   
   m_info = Success;
   m_factorizationIsOk = true;
@@ -703,9 +703,8 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
 template<typename MappedSupernodalType>
 struct SparseLUMatrixLReturnType : internal::no_assignment_operator
 {
-  typedef typename MappedSupernodalType::Index Index;
   typedef typename MappedSupernodalType::Scalar Scalar;
-  SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
+  explicit SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
   { }
   Index rows() { return m_mapL.rows(); }
   Index cols() { return m_mapL.cols(); }
@@ -720,7 +719,6 @@ struct SparseLUMatrixLReturnType : internal::no_assignment_operator
 template<typename MatrixLType, typename MatrixUType>
 struct SparseLUMatrixUReturnType : internal::no_assignment_operator
 {
-  typedef typename MatrixLType::Index Index;
   typedef typename MatrixLType::Scalar Scalar;
   SparseLUMatrixUReturnType(const MatrixLType& mapL, const MatrixUType& mapU)
   : m_mapL(mapL),m_mapU(mapU)
@@ -731,7 +729,7 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
   template<typename Dest>   void solveInPlace(MatrixBase<Dest> &X) const
   {
     Index nrhs = X.cols();
-    Index n = X.rows();
+    Index n    = X.rows();
     // Backward solve with U
     for (Index k = m_mapL.nsuper(); k >= 0; k--)
     {
@@ -750,7 +748,7 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
       else
       {
         Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
         U = A.template triangularView<Upper>().solve(U);
       }
 
@@ -772,35 +770,6 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
   const MatrixUType& m_mapU;
 };
 
-namespace internal {
-  
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct solve_retval<SparseLU<_MatrixType,Derived>, Rhs>
-  : solve_retval_base<SparseLU<_MatrixType,Derived>, Rhs>
-{
-  typedef SparseLU<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct sparse_solve_retval<SparseLU<_MatrixType,Derived>, Rhs>
-  : sparse_solve_retval_base<SparseLU<_MatrixType,Derived>, Rhs>
-{
-  typedef SparseLU<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-} // end namespace internal
-
 } // End namespace Eigen 
 
 #endif
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLUImpl.h b/vendor/eigen/Eigen/src/SparseLU/SparseLUImpl.h
index 99d651e..fc0cfc4 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLUImpl.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLUImpl.h
@@ -16,19 +16,19 @@ namespace internal {
   * \class SparseLUImpl
   * Base class for sparseLU
   */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 class SparseLUImpl
 {
   public:
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
     typedef Matrix<Scalar,Dynamic,Dynamic,ColMajor> ScalarMatrix;
     typedef Map<ScalarMatrix, 0,  OuterStride<> > MappedMatrixBlock;
-    typedef Matrix<Index,Dynamic,1> IndexVector; 
     typedef typename ScalarVector::RealScalar RealScalar; 
     typedef Ref<Matrix<Scalar,Dynamic,1> > BlockScalarVector;
-    typedef Ref<Matrix<Index,Dynamic,1> > BlockIndexVector;
+    typedef Ref<Matrix<StorageIndex,Dynamic,1> > BlockIndexVector;
     typedef LU_GlobalLU_t<IndexVector, ScalarVector> GlobalLU_t; 
-    typedef SparseMatrix<Scalar,ColMajor,Index> MatrixType; 
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> MatrixType; 
     
   protected:
      template <typename VectorType>
@@ -42,7 +42,7 @@ class SparseLUImpl
      Index snode_bmod (const Index jcol, const Index fsupc, ScalarVector& dense, GlobalLU_t& glu);
      Index pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu);
      template <typename Traits>
-     void dfs_kernel(const Index jj, IndexVector& perm_r,
+     void dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
                     Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
                     Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
                     IndexVector& xplore, GlobalLU_t& glu, Index& nextl_col, Index krow, Traits& traits);
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Memory.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Memory.h
index 45f96d1..4dc42e8 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Memory.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Memory.h
@@ -36,13 +36,12 @@ namespace internal {
   
 enum { LUNoMarker = 3 };
 enum {emptyIdxLU = -1};
-template<typename Index>
 inline Index LUnumTempV(Index& m, Index& w, Index& t, Index& b)
 {
   return (std::max)(m, (t+b)*w);
 }
 
-template< typename Scalar, typename Index>
+template< typename Scalar>
 inline Index LUTempSpace(Index&m, Index& w)
 {
   return (2*w + 4 + LUNoMarker) * m * sizeof(Index) + (w + 1) * m * sizeof(Scalar);
@@ -59,9 +58,9 @@ inline Index LUTempSpace(Index&m, Index& w)
   * \param keep_prev  1: use length  and do not expand the vector; 0: compute new_len and expand
   * \param[in,out] num_expansions Number of times the memory has been expanded
   */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename VectorType>
-Index  SparseLUImpl<Scalar,Index>::expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions) 
+Index  SparseLUImpl<Scalar,StorageIndex>::expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions) 
 {
   
   float alpha = 1.5; // Ratio of the memory increase 
@@ -148,8 +147,8 @@ Index  SparseLUImpl<Scalar,Index>::expand(VectorType& vec, Index& length, Index
  * \return an estimated size of the required memory if lwork = -1; otherwise, return the size of actually allocated memory when allocation failed, and 0 on success
  * \note Unlike SuperLU, this routine does not support successive factorization with the same pattern and the same row permutation
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu)
 {
   Index& num_expansions = glu.num_expansions; //No memory expansions so far
   num_expansions = 0;
@@ -205,9 +204,9 @@ Index SparseLUImpl<Scalar,Index>::memInit(Index m, Index n, Index annz, Index lw
  * \param num_expansions Number of expansions 
  * \return 0 on success, > 0 size of the memory allocated so far
  */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename VectorType>
-Index SparseLUImpl<Scalar,Index>::memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions)
+Index SparseLUImpl<Scalar,StorageIndex>::memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions)
 {
   Index failed_size; 
   if (memtype == USUB)
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Structs.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Structs.h
index 24d6bf1..cf5ec44 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Structs.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Structs.h
@@ -75,7 +75,7 @@ typedef enum {LUSUP, UCOL, LSUB, USUB, LLVL, ULVL} MemType;
 
 template <typename IndexVector, typename ScalarVector>
 struct LU_GlobalLU_t {
-  typedef typename IndexVector::Scalar Index; 
+  typedef typename IndexVector::Scalar StorageIndex; 
   IndexVector xsup; //First supernode column ... xsup(s) points to the beginning of the s-th supernode
   IndexVector supno; // Supernode number corresponding to this column (column to supernode mapping)
   ScalarVector  lusup; // nonzero values of L ordered by columns 
@@ -93,7 +93,6 @@ struct LU_GlobalLU_t {
 };
 
 // Values to set for performance
-template <typename Index>
 struct perfvalues {
   Index panel_size; // a panel consists of at most <panel_size> consecutive columns
   Index relax; // To control degree of relaxing supernodes. If the number of nodes (columns) 
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
index 54a5694..721e188 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
@@ -29,20 +29,20 @@ namespace internal {
  * SuperInnerIterator to iterate through all supernodes 
  * Function for triangular solve
  */
-template <typename _Scalar, typename _Index>
+template <typename _Scalar, typename _StorageIndex>
 class MappedSuperNodalMatrix
 {
   public:
     typedef _Scalar Scalar; 
-    typedef _Index Index;
-    typedef Matrix<Index,Dynamic,1> IndexVector; 
+    typedef _StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
   public:
     MappedSuperNodalMatrix()
     {
       
     }
-    MappedSuperNodalMatrix(Index m, Index n,  ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind, 
+    MappedSuperNodalMatrix(Index m, Index n,  ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
              IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
     {
       setInfos(m, n, nzval, nzval_colptr, rowind, rowind_colptr, col_to_sup, sup_to_col);
@@ -58,7 +58,7 @@ class MappedSuperNodalMatrix
      * FIXME This class will be modified such that it can be use in the course 
      * of the factorization.
      */
-    void setInfos(Index m, Index n, ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind, 
+    void setInfos(Index m, Index n, ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
              IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
     {
       m_row = m;
@@ -96,12 +96,12 @@ class MappedSuperNodalMatrix
     /**
      * Return the pointers to the beginning of each column in \ref valuePtr()
      */
-    Index* colIndexPtr()
+    StorageIndex* colIndexPtr()
     {
       return m_nzval_colptr; 
     }
     
-    const Index* colIndexPtr() const
+    const StorageIndex* colIndexPtr() const
     {
       return m_nzval_colptr; 
     }
@@ -109,9 +109,9 @@ class MappedSuperNodalMatrix
     /**
      * Return the array of compressed row indices of all supernodes
      */
-    Index* rowIndex()  { return m_rowind; }
+    StorageIndex* rowIndex()  { return m_rowind; }
     
-    const Index* rowIndex() const
+    const StorageIndex* rowIndex() const
     {
       return m_rowind; 
     }
@@ -119,9 +119,9 @@ class MappedSuperNodalMatrix
     /**
      * Return the location in \em rowvaluePtr() which starts each column
      */
-    Index* rowIndexPtr() { return m_rowind_colptr; }
+    StorageIndex* rowIndexPtr() { return m_rowind_colptr; }
     
-    const Index* rowIndexPtr() const 
+    const StorageIndex* rowIndexPtr() const
     {
       return m_rowind_colptr; 
     }
@@ -129,18 +129,18 @@ class MappedSuperNodalMatrix
     /** 
      * Return the array of column-to-supernode mapping 
      */
-    Index* colToSup()  { return m_col_to_sup; }
+    StorageIndex* colToSup()  { return m_col_to_sup; }
     
-    const Index* colToSup() const
+    const StorageIndex* colToSup() const
     {
       return m_col_to_sup;       
     }
     /**
      * Return the array of supernode-to-column mapping
      */
-    Index* supToCol() { return m_sup_to_col; }
+    StorageIndex* supToCol() { return m_sup_to_col; }
     
-    const Index* supToCol() const 
+    const StorageIndex* supToCol() const
     {
       return m_sup_to_col;
     }
@@ -148,7 +148,7 @@ class MappedSuperNodalMatrix
     /**
      * Return the number of supernodes
      */
-    Index nsuper() const 
+    Index nsuper() const
     {
       return m_nsuper; 
     }
@@ -162,14 +162,14 @@ class MappedSuperNodalMatrix
     
   protected:
     Index m_row; // Number of rows
-    Index m_col; // Number of columns 
-    Index m_nsuper; // Number of supernodes 
+    Index m_col; // Number of columns
+    Index m_nsuper; // Number of supernodes
     Scalar* m_nzval; //array of nonzero values packed by column
-    Index* m_nzval_colptr; //nzval_colptr[j] Stores the location in nzval[] which starts column j 
-    Index* m_rowind; // Array of compressed row indices of rectangular supernodes
-    Index* m_rowind_colptr; //rowind_colptr[j] stores the location in rowind[] which starts column j
-    Index* m_col_to_sup; // col_to_sup[j] is the supernode number to which column j belongs
-    Index* m_sup_to_col; //sup_to_col[s] points to the starting column of the s-th supernode
+    StorageIndex* m_nzval_colptr; //nzval_colptr[j] Stores the location in nzval[] which starts column j
+    StorageIndex* m_rowind; // Array of compressed row indices of rectangular supernodes
+    StorageIndex* m_rowind_colptr; //rowind_colptr[j] stores the location in rowind[] which starts column j
+    StorageIndex* m_col_to_sup; // col_to_sup[j] is the supernode number to which column j belongs
+    StorageIndex* m_sup_to_col; //sup_to_col[s] points to the starting column of the s-th supernode
     
   private :
 };
@@ -178,13 +178,13 @@ class MappedSuperNodalMatrix
   * \brief InnerIterator class to iterate over nonzero values of the current column in the supernodal matrix L
   * 
   */
-template<typename Scalar, typename Index>
-class MappedSuperNodalMatrix<Scalar,Index>::InnerIterator
+template<typename Scalar, typename StorageIndex>
+class MappedSuperNodalMatrix<Scalar,StorageIndex>::InnerIterator
 {
   public:
      InnerIterator(const MappedSuperNodalMatrix& mat, Index outer)
       : m_matrix(mat),
-        m_outer(outer), 
+        m_outer(outer),
         m_supno(mat.colToSup()[outer]),
         m_idval(mat.colIndexPtr()[outer]),
         m_startidval(m_idval),
@@ -229,14 +229,17 @@ class MappedSuperNodalMatrix<Scalar,Index>::InnerIterator
  * \brief Solve with the supernode triangular matrix
  * 
  */
-template<typename Scalar, typename Index>
+template<typename Scalar, typename Index_>
 template<typename Dest>
-void MappedSuperNodalMatrix<Scalar,Index>::solveInPlace( MatrixBase<Dest>&X) const
+void MappedSuperNodalMatrix<Scalar,Index_>::solveInPlace( MatrixBase<Dest>&X) const
 {
-    Index n = X.rows(); 
-    Index nrhs = X.cols(); 
+    /* Explicit type conversion as the Index type of MatrixBase<Dest> may be wider than Index */
+//    eigen_assert(X.rows() <= NumTraits<Index>::highest());
+//    eigen_assert(X.cols() <= NumTraits<Index>::highest());
+    Index n    = int(X.rows());
+    Index nrhs = Index(X.cols());
     const Scalar * Lval = valuePtr();                 // Nonzero values 
-    Matrix<Scalar,Dynamic,Dynamic, ColMajor> work(n, nrhs);     // working vector
+    Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor> work(n, nrhs);     // working vector
     work.setZero();
     for (Index k = 0; k <= nsuper(); k ++)
     {
@@ -268,12 +271,12 @@ void MappedSuperNodalMatrix<Scalar,Index>::solveInPlace( MatrixBase<Dest>&X) con
         
         // Triangular solve 
         Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); 
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
         U = A.template triangularView<UnitLower>().solve(U); 
         
         // Matrix-vector product 
         new (&A) Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
-        work.block(0, 0, nrow, nrhs) = A * U; 
+        work.topRows(nrow).noalias() = A * U;
         
         //Begin Scatter 
         for (Index j = 0; j < nrhs; j++)
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Utils.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Utils.h
index 15352ac..9e3dab4 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_Utils.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_Utils.h
@@ -17,8 +17,8 @@ namespace internal {
 /**
  * \brief Count Nonzero elements in the factors
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu)
 {
  nnzL = 0; 
  nnzU = (glu.xusub)(n); 
@@ -48,12 +48,12 @@ void SparseLUImpl<Scalar,Index>::countnz(const Index n, Index& nnzL, Index& nnzU
  * and applies permutation to the remaining subscripts
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu)
 {
   Index fsupc, i, j, k, jstart; 
   
-  Index nextl = 0; 
+  StorageIndex nextl = 0; 
   Index nsuper = (glu.supno)(n); 
   
   // For each supernode 
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h
index cacc7e9..b57f068 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h
@@ -49,8 +49,9 @@ namespace internal {
  *         > 0 - number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv, BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv,
+                                                     BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu)
 {
   Index  jsupno, k, ksub, krep, ksupno; 
   Index lptr, nrow, isub, irow, nextlu, new_next, ufirst; 
@@ -137,7 +138,7 @@ Index SparseLUImpl<Scalar,Index>::column_bmod(const Index jcol, const Index nseg
     glu.lusup.segment(nextlu,offset).setZero();
     nextlu += offset;
   }
-  glu.xlusup(jcol + 1) = nextlu;  // close L\U(*,jcol); 
+  glu.xlusup(jcol + 1) = StorageIndex(nextlu);  // close L\U(*,jcol); 
   
   /* For more updates within the panel (also within the current supernode),
    * should start from the first column of the panel, or the first column
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h
index 4c04b0e..c98b30e 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h
@@ -30,7 +30,7 @@
 #ifndef SPARSELU_COLUMN_DFS_H
 #define SPARSELU_COLUMN_DFS_H
 
-template <typename Scalar, typename Index> class SparseLUImpl;
+template <typename Scalar, typename StorageIndex> class SparseLUImpl;
 namespace Eigen {
 
 namespace internal {
@@ -39,8 +39,8 @@ template<typename IndexVector, typename ScalarVector>
 struct column_dfs_traits : no_assignment_operator
 {
   typedef typename ScalarVector::Scalar Scalar;
-  typedef typename IndexVector::Scalar Index;
-  column_dfs_traits(Index jcol, Index& jsuper, typename SparseLUImpl<Scalar, Index>::GlobalLU_t& glu, SparseLUImpl<Scalar, Index>& luImpl)
+  typedef typename IndexVector::Scalar StorageIndex;
+  column_dfs_traits(Index jcol, Index& jsuper, typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& glu, SparseLUImpl<Scalar, StorageIndex>& luImpl)
    : m_jcol(jcol), m_jsuper_ref(jsuper), m_glu(glu), m_luImpl(luImpl)
  {}
   bool update_segrep(Index /*krep*/, Index /*jj*/)
@@ -57,8 +57,8 @@ struct column_dfs_traits : no_assignment_operator
   
   Index m_jcol;
   Index& m_jsuper_ref;
-  typename SparseLUImpl<Scalar, Index>::GlobalLU_t& m_glu;
-  SparseLUImpl<Scalar, Index>& m_luImpl;
+  typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& m_glu;
+  SparseLUImpl<Scalar, StorageIndex>& m_luImpl;
 };
 
 
@@ -89,8 +89,10 @@ struct column_dfs_traits : no_assignment_operator
  *         > 0 number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,  BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,
+                                                    BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune,
+                                                    IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
 {
   
   Index jsuper = glu.supno(jcol); 
@@ -110,13 +112,13 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
     // krow was visited before, go to the next nonz; 
     if (kmark == jcol) continue;
     
-    dfs_kernel(jcol, perm_r, nseg, glu.lsub, segrep, repfnz, xprune, marker2, parent,
+    dfs_kernel(StorageIndex(jcol), perm_r, nseg, glu.lsub, segrep, repfnz, xprune, marker2, parent,
                    xplore, glu, nextl, krow, traits);
   } // for each nonzero ... 
   
-  Index fsupc, jptr, jm1ptr, ito, ifrom, istop;
-  Index nsuper = glu.supno(jcol);
-  Index jcolp1 = jcol + 1;
+  Index fsupc;
+  StorageIndex nsuper = glu.supno(jcol);
+  StorageIndex jcolp1 = StorageIndex(jcol) + 1;
   Index jcolm1 = jcol - 1;
   
   // check to see if j belongs in the same supernode as j-1
@@ -127,8 +129,8 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
   else 
   {
     fsupc = glu.xsup(nsuper); 
-    jptr = glu.xlsub(jcol); // Not yet compressed
-    jm1ptr = glu.xlsub(jcolm1); 
+    StorageIndex jptr = glu.xlsub(jcol); // Not yet compressed
+    StorageIndex jm1ptr = glu.xlsub(jcolm1); 
     
     // Use supernodes of type T2 : see SuperLU paper
     if ( (nextl-jptr != jptr-jm1ptr-1) ) jsuper = emptyIdxLU;
@@ -146,13 +148,13 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
     { // starts a new supernode 
       if ( (fsupc < jcolm1-1) ) 
       { // >= 3 columns in nsuper
-        ito = glu.xlsub(fsupc+1);
+        StorageIndex ito = glu.xlsub(fsupc+1);
         glu.xlsub(jcolm1) = ito; 
-        istop = ito + jptr - jm1ptr; 
+        StorageIndex istop = ito + jptr - jm1ptr; 
         xprune(jcolm1) = istop; // intialize xprune(jcol-1)
         glu.xlsub(jcol) = istop; 
         
-        for (ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
+        for (StorageIndex ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
           glu.lsub(ito) = glu.lsub(ifrom); 
         nextl = ito;  // = istop + length(jcol)
       }
@@ -164,8 +166,8 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
   // Tidy up the pointers before exit
   glu.xsup(nsuper+1) = jcolp1; 
   glu.supno(jcolp1) = nsuper; 
-  xprune(jcol) = nextl;  // Intialize upper bound for pruning
-  glu.xlsub(jcolp1) = nextl; 
+  xprune(jcol) = StorageIndex(nextl);  // Intialize upper bound for pruning
+  glu.xlsub(jcolp1) = StorageIndex(nextl); 
   
   return 0; 
 }
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
index 170610d..c32d8d8 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
@@ -46,8 +46,9 @@ namespace internal {
  *         > 0 - number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep, BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep,
+                                                      BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu)
 {  
   Index ksub, krep, ksupno; 
     
@@ -55,7 +56,7 @@ Index SparseLUImpl<Scalar,Index>::copy_to_ucol(const Index jcol, const Index nse
   
   // For each nonzero supernode segment of U[*,j] in topological order 
   Index k = nseg - 1, i; 
-  Index nextu = glu.xusub(jcol); 
+  StorageIndex nextu = glu.xusub(jcol); 
   Index kfnz, isub, segsize; 
   Index new_next,irow; 
   Index fsupc, mem; 
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
index 9e4e3e7..95ba741 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
@@ -21,7 +21,7 @@ namespace internal {
   *  - lda and ldc must be multiples of the respective packet size
   *  - C must have the same alignment as A
   */
-template<typename Scalar,typename Index>
+template<typename Scalar>
 EIGEN_DONT_INLINE
 void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const Scalar* B, Index ldb, Scalar* C, Index ldc)
 {
@@ -39,9 +39,9 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
   };
   Index d_end = (d/RK)*RK;    // number of columns of A (rows of B) suitable for full register blocking
   Index n_end = (n/RN)*RN;    // number of columns of B-C suitable for processing RN columns at once
-  Index i0 = internal::first_aligned(A,m);
+  Index i0 = internal::first_default_aligned(A,m);
   
-  eigen_internal_assert(((lda%PacketSize)==0) && ((ldc%PacketSize)==0) && (i0==internal::first_aligned(C,m)));
+  eigen_internal_assert(((lda%PacketSize)==0) && ((ldc%PacketSize)==0) && (i0==internal::first_default_aligned(C,m)));
   
   // handle the non aligned rows of A and C without any optimization:
   for(Index i=0; i<i0; ++i)
@@ -72,14 +72,14 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         
         // load and expand a RN x RK block of B
         Packet b00, b10, b20, b30, b01, b11, b21, b31;
-                  b00 = pset1<Packet>(Bc0[0]);
-                  b10 = pset1<Packet>(Bc0[1]);
-        if(RK==4) b20 = pset1<Packet>(Bc0[2]);
-        if(RK==4) b30 = pset1<Packet>(Bc0[3]);
-                  b01 = pset1<Packet>(Bc1[0]);
-                  b11 = pset1<Packet>(Bc1[1]);
-        if(RK==4) b21 = pset1<Packet>(Bc1[2]);
-        if(RK==4) b31 = pset1<Packet>(Bc1[3]);
+                  { b00 = pset1<Packet>(Bc0[0]); }
+                  { b10 = pset1<Packet>(Bc0[1]); }
+        if(RK==4) { b20 = pset1<Packet>(Bc0[2]); }
+        if(RK==4) { b30 = pset1<Packet>(Bc0[3]); }
+                  { b01 = pset1<Packet>(Bc1[0]); }
+                  { b11 = pset1<Packet>(Bc1[1]); }
+        if(RK==4) { b21 = pset1<Packet>(Bc1[2]); }
+        if(RK==4) { b31 = pset1<Packet>(Bc1[3]); }
         
         Packet a0, a1, a2, a3, c0, c1, t0, t1;
         
@@ -106,22 +106,22 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         
 #define KMADD(c, a, b, tmp) {tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);}
 #define WORK(I)  \
-                    c0 = pload<Packet>(C0+i+(I)*PacketSize);   \
-                    c1 = pload<Packet>(C1+i+(I)*PacketSize);   \
-                    KMADD(c0, a0, b00, t0)      \
-                    KMADD(c1, a0, b01, t1)      \
-                    a0 = pload<Packet>(A0+i+(I+1)*PacketSize); \
-                    KMADD(c0, a1, b10, t0)      \
-                    KMADD(c1, a1, b11, t1)       \
-                    a1 = pload<Packet>(A1+i+(I+1)*PacketSize); \
-          if(RK==4) KMADD(c0, a2, b20, t0)       \
-          if(RK==4) KMADD(c1, a2, b21, t1)       \
-          if(RK==4) a2 = pload<Packet>(A2+i+(I+1)*PacketSize); \
-          if(RK==4) KMADD(c0, a3, b30, t0)       \
-          if(RK==4) KMADD(c1, a3, b31, t1)       \
-          if(RK==4) a3 = pload<Packet>(A3+i+(I+1)*PacketSize); \
-                    pstore(C0+i+(I)*PacketSize, c0);           \
-                    pstore(C1+i+(I)*PacketSize, c1)
+                     c0 = pload<Packet>(C0+i+(I)*PacketSize);    \
+                     c1 = pload<Packet>(C1+i+(I)*PacketSize);    \
+                     KMADD(c0, a0, b00, t0)                      \
+                     KMADD(c1, a0, b01, t1)                      \
+                     a0 = pload<Packet>(A0+i+(I+1)*PacketSize);  \
+                     KMADD(c0, a1, b10, t0)                      \
+                     KMADD(c1, a1, b11, t1)                      \
+                     a1 = pload<Packet>(A1+i+(I+1)*PacketSize);  \
+          if(RK==4){ KMADD(c0, a2, b20, t0)                     }\
+          if(RK==4){ KMADD(c1, a2, b21, t1)                     }\
+          if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize); }\
+          if(RK==4){ KMADD(c0, a3, b30, t0)                     }\
+          if(RK==4){ KMADD(c1, a3, b31, t1)                     }\
+          if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize); }\
+                     pstore(C0+i+(I)*PacketSize, c0);            \
+                     pstore(C1+i+(I)*PacketSize, c1)
         
         // process rows of A' - C' with aggressive vectorization and peeling 
         for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
@@ -131,14 +131,15 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
                     prefetch((A1+i+(5)*PacketSize));
           if(RK==4) prefetch((A2+i+(5)*PacketSize));
           if(RK==4) prefetch((A3+i+(5)*PacketSize));
-                    WORK(0);
-                    WORK(1);
-                    WORK(2);
-                    WORK(3);
-                    WORK(4);
-                    WORK(5);
-                    WORK(6);
-                    WORK(7);
+
+          WORK(0);
+          WORK(1);
+          WORK(2);
+          WORK(3);
+          WORK(4);
+          WORK(5);
+          WORK(6);
+          WORK(7);
         }
         // process the remaining rows with vectorization only
         for(Index i=actual_b_end1; i<actual_b_end2; i+=PacketSize)
@@ -165,7 +166,7 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         Bc1 += RK;
       } // peeled loop on k
     } // peeled loop on the columns j
-    // process the last column (we now perform a matrux-vector product)
+    // process the last column (we now perform a matrix-vector product)
     if((n-n_end)>0)
     {
       const Scalar* Bc0 = B+(n-1)*ldb;
@@ -203,16 +204,16 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         }
         
 #define WORK(I) \
-                  c0 = pload<Packet>(C0+i+(I)*PacketSize);   \
-                  KMADD(c0, a0, b00, t0)       \
-                  a0 = pload<Packet>(A0+i+(I+1)*PacketSize); \
-                  KMADD(c0, a1, b10, t0)       \
-                  a1 = pload<Packet>(A1+i+(I+1)*PacketSize); \
-        if(RK==4) KMADD(c0, a2, b20, t0)       \
-        if(RK==4) a2 = pload<Packet>(A2+i+(I+1)*PacketSize); \
-        if(RK==4) KMADD(c0, a3, b30, t0)       \
-        if(RK==4) a3 = pload<Packet>(A3+i+(I+1)*PacketSize); \
-                  pstore(C0+i+(I)*PacketSize, c0);
+                   c0 = pload<Packet>(C0+i+(I)*PacketSize);     \
+                   KMADD(c0, a0, b00, t0)                       \
+                   a0 = pload<Packet>(A0+i+(I+1)*PacketSize);   \
+                   KMADD(c0, a1, b10, t0)                       \
+                   a1 = pload<Packet>(A1+i+(I+1)*PacketSize);   \
+        if(RK==4){ KMADD(c0, a2, b20, t0)                      }\
+        if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize);  }\
+        if(RK==4){ KMADD(c0, a3, b30, t0)                      }\
+        if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize);  }\
+                   pstore(C0+i+(I)*PacketSize, c0);
         
         // agressive vectorization and peeling
         for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
index 7a4e430..6f75d50 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
@@ -42,21 +42,20 @@ namespace internal {
  * \param descendants Number of descendants of each node in the etree
  * \param relax_end last column in a supernode
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
 {
   
   // The etree may not be postordered, but its heap ordered  
   IndexVector post;
-  internal::treePostorder(n, et, post); // Post order etree
+  internal::treePostorder(StorageIndex(n), et, post); // Post order etree
   IndexVector inv_post(n+1); 
-  Index i;
-  for (i = 0; i < n+1; ++i) inv_post(post(i)) = i; // inv_post = post.inverse()???
+  for (StorageIndex i = 0; i < n+1; ++i) inv_post(post(i)) = i; // inv_post = post.inverse()???
   
   // Renumber etree in postorder 
   IndexVector iwork(n);
   IndexVector et_save(n+1);
-  for (i = 0; i < n; ++i)
+  for (Index i = 0; i < n; ++i)
   {
     iwork(post(i)) = post(et(i));
   }
@@ -75,10 +74,10 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
   }
   // Identify the relaxed supernodes by postorder traversal of the etree
   Index snode_start; // beginning of a snode 
-  Index k;
+  StorageIndex k;
   Index nsuper_et_post = 0; // Number of relaxed snodes in postordered etree 
   Index nsuper_et = 0; // Number of relaxed snodes in the original etree 
-  Index l; 
+  StorageIndex l; 
   for (j = 0; j < n; )
   {
     parent = et(j);
@@ -90,8 +89,8 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
     }
     // Found a supernode in postordered etree, j is the last column 
     ++nsuper_et_post;
-    k = n;
-    for (i = snode_start; i <= j; ++i)
+    k = StorageIndex(n);
+    for (Index i = snode_start; i <= j; ++i)
       k = (std::min)(k, inv_post(i));
     l = inv_post(j);
     if ( (l - k) == (j - snode_start) )  // Same number of columns in the snode
@@ -102,7 +101,7 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
     }
     else 
     {
-      for (i = snode_start; i <= j; ++i) 
+      for (Index i = snode_start; i <= j; ++i) 
       {
         l = inv_post(i);
         if (descendants(i) == 0) 
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
index 6af0267..8c1b3e8 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
@@ -14,30 +14,29 @@
 namespace Eigen {
 namespace internal {
   
-/**
- * \brief Performs numeric block updates from a given supernode to a single column
- * 
- * \param segsize Size of the segment (and blocks ) to use for updates
- * \param[in,out] dense Packed values of the original matrix
- * \param tempv temporary vector to use for updates
- * \param lusup array containing the supernodes
- * \param lda Leading dimension in the supernode
- * \param nrow Number of rows in the rectangular part of the supernode
- * \param lsub compressed row subscripts of supernodes
- * \param lptr pointer to the first column of the current supernode in lsub
- * \param no_zeros Number of nonzeros elements before the diagonal part of the supernode
- * \return 0 on success
- */
 template <int SegSizeAtCompileTime> struct LU_kernel_bmod
 {
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-  static EIGEN_DONT_INLINE void run(const int segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
+  /** \internal
+    * \brief Performs numeric block updates from a given supernode to a single column
+    *
+    * \param segsize Size of the segment (and blocks ) to use for updates
+    * \param[in,out] dense Packed values of the original matrix
+    * \param tempv temporary vector to use for updates
+    * \param lusup array containing the supernodes
+    * \param lda Leading dimension in the supernode
+    * \param nrow Number of rows in the rectangular part of the supernode
+    * \param lsub compressed row subscripts of supernodes
+    * \param lptr pointer to the first column of the current supernode in lsub
+    * \param no_zeros Number of nonzeros elements before the diagonal part of the supernode
+    */
+  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+  static EIGEN_DONT_INLINE void run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
                                     const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
 };
 
 template <int SegSizeAtCompileTime>
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
+template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
                                                                   const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
 {
   typedef typename ScalarVector::Scalar Scalar;
@@ -45,7 +44,7 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
   // The result of triangular solve is in tempv[*]; 
     // The result of matric-vector update is in dense[*]
   Index isub = lptr + no_zeros; 
-  int i;
+  Index i;
   Index irow;
   for (i = 0; i < ((SegSizeAtCompileTime==Dynamic)?segsize:SegSizeAtCompileTime); i++)
   {
@@ -66,8 +65,8 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
   const Index PacketSize = internal::packet_traits<Scalar>::size;
   Index ldl = internal::first_multiple(nrow, PacketSize);
   Map<Matrix<Scalar,Dynamic,SegSizeAtCompileTime, ColMajor>, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) );
-  Index aligned_offset = internal::first_aligned(tempv.data()+segsize, PacketSize);
-  Index aligned_with_B_offset = (PacketSize-internal::first_aligned(B.data(), PacketSize))%PacketSize;
+  Index aligned_offset = internal::first_default_aligned(tempv.data()+segsize, PacketSize);
+  Index aligned_with_B_offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize))%PacketSize;
   Map<Matrix<Scalar,Dynamic,1>, 0, OuterStride<> > l(tempv.data()+segsize+aligned_offset+aligned_with_B_offset, nrow, OuterStride<>(ldl) );
   
   l.setZero();
@@ -91,21 +90,22 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
 
 template <> struct LU_kernel_bmod<1>
 {
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-  static EIGEN_DONT_INLINE void run(const int /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
+  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+  static EIGEN_DONT_INLINE void run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
                                     const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
 };
 
 
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-EIGEN_DONT_INLINE void LU_kernel_bmod<1>::run(const int /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
+template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+EIGEN_DONT_INLINE void LU_kernel_bmod<1>::run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
                                               const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
 {
   typedef typename ScalarVector::Scalar Scalar;
+  typedef typename IndexVector::Scalar StorageIndex;
   Scalar f = dense(lsub(lptr + no_zeros));
   luptr += lda * no_zeros + no_zeros + 1;
   const Scalar* a(lusup.data() + luptr);
-  const /*typename IndexVector::Scalar*/Index*  irow(lsub.data()+lptr + no_zeros + 1);
+  const StorageIndex*  irow(lsub.data()+lptr + no_zeros + 1);
   Index i = 0;
   for (; i+1 < nrow; i+=2)
   {
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h
index 9d2ff29..822cf32 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h
@@ -52,8 +52,8 @@ namespace internal {
  * 
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::panel_bmod(const Index m, const Index w, const Index jcol, 
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::panel_bmod(const Index m, const Index w, const Index jcol, 
                                             const Index nseg, ScalarVector& dense, ScalarVector& tempv,
                                             IndexVector& segrep, IndexVector& repfnz, GlobalLU_t& glu)
 {
@@ -145,7 +145,7 @@ void SparseLUImpl<Scalar,Index>::panel_bmod(const Index m, const Index w, const
       eigen_assert(tempv.size()>w*ldu + nrow*w + 1);
       
       Index ldl = internal::first_multiple<Index>(nrow, PacketSize);
-      Index offset = (PacketSize-internal::first_aligned(B.data(), PacketSize)) % PacketSize;
+      Index offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize)) % PacketSize;
       MappedMatrixBlock L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl));
       
       L.setZero();
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h
index dc0054e..155df73 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h
@@ -37,11 +37,11 @@ namespace internal {
 template<typename IndexVector>
 struct panel_dfs_traits
 {
-  typedef typename IndexVector::Scalar Index;
-  panel_dfs_traits(Index jcol, Index* marker)
+  typedef typename IndexVector::Scalar StorageIndex;
+  panel_dfs_traits(Index jcol, StorageIndex* marker)
     : m_jcol(jcol), m_marker(marker)
   {}
-  bool update_segrep(Index krep, Index jj)
+  bool update_segrep(Index krep, StorageIndex jj)
   {
     if(m_marker[krep]<m_jcol)
     {
@@ -53,13 +53,13 @@ struct panel_dfs_traits
   void mem_expand(IndexVector& /*glu.lsub*/, Index /*nextl*/, Index /*chmark*/) {}
   enum { ExpandMem = false };
   Index m_jcol;
-  Index* m_marker;
+  StorageIndex* m_marker;
 };
 
 
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename Traits>
-void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
+void SparseLUImpl<Scalar,StorageIndex>::dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
                    Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
                    Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
                    IndexVector& xplore, GlobalLU_t& glu,
@@ -67,14 +67,14 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
                   )
 {
   
-  Index kmark = marker(krow);
+  StorageIndex kmark = marker(krow);
       
   // For each unmarked krow of jj
   marker(krow) = jj; 
-  Index kperm = perm_r(krow); 
+  StorageIndex kperm = perm_r(krow); 
   if (kperm == emptyIdxLU ) {
     // krow is in L : place it in structure of L(*, jj)
-    panel_lsub(nextl_col++) = krow;  // krow is indexed into A
+    panel_lsub(nextl_col++) = StorageIndex(krow);  // krow is indexed into A
     
     traits.mem_expand(panel_lsub, nextl_col, kmark);
   }
@@ -83,9 +83,9 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
     // krow is in U : if its supernode-representative krep
     // has been explored, update repfnz(*)
     // krep = supernode representative of the current row
-    Index krep = glu.xsup(glu.supno(kperm)+1) - 1; 
+    StorageIndex krep = glu.xsup(glu.supno(kperm)+1) - 1; 
     // First nonzero element in the current column:
-    Index myfnz = repfnz_col(krep); 
+    StorageIndex myfnz = repfnz_col(krep); 
     
     if (myfnz != emptyIdxLU )
     {
@@ -96,26 +96,26 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
     else 
     {
       // Otherwise, perform dfs starting at krep
-      Index oldrep = emptyIdxLU; 
+      StorageIndex oldrep = emptyIdxLU; 
       parent(krep) = oldrep; 
       repfnz_col(krep) = kperm; 
-      Index xdfs =  glu.xlsub(krep); 
+      StorageIndex xdfs =  glu.xlsub(krep); 
       Index maxdfs = xprune(krep); 
       
-      Index kpar;
+      StorageIndex kpar;
       do 
       {
         // For each unmarked kchild of krep
         while (xdfs < maxdfs) 
         {
-          Index kchild = glu.lsub(xdfs); 
+          StorageIndex kchild = glu.lsub(xdfs); 
           xdfs++; 
-          Index chmark = marker(kchild); 
+          StorageIndex chmark = marker(kchild); 
           
           if (chmark != jj ) 
           {
             marker(kchild) = jj; 
-            Index chperm = perm_r(kchild); 
+            StorageIndex chperm = perm_r(kchild); 
             
             if (chperm == emptyIdxLU) 
             {
@@ -128,7 +128,7 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
               // case kchild is in U :
               // chrep = its supernode-rep. If its rep has been explored, 
               // update its repfnz(*)
-              Index chrep = glu.xsup(glu.supno(chperm)+1) - 1; 
+              StorageIndex chrep = glu.xsup(glu.supno(chperm)+1) - 1; 
               myfnz = repfnz_col(chrep); 
               
               if (myfnz != emptyIdxLU) 
@@ -215,8 +215,8 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
  * 
  */
 
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
 {
   Index nextl_col; // Next available position in panel_lsub[*,jj] 
   
@@ -227,7 +227,7 @@ void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const I
   panel_dfs_traits<IndexVector> traits(jcol, marker1.data());
   
   // For each column in the panel 
-  for (Index jj = jcol; jj < jcol + w; jj++) 
+  for (StorageIndex jj = StorageIndex(jcol); jj < jcol + w; jj++) 
   {
     nextl_col = (jj - jcol) * m; 
     
@@ -241,7 +241,7 @@ void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const I
       Index krow = it.row(); 
       dense_col(krow) = it.value();
       
-      Index kmark = marker(krow); 
+      StorageIndex kmark = marker(krow); 
       if (kmark == jj) 
         continue; // krow visited before, go to the next nonzero
       
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h
index 2e49ef6..a86dac9 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h
@@ -56,8 +56,8 @@ namespace internal {
  * \return 0 if success, i > 0 if U(i,i) is exactly zero 
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu)
 {
   
   Index fsupc = (glu.xsup)((glu.supno)(jcol)); // First column in the supernode containing the column jcol
@@ -67,7 +67,7 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
   Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc); // leading dimension
   Scalar* lu_sup_ptr = &(glu.lusup.data()[glu.xlusup(fsupc)]); // Start of the current supernode
   Scalar* lu_col_ptr = &(glu.lusup.data()[glu.xlusup(jcol)]); // Start of jcol in the supernode
-  Index* lsub_ptr = &(glu.lsub.data()[lptr]); // Start of row indices of the supernode
+  StorageIndex* lsub_ptr = &(glu.lsub.data()[lptr]); // Start of row indices of the supernode
   
   // Determine the largest abs numerical value for partial pivoting 
   Index diagind = iperm_c(jcol); // diagonal index 
@@ -90,7 +90,7 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
   if ( pivmax <= RealScalar(0.0) ) {
     // if pivmax == -1, the column is structurally empty, otherwise it is only numerically zero
     pivrow = pivmax < RealScalar(0.0) ? diagind : lsub_ptr[pivptr];
-    perm_r(pivrow) = jcol;
+    perm_r(pivrow) = StorageIndex(jcol);
     return (jcol+1);
   }
   
@@ -105,13 +105,13 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
       // Diagonal element exists
       using std::abs;
       rtemp = abs(lu_col_ptr[diag]);
-      if (rtemp != 0.0 && rtemp >= thresh) pivptr = diag;
+      if (rtemp != RealScalar(0.0) && rtemp >= thresh) pivptr = diag;
     }
     pivrow = lsub_ptr[pivptr];
   }
   
   // Record pivot row
-  perm_r(pivrow) = jcol; 
+  perm_r(pivrow) = StorageIndex(jcol);
   // Interchange row subscripts
   if (pivptr != nsupc )
   {
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h
index 66460d1..ad32fed 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h
@@ -49,8 +49,9 @@ namespace internal {
  * \param glu Global LU data
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg, const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg,
+                                               const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu)
 {
   // For each supernode-rep irep in U(*,j]
   Index jsupno = glu.supno(jcol); 
@@ -123,7 +124,7 @@ void SparseLUImpl<Scalar,Index>::pruneL(const Index jcol, const IndexVector& per
           }
         } // end while 
         
-        xprune(irep) = kmin;  //Pruning 
+        xprune(irep) = StorageIndex(kmin);  //Pruning 
       } // end if do_prune 
     } // end pruning 
   } // End for each U-segment
diff --git a/vendor/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h b/vendor/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h
index 58ec32e..c408d01 100644
--- a/vendor/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h
+++ b/vendor/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h
@@ -43,15 +43,15 @@ namespace internal {
  * \param descendants Number of descendants of each node in the etree
  * \param relax_end last column in a supernode
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
 {
   
   // compute the number of descendants of each node in the etree
-  Index j, parent; 
+  Index parent; 
   relax_end.setConstant(emptyIdxLU);
   descendants.setZero();
-  for (j = 0; j < n; j++) 
+  for (Index j = 0; j < n; j++) 
   {
     parent = et(j);
     if (parent != n) // not the dummy root
@@ -59,7 +59,7 @@ void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, co
   }
   // Identify the relaxed supernodes by postorder traversal of the etree
   Index snode_start; // beginning of a snode 
-  for (j = 0; j < n; )
+  for (Index j = 0; j < n; )
   {
     parent = et(j);
     snode_start = j; 
@@ -69,7 +69,7 @@ void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, co
       parent = et(j);
     }
     // Found a supernode in postordered etree, j is the last column 
-    relax_end(snode_start) = j; // Record last column
+    relax_end(snode_start) = StorageIndex(j); // Record last column
     j++;
     // Search for a new leaf
     while (descendants(j) != 0 && j < n) j++;
diff --git a/vendor/eigen/Eigen/src/SparseQR/SparseQR.h b/vendor/eigen/Eigen/src/SparseQR/SparseQR.h
index a00bd5d..2d4498b 100644
--- a/vendor/eigen/Eigen/src/SparseQR/SparseQR.h
+++ b/vendor/eigen/Eigen/src/SparseQR/SparseQR.h
@@ -21,8 +21,12 @@ namespace internal {
   template <typename SparseQRType> struct traits<SparseQRMatrixQReturnType<SparseQRType> >
   {
     typedef typename SparseQRType::MatrixType ReturnType;
-    typedef typename ReturnType::Index Index;
+    typedef typename ReturnType::StorageIndex StorageIndex;
     typedef typename ReturnType::StorageKind StorageKind;
+    enum {
+      RowsAtCompileTime = Dynamic,
+      ColsAtCompileTime = Dynamic
+    };
   };
   template <typename SparseQRType> struct traits<SparseQRMatrixQTransposeReturnType<SparseQRType> >
   {
@@ -58,24 +62,36 @@ namespace internal {
   * \tparam _OrderingType The fill-reducing ordering method. See the \link OrderingMethods_Module 
   *  OrderingMethods \endlink module for the list of built-in and external ordering methods.
   * 
+  * \implsparsesolverconcept
+  *
   * \warning The input sparse matrix A must be in compressed mode (see SparseMatrix::makeCompressed()).
   * 
   */
 template<typename _MatrixType, typename _OrderingType>
-class SparseQR
+class SparseQR : public SparseSolverBase<SparseQR<_MatrixType,_OrderingType> >
 {
+  protected:
+    typedef SparseSolverBase<SparseQR<_MatrixType,_OrderingType> > Base;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
     typedef _MatrixType MatrixType;
     typedef _OrderingType OrderingType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> QRMatrixType;
-    typedef Matrix<Index, Dynamic, 1> IndexVector;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> QRMatrixType;
+    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
     typedef Matrix<Scalar, Dynamic, 1> ScalarVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    
   public:
-    SparseQR () : m_isInitialized(false), m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
+    SparseQR () :  m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
     { }
     
     /** Construct a QR factorization of the matrix \a mat.
@@ -84,7 +100,7 @@ class SparseQR
       * 
       * \sa compute()
       */
-    SparseQR(const MatrixType& mat) : m_isInitialized(false), m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
+    explicit SparseQR(const MatrixType& mat) : m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
     {
       compute(mat);
     }
@@ -112,6 +128,17 @@ class SparseQR
     inline Index cols() const { return m_pmat.cols();}
     
     /** \returns a const reference to the \b sparse upper triangular matrix R of the QR factorization.
+      * \warning The entries of the returned matrix are not sorted. This means that using it in algorithms
+      *          expecting sorted entries will fail. This include random coefficient accesses (SpaseMatrix::coeff()),
+      *          and coefficient-wise operations. Matrix products and triangular solves are fine though.
+      *
+      * To sort the entries, you can assign it to a row-major matrix, and if a column-major matrix
+      * is required, you can copy it again:
+      * \code
+      * SparseMatrix<double>          R  = qr.matrixR();  // column-major, not sorted!
+      * SparseMatrix<double,RowMajor> Rr = qr.matrixR();  // row-major, sorted
+      * SparseMatrix<double>          Rc = Rr;            // column-major, sorted
+      * \endcode
       */
     const QRMatrixType& matrixR() const { return m_R; }
     
@@ -119,7 +146,7 @@ class SparseQR
       *
       * \sa setPivotThreshold()
       */
-    Index rank() const 
+    Index rank() const
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       return m_nonzeropivots; 
@@ -162,7 +189,7 @@ class SparseQR
     
     /** \internal */
     template<typename Rhs, typename Dest>
-    bool _solve(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
+    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
@@ -175,10 +202,10 @@ class SparseQR
       b = y;
       
       // Solve with the triangular matrix R
-      y.resize((std::max)(cols(),Index(y.rows())),y.cols());
+      y.resize((std::max<Index>)(cols(),y.rows()),y.cols());
       y.topRows(rank) = this->matrixR().topLeftCorner(rank, rank).template triangularView<Upper>().solve(b.topRows(rank));
       y.bottomRows(y.rows()-rank).setZero();
-
+      
       // Apply the column permutation
       if (m_perm_c.size())  dest = colsPermutation() * y.topRows(cols());
       else                  dest = y.topRows(cols());
@@ -186,7 +213,6 @@ class SparseQR
       m_info = Success;
       return true;
     }
-    
 
     /** Sets the threshold that is used to determine linearly dependent columns during the factorization.
       *
@@ -204,18 +230,18 @@ class SparseQR
       * \sa compute()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
+    inline const Solve<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-      return internal::solve_retval<SparseQR, Rhs>(*this, B.derived());
+      return Solve<SparseQR, Rhs>(*this, B.derived());
     }
     template<typename Rhs>
-    inline const internal::sparse_solve_retval<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
+    inline const Solve<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
     {
           eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
           eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-          return internal::sparse_solve_retval<SparseQR, Rhs>(*this, B.derived());
+          return Solve<SparseQR, Rhs>(*this, B.derived());
     }
     
     /** \brief Reports whether previous computation was successful.
@@ -232,8 +258,9 @@ class SparseQR
       return m_info;
     }
 
-  protected:
-    inline void sort_matrix_Q()
+
+    /** \internal */
+    inline void _sort_matrix_Q()
     {
       if(this->m_isQSorted) return;
       // The matrix Q is sorted during the transposition
@@ -244,7 +271,6 @@ class SparseQR
 
     
   protected:
-    bool m_isInitialized;
     bool m_analysisIsok;
     bool m_factorizationIsok;
     mutable ComputationInfo m_info;
@@ -258,14 +284,13 @@ class SparseQR
     PermutationType m_outputPerm_c; // The final column permutation
     RealScalar m_threshold;         // Threshold to determine null Householder reflections
     bool m_useDefaultThreshold;     // Use default threshold
-    Index m_nonzeropivots;          // Number of non zero pivots found 
+    Index m_nonzeropivots;          // Number of non zero pivots found
     IndexVector m_etree;            // Column elimination tree
     IndexVector m_firstRowElt;      // First element in each row
     bool m_isQSorted;               // whether Q is sorted or not
     bool m_isEtreeOk;               // whether the elimination tree match the initial input matrix
     
     template <typename, typename > friend struct SparseQR_QProduct;
-    template <typename > friend struct SparseQRMatrixQReturnType;
     
 };
 
@@ -294,7 +319,7 @@ void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
   if (!m_perm_c.size())
   {
     m_perm_c.resize(n);
-    m_perm_c.indices().setLinSpaced(n, 0,n-1);
+    m_perm_c.indices().setLinSpaced(n, 0,StorageIndex(n-1));
   }
   
   // Compute the column elimination tree of the permuted matrix
@@ -323,12 +348,11 @@ template <typename MatrixType, typename OrderingType>
 void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
 {
   using std::abs;
-  using std::max;
   
   eigen_assert(m_analysisIsok && "analyzePattern() should be called before this step");
-  Index m = mat.rows();
-  Index n = mat.cols();
-  Index diagSize = (std::min)(m,n);
+  StorageIndex m = StorageIndex(mat.rows());
+  StorageIndex n = StorageIndex(mat.cols());
+  StorageIndex 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
@@ -353,7 +377,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     // otherwise directly use the input matrix
     // 
     IndexVector originalOuterIndicesCpy;
-    const Index *originalOuterIndices = mat.outerIndexPtr();
+    const StorageIndex *originalOuterIndices = mat.outerIndexPtr();
     if(MatrixType::IsRowMajor)
     {
       originalOuterIndicesCpy = IndexVector::Map(m_pmat.outerIndexPtr(),n+1);
@@ -375,7 +399,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   if(m_useDefaultThreshold) 
   {
     RealScalar max2Norm = 0.0;
-    for (int j = 0; j < n; j++) max2Norm = (max)(max2Norm, m_pmat.col(j).norm());
+    for (int j = 0; j < n; j++) max2Norm = numext::maxi(max2Norm, m_pmat.col(j).norm());
     if(max2Norm==RealScalar(0))
       max2Norm = RealScalar(1);
     pivotThreshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
@@ -384,11 +408,11 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   // Initialize the numerical permutation
   m_pivotperm.setIdentity(n);
   
-  Index nonzeroCol = 0; // Record the number of valid pivots
+  StorageIndex 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 < n; ++col)
+  for (StorageIndex col = 0; col < n; ++col)
   {
     mark.setConstant(-1);
     m_R.startVec(col);
@@ -404,12 +428,12 @@ 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 QRMatrixType::InnerIterator itp(m_pmat, col); itp || !found_diag; ++itp)
     {
-      Index curIdx = nonzeroCol;
-      if(itp) curIdx = itp.row();
+      StorageIndex curIdx = nonzeroCol;
+      if(itp) curIdx = StorageIndex(itp.row());
       if(curIdx == nonzeroCol) found_diag = true;
       
       // Get the nonzeros indexes of the current column of R
-      Index st = m_firstRowElt(curIdx); // The traversal of the etree starts here 
+      StorageIndex st = m_firstRowElt(curIdx); // The traversal of the etree starts here
       if (st < 0 )
       {
         m_lastError = "Empty row found during numerical factorization";
@@ -466,7 +490,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
       {
         for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
         {
-          Index iQ = itq.row();
+          StorageIndex iQ = StorageIndex(itq.row());
           if (mark(iQ) != col)
           {
             Qidx(nzcolQ++) = iQ;  // Add this row to the pattern of Q,
@@ -476,7 +500,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
       }
     } // End update current column
     
-    Scalar tau = 0;
+    Scalar tau = RealScalar(0);
     RealScalar beta = 0;
     
     if(nonzeroCol < diagSize)
@@ -572,40 +596,11 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   m_info = Success;
 }
 
-namespace internal {
-  
-template<typename _MatrixType, typename OrderingType, typename Rhs>
-struct solve_retval<SparseQR<_MatrixType,OrderingType>, Rhs>
-  : solve_retval_base<SparseQR<_MatrixType,OrderingType>, Rhs>
-{
-  typedef SparseQR<_MatrixType,OrderingType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-template<typename _MatrixType, typename OrderingType, typename Rhs>
-struct sparse_solve_retval<SparseQR<_MatrixType, OrderingType>, Rhs>
- : sparse_solve_retval_base<SparseQR<_MatrixType, OrderingType>, Rhs>
-{
-  typedef SparseQR<_MatrixType, OrderingType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec, Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-} // end namespace internal
-
 template <typename SparseQRType, typename Derived>
 struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived> >
 {
   typedef typename SparseQRType::QRMatrixType MatrixType;
   typedef typename SparseQRType::Scalar Scalar;
-  typedef typename SparseQRType::Index Index;
   // Get the references 
   SparseQR_QProduct(const SparseQRType& qr, const Derived& other, bool transpose) : 
   m_qr(qr),m_other(other),m_transpose(transpose) {}
@@ -661,10 +656,13 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
 template<typename SparseQRType>
 struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<SparseQRType> >
 {  
-  typedef typename SparseQRType::Index Index;
   typedef typename SparseQRType::Scalar Scalar;
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
-  SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
+  enum {
+    RowsAtCompileTime = Dynamic,
+    ColsAtCompileTime = Dynamic
+  };
+  explicit SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
   template<typename Derived>
   SparseQR_QProduct<SparseQRType, Derived> operator*(const MatrixBase<Derived>& other)
   {
@@ -681,26 +679,13 @@ struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<Sp
   {
     return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
   }
-  template<typename Dest> void evalTo(MatrixBase<Dest>& dest) const
-  {
-    dest.derived() = m_qr.matrixQ() * Dest::Identity(m_qr.rows(), m_qr.rows());
-  }
-  template<typename Dest> void evalTo(SparseMatrixBase<Dest>& dest) const
-  {
-    Dest idMat(m_qr.rows(), m_qr.rows());
-    idMat.setIdentity();
-    // Sort the sparse householder reflectors if needed
-    const_cast<SparseQRType *>(&m_qr)->sort_matrix_Q();
-    dest.derived() = SparseQR_QProduct<SparseQRType, Dest>(m_qr, idMat, false);
-  }
-
   const SparseQRType& m_qr;
 };
 
 template<typename SparseQRType>
 struct SparseQRMatrixQTransposeReturnType
 {
-  SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
+  explicit SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
   template<typename Derived>
   SparseQR_QProduct<SparseQRType,Derived> operator*(const MatrixBase<Derived>& other)
   {
@@ -709,6 +694,46 @@ struct SparseQRMatrixQTransposeReturnType
   const SparseQRType& m_qr;
 };
 
+namespace internal {
+  
+template<typename SparseQRType>
+struct evaluator_traits<SparseQRMatrixQReturnType<SparseQRType> >
+{
+  typedef typename SparseQRType::MatrixType MatrixType;
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SparseShape Shape;
+};
+
+template< typename DstXprType, typename SparseQRType>
+struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Sparse>
+{
+  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
+  {
+    typename DstXprType::PlainObject idMat(src.m_qr.rows(), src.m_qr.rows());
+    idMat.setIdentity();
+    // Sort the sparse householder reflectors if needed
+    const_cast<SparseQRType *>(&src.m_qr)->_sort_matrix_Q();
+    dst = SparseQR_QProduct<SparseQRType, DstXprType>(src.m_qr, idMat, false);
+  }
+};
+
+template< typename DstXprType, typename SparseQRType>
+struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Dense>
+{
+  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
+  {
+    dst = src.m_qr.matrixQ() * DstXprType::Identity(src.m_qr.rows(), src.m_qr.rows());
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif
diff --git a/vendor/eigen/Eigen/src/StlSupport/StdDeque.h b/vendor/eigen/Eigen/src/StlSupport/StdDeque.h
index 69a46b2..cf1fedf 100644
--- a/vendor/eigen/Eigen/src/StlSupport/StdDeque.h
+++ b/vendor/eigen/Eigen/src/StlSupport/StdDeque.h
@@ -45,7 +45,7 @@ namespace std \
 }
 
 // check whether we really need the std::deque specialization
-#if !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
 
 namespace std {
 
diff --git a/vendor/eigen/Eigen/src/StlSupport/StdList.h b/vendor/eigen/Eigen/src/StlSupport/StdList.h
index 050c237..e1eba49 100644
--- a/vendor/eigen/Eigen/src/StlSupport/StdList.h
+++ b/vendor/eigen/Eigen/src/StlSupport/StdList.h
@@ -43,8 +43,8 @@ namespace std \
   }; \
 }
 
-// check whether we really need the std::vector specialization
-#if !(defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
+// check whether we really need the std::list specialization
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_LIST) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
 
 namespace std
 {
diff --git a/vendor/eigen/Eigen/src/StlSupport/StdVector.h b/vendor/eigen/Eigen/src/StlSupport/StdVector.h
index 611664a..ec22821 100644
--- a/vendor/eigen/Eigen/src/StlSupport/StdVector.h
+++ b/vendor/eigen/Eigen/src/StlSupport/StdVector.h
@@ -44,6 +44,9 @@ namespace std \
   }; \
 }
 
+// Don't specialize if containers are implemented according to C++11
+#if !EIGEN_HAS_CXX11_CONTAINERS
+
 namespace std {
 
 #define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
@@ -122,5 +125,7 @@ namespace std {
 #endif
   };
 }
+#endif // !EIGEN_HAS_CXX11_CONTAINERS
+
 
 #endif // EIGEN_STDVECTOR_H
diff --git a/vendor/eigen/Eigen/src/StlSupport/details.h b/vendor/eigen/Eigen/src/StlSupport/details.h
index d8debc7..2cfd13e 100644
--- a/vendor/eigen/Eigen/src/StlSupport/details.h
+++ b/vendor/eigen/Eigen/src/StlSupport/details.h
@@ -22,13 +22,13 @@ namespace Eigen {
   class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
   {
   public:
-    typedef size_t    size_type;
-    typedef ptrdiff_t difference_type;
-    typedef T*        pointer;
-    typedef const T*  const_pointer;
-    typedef T&        reference;
-    typedef const T&  const_reference;
-    typedef T         value_type;
+    typedef std::size_t     size_type;
+    typedef std::ptrdiff_t  difference_type;
+    typedef T*              pointer;
+    typedef const T*        const_pointer;
+    typedef T&              reference;
+    typedef const T&        const_reference;
+    typedef T               value_type;
 
     template<class U>
     struct rebind
@@ -46,7 +46,7 @@ namespace Eigen {
     ~aligned_allocator_indirection() {}
   };
 
-#ifdef _MSC_VER
+#if EIGEN_COMP_MSVC
 
   // sometimes, MSVC detects, at compile time, that the argument x
   // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
diff --git a/vendor/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h b/vendor/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
index bcb3557..50a69f3 100644
--- a/vendor/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
+++ b/vendor/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud at 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
@@ -10,16 +10,16 @@
 #ifndef EIGEN_SUPERLUSUPPORT_H
 #define EIGEN_SUPERLUSUPPORT_H
 
-namespace Eigen { 
+namespace Eigen {
 
+#if defined(SUPERLU_MAJOR_VERSION) && (SUPERLU_MAJOR_VERSION >= 5)
 #define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
     extern "C" {                                                                                          \
-      typedef struct { FLOATTYPE for_lu; FLOATTYPE total_needed; int expansions; } PREFIX##mem_usage_t;   \
       extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
                                 char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
                                 void *, int, SuperMatrix *, SuperMatrix *,                                \
                                 FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
-                                PREFIX##mem_usage_t *, SuperLUStat_t *, int *);                           \
+                                GlobalLU_t *, mem_usage_t *, SuperLUStat_t *, int *);                     \
     }                                                                                                     \
     inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
          int *perm_c, int *perm_r, int *etree, char *equed,                                               \
@@ -29,12 +29,37 @@ namespace Eigen {
          FLOATTYPE *recip_pivot_growth,                                                                   \
          FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
          SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
-    PREFIX##mem_usage_t mem_usage;                                                                        \
+    mem_usage_t mem_usage;                                                                                \
+    GlobalLU_t gLU;                                                                                       \
+    PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
+         U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
+         ferr, berr, &gLU, &mem_usage, stats, info);                                                      \
+    return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
+  }
+#else // version < 5.0
+#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
+    extern "C" {                                                                                          \
+      extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
+                                char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
+                                void *, int, SuperMatrix *, SuperMatrix *,                                \
+                                FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
+                                mem_usage_t *, SuperLUStat_t *, int *);                                   \
+    }                                                                                                     \
+    inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
+         int *perm_c, int *perm_r, int *etree, char *equed,                                               \
+         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,                                                      \
+         SuperMatrix *U, void *work, int lwork,                                                           \
+         SuperMatrix *B, SuperMatrix *X,                                                                  \
+         FLOATTYPE *recip_pivot_growth,                                                                   \
+         FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
+         SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
+    mem_usage_t mem_usage;                                                                                \
     PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
          U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
          ferr, berr, &mem_usage, stats, info);                                                            \
     return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
   }
+#endif
 
 DECL_GSSVX(s,float,float)
 DECL_GSSVX(c,float,std::complex<float>)
@@ -53,7 +78,7 @@ DECL_GSSVX(z,double,std::complex<double>)
       extern void PREFIX##gsisx(superlu_options_t *, SuperMatrix *, int *, int *, int *,        \
                          char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,        \
                          void *, int, SuperMatrix *, SuperMatrix *, FLOATTYPE *, FLOATTYPE *,   \
-                         PREFIX##mem_usage_t *, SuperLUStat_t *, int *);                        \
+                         mem_usage_t *, SuperLUStat_t *, int *);                        \
     }                                                                                           \
     inline float SuperLU_gsisx(superlu_options_t *options, SuperMatrix *A,                      \
          int *perm_c, int *perm_r, int *etree, char *equed,                                     \
@@ -63,7 +88,7 @@ DECL_GSSVX(z,double,std::complex<double>)
          FLOATTYPE *recip_pivot_growth,                                                         \
          FLOATTYPE *rcond,                                                                      \
          SuperLUStat_t *stats, int *info, KEYTYPE) {                                            \
-    PREFIX##mem_usage_t mem_usage;                                                              \
+    mem_usage_t mem_usage;                                                              \
     PREFIX##gsisx(options, A, perm_c, perm_r, etree, equed, R, C, L,                            \
          U, work, lwork, B, X, recip_pivot_growth, rcond,                                       \
          &mem_usage, stats, info);                                                              \
@@ -156,37 +181,38 @@ struct SluMatrix : SuperMatrix
     res.setScalarType<typename MatrixType::Scalar>();
     res.Mtype     = SLU_GE;
 
-    res.nrow      = mat.rows();
-    res.ncol      = mat.cols();
+    res.nrow      = internal::convert_index<int>(mat.rows());
+    res.ncol      = internal::convert_index<int>(mat.cols());
 
-    res.storage.lda       = MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride();
+    res.storage.lda       = internal::convert_index<int>(MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride());
     res.storage.values    = (void*)(mat.data());
     return res;
   }
 
   template<typename MatrixType>
-  static SluMatrix Map(SparseMatrixBase<MatrixType>& mat)
+  static SluMatrix Map(SparseMatrixBase<MatrixType>& a_mat)
   {
+    MatrixType &mat(a_mat.derived());
     SluMatrix res;
     if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
     {
       res.setStorageType(SLU_NR);
-      res.nrow      = mat.cols();
-      res.ncol      = mat.rows();
+      res.nrow      = internal::convert_index<int>(mat.cols());
+      res.ncol      = internal::convert_index<int>(mat.rows());
     }
     else
     {
       res.setStorageType(SLU_NC);
-      res.nrow      = mat.rows();
-      res.ncol      = mat.cols();
+      res.nrow      = internal::convert_index<int>(mat.rows());
+      res.ncol      = internal::convert_index<int>(mat.cols());
     }
 
     res.Mtype       = SLU_GE;
 
-    res.storage.nnz       = mat.nonZeros();
-    res.storage.values    = mat.derived().valuePtr();
-    res.storage.innerInd  = mat.derived().innerIndexPtr();
-    res.storage.outerInd  = mat.derived().outerIndexPtr();
+    res.storage.nnz       = internal::convert_index<int>(mat.nonZeros());
+    res.storage.values    = mat.valuePtr();
+    res.storage.innerInd  = mat.innerIndexPtr();
+    res.storage.outerInd  = mat.outerIndexPtr();
 
     res.setScalarType<typename MatrixType::Scalar>();
 
@@ -288,17 +314,26 @@ MappedSparseMatrix<Scalar,Flags,Index> map_superlu(SluMatrix& sluMat)
   * \brief The base class for the direct and incomplete LU factorization of SuperLU
   */
 template<typename _MatrixType, typename Derived>
-class SuperLUBase : internal::noncopyable
+class SuperLUBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;    
+    typedef Map<PermutationMatrix<Dynamic,Dynamic,int> > PermutationMap;
     typedef SparseMatrix<Scalar> LUMatrixType;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
@@ -309,9 +344,6 @@ class SuperLUBase : internal::noncopyable
       clearFactors();
     }
     
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
     
@@ -335,33 +367,7 @@ class SuperLUBase : internal::noncopyable
       derived().analyzePattern(matrix);
       derived().factorize(matrix);
     }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SuperLUBase, Rhs> solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "SuperLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SuperLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<SuperLUBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SuperLUBase, Rhs> solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "SuperLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SuperLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<SuperLUBase, Rhs>(*this, b.derived());
-    }
-    
+
     /** Performs a symbolic decomposition on the sparcity of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
@@ -386,7 +392,7 @@ class SuperLUBase : internal::noncopyable
     {
       set_default_options(&this->m_sluOptions);
       
-      const int size = a.rows();
+      const Index size = a.rows();
       m_matrix = a;
 
       m_sluA = internal::asSluMatrix(m_matrix);
@@ -405,7 +411,7 @@ class SuperLUBase : internal::noncopyable
       m_sluB.storage.values = 0;
       m_sluB.nrow           = 0;
       m_sluB.ncol           = 0;
-      m_sluB.storage.lda    = size;
+      m_sluB.storage.lda    = internal::convert_index<int>(size);
       m_sluX                = m_sluB;
       
       m_extractedDataAreDirty = true;
@@ -453,7 +459,6 @@ class SuperLUBase : internal::noncopyable
     mutable char m_sluEqued;
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
     mutable bool m_extractedDataAreDirty;
@@ -473,7 +478,11 @@ class SuperLUBase : internal::noncopyable
   *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename _MatrixType>
 class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
@@ -483,18 +492,20 @@ class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
     typedef typename Base::IntRowVectorType IntRowVectorType;
-    typedef typename Base::IntColVectorType IntColVectorType;    
+    typedef typename Base::IntColVectorType IntColVectorType;   
+    typedef typename Base::PermutationMap PermutationMap;
     typedef typename Base::LUMatrixType LUMatrixType;
     typedef TriangularView<LUMatrixType, Lower|UnitDiag>  LMatrixType;
-    typedef TriangularView<LUMatrixType,  Upper>           UMatrixType;
+    typedef TriangularView<LUMatrixType,  Upper>          UMatrixType;
 
   public:
+    using Base::_solve_impl;
 
     SuperLU() : Base() { init(); }
 
-    SuperLU(const MatrixType& matrix) : Base()
+    explicit SuperLU(const MatrixType& matrix) : Base()
     {
       init();
       Base::compute(matrix);
@@ -525,11 +536,9 @@ class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
       */
     void factorize(const MatrixType& matrix);
     
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
-    #endif // EIGEN_PARSED_BY_DOXYGEN
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
     
     inline const LMatrixType& matrixL() const
     {
@@ -637,12 +646,12 @@ void SuperLU<MatrixType>::factorize(const MatrixType& a)
 
 template<typename MatrixType>
 template<typename Rhs,typename Dest>
-void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
+void SuperLU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
-  const int size = m_matrix.rows();
-  const int rhsCols = b.cols();
+  const Index size = m_matrix.rows();
+  const Index rhsCols = b.cols();
   eigen_assert(size==b.rows());
 
   m_sluOptions.Trans = NOTRANS;
@@ -652,8 +661,12 @@ void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
 
   m_sluFerr.resize(rhsCols);
   m_sluBerr.resize(rhsCols);
-  m_sluB = SluMatrix::Map(b.const_cast_derived());
-  m_sluX = SluMatrix::Map(x.derived());
+  
+  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
+  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
+  
+  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
+  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
   
   typename Rhs::PlainObject b_cpy;
   if(m_sluEqued!='N')
@@ -676,6 +689,10 @@ void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
                 &m_sluFerr[0], &m_sluBerr[0],
                 &m_sluStat, &info, Scalar());
   StatFree(&m_sluStat);
+  
+  if(x.derived().data() != x_ref.data())
+    x = x_ref;
+  
   m_info = info==0 ? Success : NumericalIssue;
 }
 
@@ -699,7 +716,7 @@ void SuperLUBase<MatrixType,Derived>::extractData() const
     NCformat    *Ustore = static_cast<NCformat*>(m_sluU.Store);
     Scalar      *SNptr;
 
-    const int size = m_matrix.rows();
+    const Index size = m_matrix.rows();
     m_l.resize(size,size);
     m_l.resizeNonZeros(Lstore->nnz);
     m_u.resize(size,size);
@@ -791,6 +808,8 @@ typename SuperLU<MatrixType>::Scalar SuperLU<MatrixType>::determinant() const
         det *= m_u.valuePtr()[lastId];
     }
   }
+  if(PermutationMap(m_p.data(),m_p.size()).determinant()*PermutationMap(m_q.data(),m_q.size()).determinant()<0)
+    det = -det;
   if(m_sluEqued!='N')
     return det/m_sluRscale.prod()/m_sluCscale.prod();
   else
@@ -810,11 +829,13 @@ typename SuperLU<MatrixType>::Scalar SuperLU<MatrixType>::determinant() const
   * This class allows to solve for an approximate solution of A.X = B sparse linear problems via an incomplete LU factorization
   * using the SuperLU library. This class is aimed to be used as a preconditioner of the iterative linear solvers.
   *
-  * \warning This class requires SuperLU 4 or later.
+  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
   *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers, class ConjugateGradient, class BiCGSTAB
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class IncompleteLUT, class ConjugateGradient, class BiCGSTAB
   */
 
 template<typename _MatrixType>
@@ -825,9 +846,9 @@ class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
-    typedef typename Base::Index Index;
 
   public:
+    using Base::_solve_impl;
 
     SuperILU() : Base() { init(); }
 
@@ -863,7 +884,7 @@ class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
     #endif // EIGEN_PARSED_BY_DOXYGEN
     
   protected:
@@ -946,9 +967,10 @@ void SuperILU<MatrixType>::factorize(const MatrixType& a)
   m_factorizationIsOk = true;
 }
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 template<typename MatrixType>
 template<typename Rhs,typename Dest>
-void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
+void SuperILU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
@@ -962,8 +984,12 @@ void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
 
   m_sluFerr.resize(rhsCols);
   m_sluBerr.resize(rhsCols);
-  m_sluB = SluMatrix::Map(b.const_cast_derived());
-  m_sluX = SluMatrix::Map(x.derived());
+  
+  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
+  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
+  
+  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
+  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
 
   typename Rhs::PlainObject b_cpy;
   if(m_sluEqued!='N')
@@ -986,40 +1012,15 @@ void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
                 &recip_pivot_growth, &rcond,
                 &m_sluStat, &info, Scalar());
   StatFree(&m_sluStat);
+  
+  if(x.derived().data() != x_ref.data())
+    x = x_ref;
 
   m_info = info==0 ? Success : NumericalIssue;
 }
 #endif
 
-namespace internal {
-  
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct solve_retval<SuperLUBase<_MatrixType,Derived>, Rhs>
-  : solve_retval_base<SuperLUBase<_MatrixType,Derived>, Rhs>
-{
-  typedef SuperLUBase<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct sparse_solve_retval<SuperLUBase<_MatrixType,Derived>, Rhs>
-  : sparse_solve_retval_base<SuperLUBase<_MatrixType,Derived>, Rhs>
-{
-  typedef SuperLUBase<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
+#endif
 
 } // end namespace Eigen
 
diff --git a/vendor/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h b/vendor/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
index 29c60c3..91c09ab 100644
--- a/vendor/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
+++ b/vendor/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
@@ -10,12 +10,37 @@
 #ifndef EIGEN_UMFPACKSUPPORT_H
 #define EIGEN_UMFPACKSUPPORT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /* TODO extract L, extract U, compute det, etc... */
 
 // generic double/complex<double> wrapper functions:
 
+
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], double)
+{ umfpack_di_defaults(control); }
+
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>)
+{ umfpack_zi_defaults(control); }
+
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], double)
+{ umfpack_di_report_info(control, info);}
+
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], std::complex<double>)
+{ umfpack_zi_report_info(control, info);}
+
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, double)
+{ umfpack_di_report_status(control, status);}
+
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, std::complex<double>)
+{ umfpack_zi_report_status(control, status);}
+
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], double)
+{ umfpack_di_report_control(control);}
+
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], std::complex<double>)
+{ umfpack_zi_report_control(control);}
+
 inline void umfpack_free_numeric(void **Numeric, double)
 { umfpack_di_free_numeric(Numeric); *Numeric = 0; }
 
@@ -107,15 +132,6 @@ inline int umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *N
   return umfpack_zi_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info);
 }
 
-namespace internal {
-  template<typename T> struct umfpack_helper_is_sparse_plain : false_type {};
-  template<typename Scalar, int Options, typename StorageIndex>
-  struct umfpack_helper_is_sparse_plain<SparseMatrix<Scalar,Options,StorageIndex> >
-    : true_type {};
-  template<typename Scalar, int Options, typename StorageIndex>
-  struct umfpack_helper_is_sparse_plain<MappedSparseMatrix<Scalar,Options,StorageIndex> >
-    : true_type {};
-}
 
 /** \ingroup UmfPackSupport_Module
   * \brief A sparse LU factorization and solver based on UmfPack
@@ -128,27 +144,47 @@ namespace internal {
   * Otherwise an expensive copy will be made. You can call the inexpensive makeCompressed() to get a compressed matrix.
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename _MatrixType>
-class UmfPackLU : internal::noncopyable
+class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
 {
+  protected:
+    typedef SparseSolverBase<UmfPackLU<_MatrixType> > Base;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
     typedef SparseMatrix<Scalar> LUMatrixType;
     typedef SparseMatrix<Scalar,ColMajor,int> UmfpackMatrixType;
+    typedef Ref<const UmfpackMatrixType, StandardCompressedFormat> UmfpackMatrixRef;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
-    UmfPackLU() { init(); }
+    typedef Array<double, UMFPACK_CONTROL, 1> UmfpackControl;
+    typedef Array<double, UMFPACK_INFO, 1> UmfpackInfo;
 
-    UmfPackLU(const MatrixType& matrix)
+    UmfPackLU()
+      : m_dummy(0,0), mp_matrix(m_dummy)
+    {
+      init();
+    }
+
+    template<typename InputMatrixType>
+    explicit UmfPackLU(const InputMatrixType& matrix)
+      : mp_matrix(matrix)
     {
       init();
       compute(matrix);
@@ -160,8 +196,8 @@ class UmfPackLU : internal::noncopyable
       if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
     }
 
-    inline Index rows() const { return m_copyMatrix.rows(); }
-    inline Index cols() const { return m_copyMatrix.cols(); }
+    inline Index rows() const { return mp_matrix.rows(); }
+    inline Index cols() const { return mp_matrix.cols(); }
 
     /** \brief Reports whether previous computation was successful.
       *
@@ -198,7 +234,7 @@ class UmfPackLU : internal::noncopyable
       return m_q;
     }
 
-    /** Computes the sparse Cholesky decomposition of \a matrix 
+    /** Computes the sparse Cholesky decomposition of \a matrix
      *  Note that the matrix should be column-major, and in compressed format for best performance.
      *  \sa SparseMatrix::makeCompressed().
      */
@@ -207,52 +243,59 @@ class UmfPackLU : internal::noncopyable
     {
       if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
       if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-      grapInput(matrix.derived());
+      grab(matrix.derived());
       analyzePattern_impl();
       factorize_impl();
     }
 
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+    /** Performs a symbolic decomposition on the sparcity of \a matrix.
       *
-      * \sa compute()
+      * This function is particularly useful when solving for several problems having the same structure.
+      *
+      * \sa factorize(), compute()
       */
-    template<typename Rhs>
-    inline const internal::solve_retval<UmfPackLU, Rhs> solve(const MatrixBase<Rhs>& b) const
+    template<typename InputMatrixType>
+    void analyzePattern(const InputMatrixType& matrix)
     {
-      eigen_assert(m_isInitialized && "UmfPackLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "UmfPackLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<UmfPackLU, Rhs>(*this, b.derived());
+      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
+      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
+
+      grab(matrix.derived());
+
+      analyzePattern_impl();
     }
 
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+    /** Provides the return status code returned by UmfPack during the numeric
+      * factorization.
       *
-      * \sa compute()
+      * \sa factorize(), compute()
       */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<UmfPackLU, Rhs> solve(const SparseMatrixBase<Rhs>& b) const
+    inline int umfpackFactorizeReturncode() const
     {
-      eigen_assert(m_isInitialized && "UmfPackLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "UmfPackLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<UmfPackLU, Rhs>(*this, b.derived());
+      eigen_assert(m_numeric && "UmfPackLU: you must first call factorize()");
+      return m_fact_errorCode;
     }
 
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
+    /** Provides access to the control settings array used by UmfPack.
       *
-      * This function is particularly useful when solving for several problems having the same structure.
+      * If this array contains NaN's, the default values are used.
       *
-      * \sa factorize(), compute()
+      * See UMFPACK documentation for details.
       */
-    template<typename InputMatrixType>
-    void analyzePattern(const InputMatrixType& matrix)
+    inline const UmfpackControl& umfpackControl() const
     {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-      
-      grapInput(matrix.derived());
+      return m_control;
+    }
 
-      analyzePattern_impl();
+    /** Provides access to the control settings array used by UmfPack.
+      *
+      * If this array contains NaN's, the default values are used.
+      *
+      * See UMFPACK documentation for details.
+      */
+    inline UmfpackControl& umfpackControl()
+    {
+      return m_control;
     }
 
     /** Performs a numeric decomposition of \a matrix
@@ -268,16 +311,42 @@ class UmfPackLU : internal::noncopyable
       if(m_numeric)
         umfpack_free_numeric(&m_numeric,Scalar());
 
-      grapInput(matrix.derived());
-      
+      grab(matrix.derived());
+
       factorize_impl();
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Prints the current UmfPack control settings.
+      *
+      * \sa umfpackControl()
+      */
+    void umfpackReportControl()
+    {
+      umfpack_report_control(m_control.data(), Scalar());
+    }
+
+    /** Prints statistics collected by UmfPack.
+      *
+      * \sa analyzePattern(), compute()
+      */
+    void umfpackReportInfo()
+    {
+      eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
+      umfpack_report_info(m_control.data(), m_umfpackInfo.data(), Scalar());
+    }
+
+    /** Prints the status of the previous factorization operation performed by UmfPack (symbolic or numerical factorization).
+      *
+      * \sa analyzePattern(), compute()
+      */
+    void umfpackReportStatus() {
+      eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
+      umfpack_report_status(m_control.data(), m_fact_errorCode, Scalar());
+    }
+
     /** \internal */
     template<typename BDerived,typename XDerived>
-    bool _solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
-    #endif
+    bool _solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
 
     Scalar determinant() const;
 
@@ -291,92 +360,75 @@ class UmfPackLU : internal::noncopyable
       m_isInitialized         = false;
       m_numeric               = 0;
       m_symbolic              = 0;
-      m_outerIndexPtr         = 0;
-      m_innerIndexPtr         = 0;
-      m_valuePtr              = 0;
       m_extractedDataAreDirty = true;
+
+      umfpack_defaults(m_control.data(), Scalar());
     }
-    
-    template<typename InputMatrixType>
-    void grapInput_impl(const InputMatrixType& mat, internal::true_type)
-    {
-      m_copyMatrix.resize(mat.rows(), mat.cols());
-      if( ((MatrixType::Flags&RowMajorBit)==RowMajorBit) || sizeof(typename MatrixType::Index)!=sizeof(int) || !mat.isCompressed() )
-      {
-        // non supported input -> copy
-        m_copyMatrix = mat;
-        m_outerIndexPtr = m_copyMatrix.outerIndexPtr();
-        m_innerIndexPtr = m_copyMatrix.innerIndexPtr();
-        m_valuePtr      = m_copyMatrix.valuePtr();
-      }
-      else
-      {
-        m_outerIndexPtr = mat.outerIndexPtr();
-        m_innerIndexPtr = mat.innerIndexPtr();
-        m_valuePtr      = mat.valuePtr();
-      }
-    }
-    
-    template<typename InputMatrixType>
-    void grapInput_impl(const InputMatrixType& mat, internal::false_type)
-    {
-      m_copyMatrix = mat;
-      m_outerIndexPtr = m_copyMatrix.outerIndexPtr();
-      m_innerIndexPtr = m_copyMatrix.innerIndexPtr();
-      m_valuePtr      = m_copyMatrix.valuePtr();
-    }
-    
-    template<typename InputMatrixType>
-    void grapInput(const InputMatrixType& mat)
-    {
-      grapInput_impl(mat, internal::umfpack_helper_is_sparse_plain<InputMatrixType>());
-    }
-    
+
     void analyzePattern_impl()
     {
-      int errorCode = 0;
-      errorCode = umfpack_symbolic(m_copyMatrix.rows(), m_copyMatrix.cols(), m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-                                   &m_symbolic, 0, 0);
+      m_fact_errorCode = umfpack_symbolic(internal::convert_index<int>(mp_matrix.rows()),
+                                          internal::convert_index<int>(mp_matrix.cols()),
+                                          mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+                                          &m_symbolic, m_control.data(), m_umfpackInfo.data());
 
       m_isInitialized = true;
-      m_info = errorCode ? InvalidInput : Success;
+      m_info = m_fact_errorCode ? InvalidInput : Success;
       m_analysisIsOk = true;
       m_factorizationIsOk = false;
       m_extractedDataAreDirty = true;
     }
-    
+
     void factorize_impl()
     {
-      int errorCode;
-      errorCode = umfpack_numeric(m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-                                  m_symbolic, &m_numeric, 0, 0);
 
-      m_info = errorCode ? NumericalIssue : Success;
+      m_fact_errorCode = umfpack_numeric(mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+                                         m_symbolic, &m_numeric, m_control.data(), m_umfpackInfo.data());
+
+      m_info = m_fact_errorCode == UMFPACK_OK ? Success : NumericalIssue;
       m_factorizationIsOk = true;
       m_extractedDataAreDirty = true;
     }
 
+    template<typename MatrixDerived>
+    void grab(const EigenBase<MatrixDerived> &A)
+    {
+      mp_matrix.~UmfpackMatrixRef();
+      ::new (&mp_matrix) UmfpackMatrixRef(A.derived());
+    }
+
+    void grab(const UmfpackMatrixRef &A)
+    {
+      if(&(A.derived()) != &mp_matrix)
+      {
+        mp_matrix.~UmfpackMatrixRef();
+        ::new (&mp_matrix) UmfpackMatrixRef(A);
+      }
+    }
+
     // cached data to reduce reallocation, etc.
     mutable LUMatrixType m_l;
+    int m_fact_errorCode;
+    UmfpackControl m_control;
+    mutable UmfpackInfo m_umfpackInfo;
+
     mutable LUMatrixType m_u;
     mutable IntColVectorType m_p;
     mutable IntRowVectorType m_q;
 
-    UmfpackMatrixType m_copyMatrix;
-    const Scalar* m_valuePtr;
-    const int* m_outerIndexPtr;
-    const int* m_innerIndexPtr;
+    UmfpackMatrixType m_dummy;
+    UmfpackMatrixRef mp_matrix;
+
     void* m_numeric;
     void* m_symbolic;
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
     mutable bool m_extractedDataAreDirty;
-    
+
   private:
-    UmfPackLU(UmfPackLU& ) { }
+    UmfPackLU(const UmfPackLU& ) { }
 };
 
 
@@ -418,19 +470,30 @@ typename UmfPackLU<MatrixType>::Scalar UmfPackLU<MatrixType>::determinant() cons
 
 template<typename MatrixType>
 template<typename BDerived,typename XDerived>
-bool UmfPackLU<MatrixType>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
+bool UmfPackLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
 {
-  const int rhsCols = b.cols();
+  Index rhsCols = b.cols();
   eigen_assert((BDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major rhs yet");
   eigen_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major result yet");
   eigen_assert(b.derived().data() != x.derived().data() && " Umfpack does not support inplace solve");
-  
+
   int errorCode;
+  Scalar* x_ptr = 0;
+  Matrix<Scalar,Dynamic,1> x_tmp;
+  if(x.innerStride()!=1)
+  {
+    x_tmp.resize(x.rows());
+    x_ptr = x_tmp.data();
+  }
   for (int j=0; j<rhsCols; ++j)
   {
+    if(x.innerStride()==1)
+      x_ptr = &x.col(j).coeffRef(0);
     errorCode = umfpack_solve(UMFPACK_A,
-        m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-        &x.col(j).coeffRef(0), &b.const_cast_derived().col(j).coeffRef(0), m_numeric, 0, 0);
+        mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+        x_ptr, &b.const_cast_derived().col(j).coeffRef(0), m_numeric, m_control.data(), m_umfpackInfo.data());
+    if(x.innerStride()!=1)
+      x.col(j) = x_tmp;
     if (errorCode!=0)
       return false;
   }
@@ -438,37 +501,6 @@ bool UmfPackLU<MatrixType>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDe
   return true;
 }
 
-
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<UmfPackLU<_MatrixType>, Rhs>
-  : solve_retval_base<UmfPackLU<_MatrixType>, Rhs>
-{
-  typedef UmfPackLU<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Rhs>
-struct sparse_solve_retval<UmfPackLU<_MatrixType>, Rhs>
-  : sparse_solve_retval_base<UmfPackLU<_MatrixType>, Rhs>
-{
-  typedef UmfPackLU<_MatrixType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_UMFPACKSUPPORT_H
diff --git a/vendor/eigen/Eigen/src/misc/Image.h b/vendor/eigen/Eigen/src/misc/Image.h
index 75c5f43..b8b8a04 100644
--- a/vendor/eigen/Eigen/src/misc/Image.h
+++ b/vendor/eigen/Eigen/src/misc/Image.h
@@ -38,7 +38,6 @@ template<typename _DecompositionType> struct image_retval_base
   typedef _DecompositionType DecompositionType;
   typedef typename DecompositionType::MatrixType MatrixType;
   typedef ReturnByValue<image_retval_base> Base;
-  typedef typename Base::Index Index;
 
   image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
     : m_dec(dec), m_rank(dec.rank()),
@@ -69,7 +68,6 @@ template<typename _DecompositionType> struct image_retval_base
   typedef typename DecompositionType::MatrixType MatrixType; \
   typedef typename MatrixType::Scalar Scalar; \
   typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
   typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
   using Base::dec; \
   using Base::originalMatrix; \
diff --git a/vendor/eigen/Eigen/src/misc/Kernel.h b/vendor/eigen/Eigen/src/misc/Kernel.h
index b9e1518..bef5d6f 100644
--- a/vendor/eigen/Eigen/src/misc/Kernel.h
+++ b/vendor/eigen/Eigen/src/misc/Kernel.h
@@ -39,9 +39,8 @@ template<typename _DecompositionType> struct kernel_retval_base
 {
   typedef _DecompositionType DecompositionType;
   typedef ReturnByValue<kernel_retval_base> Base;
-  typedef typename Base::Index Index;
 
-  kernel_retval_base(const DecompositionType& dec)
+  explicit kernel_retval_base(const DecompositionType& dec)
     : m_dec(dec),
       m_rank(dec.rank()),
       m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
@@ -68,7 +67,6 @@ template<typename _DecompositionType> struct kernel_retval_base
   typedef typename DecompositionType::MatrixType MatrixType; \
   typedef typename MatrixType::Scalar Scalar; \
   typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
   typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
   using Base::dec; \
   using Base::rank; \
diff --git a/vendor/eigen/Eigen/src/misc/RealSvd2x2.h b/vendor/eigen/Eigen/src/misc/RealSvd2x2.h
new file mode 100644
index 0000000..abb4d3c
--- /dev/null
+++ b/vendor/eigen/Eigen/src/misc/RealSvd2x2.h
@@ -0,0 +1,55 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1 at gmail.com>
+// Copyright (C) 2013-2016 Gael Guennebaud <gael.guennebaud at 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_REALSVD2X2_H
+#define EIGEN_REALSVD2X2_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType, typename RealScalar, typename Index>
+void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
+                         JacobiRotation<RealScalar> *j_left,
+                         JacobiRotation<RealScalar> *j_right)
+{
+  using std::sqrt;
+  using std::abs;
+  Matrix<RealScalar,2,2> m;
+  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
+       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
+  JacobiRotation<RealScalar> rot1;
+  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
+  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
+
+  if(abs(d) < (std::numeric_limits<RealScalar>::min)())
+  {
+    rot1.s() = RealScalar(0);
+    rot1.c() = RealScalar(1);
+  }
+  else
+  {
+    // If d!=0, then t/d cannot overflow because the magnitude of the
+    // entries forming d are not too small compared to the ones forming t.
+    RealScalar u = t / d;
+    RealScalar tmp = sqrt(RealScalar(1) + numext::abs2(u));
+    rot1.s() = RealScalar(1) / tmp;
+    rot1.c() = u / tmp;
+  }
+  m.applyOnTheLeft(0,1,rot1);
+  j_right->makeJacobi(m,0,1);
+  *j_left = rot1 * j_right->transpose();
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_REALSVD2X2_H
diff --git a/vendor/eigen/Eigen/src/misc/blas.h b/vendor/eigen/Eigen/src/misc/blas.h
index 6fce99e..25215b1 100644
--- a/vendor/eigen/Eigen/src/misc/blas.h
+++ b/vendor/eigen/Eigen/src/misc/blas.h
@@ -30,15 +30,15 @@ int  BLASFUNC(cdotcw)  (int *, float  *, int *, float  *, int *, float*);
 int  BLASFUNC(zdotuw)  (int *, double  *, int *, double  *, int *, double*);
 int  BLASFUNC(zdotcw)  (int *, double  *, int *, double  *, int *, double*);
 
-int    BLASFUNC(saxpy) (int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(daxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(qaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(caxpy) (int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(zaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(xaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(caxpyc)(int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(zaxpyc)(int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(xaxpyc)(int *, double *, double *, int *, double *, int *);
+int    BLASFUNC(saxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(daxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(qaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(caxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(zaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(xaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(caxpyc)(const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(zaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(xaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
 
 int    BLASFUNC(scopy) (int *, float  *, int *, float  *, int *);
 int    BLASFUNC(dcopy) (int *, double *, int *, double *, int *);
@@ -177,31 +177,19 @@ int BLASFUNC(xgeru)(int *,    int *, double *, double *, int *,
 int BLASFUNC(xgerc)(int *,    int *, double *, double *, int *,
 		    double *, int *, double *, int *);
 
-int BLASFUNC(sgemv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(qgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(cgemv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(xgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
+int BLASFUNC(sgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
-int BLASFUNC(strsv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(dtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(qtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(ctrsv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(ztrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(xtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
+int BLASFUNC(strsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(ztrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(stpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *);
@@ -210,18 +198,12 @@ int BLASFUNC(ctpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *);
 int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *);
 
-int BLASFUNC(strmv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(dtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(qtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(ctrmv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(ztrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(xtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
+int BLASFUNC(strmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(ztrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(stpmv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *);
@@ -244,18 +226,9 @@ int BLASFUNC(ctbsv) (char *, char *, char *, int *, int *, float  *, int *, floa
 int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 
-int BLASFUNC(ssymv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(dsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(qsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(csymv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
+int BLASFUNC(ssymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(sspmv) (char *, int *, float  *, float *,
 		     float  *, int *, float *, float *, int *);
@@ -263,38 +236,17 @@ int BLASFUNC(dspmv) (char *, int *, double  *, double *,
 		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qspmv) (char *, int *, double  *, double *,
 		     double  *, int *, double *, double *, int *);
-int BLASFUNC(cspmv) (char *, int *, float  *, float *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
 
-int BLASFUNC(ssyr) (char *, int *, float   *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(dsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(qsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
+int BLASFUNC(ssyr) (const char *, const int *, const float   *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
+int BLASFUNC(qsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
 
-int BLASFUNC(ssyr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(dsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(qsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(csyr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(zsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(xsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
+int BLASFUNC(ssyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(csyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(zsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(sspr) (char *, int *, float   *, float  *, int *,
 		    float  *);
@@ -302,12 +254,6 @@ int BLASFUNC(dspr) (char *, int *, double  *, double *, int *,
 		    double *);
 int BLASFUNC(qspr) (char *, int *, double  *, double *, int *,
 		    double *);
-int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
-		    float  *);
-int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
-		    double *);
-int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
-		    double *);
 
 int BLASFUNC(sspr2) (char *, int *, float   *,
 		     float  *, int *, float  *, int *, float  *);
@@ -347,12 +293,9 @@ int BLASFUNC(zhpr2) (char *, int *, double  *,
 int BLASFUNC(xhpr2) (char *, int *, double  *,
 		     double *, int *, double *, int *, double *);
 
-int BLASFUNC(chemv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zhemv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xhemv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
+int BLASFUNC(chemv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(chpmv) (char *, int *, float  *, float *,
 		     float  *, int *, float *, float *, int *);
@@ -401,18 +344,12 @@ int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *,
 
 /* Level 3 routines */
 
-int BLASFUNC(sgemm)(char *, char *, int *, int *, int *, float *,
-	   float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(qgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(cgemm)(char *, char *, int *, int *, int *, float *,
-	   float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(xgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
+int BLASFUNC(sgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *,
 	   float  *, int *, float  *, int *, float  *, float  *, int *);
@@ -434,84 +371,48 @@ int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *,
 		     double *, double  *, int *, double  *, int *,
 		     double *, double  *, int *);
 
-int BLASFUNC(strsm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(dtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(qtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(ctrsm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(ztrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(xtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-
-int BLASFUNC(strmm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(dtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(qtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(ctrmm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(ztrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(xtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-
-int BLASFUNC(ssymm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(qsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(csymm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-
-int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-
-int BLASFUNC(ssyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(dsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(qsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(csyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(zsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(xsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-
-int BLASFUNC(ssyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(dsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(qsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(csyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-
-int BLASFUNC(chemm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zhemm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xhemm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
+int BLASFUNC(strsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(dtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(ztrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+
+int BLASFUNC(strmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(dtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(ztrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+
+int BLASFUNC(ssymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(csymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+
+int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *, float  *, int *, float  *, float  *, int *);
+int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
+int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
+
+int BLASFUNC(ssyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(csyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+
+int BLASFUNC(ssyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(qsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(csyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(xsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+
+int BLASFUNC(chemm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(chemm3m)(char *, char *, int *, int *, float  *, float  *, int *,
 	   float  *, int *, float  *, float  *, int *);
@@ -520,136 +421,17 @@ int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *,
 int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *,
 	   double *, int *, double *, double *, int *);
 
-int BLASFUNC(cherk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(zherk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(xherk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-
-int BLASFUNC(cher2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zher2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xher2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(cher2m)(char *, char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-
-int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
-		    double *, int *);
-int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
-		    double *, int *);
+int BLASFUNC(cherk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+
+int BLASFUNC(cher2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cher2m)(const char *, const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(xher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
 
-int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(sgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(slaswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(claswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *);
-
-int BLASFUNC(sgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(cgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-
-int BLASFUNC(sgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(cgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-
-int BLASFUNC(spotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauum)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(strti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(strtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotri)(char *, int *, double *, int *, int *);
 
 #ifdef __cplusplus
 }
diff --git a/vendor/eigen/Eigen/src/misc/lapack.h b/vendor/eigen/Eigen/src/misc/lapack.h
new file mode 100644
index 0000000..249f357
--- /dev/null
+++ b/vendor/eigen/Eigen/src/misc/lapack.h
@@ -0,0 +1,152 @@
+#ifndef LAPACK_H
+#define LAPACK_H
+
+#include "blas.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+int BLASFUNC(csymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+
+
+int BLASFUNC(cspmv) (char *, int *, float  *, float *,
+         float  *, int *, float *, float *, int *);
+int BLASFUNC(zspmv) (char *, int *, double  *, double *,
+         double  *, int *, double *, double *, int *);
+int BLASFUNC(xspmv) (char *, int *, double  *, double *,
+         double  *, int *, double *, double *, int *);
+
+int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
+        double *, int *);
+int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
+        double *, int *);
+
+int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
+        float  *);
+int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
+        double *);
+int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
+        double *);
+
+int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
+        double *, int *);
+int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
+        double *, int *);
+
+int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+
+int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+
+int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(cgetf2)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *);
+
+int BLASFUNC(sgetrf)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(cgetrf)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *);
+
+int BLASFUNC(slaswp)(int *, float  *, int *, int *, int *, int *, int *);
+int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(claswp)(int *, float  *, int *, int *, int *, int *, int *);
+int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *);
+
+int BLASFUNC(sgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
+int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(cgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
+int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+
+int BLASFUNC(sgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
+int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(cgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
+int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+
+int BLASFUNC(spotf2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotf2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(spotrf)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotrf)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(slauu2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(clauu2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(slauum)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(qlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(clauum)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(xlauum)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(strti2)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(ctrti2)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *);
+
+int BLASFUNC(strtri)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(ctrtri)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *);
+
+int BLASFUNC(spotri)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotri)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotri)(char *, int *, double *, int *, int *);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/vendor/eigen/Eigen/src/misc/lapacke.h b/vendor/eigen/Eigen/src/misc/lapacke.h
new file mode 100755
index 0000000..8c7e79b
--- /dev/null
+++ b/vendor/eigen/Eigen/src/misc/lapacke.h
@@ -0,0 +1,16291 @@
+/*****************************************************************************
+  Copyright (c) 2010, Intel Corp.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of Intel Corporation nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
+  THE POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************
+* Contents: Native C interface to LAPACK
+* Author: Intel Corporation
+* Generated November, 2011
+*****************************************************************************/
+
+#ifndef _MKL_LAPACKE_H_
+
+#ifndef _LAPACKE_H_
+#define _LAPACKE_H_
+
+/*
+*  Turn on HAVE_LAPACK_CONFIG_H to redefine C-LAPACK datatypes
+*/
+#ifdef HAVE_LAPACK_CONFIG_H
+#include "lapacke_config.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#include <stdlib.h>
+
+#ifndef lapack_int
+#define lapack_int     int
+#endif
+
+#ifndef lapack_logical
+#define lapack_logical lapack_int
+#endif
+
+/* Complex types are structures equivalent to the
+* Fortran complex types COMPLEX(4) and COMPLEX(8).
+*
+* One can also redefine the types with his own types
+* for example by including in the code definitions like
+*
+* #define lapack_complex_float std::complex<float>
+* #define lapack_complex_double std::complex<double>
+*
+* or define these types in the command line:
+*
+* -Dlapack_complex_float="std::complex<float>"
+* -Dlapack_complex_double="std::complex<double>"
+*/
+
+#ifndef LAPACK_COMPLEX_CUSTOM
+
+/* Complex type (single precision) */
+#ifndef lapack_complex_float
+#include <complex.h>
+#define lapack_complex_float    float _Complex
+#endif
+
+#ifndef lapack_complex_float_real
+#define lapack_complex_float_real(z)       (creal(z))
+#endif
+
+#ifndef lapack_complex_float_imag
+#define lapack_complex_float_imag(z)       (cimag(z))
+#endif
+
+lapack_complex_float lapack_make_complex_float( float re, float im );
+
+/* Complex type (double precision) */
+#ifndef lapack_complex_double
+#include <complex.h>
+#define lapack_complex_double   double _Complex
+#endif
+
+#ifndef lapack_complex_double_real
+#define lapack_complex_double_real(z)      (creal(z))
+#endif
+
+#ifndef lapack_complex_double_imag
+#define lapack_complex_double_imag(z)       (cimag(z))
+#endif
+
+lapack_complex_double lapack_make_complex_double( double re, double im );
+
+#endif
+
+#ifndef LAPACKE_malloc
+#define LAPACKE_malloc( size ) malloc( size )
+#endif
+#ifndef LAPACKE_free
+#define LAPACKE_free( p )      free( p )
+#endif
+
+#define LAPACK_C2INT( x ) (lapack_int)(*((float*)&x ))
+#define LAPACK_Z2INT( x ) (lapack_int)(*((double*)&x ))
+
+#define LAPACK_ROW_MAJOR               101
+#define LAPACK_COL_MAJOR               102
+
+#define LAPACK_WORK_MEMORY_ERROR       -1010
+#define LAPACK_TRANSPOSE_MEMORY_ERROR  -1011
+
+/* Callback logical functions of one, two, or three arguments are used
+*  to select eigenvalues to sort to the top left of the Schur form.
+*  The value is selected if function returns TRUE (non-zero). */
+
+typedef lapack_logical (*LAPACK_S_SELECT2) ( const float*, const float* );
+typedef lapack_logical (*LAPACK_S_SELECT3)
+    ( const float*, const float*, const float* );
+typedef lapack_logical (*LAPACK_D_SELECT2) ( const double*, const double* );
+typedef lapack_logical (*LAPACK_D_SELECT3)
+    ( const double*, const double*, const double* );
+
+typedef lapack_logical (*LAPACK_C_SELECT1) ( const lapack_complex_float* );
+typedef lapack_logical (*LAPACK_C_SELECT2)
+    ( const lapack_complex_float*, const lapack_complex_float* );
+typedef lapack_logical (*LAPACK_Z_SELECT1) ( const lapack_complex_double* );
+typedef lapack_logical (*LAPACK_Z_SELECT2)
+    ( const lapack_complex_double*, const lapack_complex_double* );
+
+#include "lapacke_mangling.h"
+
+#define LAPACK_lsame LAPACK_GLOBAL(lsame,LSAME)
+lapack_logical LAPACK_lsame( char* ca,  char* cb,
+                              lapack_int lca, lapack_int lcb );
+
+/* C-LAPACK function prototypes */
+
+lapack_int LAPACKE_sbdsdc( int matrix_order, char uplo, char compq,
+                           lapack_int n, float* d, float* e, float* u,
+                           lapack_int ldu, float* vt, lapack_int ldvt, float* q,
+                           lapack_int* iq );
+lapack_int LAPACKE_dbdsdc( int matrix_order, char uplo, char compq,
+                           lapack_int n, double* d, double* e, double* u,
+                           lapack_int ldu, double* vt, lapack_int ldvt,
+                           double* q, lapack_int* iq );
+
+lapack_int LAPACKE_sbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           float* d, float* e, float* vt, lapack_int ldvt,
+                           float* u, lapack_int ldu, float* c, lapack_int ldc );
+lapack_int LAPACKE_dbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           double* d, double* e, double* vt, lapack_int ldvt,
+                           double* u, lapack_int ldu, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_cbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           float* d, float* e, lapack_complex_float* vt,
+                           lapack_int ldvt, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_zbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           double* d, double* e, lapack_complex_double* vt,
+                           lapack_int ldvt, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_sdisna( char job, lapack_int m, lapack_int n, const float* d,
+                           float* sep );
+lapack_int LAPACKE_ddisna( char job, lapack_int m, lapack_int n,
+                           const double* d, double* sep );
+
+lapack_int LAPACKE_sgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, float* ab, lapack_int ldab, float* d,
+                           float* e, float* q, lapack_int ldq, float* pt,
+                           lapack_int ldpt, float* c, lapack_int ldc );
+lapack_int LAPACKE_dgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, double* ab, lapack_int ldab,
+                           double* d, double* e, double* q, lapack_int ldq,
+                           double* pt, lapack_int ldpt, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_cgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, lapack_complex_float* ab,
+                           lapack_int ldab, float* d, float* e,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* pt, lapack_int ldpt,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, lapack_complex_double* ab,
+                           lapack_int ldab, double* d, double* e,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* pt, lapack_int ldpt,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* ab,
+                           lapack_int ldab, const lapack_int* ipiv, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* ab,
+                           lapack_int ldab, const lapack_int* ipiv,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* ab,
+                           lapack_int ldab, float* r, float* c, float* rowcnd,
+                           float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* ab,
+                           lapack_int ldab, double* r, double* c,
+                           double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           float* r, float* c, float* rowcnd, float* colcnd,
+                           float* amax );
+lapack_int LAPACKE_zgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           double* r, double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+
+lapack_int LAPACKE_sgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku, const float* ab,
+                            lapack_int ldab, float* r, float* c, float* rowcnd,
+                            float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku, const double* ab,
+                            lapack_int ldab, double* r, double* c,
+                            double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku,
+                            const lapack_complex_float* ab, lapack_int ldab,
+                            float* r, float* c, float* rowcnd, float* colcnd,
+                            float* amax );
+lapack_int LAPACKE_zgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku,
+                            const lapack_complex_double* ab, lapack_int ldab,
+                            double* r, double* c, double* rowcnd,
+                            double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, const float* afb,
+                           lapack_int ldafb, const lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, const double* afb,
+                           lapack_int ldafb, const lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* afb, lapack_int ldafb,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* afb, lapack_int ldafb,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const float* ab, lapack_int ldab,
+                            const float* afb, lapack_int ldafb,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const double* ab, lapack_int ldab,
+                            const double* afb, lapack_int ldafb,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const lapack_complex_float* ab,
+                            lapack_int ldab, const lapack_complex_float* afb,
+                            lapack_int ldafb, const lapack_int* ipiv,
+                            const float* r, const float* c,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const lapack_complex_double* ab,
+                            lapack_int ldab, const lapack_complex_double* afb,
+                            lapack_int ldafb, const lapack_int* ipiv,
+                            const double* r, const double* c,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_sgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs, float* ab,
+                          lapack_int ldab, lapack_int* ipiv, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs, double* ab,
+                          lapack_int ldab, lapack_int* ipiv, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, float* ab, lapack_int ldab,
+                           float* afb, lapack_int ldafb, lapack_int* ipiv,
+                           char* equed, float* r, float* c, float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_dgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, double* ab, lapack_int ldab,
+                           double* afb, lapack_int ldafb, lapack_int* ipiv,
+                           char* equed, double* r, double* c, double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+lapack_int LAPACKE_cgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, lapack_complex_float* ab,
+                           lapack_int ldab, lapack_complex_float* afb,
+                           lapack_int ldafb, lapack_int* ipiv, char* equed,
+                           float* r, float* c, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr, float* rpivot );
+lapack_int LAPACKE_zgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, lapack_complex_double* ab,
+                           lapack_int ldab, lapack_complex_double* afb,
+                           lapack_int ldafb, lapack_int* ipiv, char* equed,
+                           double* r, double* c, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr, double* rpivot );
+
+lapack_int LAPACKE_sgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, float* ab, lapack_int ldab,
+                            float* afb, lapack_int ldafb, lapack_int* ipiv,
+                            char* equed, float* r, float* c, float* b,
+                            lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, double* ab, lapack_int ldab,
+                            double* afb, lapack_int ldafb, lapack_int* ipiv,
+                            char* equed, double* r, double* c, double* b,
+                            lapack_int ldb, double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_cgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, lapack_complex_float* ab,
+                            lapack_int ldab, lapack_complex_float* afb,
+                            lapack_int ldafb, lapack_int* ipiv, char* equed,
+                            float* r, float* c, lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* rpvgrw,
+                            float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, lapack_complex_double* ab,
+                            lapack_int ldab, lapack_complex_double* afb,
+                            lapack_int ldafb, lapack_int* ipiv, char* equed,
+                            double* r, double* c, lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_sgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, float* ab,
+                           lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_dgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, double* ab,
+                           lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_cgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* scale,
+                           lapack_int m, float* v, lapack_int ldv );
+lapack_int LAPACKE_dgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* scale,
+                           lapack_int m, double* v, lapack_int ldv );
+lapack_int LAPACKE_cgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* scale,
+                           lapack_int m, lapack_complex_float* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_zgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* scale,
+                           lapack_int m, lapack_complex_double* v,
+                           lapack_int ldv );
+
+lapack_int LAPACKE_sgebal( int matrix_order, char job, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
+                           float* scale );
+lapack_int LAPACKE_dgebal( int matrix_order, char job, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
+                           double* scale );
+lapack_int LAPACKE_cgebal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ilo, lapack_int* ihi, float* scale );
+lapack_int LAPACKE_zgebal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ilo, lapack_int* ihi, double* scale );
+
+lapack_int LAPACKE_sgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* d, float* e,
+                           float* tauq, float* taup );
+lapack_int LAPACKE_dgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* d, double* e,
+                           double* tauq, double* taup );
+lapack_int LAPACKE_cgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* d,
+                           float* e, lapack_complex_float* tauq,
+                           lapack_complex_float* taup );
+lapack_int LAPACKE_zgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda, double* d,
+                           double* e, lapack_complex_double* tauq,
+                           lapack_complex_double* taup );
+
+lapack_int LAPACKE_sgecon( int matrix_order, char norm, lapack_int n,
+                           const float* a, lapack_int lda, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dgecon( int matrix_order, char norm, lapack_int n,
+                           const double* a, lapack_int lda, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cgecon( int matrix_order, char norm, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_zgecon( int matrix_order, char norm, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double anorm, double* rcond );
+
+lapack_int LAPACKE_sgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const float* a, lapack_int lda, float* r, float* c,
+                           float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, double* r,
+                           double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+lapack_int LAPACKE_cgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float* r, float* c, float* rowcnd, float* colcnd,
+                           float* amax );
+lapack_int LAPACKE_zgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double* r, double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+
+lapack_int LAPACKE_sgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const float* a, lapack_int lda, float* r, float* c,
+                            float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const double* a, lapack_int lda, double* r,
+                            double* c, double* rowcnd, double* colcnd,
+                            double* amax );
+lapack_int LAPACKE_cgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* r, float* c, float* rowcnd, float* colcnd,
+                            float* amax );
+lapack_int LAPACKE_zgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* r, double* c, double* rowcnd,
+                            double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_S_SELECT2 select, lapack_int n, float* a,
+                          lapack_int lda, lapack_int* sdim, float* wr,
+                          float* wi, float* vs, lapack_int ldvs );
+lapack_int LAPACKE_dgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_D_SELECT2 select, lapack_int n, double* a,
+                          lapack_int lda, lapack_int* sdim, double* wr,
+                          double* wi, double* vs, lapack_int ldvs );
+lapack_int LAPACKE_cgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_C_SELECT1 select, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_int* sdim, lapack_complex_float* w,
+                          lapack_complex_float* vs, lapack_int ldvs );
+lapack_int LAPACKE_zgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_Z_SELECT1 select, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_int* sdim, lapack_complex_double* w,
+                          lapack_complex_double* vs, lapack_int ldvs );
+
+lapack_int LAPACKE_sgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_S_SELECT2 select, char sense, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* sdim,
+                           float* wr, float* wi, float* vs, lapack_int ldvs,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_D_SELECT2 select, char sense, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* sdim,
+                           double* wr, double* wi, double* vs, lapack_int ldvs,
+                           double* rconde, double* rcondv );
+lapack_int LAPACKE_cgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_C_SELECT1 select, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* sdim, lapack_complex_float* w,
+                           lapack_complex_float* vs, lapack_int ldvs,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_zgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_Z_SELECT1 select, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* sdim, lapack_complex_double* w,
+                           lapack_complex_double* vs, lapack_int ldvs,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, float* a, lapack_int lda, float* wr,
+                          float* wi, float* vl, lapack_int ldvl, float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_dgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, double* a, lapack_int lda, double* wr,
+                          double* wi, double* vl, lapack_int ldvl, double* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_cgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* w, lapack_complex_float* vl,
+                          lapack_int ldvl, lapack_complex_float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_zgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* w,
+                          lapack_complex_double* vl, lapack_int ldvl,
+                          lapack_complex_double* vr, lapack_int ldvr );
+
+lapack_int LAPACKE_sgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, float* a,
+                           lapack_int lda, float* wr, float* wi, float* vl,
+                           lapack_int ldvl, float* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, float* scale,
+                           float* abnrm, float* rconde, float* rcondv );
+lapack_int LAPACKE_dgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, double* a,
+                           lapack_int lda, double* wr, double* wi, double* vl,
+                           lapack_int ldvl, double* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, double* scale,
+                           double* abnrm, double* rconde, double* rcondv );
+lapack_int LAPACKE_cgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* w, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           float* scale, float* abnrm, float* rconde,
+                           float* rcondv );
+lapack_int LAPACKE_zgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* w, lapack_complex_double* vl,
+                           lapack_int ldvl, lapack_complex_double* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           double* scale, double* abnrm, double* rconde,
+                           double* rcondv );
+
+lapack_int LAPACKE_sgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, float* a, lapack_int lda,
+                           float* tau );
+lapack_int LAPACKE_dgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, double* a, lapack_int lda,
+                           double* tau );
+lapack_int LAPACKE_cgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* tau );
+lapack_int LAPACKE_zgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgejsv( int matrix_order, char joba, char jobu, char jobv,
+                           char jobr, char jobt, char jobp, lapack_int m,
+                           lapack_int n, float* a, lapack_int lda, float* sva,
+                           float* u, lapack_int ldu, float* v, lapack_int ldv,
+                           float* stat, lapack_int* istat );
+lapack_int LAPACKE_dgejsv( int matrix_order, char joba, char jobu, char jobv,
+                           char jobr, char jobt, char jobp, lapack_int m,
+                           lapack_int n, double* a, lapack_int lda, double* sva,
+                           double* u, lapack_int ldu, double* v, lapack_int ldv,
+                           double* stat, lapack_int* istat );
+
+lapack_int LAPACKE_sgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs, float* a,
+                          lapack_int lda, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs, double* a,
+                          lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_cgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_cgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, lapack_int* jpvt, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, lapack_int* jpvt,
+                           double rcond, lapack_int* rank );
+lapack_int LAPACKE_cgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_int* jpvt, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_int* jpvt, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* jpvt,
+                           float* tau );
+lapack_int LAPACKE_dgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* jpvt,
+                           double* tau );
+lapack_int LAPACKE_cgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* jpvt,
+                           float* tau );
+lapack_int LAPACKE_dgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* jpvt,
+                           double* tau );
+lapack_int LAPACKE_cgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, float* a, lapack_int lda, float* s,
+                           float* u, lapack_int ldu, float* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_dgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, double* a, lapack_int lda, double* s,
+                           double* u, lapack_int ldu, double* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_cgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float* s, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_zgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double* s, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* vt,
+                           lapack_int ldvt );
+
+lapack_int LAPACKE_sgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* a, lapack_int lda, lapack_int* ipiv, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* a, lapack_int lda, lapack_int* ipiv,
+                          double* b, lapack_int ldb );
+lapack_int LAPACKE_cgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dsgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                           double* a, lapack_int lda, lapack_int* ipiv,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           lapack_int* iter );
+lapack_int LAPACKE_zcgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* iter );
+
+lapack_int LAPACKE_sgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, float* a, lapack_int lda,
+                           float* s, float* u, lapack_int ldu, float* vt,
+                           lapack_int ldvt, float* superb );
+lapack_int LAPACKE_dgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, double* a,
+                           lapack_int lda, double* s, double* u, lapack_int ldu,
+                           double* vt, lapack_int ldvt, double* superb );
+lapack_int LAPACKE_cgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float* s, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* vt,
+                           lapack_int ldvt, float* superb );
+lapack_int LAPACKE_zgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double* s, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* vt,
+                           lapack_int ldvt, double* superb );
+
+lapack_int LAPACKE_sgesvj( int matrix_order, char joba, char jobu, char jobv,
+                           lapack_int m, lapack_int n, float* a, lapack_int lda,
+                           float* sva, lapack_int mv, float* v, lapack_int ldv,
+                           float* stat );
+lapack_int LAPACKE_dgesvj( int matrix_order, char joba, char jobu, char jobv,
+                           lapack_int m, lapack_int n, double* a,
+                           lapack_int lda, double* sva, lapack_int mv,
+                           double* v, lapack_int ldv, double* stat );
+
+lapack_int LAPACKE_sgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, float* a,
+                           lapack_int lda, float* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, float* r, float* c,
+                           float* b, lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_dgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, double* a,
+                           lapack_int lda, double* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, double* r, double* c,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+lapack_int LAPACKE_cgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, float* r, float* c,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_zgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, double* r, double* c,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+
+lapack_int LAPACKE_sgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* r, float* c,
+                            float* b, lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* r, double* c,
+                            double* b, lapack_int ldb, double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* r, float* c,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* r, double* c,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetri( int matrix_order, lapack_int n, float* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dgetri( int matrix_order, lapack_int n, double* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_cgetri( int matrix_order, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zgetri( int matrix_order, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* lscale,
+                           const float* rscale, lapack_int m, float* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_dggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* lscale,
+                           const double* rscale, lapack_int m, double* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_cggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* lscale,
+                           const float* rscale, lapack_int m,
+                           lapack_complex_float* v, lapack_int ldv );
+lapack_int LAPACKE_zggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* lscale,
+                           const double* rscale, lapack_int m,
+                           lapack_complex_double* v, lapack_int ldv );
+
+lapack_int LAPACKE_sggbal( int matrix_order, char job, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale );
+lapack_int LAPACKE_dggbal( int matrix_order, char job, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale );
+lapack_int LAPACKE_cggbal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale );
+lapack_int LAPACKE_zggbal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale );
+
+lapack_int LAPACKE_sgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_S_SELECT3 selctg, lapack_int n, float* a,
+                          lapack_int lda, float* b, lapack_int ldb,
+                          lapack_int* sdim, float* alphar, float* alphai,
+                          float* beta, float* vsl, lapack_int ldvsl, float* vsr,
+                          lapack_int ldvsr );
+lapack_int LAPACKE_dgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_D_SELECT3 selctg, lapack_int n, double* a,
+                          lapack_int lda, double* b, lapack_int ldb,
+                          lapack_int* sdim, double* alphar, double* alphai,
+                          double* beta, double* vsl, lapack_int ldvsl,
+                          double* vsr, lapack_int ldvsr );
+lapack_int LAPACKE_cgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_C_SELECT2 selctg, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb,
+                          lapack_int* sdim, lapack_complex_float* alpha,
+                          lapack_complex_float* beta, lapack_complex_float* vsl,
+                          lapack_int ldvsl, lapack_complex_float* vsr,
+                          lapack_int ldvsr );
+lapack_int LAPACKE_zgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_Z_SELECT2 selctg, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_complex_double* b, lapack_int ldb,
+                          lapack_int* sdim, lapack_complex_double* alpha,
+                          lapack_complex_double* beta,
+                          lapack_complex_double* vsl, lapack_int ldvsl,
+                          lapack_complex_double* vsr, lapack_int ldvsr );
+
+lapack_int LAPACKE_sggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_S_SELECT3 selctg, char sense,
+                           lapack_int n, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, lapack_int* sdim, float* alphar,
+                           float* alphai, float* beta, float* vsl,
+                           lapack_int ldvsl, float* vsr, lapack_int ldvsr,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_D_SELECT3 selctg, char sense,
+                           lapack_int n, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, lapack_int* sdim, double* alphar,
+                           double* alphai, double* beta, double* vsl,
+                           lapack_int ldvsl, double* vsr, lapack_int ldvsr,
+                           double* rconde, double* rcondv );
+lapack_int LAPACKE_cggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_C_SELECT2 selctg, char sense,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_int* sdim,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta,
+                           lapack_complex_float* vsl, lapack_int ldvsl,
+                           lapack_complex_float* vsr, lapack_int ldvsr,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_zggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_Z_SELECT2 selctg, char sense,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_int* sdim,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* vsl, lapack_int ldvsl,
+                           lapack_complex_double* vsr, lapack_int ldvsr,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, float* a, lapack_int lda, float* b,
+                          lapack_int ldb, float* alphar, float* alphai,
+                          float* beta, float* vl, lapack_int ldvl, float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_dggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, double* a, lapack_int lda, double* b,
+                          lapack_int ldb, double* alphar, double* alphai,
+                          double* beta, double* vl, lapack_int ldvl, double* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_cggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb,
+                          lapack_complex_float* alpha,
+                          lapack_complex_float* beta, lapack_complex_float* vl,
+                          lapack_int ldvl, lapack_complex_float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_zggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb, lapack_complex_double* alpha,
+                          lapack_complex_double* beta,
+                          lapack_complex_double* vl, lapack_int ldvl,
+                          lapack_complex_double* vr, lapack_int ldvr );
+
+lapack_int LAPACKE_sggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alphar, float* alphai, float* beta, float* vl,
+                           lapack_int ldvl, float* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale, float* abnrm, float* bbnrm,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double* alphar, double* alphai, double* beta,
+                           double* vl, lapack_int ldvl, double* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           double* lscale, double* rscale, double* abnrm,
+                           double* bbnrm, double* rconde, double* rcondv );
+lapack_int LAPACKE_cggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           float* lscale, float* rscale, float* abnrm,
+                           float* bbnrm, float* rconde, float* rcondv );
+lapack_int LAPACKE_zggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale, double* abnrm, double* bbnrm,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* d, float* x, float* y );
+lapack_int LAPACKE_dggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, double* d, double* x, double* y );
+lapack_int LAPACKE_cggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* d,
+                           lapack_complex_float* x, lapack_complex_float* y );
+lapack_int LAPACKE_zggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* d,
+                           lapack_complex_double* x, lapack_complex_double* y );
+
+lapack_int LAPACKE_sgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           float* a, lapack_int lda, float* b, lapack_int ldb,
+                           float* q, lapack_int ldq, float* z, lapack_int ldz );
+lapack_int LAPACKE_dgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           double* q, lapack_int ldq, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_cgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* c, float* d, float* x );
+lapack_int LAPACKE_dgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, double* c, double* d, double* x );
+lapack_int LAPACKE_cgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* c,
+                           lapack_complex_float* d, lapack_complex_float* x );
+lapack_int LAPACKE_zgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* c,
+                           lapack_complex_double* d, lapack_complex_double* x );
+
+lapack_int LAPACKE_sggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, float* a, lapack_int lda, float* taua,
+                           float* b, lapack_int ldb, float* taub );
+lapack_int LAPACKE_dggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, double* a, lapack_int lda,
+                           double* taua, double* b, lapack_int ldb,
+                           double* taub );
+lapack_int LAPACKE_cggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* taua,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* taub );
+lapack_int LAPACKE_zggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* taua,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* taub );
+
+lapack_int LAPACKE_sggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, float* a, lapack_int lda, float* taua,
+                           float* b, lapack_int ldb, float* taub );
+lapack_int LAPACKE_dggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, double* a, lapack_int lda,
+                           double* taua, double* b, lapack_int ldb,
+                           double* taub );
+lapack_int LAPACKE_cggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* taua,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* taub );
+lapack_int LAPACKE_zggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* taua,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* taub );
+
+lapack_int LAPACKE_sggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alpha, float* beta, float* u, lapack_int ldu,
+                           float* v, lapack_int ldv, float* q, lapack_int ldq,
+                           lapack_int* iwork );
+lapack_int LAPACKE_dggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double* alpha, double* beta, double* u,
+                           lapack_int ldu, double* v, lapack_int ldv, double* q,
+                           lapack_int ldq, lapack_int* iwork );
+lapack_int LAPACKE_cggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           float* alpha, float* beta, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* v,
+                           lapack_int ldv, lapack_complex_float* q,
+                           lapack_int ldq, lapack_int* iwork );
+lapack_int LAPACKE_zggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           double* alpha, double* beta,
+                           lapack_complex_double* u, lapack_int ldu,
+                           lapack_complex_double* v, lapack_int ldv,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int* iwork );
+
+lapack_int LAPACKE_sggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float tola,
+                           float tolb, lapack_int* k, lapack_int* l, float* u,
+                           lapack_int ldu, float* v, lapack_int ldv, float* q,
+                           lapack_int ldq );
+lapack_int LAPACKE_dggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double tola, double tolb, lapack_int* k,
+                           lapack_int* l, double* u, lapack_int ldu, double* v,
+                           lapack_int ldv, double* q, lapack_int ldq );
+lapack_int LAPACKE_cggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb, float tola,
+                           float tolb, lapack_int* k, lapack_int* l,
+                           lapack_complex_float* u, lapack_int ldu,
+                           lapack_complex_float* v, lapack_int ldv,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           double tola, double tolb, lapack_int* k,
+                           lapack_int* l, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* v,
+                           lapack_int ldv, lapack_complex_double* q,
+                           lapack_int ldq );
+
+lapack_int LAPACKE_sgtcon( char norm, lapack_int n, const float* dl,
+                           const float* d, const float* du, const float* du2,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_dgtcon( char norm, lapack_int n, const double* dl,
+                           const double* d, const double* du, const double* du2,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cgtcon( char norm, lapack_int n,
+                           const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zgtcon( char norm, lapack_int n,
+                           const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* dl, const float* d,
+                           const float* du, const float* dlf, const float* df,
+                           const float* duf, const float* du2,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* dl, const double* d,
+                           const double* du, const double* dlf,
+                           const double* df, const double* duf,
+                           const double* du2, const lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* dlf,
+                           const lapack_complex_float* df,
+                           const lapack_complex_float* duf,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* dlf,
+                           const lapack_complex_double* df,
+                           const lapack_complex_double* duf,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* dl, float* d, float* du, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* dl, double* d, double* du, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* dl, lapack_complex_float* d,
+                          lapack_complex_float* du, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* dl, lapack_complex_double* d,
+                          lapack_complex_double* du, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, const float* dl,
+                           const float* d, const float* du, float* dlf,
+                           float* df, float* duf, float* du2, lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, const double* dl,
+                           const double* d, const double* du, double* dlf,
+                           double* df, double* duf, double* du2,
+                           lapack_int* ipiv, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           lapack_complex_float* dlf, lapack_complex_float* df,
+                           lapack_complex_float* duf, lapack_complex_float* du2,
+                           lapack_int* ipiv, const lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           lapack_complex_double* dlf,
+                           lapack_complex_double* df,
+                           lapack_complex_double* duf,
+                           lapack_complex_double* du2, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_sgttrf( lapack_int n, float* dl, float* d, float* du,
+                           float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_dgttrf( lapack_int n, double* dl, double* d, double* du,
+                           double* du2, lapack_int* ipiv );
+lapack_int LAPACKE_cgttrf( lapack_int n, lapack_complex_float* dl,
+                           lapack_complex_float* d, lapack_complex_float* du,
+                           lapack_complex_float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_zgttrf( lapack_int n, lapack_complex_double* dl,
+                           lapack_complex_double* d, lapack_complex_double* du,
+                           lapack_complex_double* du2, lapack_int* ipiv );
+
+lapack_int LAPACKE_sgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* dl, const float* d,
+                           const float* du, const float* du2,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* dl, const double* d,
+                           const double* du, const double* du2,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_chbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, lapack_complex_float* ab,
+                          lapack_int ldab, float* w, lapack_complex_float* z,
+                          lapack_int ldz );
+lapack_int LAPACKE_zhbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, lapack_complex_double* ab,
+                          lapack_int ldab, double* w, lapack_complex_double* z,
+                          lapack_int ldz );
+
+lapack_int LAPACKE_chbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab, float* w, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab, double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_chbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* q, lapack_int ldq, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* bb, lapack_int ldbb,
+                           lapack_complex_float* x, lapack_int ldx );
+lapack_int LAPACKE_zhbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* bb, lapack_int ldbb,
+                           lapack_complex_double* x, lapack_int ldx );
+
+lapack_int LAPACKE_chbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_complex_float* bb, lapack_int ldbb, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_complex_double* bb, lapack_int ldbb, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* bb, lapack_int ldbb, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* bb, lapack_int ldbb,
+                           double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_chbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* bb, lapack_int ldbb,
+                           lapack_complex_float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* bb, lapack_int ldbb,
+                           lapack_complex_double* q, lapack_int ldq, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab, float* d, float* e,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zhbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab, double* d, double* e,
+                           lapack_complex_double* q, lapack_int ldq );
+
+lapack_int LAPACKE_checon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zhecon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_cheequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zheequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_cheev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_zheev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_cheevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_zheevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           double* w );
+
+lapack_int LAPACKE_cheevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_zheevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* isuppz );
+
+lapack_int LAPACKE_cheevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_zheevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chegst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zhegst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_chegv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_float* a,
+                          lapack_int lda, lapack_complex_float* b,
+                          lapack_int ldb, float* w );
+lapack_int LAPACKE_zhegv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb, double* w );
+
+lapack_int LAPACKE_chegvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* w );
+lapack_int LAPACKE_zhegvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* w );
+
+lapack_int LAPACKE_chegvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhegvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_cherfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zherfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_cherfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zherfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_chesv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhesv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chesvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zhesvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_chesvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zhesvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_chetrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* d,
+                           float* e, lapack_complex_float* tau );
+lapack_int LAPACKE_zhetrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda, double* d,
+                           double* e, lapack_complex_double* tau );
+
+lapack_int LAPACKE_chetrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zhetrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_chetri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zhetri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_chetrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, float alpha,
+                          const lapack_complex_float* a, lapack_int lda,
+                          float beta, lapack_complex_float* c );
+lapack_int LAPACKE_zhfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, double alpha,
+                          const lapack_complex_double* a, lapack_int lda,
+                          double beta, lapack_complex_double* c );
+
+lapack_int LAPACKE_shgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           float* h, lapack_int ldh, float* t, lapack_int ldt,
+                           float* alphar, float* alphai, float* beta, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz );
+lapack_int LAPACKE_dhgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           double* h, lapack_int ldh, double* t, lapack_int ldt,
+                           double* alphar, double* alphai, double* beta,
+                           double* q, lapack_int ldq, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_chgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* q,
+                           lapack_int ldq, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zhpcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_chpev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_float* ap, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_double* ap, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_float* ap, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_double* ap, double* w,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* ap, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhpevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* ap, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chpgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_float* ap,
+                           const lapack_complex_float* bp );
+lapack_int LAPACKE_zhpgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_double* ap,
+                           const lapack_complex_double* bp );
+
+lapack_int LAPACKE_chpgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_float* ap,
+                          lapack_complex_float* bp, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_double* ap,
+                          lapack_complex_double* bp, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_float* ap,
+                           lapack_complex_float* bp, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_double* ap,
+                           lapack_complex_double* bp, double* w,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_complex_float* bp,
+                           float vl, float vu, lapack_int il, lapack_int iu,
+                           float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_zhpgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_complex_double* bp,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zhprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_chpsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zhpsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_chpsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* afp, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zhpsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* afp, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_chptrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, float* d, float* e,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zhptrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, double* d, double* e,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_chptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zhptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_chptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_zhptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, const lapack_int* ipiv );
+
+lapack_int LAPACKE_chptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zhptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_shsein( int matrix_order, char job, char eigsrc, char initv,
+                           lapack_logical* select, lapack_int n, const float* h,
+                           lapack_int ldh, float* wr, const float* wi,
+                           float* vl, lapack_int ldvl, float* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_dhsein( int matrix_order, char job, char eigsrc, char initv,
+                           lapack_logical* select, lapack_int n,
+                           const double* h, lapack_int ldh, double* wr,
+                           const double* wi, double* vl, lapack_int ldvl,
+                           double* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m, lapack_int* ifaill,
+                           lapack_int* ifailr );
+lapack_int LAPACKE_chsein( int matrix_order, char job, char eigsrc, char initv,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* w, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_zhsein( int matrix_order, char job, char eigsrc, char initv,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* w, lapack_complex_double* vl,
+                           lapack_int ldvl, lapack_complex_double* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+
+lapack_int LAPACKE_shseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, float* h,
+                           lapack_int ldh, float* wr, float* wi, float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_dhseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, double* h,
+                           lapack_int ldh, double* wr, double* wi, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_chseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* w, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_clacgv( lapack_int n, lapack_complex_float* x,
+                           lapack_int incx );
+lapack_int LAPACKE_zlacgv( lapack_int n, lapack_complex_double* x,
+                           lapack_int incx );
+
+lapack_int LAPACKE_slacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const float* a, lapack_int lda, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dlacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const double* a, lapack_int lda, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_clacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zlacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_zlag2c( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_float* sa, lapack_int ldsa );
+
+lapack_int LAPACKE_slag2d( int matrix_order, lapack_int m, lapack_int n,
+                           const float* sa, lapack_int ldsa, double* a,
+                           lapack_int lda );
+
+lapack_int LAPACKE_dlag2s( int matrix_order, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, float* sa,
+                           lapack_int ldsa );
+
+lapack_int LAPACKE_clag2z( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_float* sa, lapack_int ldsa,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* d,
+                           float* a, lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_dlagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* d,
+                           double* a, lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_clagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* d,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_zlagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* d,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* iseed );
+
+float LAPACKE_slamch( char cmach );
+double LAPACKE_dlamch( char cmach );
+
+float LAPACKE_slange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const float* a, lapack_int lda );
+double LAPACKE_dlange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const double* a, lapack_int lda );
+float LAPACKE_clange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda );
+double LAPACKE_zlange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda );
+
+float LAPACKE_clanhe( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda );
+double LAPACKE_zlanhe( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda );
+
+float LAPACKE_slansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const float* a, lapack_int lda );
+double LAPACKE_dlansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const double* a, lapack_int lda );
+float LAPACKE_clansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda );
+double LAPACKE_zlansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda );
+
+float LAPACKE_slantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda );
+double LAPACKE_dlantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda );
+float LAPACKE_clantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda );
+double LAPACKE_zlantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda );
+
+
+lapack_int LAPACKE_slarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const float* v, lapack_int ldv,
+                           const float* t, lapack_int ldt, float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_dlarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const double* v, lapack_int ldv,
+                           const double* t, lapack_int ldt, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_clarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const lapack_complex_float* v,
+                           lapack_int ldv, const lapack_complex_float* t,
+                           lapack_int ldt, lapack_complex_float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_zlarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const lapack_complex_double* v,
+                           lapack_int ldv, const lapack_complex_double* t,
+                           lapack_int ldt, lapack_complex_double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_slarfg( lapack_int n, float* alpha, float* x,
+                           lapack_int incx, float* tau );
+lapack_int LAPACKE_dlarfg( lapack_int n, double* alpha, double* x,
+                           lapack_int incx, double* tau );
+lapack_int LAPACKE_clarfg( lapack_int n, lapack_complex_float* alpha,
+                           lapack_complex_float* x, lapack_int incx,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zlarfg( lapack_int n, lapack_complex_double* alpha,
+                           lapack_complex_double* x, lapack_int incx,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_slarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k, const float* v,
+                           lapack_int ldv, const float* tau, float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_dlarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k, const double* v,
+                           lapack_int ldv, const double* tau, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_clarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k,
+                           const lapack_complex_float* v, lapack_int ldv,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zlarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k,
+                           const lapack_complex_double* v, lapack_int ldv,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_slarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const float* v, float tau, float* c,
+                           lapack_int ldc, float* work );
+lapack_int LAPACKE_dlarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const double* v, double tau, double* c,
+                           lapack_int ldc, double* work );
+lapack_int LAPACKE_clarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const lapack_complex_float* v,
+                           lapack_complex_float tau, lapack_complex_float* c,
+                           lapack_int ldc, lapack_complex_float* work );
+lapack_int LAPACKE_zlarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const lapack_complex_double* v,
+                           lapack_complex_double tau, lapack_complex_double* c,
+                           lapack_int ldc, lapack_complex_double* work );
+
+lapack_int LAPACKE_slarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           float* x );
+lapack_int LAPACKE_dlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           double* x );
+lapack_int LAPACKE_clarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           lapack_complex_float* x );
+lapack_int LAPACKE_zlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           lapack_complex_double* x );
+
+lapack_int LAPACKE_slaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, float alpha, float beta, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, double alpha, double beta, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_claset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, lapack_complex_float alpha,
+                           lapack_complex_float beta, lapack_complex_float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_zlaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, lapack_complex_double alpha,
+                           lapack_complex_double beta, lapack_complex_double* a,
+                           lapack_int lda );
+
+lapack_int LAPACKE_slasrt( char id, lapack_int n, float* d );
+lapack_int LAPACKE_dlasrt( char id, lapack_int n, double* d );
+
+lapack_int LAPACKE_slaswp( int matrix_order, lapack_int n, float* a,
+                           lapack_int lda, lapack_int k1, lapack_int k2,
+                           const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_dlaswp( int matrix_order, lapack_int n, double* a,
+                           lapack_int lda, lapack_int k1, lapack_int k2,
+                           const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_claswp( int matrix_order, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
+                           lapack_int incx );
+lapack_int LAPACKE_zlaswp( int matrix_order, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
+                           lapack_int incx );
+
+lapack_int LAPACKE_slatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, float* d,
+                           lapack_int mode, float cond, float dmax,
+                           lapack_int kl, lapack_int ku, char pack, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, double* d,
+                           lapack_int mode, double cond, double dmax,
+                           lapack_int kl, lapack_int ku, char pack, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_clatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, float* d,
+                           lapack_int mode, float cond, float dmax,
+                           lapack_int kl, lapack_int ku, char pack,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, double* d,
+                           lapack_int mode, double cond, double dmax,
+                           lapack_int kl, lapack_int ku, char pack,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slauum( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlauum( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_clauum( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlauum( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_sopgtr( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, const float* tau, float* q,
+                           lapack_int ldq );
+lapack_int LAPACKE_dopgtr( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, const double* tau, double* q,
+                           lapack_int ldq );
+
+lapack_int LAPACKE_sopmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const float* ap,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dopmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const double* ap,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sorgbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, double* a,
+                           lapack_int lda, const double* tau );
+
+lapack_int LAPACKE_sorghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgtr( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, const float* tau );
+lapack_int LAPACKE_dorgtr( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, const double* tau );
+
+lapack_int LAPACKE_sormbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const float* a, lapack_int lda,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dormhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const double* a, lapack_int lda,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const float* a, lapack_int lda,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dormrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const double* a, lapack_int lda,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda, const float* tau, float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_dormtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda, const double* tau, double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_spbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const float* ab, lapack_int ldab,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_dpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const double* ab, lapack_int ldab,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_float* ab,
+                           lapack_int ldab, float anorm, float* rcond );
+lapack_int LAPACKE_zpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_double* ab,
+                           lapack_int ldab, double anorm, double* rcond );
+
+lapack_int LAPACKE_spbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const float* ab, lapack_int ldab,
+                           float* s, float* scond, float* amax );
+lapack_int LAPACKE_dpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const double* ab, lapack_int ldab,
+                           double* s, double* scond, double* amax );
+lapack_int LAPACKE_cpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_float* ab,
+                           lapack_int ldab, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_zpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_double* ab,
+                           lapack_int ldab, double* s, double* scond,
+                           double* amax );
+
+lapack_int LAPACKE_spbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const float* ab,
+                           lapack_int ldab, const float* afb, lapack_int ldafb,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const double* ab,
+                           lapack_int ldab, const double* afb, lapack_int ldafb,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* afb, lapack_int ldafb,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* afb, lapack_int ldafb,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_spbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, float* bb, lapack_int ldbb );
+lapack_int LAPACKE_dpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, double* bb, lapack_int ldbb );
+lapack_int LAPACKE_cpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, lapack_complex_float* bb,
+                           lapack_int ldbb );
+lapack_int LAPACKE_zpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, lapack_complex_double* bb,
+                           lapack_int ldbb );
+
+lapack_int LAPACKE_spbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs, float* ab,
+                          lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs, double* ab,
+                          lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, float* ab,
+                           lapack_int ldab, float* afb, lapack_int ldafb,
+                           char* equed, float* s, float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, double* ab,
+                           lapack_int ldab, double* afb, lapack_int ldafb,
+                           char* equed, double* s, double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* afb, lapack_int ldafb,
+                           char* equed, float* s, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* afb, lapack_int ldafb,
+                           char* equed, double* s, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr );
+
+lapack_int LAPACKE_spbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab );
+lapack_int LAPACKE_dpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab );
+lapack_int LAPACKE_cpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab );
+lapack_int LAPACKE_zpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab );
+
+lapack_int LAPACKE_spbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const float* ab,
+                           lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const double* ab,
+                           lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_cpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_cpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_cpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spocon( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dpocon( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cpocon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_zpocon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double anorm, double* rcond );
+
+lapack_int LAPACKE_spoequ( int matrix_order, lapack_int n, const float* a,
+                           lapack_int lda, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_dpoequ( int matrix_order, lapack_int n, const double* a,
+                           lapack_int lda, double* s, double* scond,
+                           double* amax );
+lapack_int LAPACKE_cpoequ( int matrix_order, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequ( int matrix_order, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_spoequb( int matrix_order, lapack_int n, const float* a,
+                            lapack_int lda, float* s, float* scond,
+                            float* amax );
+lapack_int LAPACKE_dpoequb( int matrix_order, lapack_int n, const double* a,
+                            lapack_int lda, double* s, double* scond,
+                            double* amax );
+lapack_int LAPACKE_cpoequb( int matrix_order, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequb( int matrix_order, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_sporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_zporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+
+lapack_int LAPACKE_sporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const float* s, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const double* s, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const float* s, const lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const double* s, const lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* a, lapack_int lda, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* a, lapack_int lda, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dsposv( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           lapack_int* iter );
+lapack_int LAPACKE_zcposv( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* iter );
+
+lapack_int LAPACKE_sposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* af,
+                           lapack_int ldaf, char* equed, float* s, float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_dposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* af, lapack_int ldaf, char* equed, double* s,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+lapack_int LAPACKE_cposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, char* equed, float* s,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, char* equed, double* s,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_sposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            char* equed, float* s, float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond,
+                            float* rpvgrw, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_dposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            char* equed, double* s, double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* rpvgrw, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            char* equed, float* s, lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* rpvgrw,
+                            float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            char* equed, double* s, lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_spotrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dpotrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_cpotrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotri( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dpotri( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_cpotri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_cpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sppcon( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float anorm, float* rcond );
+lapack_int LAPACKE_dppcon( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double anorm, double* rcond );
+lapack_int LAPACKE_cppcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_zppcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sppequ( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_dppequ( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double* s, double* scond,
+                           double* amax );
+lapack_int LAPACKE_cppequ( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap, float* s,
+                           float* scond, float* amax );
+lapack_int LAPACKE_zppequ( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap, double* s,
+                           double* scond, double* amax );
+
+lapack_int LAPACKE_spprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, const float* afp,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, const double* afp,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* ap, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* ap, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, float* ap, float* afp, char* equed,
+                           float* s, float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, double* ap, double* afp,
+                           char* equed, double* s, double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* ap,
+                           lapack_complex_float* afp, char* equed, float* s,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* ap,
+                           lapack_complex_double* afp, char* equed, double* s,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_spptrf( int matrix_order, char uplo, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dpptrf( int matrix_order, char uplo, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_cpptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_zpptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptri( int matrix_order, char uplo, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dpptri( int matrix_order, char uplo, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_cpptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_zpptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_cpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spstrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* piv, lapack_int* rank,
+                           float tol );
+lapack_int LAPACKE_dpstrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* piv, lapack_int* rank,
+                           double tol );
+lapack_int LAPACKE_cpstrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* piv, lapack_int* rank, float tol );
+lapack_int LAPACKE_zpstrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* piv, lapack_int* rank, double tol );
+
+lapack_int LAPACKE_sptcon( lapack_int n, const float* d, const float* e,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_dptcon( lapack_int n, const double* d, const double* e,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cptcon( lapack_int n, const float* d,
+                           const lapack_complex_float* e, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_zptcon( lapack_int n, const double* d,
+                           const lapack_complex_double* e, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_spteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dpteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_cpteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zpteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_sptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const float* d, const float* e, const float* df,
+                           const float* ef, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const double* d, const double* e, const double* df,
+                           const double* ef, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_cptrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e, const float* df,
+                           const lapack_complex_float* ef,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zptrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e, const double* df,
+                           const lapack_complex_double* ef,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* d, float* e, float* b, lapack_int ldb );
+lapack_int LAPACKE_dptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* d, double* e, double* b, lapack_int ldb );
+lapack_int LAPACKE_cptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* d, lapack_complex_float* e,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* d, lapack_complex_double* e,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const float* d, const float* e,
+                           float* df, float* ef, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const double* d, const double* e,
+                           double* df, double* ef, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+lapack_int LAPACKE_cptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e, float* df,
+                           lapack_complex_float* ef,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e, double* df,
+                           lapack_complex_double* ef,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_spttrf( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dpttrf( lapack_int n, double* d, double* e );
+lapack_int LAPACKE_cpttrf( lapack_int n, float* d, lapack_complex_float* e );
+lapack_int LAPACKE_zpttrf( lapack_int n, double* d, lapack_complex_double* e );
+
+lapack_int LAPACKE_spttrs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const float* d, const float* e, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dpttrs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const double* d, const double* e, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_cpttrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpttrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, float* ab, lapack_int ldab, float* w,
+                          float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, double* ab, lapack_int ldab, double* w,
+                          double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab, float* w,
+                           float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd, float* ab,
+                           lapack_int ldab, float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd, double* ab,
+                           lapack_int ldab, double* q, lapack_int ldq,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, float* ab,
+                           lapack_int ldab, const float* bb, lapack_int ldbb,
+                           float* x, lapack_int ldx );
+lapack_int LAPACKE_dsbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, double* ab,
+                           lapack_int ldab, const double* bb, lapack_int ldbb,
+                           double* x, lapack_int ldx );
+
+lapack_int LAPACKE_ssbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb, float* ab,
+                          lapack_int ldab, float* bb, lapack_int ldbb, float* w,
+                          float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb, double* ab,
+                          lapack_int ldab, double* bb, lapack_int ldbb,
+                          double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, float* ab,
+                           lapack_int ldab, float* bb, lapack_int ldbb,
+                           float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, double* ab,
+                           lapack_int ldab, double* bb, lapack_int ldbb,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           float* ab, lapack_int ldab, float* bb,
+                           lapack_int ldbb, float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           double* ab, lapack_int ldab, double* bb,
+                           lapack_int ldbb, double* q, lapack_int ldq,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab, float* d,
+                           float* e, float* q, lapack_int ldq );
+lapack_int LAPACKE_dsbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab,
+                           double* d, double* e, double* q, lapack_int ldq );
+
+lapack_int LAPACKE_ssfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, float alpha,
+                          const float* a, lapack_int lda, float beta,
+                          float* c );
+lapack_int LAPACKE_dsfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, double alpha,
+                          const double* a, lapack_int lda, double beta,
+                          double* c );
+
+lapack_int LAPACKE_sspcon( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, const lapack_int* ipiv, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dspcon( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, const lapack_int* ipiv,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cspcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zspcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sspev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          float* ap, float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          double* ap, double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           float* ap, float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           double* ap, double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* ap, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dspevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* ap, double vl, double vu,
+                           lapack_int il, lapack_int iu, double abstol,
+                           lapack_int* m, double* w, double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_sspgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, float* ap, const float* bp );
+lapack_int LAPACKE_dspgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, double* ap, const double* bp );
+
+lapack_int LAPACKE_sspgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, float* ap, float* bp,
+                          float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, double* ap, double* bp,
+                          double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, float* ap, float* bp,
+                           float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, double* ap, double* bp,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, float* ap,
+                           float* bp, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           float* z, lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_dspgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, double* ap,
+                           double* bp, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_ssprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, const float* afp,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dsprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, const double* afp,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_csprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zsprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* ap, lapack_int* ipiv,
+                          float* b, lapack_int ldb );
+lapack_int LAPACKE_dspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* ap, lapack_int* ipiv,
+                          double* b, lapack_int ldb );
+lapack_int LAPACKE_cspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, float* afp,
+                           lapack_int* ipiv, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, double* afp,
+                           lapack_int* ipiv, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* afp, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* afp, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_ssptrd( int matrix_order, char uplo, lapack_int n, float* ap,
+                           float* d, float* e, float* tau );
+lapack_int LAPACKE_dsptrd( int matrix_order, char uplo, lapack_int n,
+                           double* ap, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssptrf( int matrix_order, char uplo, lapack_int n, float* ap,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_dsptrf( int matrix_order, char uplo, lapack_int n,
+                           double* ap, lapack_int* ipiv );
+lapack_int LAPACKE_csptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zsptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptri( int matrix_order, char uplo, lapack_int n, float* ap,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_dsptri( int matrix_order, char uplo, lapack_int n,
+                           double* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_csptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_zsptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, const lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zsptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sstebz( char range, char order, lapack_int n, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           const float* d, const float* e, lapack_int* m,
+                           lapack_int* nsplit, float* w, lapack_int* iblock,
+                           lapack_int* isplit );
+lapack_int LAPACKE_dstebz( char range, char order, lapack_int n, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, const double* d, const double* e,
+                           lapack_int* m, lapack_int* nsplit, double* w,
+                           lapack_int* iblock, lapack_int* isplit );
+
+lapack_int LAPACKE_sstedc( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstedc( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_cstedc( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zstedc( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_sstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+lapack_int LAPACKE_cstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* isuppz );
+lapack_int LAPACKE_zstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* isuppz );
+
+lapack_int LAPACKE_sstein( int matrix_order, lapack_int n, const float* d,
+                           const float* e, lapack_int m, const float* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           float* z, lapack_int ldz, lapack_int* ifailv );
+lapack_int LAPACKE_dstein( int matrix_order, lapack_int n, const double* d,
+                           const double* e, lapack_int m, const double* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           double* z, lapack_int ldz, lapack_int* ifailv );
+lapack_int LAPACKE_cstein( int matrix_order, lapack_int n, const float* d,
+                           const float* e, lapack_int m, const float* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifailv );
+lapack_int LAPACKE_zstein( int matrix_order, lapack_int n, const double* d,
+                           const double* e, lapack_int m, const double* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifailv );
+
+lapack_int LAPACKE_sstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, lapack_int* m,
+                           float* w, float* z, lapack_int ldz, lapack_int nzc,
+                           lapack_int* isuppz, lapack_logical* tryrac );
+lapack_int LAPACKE_dstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           lapack_int* m, double* w, double* z, lapack_int ldz,
+                           lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+lapack_int LAPACKE_cstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, lapack_int* m,
+                           float* w, lapack_complex_float* z, lapack_int ldz,
+                           lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+lapack_int LAPACKE_zstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           lapack_int* m, double* w, lapack_complex_double* z,
+                           lapack_int ldz, lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+
+lapack_int LAPACKE_ssteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dsteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_csteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zsteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_ssterf( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dsterf( lapack_int n, double* d, double* e );
+
+lapack_int LAPACKE_sstev( int matrix_order, char jobz, lapack_int n, float* d,
+                          float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstev( int matrix_order, char jobz, lapack_int n, double* d,
+                          double* e, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sstevd( int matrix_order, char jobz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstevd( int matrix_order, char jobz, lapack_int n, double* d,
+                           double* e, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sstevr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dstevr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+
+lapack_int LAPACKE_sstevx( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dstevx( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssycon( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_dsycon( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_csycon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zsycon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_ssyequb( int matrix_order, char uplo, lapack_int n,
+                            const float* a, lapack_int lda, float* s,
+                            float* scond, float* amax );
+lapack_int LAPACKE_dsyequb( int matrix_order, char uplo, lapack_int n,
+                            const double* a, lapack_int lda, double* s,
+                            double* scond, double* amax );
+lapack_int LAPACKE_csyequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zsyequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_ssyev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_dsyev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_ssyevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_dsyevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_ssyevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* a, lapack_int lda, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dsyevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* a, lapack_int lda, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+
+lapack_int LAPACKE_ssyevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* a, lapack_int lda, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsyevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* a, lapack_int lda, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssygst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, float* a, lapack_int lda,
+                           const float* b, lapack_int ldb );
+lapack_int LAPACKE_dsygst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, double* a, lapack_int lda,
+                           const double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssygv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, float* a, lapack_int lda,
+                          float* b, lapack_int ldb, float* w );
+lapack_int LAPACKE_dsygv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, double* a, lapack_int lda,
+                          double* b, lapack_int ldb, double* w );
+
+lapack_int LAPACKE_ssygvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, float* a, lapack_int lda,
+                           float* b, lapack_int ldb, float* w );
+lapack_int LAPACKE_dsygvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* w );
+
+lapack_int LAPACKE_ssygvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsygvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dsyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_csyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zsyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_ssyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const float* b, lapack_int ldb, float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dsyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const double* b, lapack_int ldb, double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_csyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zsyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_ssysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* a, lapack_int lda,
+                          lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* a, lapack_int lda,
+                          lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           float* af, lapack_int ldaf, lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dsysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           double* af, lapack_int ldaf, lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_csysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zsysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_ssysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s, float* b,
+                            lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dsysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s, double* b,
+                            lapack_int ldb, double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_csysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zsysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_ssytrd( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, float* d, float* e, float* tau );
+lapack_int LAPACKE_dsytrd( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssytrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dsytrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_csytrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zsytrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_ssytri( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsytri( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_csytri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zsytri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_ssytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd, const float* ab,
+                           lapack_int ldab, float* rcond );
+lapack_int LAPACKE_dtbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd, const double* ab,
+                           lapack_int ldab, double* rcond );
+lapack_int LAPACKE_ctbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           float* rcond );
+lapack_int LAPACKE_ztbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           double* rcond );
+
+lapack_int LAPACKE_stbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, const float* b,
+                           lapack_int ldb, const float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dtbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, const double* b,
+                           lapack_int ldb, const double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_ctbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_stbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dtbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_ctbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          float alpha, const float* a, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dtfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          double alpha, const double* a, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_ctfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          lapack_complex_float alpha,
+                          const lapack_complex_float* a,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          lapack_complex_double alpha,
+                          const lapack_complex_double* a,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dtftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_ctftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_ztftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_stfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* arf, float* ap );
+lapack_int LAPACKE_dtfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* arf, double* ap );
+lapack_int LAPACKE_ctfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* arf,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* arf,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* arf, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dtfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* arf, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_ctfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* arf,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* arf,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_stgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* s, lapack_int lds, const float* p,
+                           lapack_int ldp, float* vl, lapack_int ldvl,
+                           float* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_dtgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* s, lapack_int lds, const double* p,
+                           lapack_int ldp, double* vl, lapack_int ldvl,
+                           double* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_ctgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* s, lapack_int lds,
+                           const lapack_complex_float* p, lapack_int ldp,
+                           lapack_complex_float* vl, lapack_int ldvl,
+                           lapack_complex_float* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* s, lapack_int lds,
+                           const lapack_complex_double* p, lapack_int ldp,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+
+lapack_int LAPACKE_stgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_dtgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double* q,
+                           lapack_int ldq, double* z, lapack_int ldz,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_ctgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_stgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alphar, float* alphai, float* beta, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz,
+                           lapack_int* m, float* pl, float* pr, float* dif );
+lapack_int LAPACKE_dtgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           double* alphar, double* alphai, double* beta,
+                           double* q, lapack_int ldq, double* z, lapack_int ldz,
+                           lapack_int* m, double* pl, double* pr, double* dif );
+lapack_int LAPACKE_ctgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* q,
+                           lapack_int ldq, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* m, float* pl, float* pr,
+                           float* dif );
+lapack_int LAPACKE_ztgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* m, double* pl, double* pr, double* dif );
+
+lapack_int LAPACKE_stgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, float* a, lapack_int lda,
+                           float* b, lapack_int ldb, float tola, float tolb,
+                           float* alpha, float* beta, float* u, lapack_int ldu,
+                           float* v, lapack_int ldv, float* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_dtgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double tola, double tolb, double* alpha,
+                           double* beta, double* u, lapack_int ldu, double* v,
+                           lapack_int ldv, double* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_ctgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float tola, float tolb, float* alpha,
+                           float* beta, lapack_complex_float* u, lapack_int ldu,
+                           lapack_complex_float* v, lapack_int ldv,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_ztgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double tola, double tolb,
+                           double* alpha, double* beta,
+                           lapack_complex_double* u, lapack_int ldu,
+                           lapack_complex_double* v, lapack_int ldv,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int* ncycle );
+
+lapack_int LAPACKE_stgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* a, lapack_int lda, const float* b,
+                           lapack_int ldb, const float* vl, lapack_int ldvl,
+                           const float* vr, lapack_int ldvr, float* s,
+                           float* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_dtgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* a, lapack_int lda, const double* b,
+                           lapack_int ldb, const double* vl, lapack_int ldvl,
+                           const double* vr, lapack_int ldvr, double* s,
+                           double* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ctgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* vl, lapack_int ldvl,
+                           const lapack_complex_float* vr, lapack_int ldvr,
+                           float* s, float* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* vl, lapack_int ldvl,
+                           const lapack_complex_double* vr, lapack_int ldvr,
+                           double* s, double* dif, lapack_int mm,
+                           lapack_int* m );
+
+lapack_int LAPACKE_stgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda, const float* b, lapack_int ldb,
+                           float* c, lapack_int ldc, const float* d,
+                           lapack_int ldd, const float* e, lapack_int lde,
+                           float* f, lapack_int ldf, float* scale, float* dif );
+lapack_int LAPACKE_dtgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda, const double* b, lapack_int ldb,
+                           double* c, lapack_int ldc, const double* d,
+                           lapack_int ldd, const double* e, lapack_int lde,
+                           double* f, lapack_int ldf, double* scale,
+                           double* dif );
+lapack_int LAPACKE_ctgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* c, lapack_int ldc,
+                           const lapack_complex_float* d, lapack_int ldd,
+                           const lapack_complex_float* e, lapack_int lde,
+                           lapack_complex_float* f, lapack_int ldf,
+                           float* scale, float* dif );
+lapack_int LAPACKE_ztgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* c, lapack_int ldc,
+                           const lapack_complex_double* d, lapack_int ldd,
+                           const lapack_complex_double* e, lapack_int lde,
+                           lapack_complex_double* f, lapack_int ldf,
+                           double* scale, double* dif );
+
+lapack_int LAPACKE_stpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const float* ap, float* rcond );
+lapack_int LAPACKE_dtpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const double* ap, double* rcond );
+lapack_int LAPACKE_ctpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_float* ap,
+                           float* rcond );
+lapack_int LAPACKE_ztpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_double* ap,
+                           double* rcond );
+
+lapack_int LAPACKE_stprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* ap,
+                           const float* b, lapack_int ldb, const float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dtprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* ap,
+                           const double* b, lapack_int ldb, const double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_ctprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_stptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dtptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_ctptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* ap,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dtptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* ap,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_ctptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* ap,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* ap,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* ap, float* arf );
+lapack_int LAPACKE_dtpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* ap, double* arf );
+lapack_int LAPACKE_ctpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* ap,
+                           lapack_complex_float* arf );
+lapack_int LAPACKE_ztpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* ap,
+                           lapack_complex_double* arf );
+
+lapack_int LAPACKE_stpttr( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float* a, lapack_int lda );
+lapack_int LAPACKE_dtpttr( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double* a, lapack_int lda );
+lapack_int LAPACKE_ctpttr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztpttr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const float* a, lapack_int lda,
+                           float* rcond );
+lapack_int LAPACKE_dtrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const double* a, lapack_int lda,
+                           double* rcond );
+lapack_int LAPACKE_ctrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, float* rcond );
+lapack_int LAPACKE_ztrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, double* rcond );
+
+lapack_int LAPACKE_strevc( int matrix_order, char side, char howmny,
+                           lapack_logical* select, lapack_int n, const float* t,
+                           lapack_int ldt, float* vl, lapack_int ldvl,
+                           float* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_dtrevc( int matrix_order, char side, char howmny,
+                           lapack_logical* select, lapack_int n,
+                           const double* t, lapack_int ldt, double* vl,
+                           lapack_int ldvl, double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ctrevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* vl, lapack_int ldvl,
+                           lapack_complex_float* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztrevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+
+lapack_int LAPACKE_strexc( int matrix_order, char compq, lapack_int n, float* t,
+                           lapack_int ldt, float* q, lapack_int ldq,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_dtrexc( int matrix_order, char compq, lapack_int n,
+                           double* t, lapack_int ldt, double* q, lapack_int ldq,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_ctrexc( int matrix_order, char compq, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztrexc( int matrix_order, char compq, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_strrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           lapack_int lda, const float* b, lapack_int ldb,
+                           const float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dtrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           lapack_int lda, const double* b, lapack_int ldb,
+                           const double* x, lapack_int ldx, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_ctrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_strsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n, float* t,
+                           lapack_int ldt, float* q, lapack_int ldq, float* wr,
+                           float* wi, lapack_int* m, float* s, float* sep );
+lapack_int LAPACKE_dtrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           double* t, lapack_int ldt, double* q, lapack_int ldq,
+                           double* wr, double* wi, lapack_int* m, double* s,
+                           double* sep );
+lapack_int LAPACKE_ctrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* w, lapack_int* m, float* s,
+                           float* sep );
+lapack_int LAPACKE_ztrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* w, lapack_int* m, double* s,
+                           double* sep );
+
+lapack_int LAPACKE_strsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* t, lapack_int ldt, const float* vl,
+                           lapack_int ldvl, const float* vr, lapack_int ldvr,
+                           float* s, float* sep, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_dtrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* t, lapack_int ldt, const double* vl,
+                           lapack_int ldvl, const double* vr, lapack_int ldvr,
+                           double* s, double* sep, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_ctrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* t, lapack_int ldt,
+                           const lapack_complex_float* vl, lapack_int ldvl,
+                           const lapack_complex_float* vr, lapack_int ldvr,
+                           float* s, float* sep, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* t, lapack_int ldt,
+                           const lapack_complex_double* vl, lapack_int ldvl,
+                           const lapack_complex_double* vr, lapack_int ldvr,
+                           double* s, double* sep, lapack_int mm,
+                           lapack_int* m );
+
+lapack_int LAPACKE_strsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const float* a, lapack_int lda, const float* b,
+                           lapack_int ldb, float* c, lapack_int ldc,
+                           float* scale );
+lapack_int LAPACKE_dtrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, const double* b,
+                           lapack_int ldb, double* c, lapack_int ldc,
+                           double* scale );
+lapack_int LAPACKE_ctrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* c, lapack_int ldc,
+                           float* scale );
+lapack_int LAPACKE_ztrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* c, lapack_int ldc,
+                           double* scale );
+
+lapack_int LAPACKE_strtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           float* a, lapack_int lda );
+lapack_int LAPACKE_dtrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           double* a, lapack_int lda );
+lapack_int LAPACKE_ctrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           lapack_int lda, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_strttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* a, lapack_int lda,
+                           float* arf );
+lapack_int LAPACKE_dtrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* a, lapack_int lda,
+                           double* arf );
+lapack_int LAPACKE_ctrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* arf );
+lapack_int LAPACKE_ztrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* arf );
+
+lapack_int LAPACKE_strttp( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda, float* ap );
+lapack_int LAPACKE_dtrttp( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda, double* ap );
+lapack_int LAPACKE_ctrttp( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztrttp( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dtzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_ctzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_ztzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zunghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zunglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungtr( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau );
+lapack_int LAPACKE_zungtr( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunmbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cupgtr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zupgtr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* q, lapack_int ldq );
+
+lapack_int LAPACKE_cupmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zupmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sbdsdc_work( int matrix_order, char uplo, char compq,
+                                lapack_int n, float* d, float* e, float* u,
+                                lapack_int ldu, float* vt, lapack_int ldvt,
+                                float* q, lapack_int* iq, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dbdsdc_work( int matrix_order, char uplo, char compq,
+                                lapack_int n, double* d, double* e, double* u,
+                                lapack_int ldu, double* vt, lapack_int ldvt,
+                                double* q, lapack_int* iq, double* work,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                float* d, float* e, float* vt, lapack_int ldvt,
+                                float* u, lapack_int ldu, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                double* d, double* e, double* vt,
+                                lapack_int ldvt, double* u, lapack_int ldu,
+                                double* c, lapack_int ldc, double* work );
+lapack_int LAPACKE_cbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                float* d, float* e, lapack_complex_float* vt,
+                                lapack_int ldvt, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_zbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                double* d, double* e, lapack_complex_double* vt,
+                                lapack_int ldvt, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* c,
+                                lapack_int ldc, double* work );
+
+lapack_int LAPACKE_sdisna_work( char job, lapack_int m, lapack_int n,
+                                const float* d, float* sep );
+lapack_int LAPACKE_ddisna_work( char job, lapack_int m, lapack_int n,
+                                const double* d, double* sep );
+
+lapack_int LAPACKE_sgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, float* ab, lapack_int ldab,
+                                float* d, float* e, float* q, lapack_int ldq,
+                                float* pt, lapack_int ldpt, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, double* ab, lapack_int ldab,
+                                double* d, double* e, double* q, lapack_int ldq,
+                                double* pt, lapack_int ldpt, double* c,
+                                lapack_int ldc, double* work );
+lapack_int LAPACKE_cgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, lapack_complex_float* ab,
+                                lapack_int ldab, float* d, float* e,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* pt, lapack_int ldpt,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, lapack_complex_double* ab,
+                                lapack_int ldab, double* d, double* e,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* pt, lapack_int ldpt,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* ab,
+                                lapack_int ldab, float* r, float* c,
+                                float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* ab,
+                                lapack_int ldab, double* r, double* c,
+                                double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                float* r, float* c, float* rowcnd,
+                                float* colcnd, float* amax );
+lapack_int LAPACKE_zgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, double* r, double* c,
+                                double* rowcnd, double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku, const float* ab,
+                                 lapack_int ldab, float* r, float* c,
+                                 float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku, const double* ab,
+                                 lapack_int ldab, double* r, double* c,
+                                 double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku,
+                                 const lapack_complex_float* ab,
+                                 lapack_int ldab, float* r, float* c,
+                                 float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_zgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku,
+                                 const lapack_complex_double* ab,
+                                 lapack_int ldab, double* r, double* c,
+                                 double* rowcnd, double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const float* ab, lapack_int ldab,
+                                const float* afb, lapack_int ldafb,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const double* afb, lapack_int ldafb,
+                                const lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* afb,
+                                lapack_int ldafb, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab,
+                                const lapack_complex_double* afb,
+                                lapack_int ldafb, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, const float* ab,
+                                 lapack_int ldab, const float* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const float* r, const float* c, const float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, const double* ab,
+                                 lapack_int ldab, const double* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs,
+                                 const lapack_complex_float* ab,
+                                 lapack_int ldab,
+                                 const lapack_complex_float* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const float* r, const float* c,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs,
+                                 const lapack_complex_double* ab,
+                                 lapack_int ldab,
+                                 const lapack_complex_double* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs, float* ab,
+                               lapack_int ldab, lapack_int* ipiv, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs, double* ab,
+                               lapack_int ldab, lapack_int* ipiv, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_sgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, float* ab, lapack_int ldab,
+                                float* afb, lapack_int ldafb, lapack_int* ipiv,
+                                char* equed, float* r, float* c, float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, double* ab, lapack_int ldab,
+                                double* afb, lapack_int ldafb, lapack_int* ipiv,
+                                char* equed, double* r, double* c, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* afb,
+                                lapack_int ldafb, lapack_int* ipiv, char* equed,
+                                float* r, float* c, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* afb,
+                                lapack_int ldafb, lapack_int* ipiv, char* equed,
+                                double* r, double* c, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, float* ab, lapack_int ldab,
+                                 float* afb, lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, float* r, float* c, float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, double* ab, lapack_int ldab,
+                                 double* afb, lapack_int ldafb,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, double* b, lapack_int ldb,
+                                 double* x, lapack_int ldx, double* rcond,
+                                 double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, lapack_complex_float* ab,
+                                 lapack_int ldab, lapack_complex_float* afb,
+                                 lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, float* r, float* c,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, lapack_complex_double* ab,
+                                 lapack_int ldab, lapack_complex_double* afb,
+                                 lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, double* r, double* c,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, float* ab,
+                                lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_dgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, double* ab,
+                                lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_cgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const lapack_int* ipiv, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* scale, lapack_int m, float* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_dgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* scale, lapack_int m, double* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_cgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* scale, lapack_int m,
+                                lapack_complex_float* v, lapack_int ldv );
+lapack_int LAPACKE_zgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* scale, lapack_int m,
+                                lapack_complex_double* v, lapack_int ldv );
+
+lapack_int LAPACKE_sgebal_work( int matrix_order, char job, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ilo,
+                                lapack_int* ihi, float* scale );
+lapack_int LAPACKE_dgebal_work( int matrix_order, char job, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ilo,
+                                lapack_int* ihi, double* scale );
+lapack_int LAPACKE_cgebal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ilo, lapack_int* ihi,
+                                float* scale );
+lapack_int LAPACKE_zgebal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* scale );
+
+lapack_int LAPACKE_sgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* d, float* e,
+                                float* tauq, float* taup, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* d, double* e,
+                                double* tauq, double* taup, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* d, float* e, lapack_complex_float* tauq,
+                                lapack_complex_float* taup,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* d, double* e,
+                                lapack_complex_double* tauq,
+                                lapack_complex_double* taup,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgecon_work( int matrix_order, char norm, lapack_int n,
+                                const float* a, lapack_int lda, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgecon_work( int matrix_order, char norm, lapack_int n,
+                                const double* a, lapack_int lda, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgecon_work( int matrix_order, char norm, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgecon_work( int matrix_order, char norm, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda, float* r,
+                                float* c, float* rowcnd, float* colcnd,
+                                float* amax );
+lapack_int LAPACKE_dgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, double* r,
+                                double* c, double* rowcnd, double* colcnd,
+                                double* amax );
+lapack_int LAPACKE_cgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* r, float* c, float* rowcnd,
+                                float* colcnd, float* amax );
+lapack_int LAPACKE_zgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* r, double* c, double* rowcnd,
+                                double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const float* a, lapack_int lda, float* r,
+                                 float* c, float* rowcnd, float* colcnd,
+                                 float* amax );
+lapack_int LAPACKE_dgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const double* a, lapack_int lda, double* r,
+                                 double* c, double* rowcnd, double* colcnd,
+                                 double* amax );
+lapack_int LAPACKE_cgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* r, float* c, float* rowcnd,
+                                 float* colcnd, float* amax );
+lapack_int LAPACKE_zgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* r, double* c, double* rowcnd,
+                                 double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_S_SELECT2 select, lapack_int n, float* a,
+                               lapack_int lda, lapack_int* sdim, float* wr,
+                               float* wi, float* vs, lapack_int ldvs,
+                               float* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_dgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_D_SELECT2 select, lapack_int n, double* a,
+                               lapack_int lda, lapack_int* sdim, double* wr,
+                               double* wi, double* vs, lapack_int ldvs,
+                               double* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_cgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_C_SELECT1 select, lapack_int n,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_int* sdim, lapack_complex_float* w,
+                               lapack_complex_float* vs, lapack_int ldvs,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_Z_SELECT1 select, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_int* sdim, lapack_complex_double* w,
+                               lapack_complex_double* vs, lapack_int ldvs,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_S_SELECT2 select, char sense,
+                                lapack_int n, float* a, lapack_int lda,
+                                lapack_int* sdim, float* wr, float* wi,
+                                float* vs, lapack_int ldvs, float* rconde,
+                                float* rcondv, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_dgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_D_SELECT2 select, char sense,
+                                lapack_int n, double* a, lapack_int lda,
+                                lapack_int* sdim, double* wr, double* wi,
+                                double* vs, lapack_int ldvs, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_cgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_C_SELECT1 select, char sense,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* sdim,
+                                lapack_complex_float* w,
+                                lapack_complex_float* vs, lapack_int ldvs,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_Z_SELECT1 select, char sense,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* sdim,
+                                lapack_complex_double* w,
+                                lapack_complex_double* vs, lapack_int ldvs,
+                                double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, float* a, lapack_int lda,
+                               float* wr, float* wi, float* vl, lapack_int ldvl,
+                               float* vr, lapack_int ldvr, float* work,
+                               lapack_int lwork );
+lapack_int LAPACKE_dgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* wr, double* wi, double* vl,
+                               lapack_int ldvl, double* vr, lapack_int ldvr,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* w,
+                               lapack_complex_float* vl, lapack_int ldvl,
+                               lapack_complex_float* vr, lapack_int ldvr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* w,
+                               lapack_complex_double* vl, lapack_int ldvl,
+                               lapack_complex_double* vr, lapack_int ldvr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_sgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, float* a,
+                                lapack_int lda, float* wr, float* wi, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* scale,
+                                float* abnrm, float* rconde, float* rcondv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, double* a,
+                                lapack_int lda, double* wr, double* wi,
+                                double* vl, lapack_int ldvl, double* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, double* scale, double* abnrm,
+                                double* rconde, double* rcondv, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* w,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* scale,
+                                float* abnrm, float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* w,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, double* scale,
+                                double* abnrm, double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_sgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* a, lapack_int lda,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* a, lapack_int lda,
+                                double* tau, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgejsv_work( int matrix_order, char joba, char jobu,
+                                char jobv, char jobr, char jobt, char jobp,
+                                lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* sva, float* u,
+                                lapack_int ldu, float* v, lapack_int ldv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgejsv_work( int matrix_order, char joba, char jobu,
+                                char jobv, char jobr, char jobt, char jobp,
+                                lapack_int m, lapack_int n, double* a,
+                                lapack_int lda, double* sva, double* u,
+                                lapack_int ldu, double* v, lapack_int ldv,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work );
+lapack_int LAPACKE_dgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work );
+lapack_int LAPACKE_cgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs, float* a,
+                               lapack_int lda, float* b, lapack_int ldb,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs, double* a,
+                               lapack_int lda, double* b, lapack_int ldb,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* s,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_zgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double* s, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* s,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double* s, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, lapack_int* jpvt,
+                                float rcond, lapack_int* rank, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, lapack_int* jpvt,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_int* jpvt, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_int* jpvt, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* jpvt,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* jpvt,
+                                double* tau, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_sgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* jpvt,
+                                float* tau, float* work );
+lapack_int LAPACKE_dgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* jpvt,
+                                double* tau, double* work );
+lapack_int LAPACKE_cgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_float* tau,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_double* tau,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work );
+lapack_int LAPACKE_dgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work );
+lapack_int LAPACKE_cgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* tau,
+                                 float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* tau,
+                                 double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* tau,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* tau,
+                                 lapack_complex_double* work,
+                                 lapack_int lwork );
+
+lapack_int LAPACKE_sgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* r, const float* c, const float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* r, const float* c,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* s, float* u, lapack_int ldu, float* vt,
+                                lapack_int ldvt, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* s, double* u, lapack_int ldu,
+                                double* vt, lapack_int ldvt, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, float* s,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* vt, lapack_int ldvt,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork );
+lapack_int LAPACKE_zgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, double* s,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* vt, lapack_int ldvt,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork );
+
+lapack_int LAPACKE_sgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* a, lapack_int lda, lapack_int* ipiv,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* a, lapack_int lda, lapack_int* ipiv,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dsgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                double* a, lapack_int lda, lapack_int* ipiv,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* work, float* swork,
+                                lapack_int* iter );
+lapack_int LAPACKE_zcgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                lapack_complex_float* swork, double* rwork,
+                                lapack_int* iter );
+
+lapack_int LAPACKE_sgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* s, float* u,
+                                lapack_int ldu, float* vt, lapack_int ldvt,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n, double* a,
+                                lapack_int lda, double* s, double* u,
+                                lapack_int ldu, double* vt, lapack_int ldvt,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* s, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* vt,
+                                lapack_int ldvt, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* s, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* vt,
+                                lapack_int ldvt, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgesvj_work( int matrix_order, char joba, char jobu,
+                                char jobv, lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* sva, lapack_int mv,
+                                float* v, lapack_int ldv, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgesvj_work( int matrix_order, char joba, char jobu,
+                                char jobv, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* sva,
+                                lapack_int mv, double* v, lapack_int ldv,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, float* r,
+                                float* c, float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, double* r,
+                                double* c, double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, float* r,
+                                float* c, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, double* r,
+                                double* c, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* r,
+                                 float* c, float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, double* b, lapack_int ldb,
+                                 double* x, lapack_int ldx, double* rcond,
+                                 double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* r,
+                                 float* c, lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params,
+                                 lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, lapack_complex_double* b,
+                                 lapack_int ldb, lapack_complex_double* x,
+                                 lapack_int ldx, double* rcond, double* rpvgrw,
+                                 double* berr, lapack_int n_err_bnds,
+                                 double* err_bnds_norm, double* err_bnds_comp,
+                                 lapack_int nparams, double* params,
+                                 lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetri_work( int matrix_order, lapack_int n, float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgetri_work( int matrix_order, lapack_int n, double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgetri_work( int matrix_order, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgetri_work( int matrix_order, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* lscale, const float* rscale,
+                                lapack_int m, float* v, lapack_int ldv );
+lapack_int LAPACKE_dggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* lscale, const double* rscale,
+                                lapack_int m, double* v, lapack_int ldv );
+lapack_int LAPACKE_cggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* lscale, const float* rscale,
+                                lapack_int m, lapack_complex_float* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_zggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* lscale, const double* rscale,
+                                lapack_int m, lapack_complex_double* v,
+                                lapack_int ldv );
+
+lapack_int LAPACKE_sggbal_work( int matrix_order, char job, lapack_int n,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, lapack_int* ilo,
+                                lapack_int* ihi, float* lscale, float* rscale,
+                                float* work );
+lapack_int LAPACKE_dggbal_work( int matrix_order, char job, lapack_int n,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, lapack_int* ilo,
+                                lapack_int* ihi, double* lscale, double* rscale,
+                                double* work );
+lapack_int LAPACKE_cggbal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_int* ilo, lapack_int* ihi, float* lscale,
+                                float* rscale, float* work );
+lapack_int LAPACKE_zggbal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* lscale, double* rscale, double* work );
+
+lapack_int LAPACKE_sgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_S_SELECT3 selctg, lapack_int n,
+                               float* a, lapack_int lda, float* b,
+                               lapack_int ldb, lapack_int* sdim, float* alphar,
+                               float* alphai, float* beta, float* vsl,
+                               lapack_int ldvsl, float* vsr, lapack_int ldvsr,
+                               float* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_dgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_D_SELECT3 selctg, lapack_int n,
+                               double* a, lapack_int lda, double* b,
+                               lapack_int ldb, lapack_int* sdim, double* alphar,
+                               double* alphai, double* beta, double* vsl,
+                               lapack_int ldvsl, double* vsr, lapack_int ldvsr,
+                               double* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_cgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_C_SELECT2 selctg, lapack_int n,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_int* sdim, lapack_complex_float* alpha,
+                               lapack_complex_float* beta,
+                               lapack_complex_float* vsl, lapack_int ldvsl,
+                               lapack_complex_float* vsr, lapack_int ldvsr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_Z_SELECT2 selctg, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_int* sdim, lapack_complex_double* alpha,
+                               lapack_complex_double* beta,
+                               lapack_complex_double* vsl, lapack_int ldvsl,
+                               lapack_complex_double* vsr, lapack_int ldvsr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_S_SELECT3 selctg, char sense,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, lapack_int* sdim,
+                                float* alphar, float* alphai, float* beta,
+                                float* vsl, lapack_int ldvsl, float* vsr,
+                                lapack_int ldvsr, float* rconde, float* rcondv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_dggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_D_SELECT3 selctg, char sense,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, lapack_int* sdim,
+                                double* alphar, double* alphai, double* beta,
+                                double* vsl, lapack_int ldvsl, double* vsr,
+                                lapack_int ldvsr, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_cggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_C_SELECT2 selctg, char sense,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_int* sdim,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* vsl, lapack_int ldvsl,
+                                lapack_complex_float* vsr, lapack_int ldvsr,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork,
+                                lapack_int liwork, lapack_logical* bwork );
+lapack_int LAPACKE_zggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_Z_SELECT2 selctg, char sense,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_int* sdim,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* vsl, lapack_int ldvsl,
+                                lapack_complex_double* vsr, lapack_int ldvsr,
+                                double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork,
+                                lapack_int liwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, float* a, lapack_int lda, float* b,
+                               lapack_int ldb, float* alphar, float* alphai,
+                               float* beta, float* vl, lapack_int ldvl,
+                               float* vr, lapack_int ldvr, float* work,
+                               lapack_int lwork );
+lapack_int LAPACKE_dggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* b, lapack_int ldb, double* alphar,
+                               double* alphai, double* beta, double* vl,
+                               lapack_int ldvl, double* vr, lapack_int ldvr,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb, lapack_complex_float* alpha,
+                               lapack_complex_float* beta,
+                               lapack_complex_float* vl, lapack_int ldvl,
+                               lapack_complex_float* vr, lapack_int ldvr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* b,
+                               lapack_int ldb, lapack_complex_double* alpha,
+                               lapack_complex_double* beta,
+                               lapack_complex_double* vl, lapack_int ldvl,
+                               lapack_complex_double* vr, lapack_int ldvr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_sggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* alphar, float* alphai, float* beta,
+                                float* vl, lapack_int ldvl, float* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, float* lscale, float* rscale,
+                                float* abnrm, float* bbnrm, float* rconde,
+                                float* rcondv, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_logical* bwork );
+lapack_int LAPACKE_dggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* alphar, double* alphai, double* beta,
+                                double* vl, lapack_int ldvl, double* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, double* lscale, double* rscale,
+                                double* abnrm, double* bbnrm, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_logical* bwork );
+lapack_int LAPACKE_cggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* lscale,
+                                float* rscale, float* abnrm, float* bbnrm,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_zggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* lscale, double* rscale, double* abnrm,
+                                double* bbnrm, double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork,
+                                lapack_logical* bwork );
+
+lapack_int LAPACKE_sggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* d, float* x,
+                                float* y, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* d, double* x,
+                                double* y, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* d,
+                                lapack_complex_float* x,
+                                lapack_complex_float* y,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* d,
+                                lapack_complex_double* x,
+                                lapack_complex_double* y,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* q, lapack_int ldq,
+                                float* z, lapack_int ldz );
+lapack_int LAPACKE_dgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* q, lapack_int ldq,
+                                double* z, lapack_int ldz );
+lapack_int LAPACKE_cgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* c, float* d,
+                                float* x, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* c, double* d,
+                                double* x, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* c,
+                                lapack_complex_float* d,
+                                lapack_complex_float* x,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* c,
+                                lapack_complex_double* d,
+                                lapack_complex_double* x,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* taua, float* b, lapack_int ldb,
+                                float* taub, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* taua, double* b, lapack_int ldb,
+                                double* taub, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* taua,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* taub,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* taua,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* taub,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* taua, float* b, lapack_int ldb,
+                                float* taub, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* taua, double* b, lapack_int ldb,
+                                double* taub, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* taua,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* taub,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* taua,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* taub,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* alpha, float* beta,
+                                float* u, lapack_int ldu, float* v,
+                                lapack_int ldv, float* q, lapack_int ldq,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* alpha, double* beta,
+                                double* u, lapack_int ldu, double* v,
+                                lapack_int ldv, double* q, lapack_int ldq,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float* alpha, float* beta,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* v, lapack_int ldv,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_zggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double* alpha, double* beta,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* v, lapack_int ldv,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float tola,
+                                float tolb, lapack_int* k, lapack_int* l,
+                                float* u, lapack_int ldu, float* v,
+                                lapack_int ldv, float* q, lapack_int ldq,
+                                lapack_int* iwork, float* tau, float* work );
+lapack_int LAPACKE_dggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double tola,
+                                double tolb, lapack_int* k, lapack_int* l,
+                                double* u, lapack_int ldu, double* v,
+                                lapack_int ldv, double* q, lapack_int ldq,
+                                lapack_int* iwork, double* tau, double* work );
+lapack_int LAPACKE_cggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float tola, float tolb,
+                                lapack_int* k, lapack_int* l,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* v, lapack_int ldv,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_int* iwork, float* rwork,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double tola, double tolb,
+                                lapack_int* k, lapack_int* l,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* v, lapack_int ldv,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_int* iwork, double* rwork,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgtcon_work( char norm, lapack_int n, const float* dl,
+                                const float* d, const float* du,
+                                const float* du2, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgtcon_work( char norm, lapack_int n, const double* dl,
+                                const double* d, const double* du,
+                                const double* du2, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgtcon_work( char norm, lapack_int n,
+                                const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zgtcon_work( char norm, lapack_int n,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* dl,
+                                const float* d, const float* du,
+                                const float* dlf, const float* df,
+                                const float* duf, const float* du2,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* dl,
+                                const double* d, const double* du,
+                                const double* dlf, const double* df,
+                                const double* duf, const double* du2,
+                                const lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* dlf,
+                                const lapack_complex_float* df,
+                                const lapack_complex_float* duf,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* dlf,
+                                const lapack_complex_double* df,
+                                const lapack_complex_double* duf,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* dl, float* d, float* du, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* dl, double* d, double* du, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* dl,
+                               lapack_complex_float* d,
+                               lapack_complex_float* du,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* dl,
+                               lapack_complex_double* d,
+                               lapack_complex_double* du,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, const float* dl,
+                                const float* d, const float* du, float* dlf,
+                                float* df, float* duf, float* du2,
+                                lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, const double* dl,
+                                const double* d, const double* du, double* dlf,
+                                double* df, double* duf, double* du2,
+                                lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                lapack_complex_float* dlf,
+                                lapack_complex_float* df,
+                                lapack_complex_float* duf,
+                                lapack_complex_float* du2, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                lapack_complex_double* dlf,
+                                lapack_complex_double* df,
+                                lapack_complex_double* duf,
+                                lapack_complex_double* du2, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgttrf_work( lapack_int n, float* dl, float* d, float* du,
+                                float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_dgttrf_work( lapack_int n, double* dl, double* d, double* du,
+                                double* du2, lapack_int* ipiv );
+lapack_int LAPACKE_cgttrf_work( lapack_int n, lapack_complex_float* dl,
+                                lapack_complex_float* d,
+                                lapack_complex_float* du,
+                                lapack_complex_float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_zgttrf_work( lapack_int n, lapack_complex_double* dl,
+                                lapack_complex_double* d,
+                                lapack_complex_double* du,
+                                lapack_complex_double* du2, lapack_int* ipiv );
+
+lapack_int LAPACKE_sgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* dl,
+                                const float* d, const float* du,
+                                const float* du2, const lapack_int* ipiv,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* dl,
+                                const double* d, const double* du,
+                                const double* du2, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               float* w, lapack_complex_float* z,
+                               lapack_int ldz, lapack_complex_float* work,
+                               float* rwork );
+lapack_int LAPACKE_zhbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* q, lapack_int ldq,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                float* rwork, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_zhbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* q, lapack_int ldq,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                double* rwork, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_chbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* bb, lapack_int ldbb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                const lapack_complex_double* bb,
+                                lapack_int ldbb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_chbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_complex_float* bb, lapack_int ldbb,
+                               float* w, lapack_complex_float* z,
+                               lapack_int ldz, lapack_complex_float* work,
+                               float* rwork );
+lapack_int LAPACKE_zhbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_complex_double* bb, lapack_int ldbb,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* bb, lapack_int ldbb,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* bb, lapack_int ldbb,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* bb,
+                                lapack_int ldbb, lapack_complex_float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* bb,
+                                lapack_int ldbb, lapack_complex_double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                float* d, float* e, lapack_complex_float* q,
+                                lapack_int ldq, lapack_complex_float* work );
+lapack_int LAPACKE_zhbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                double* d, double* e, lapack_complex_double* q,
+                                lapack_int ldq, lapack_complex_double* work );
+
+lapack_int LAPACKE_checon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zhecon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_cheequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_zheequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_cheev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, float* w,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zheev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, double* w,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_cheevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, float* w,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zheevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, double* w,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_cheevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zheevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_cheevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zheevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chegst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zhegst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_chegv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb, float* w,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zhegv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               double* w, lapack_complex_double* work,
+                               lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_chegvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float* w, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhegvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double* w, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chegvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhegvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_cherfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zherfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_cherfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zherfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_chesv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhesv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_chesvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zhesvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_chesvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zhesvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_chetrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* d, float* e, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhetrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* d, double* e,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_chetrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_zhetrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_chetri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zhetri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_chetrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               float alpha, const lapack_complex_float* a,
+                               lapack_int lda, float beta,
+                               lapack_complex_float* c );
+lapack_int LAPACKE_zhfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               double alpha, const lapack_complex_double* a,
+                               lapack_int lda, double beta,
+                               lapack_complex_double* c );
+
+lapack_int LAPACKE_shgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* h, lapack_int ldh,
+                                float* t, lapack_int ldt, float* alphar,
+                                float* alphai, float* beta, float* q,
+                                lapack_int ldq, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dhgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* h, lapack_int ldh,
+                                double* t, lapack_int ldt, double* alphar,
+                                double* alphai, double* beta, double* q,
+                                lapack_int ldq, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_chgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* h,
+                                lapack_int ldh, lapack_complex_float* t,
+                                lapack_int ldt, lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zhgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* h,
+                                lapack_int ldh, lapack_complex_double* t,
+                                lapack_int ldt, lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_chpcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zhpcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_chpev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_float* ap, float* w,
+                               lapack_complex_float* z, lapack_int ldz,
+                               lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_double* ap,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chpevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_float* ap,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhpevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_double* ap,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chpevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* ap, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhpevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* ap, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chpgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_float* ap,
+                                const lapack_complex_float* bp );
+lapack_int LAPACKE_zhpgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_double* ap,
+                                const lapack_complex_double* bp );
+
+lapack_int LAPACKE_chpgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_float* ap,
+                               lapack_complex_float* bp, float* w,
+                               lapack_complex_float* z, lapack_int ldz,
+                               lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_double* ap,
+                               lapack_complex_double* bp, double* w,
+                               lapack_complex_double* z, lapack_int ldz,
+                               lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chpgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* bp, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zhpgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* bp, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_chpgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* bp, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhpgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* bp, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chpsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zhpsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_chpsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* afp, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* afp, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chptrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, float* d, float* e,
+                                lapack_complex_float* tau );
+lapack_int LAPACKE_zhptrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, double* d, double* e,
+                                lapack_complex_double* tau );
+
+lapack_int LAPACKE_chptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zhptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_chptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zhptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_chptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zhptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_shsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, lapack_logical* select,
+                                lapack_int n, const float* h, lapack_int ldh,
+                                float* wr, const float* wi, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_dhsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, lapack_logical* select,
+                                lapack_int n, const double* h, lapack_int ldh,
+                                double* wr, const double* wi, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_chsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, const lapack_logical* select,
+                                lapack_int n, const lapack_complex_float* h,
+                                lapack_int ldh, lapack_complex_float* w,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_zhsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, const lapack_logical* select,
+                                lapack_int n, const lapack_complex_double* h,
+                                lapack_int ldh, lapack_complex_double* w,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* ifaill, lapack_int* ifailr );
+
+lapack_int LAPACKE_shseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                float* h, lapack_int ldh, float* wr, float* wi,
+                                float* z, lapack_int ldz, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dhseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                double* h, lapack_int ldh, double* wr,
+                                double* wi, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_chseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_float* h, lapack_int ldh,
+                                lapack_complex_float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_double* h, lapack_int ldh,
+                                lapack_complex_double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_clacgv_work( lapack_int n, lapack_complex_float* x,
+                                lapack_int incx );
+lapack_int LAPACKE_zlacgv_work( lapack_int n, lapack_complex_double* x,
+                                lapack_int incx );
+
+lapack_int LAPACKE_slacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dlacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_clacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zlacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_zlag2c_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_float* sa, lapack_int ldsa );
+
+lapack_int LAPACKE_slag2d_work( int matrix_order, lapack_int m, lapack_int n,
+                                const float* sa, lapack_int ldsa, double* a,
+                                lapack_int lda );
+
+lapack_int LAPACKE_dlag2s_work( int matrix_order, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, float* sa,
+                                lapack_int ldsa );
+
+lapack_int LAPACKE_clag2z_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_float* sa, lapack_int ldsa,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* d,
+                                float* a, lapack_int lda, lapack_int* iseed,
+                                float* work );
+lapack_int LAPACKE_dlagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* d,
+                                double* a, lapack_int lda, lapack_int* iseed,
+                                double* work );
+lapack_int LAPACKE_clagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* d,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* iseed, lapack_complex_float* work );
+lapack_int LAPACKE_zlagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* d,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* iseed,
+                                lapack_complex_double* work );
+                                
+lapack_int LAPACKE_claghe_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlaghe_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, float* a, lapack_int lda,
+                                lapack_int* iseed, float* work );
+lapack_int LAPACKE_dlagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, double* a, lapack_int lda,
+                                lapack_int* iseed, double* work );
+lapack_int LAPACKE_clagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n, float* x,
+                                lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_dlapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n, double* x,
+                                lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_clapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_float* x, lapack_int ldx,
+                                lapack_int* k );
+lapack_int LAPACKE_zlapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_double* x, lapack_int ldx,
+                                lapack_int* k );
+
+lapack_int LAPACKE_slartgp_work( float f, float g, float* cs, float* sn,
+                                 float* r );
+lapack_int LAPACKE_dlartgp_work( double f, double g, double* cs, double* sn,
+                                 double* r );
+
+lapack_int LAPACKE_slartgs_work( float x, float y, float sigma, float* cs,
+                                 float* sn );
+lapack_int LAPACKE_dlartgs_work( double x, double y, double sigma, double* cs,
+                                 double* sn );
+                                
+float LAPACKE_slapy2_work( float x, float y );
+double LAPACKE_dlapy2_work( double x, double y );
+
+float LAPACKE_slapy3_work( float x, float y, float z );
+double LAPACKE_dlapy3_work( double x, double y, double z );
+
+float LAPACKE_slamch_work( char cmach );
+double LAPACKE_dlamch_work( char cmach );
+
+float LAPACKE_slange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_dlange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* work );
+float LAPACKE_clange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_clanhe_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlanhe_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_slansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_dlansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* work );
+float LAPACKE_clansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_slantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n, const float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_dlantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, double* work );
+float LAPACKE_clantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_zlantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* work );
+
+lapack_int LAPACKE_slarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, const float* v,
+                                lapack_int ldv, const float* t, lapack_int ldt,
+                                float* c, lapack_int ldc, float* work,
+                                lapack_int ldwork );
+lapack_int LAPACKE_dlarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, const double* v,
+                                lapack_int ldv, const double* t, lapack_int ldt,
+                                double* c, lapack_int ldc, double* work,
+                                lapack_int ldwork );
+lapack_int LAPACKE_clarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int ldwork );
+lapack_int LAPACKE_zlarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work,
+                                lapack_int ldwork );
+
+lapack_int LAPACKE_slarfg_work( lapack_int n, float* alpha, float* x,
+                                lapack_int incx, float* tau );
+lapack_int LAPACKE_dlarfg_work( lapack_int n, double* alpha, double* x,
+                                lapack_int incx, double* tau );
+lapack_int LAPACKE_clarfg_work( lapack_int n, lapack_complex_float* alpha,
+                                lapack_complex_float* x, lapack_int incx,
+                                lapack_complex_float* tau );
+lapack_int LAPACKE_zlarfg_work( lapack_int n, lapack_complex_double* alpha,
+                                lapack_complex_double* x, lapack_int incx,
+                                lapack_complex_double* tau );
+
+lapack_int LAPACKE_slarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k, const float* v,
+                                lapack_int ldv, const float* tau, float* t,
+                                lapack_int ldt );
+lapack_int LAPACKE_dlarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k, const double* v,
+                                lapack_int ldv, const double* tau, double* t,
+                                lapack_int ldt );
+lapack_int LAPACKE_clarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zlarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_slarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const float* v, float tau,
+                                float* c, lapack_int ldc, float* work );
+lapack_int LAPACKE_dlarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const double* v, double tau,
+                                double* c, lapack_int ldc, double* work );
+lapack_int LAPACKE_clarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const lapack_complex_float* v,
+                                lapack_complex_float tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const lapack_complex_double* v,
+                                lapack_complex_double tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, float* x );
+lapack_int LAPACKE_dlarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, double* x );
+lapack_int LAPACKE_clarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, lapack_complex_float* x );
+lapack_int LAPACKE_zlarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, lapack_complex_double* x );
+
+lapack_int LAPACKE_slaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, float alpha, float beta, float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_dlaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, double alpha, double beta,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_claset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, lapack_complex_float alpha,
+                                lapack_complex_float beta,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, lapack_complex_double alpha,
+                                lapack_complex_double beta,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slasrt_work( char id, lapack_int n, float* d );
+lapack_int LAPACKE_dlasrt_work( char id, lapack_int n, double* d );
+
+lapack_int LAPACKE_slaswp_work( int matrix_order, lapack_int n, float* a,
+                                lapack_int lda, lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_dlaswp_work( int matrix_order, lapack_int n, double* a,
+                                lapack_int lda, lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_claswp_work( int matrix_order, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_zlaswp_work( int matrix_order, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+
+lapack_int LAPACKE_slatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                float* d, lapack_int mode, float cond,
+                                float dmax, lapack_int kl, lapack_int ku,
+                                char pack, float* a, lapack_int lda,
+                                float* work );
+lapack_int LAPACKE_dlatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                double* d, lapack_int mode, double cond,
+                                double dmax, lapack_int kl, lapack_int ku,
+                                char pack, double* a, lapack_int lda,
+                                double* work );
+lapack_int LAPACKE_clatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                float* d, lapack_int mode, float cond,
+                                float dmax, lapack_int kl, lapack_int ku,
+                                char pack, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* work );
+lapack_int LAPACKE_zlatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                double* d, lapack_int mode, double cond,
+                                double dmax, lapack_int kl, lapack_int ku,
+                                char pack, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* work );
+
+lapack_int LAPACKE_slauum_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dlauum_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_clauum_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlauum_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_sopgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, const float* tau, float* q,
+                                lapack_int ldq, float* work );
+lapack_int LAPACKE_dopgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, const double* tau, double* q,
+                                lapack_int ldq, double* work );
+
+lapack_int LAPACKE_sopmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const float* ap, const float* tau, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dopmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const double* ap, const double* tau, double* c,
+                                lapack_int ldc, double* work );
+
+lapack_int LAPACKE_sorgbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k, float* a,
+                                lapack_int lda, const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k, double* a,
+                                lapack_int lda, const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgtr_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, const float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dorgtr_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, const double* tau,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_spbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const float* ab, lapack_int ldab,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const double* ab,
+                                lapack_int ldab, double anorm, double* rcond,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_float* ab,
+                                lapack_int ldab, float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_double* ab,
+                                lapack_int ldab, double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const float* ab, lapack_int ldab,
+                                float* s, float* scond, float* amax );
+lapack_int LAPACKE_dpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const double* ab,
+                                lapack_int ldab, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_float* ab,
+                                lapack_int ldab, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_zpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_double* ab,
+                                lapack_int ldab, double* s, double* scond,
+                                double* amax );
+
+lapack_int LAPACKE_spbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs, const float* ab,
+                                lapack_int ldab, const float* afb,
+                                lapack_int ldafb, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const double* afb, lapack_int ldafb,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* afb,
+                                lapack_int ldafb, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab,
+                                const lapack_complex_double* afb,
+                                lapack_int ldafb,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, float* bb, lapack_int ldbb );
+lapack_int LAPACKE_dpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, double* bb, lapack_int ldbb );
+lapack_int LAPACKE_cpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, lapack_complex_float* bb,
+                                lapack_int ldbb );
+lapack_int LAPACKE_zpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, lapack_complex_double* bb,
+                                lapack_int ldbb );
+
+lapack_int LAPACKE_spbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs, float* ab,
+                               lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs, double* ab,
+                               lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                float* ab, lapack_int ldab, float* afb,
+                                lapack_int ldafb, char* equed, float* s,
+                                float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                double* ab, lapack_int ldab, double* afb,
+                                lapack_int ldafb, char* equed, double* s,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* afb, lapack_int ldafb,
+                                char* equed, float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* afb, lapack_int ldafb,
+                                char* equed, double* s,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, float* ab, lapack_int ldab );
+lapack_int LAPACKE_dpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, double* ab, lapack_int ldab );
+lapack_int LAPACKE_cpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_complex_float* ab,
+                                lapack_int ldab );
+lapack_int LAPACKE_zpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_complex_double* ab,
+                                lapack_int ldab );
+
+lapack_int LAPACKE_spbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs, const float* ab,
+                                lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const double* ab, lapack_int ldab, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_spftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, float* a );
+lapack_int LAPACKE_dpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, double* a );
+lapack_int LAPACKE_cpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, float* a );
+lapack_int LAPACKE_dpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, double* a );
+lapack_int LAPACKE_cpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* a,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* a,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spocon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spoequ_work( int matrix_order, lapack_int n, const float* a,
+                                lapack_int lda, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_dpoequ_work( int matrix_order, lapack_int n, const double* a,
+                                lapack_int lda, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cpoequ_work( int matrix_order, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequ_work( int matrix_order, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_spoequb_work( int matrix_order, lapack_int n, const float* a,
+                                 lapack_int lda, float* s, float* scond,
+                                 float* amax );
+lapack_int LAPACKE_dpoequb_work( int matrix_order, lapack_int n,
+                                 const double* a, lapack_int lda, double* s,
+                                 double* scond, double* amax );
+lapack_int LAPACKE_cpoequb_work( int matrix_order, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequb_work( int matrix_order, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_sporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const float* s,
+                                 const float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const double* s,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const float* s,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* a, lapack_int lda,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* a, lapack_int lda,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dsposv_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* work, float* swork,
+                                lapack_int* iter );
+lapack_int LAPACKE_zcposv_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                lapack_complex_float* swork, double* rwork,
+                                lapack_int* iter );
+
+lapack_int LAPACKE_sposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                char* equed, float* s, float* b, lapack_int ldb,
+                                float* x, lapack_int ldx, float* rcond,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                char* equed, double* s, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                char* equed, float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                char* equed, double* s,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 char* equed, float* s, float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 char* equed, double* s, double* b,
+                                 lapack_int ldb, double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 char* equed, float* s, lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params,
+                                 lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_spotrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_cpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotri_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dpotri_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_cpotri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_sppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float anorm, float* rcond,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double anorm, double* rcond,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap, float anorm,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap, double anorm,
+                                double* rcond, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_dppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap, float* s,
+                                float* scond, float* amax );
+lapack_int LAPACKE_zppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap, double* s,
+                                double* scond, double* amax );
+
+lapack_int LAPACKE_spprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const float* afp, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const double* afp, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* ap, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* ap, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, float* ap,
+                                float* afp, char* equed, float* s, float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, double* ap,
+                                double* afp, char* equed, double* s, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* afp, char* equed,
+                                float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* afp, char* equed,
+                                double* s, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_spptrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap );
+lapack_int LAPACKE_dpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap );
+lapack_int LAPACKE_cpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_zpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptri_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap );
+lapack_int LAPACKE_dpptri_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap );
+lapack_int LAPACKE_cpptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_zpptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spstrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* piv,
+                                lapack_int* rank, float tol, float* work );
+lapack_int LAPACKE_dpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* piv,
+                                lapack_int* rank, double tol, double* work );
+lapack_int LAPACKE_cpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* piv, lapack_int* rank, float tol,
+                                float* work );
+lapack_int LAPACKE_zpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* piv, lapack_int* rank, double tol,
+                                double* work );
+
+lapack_int LAPACKE_sptcon_work( lapack_int n, const float* d, const float* e,
+                                float anorm, float* rcond, float* work );
+lapack_int LAPACKE_dptcon_work( lapack_int n, const double* d, const double* e,
+                                double anorm, double* rcond, double* work );
+lapack_int LAPACKE_cptcon_work( lapack_int n, const float* d,
+                                const lapack_complex_float* e, float anorm,
+                                float* rcond, float* work );
+lapack_int LAPACKE_zptcon_work( lapack_int n, const double* d,
+                                const lapack_complex_double* e, double anorm,
+                                double* rcond, double* work );
+
+lapack_int LAPACKE_spteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work );
+lapack_int LAPACKE_dpteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work );
+lapack_int LAPACKE_cpteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, float* work );
+lapack_int LAPACKE_zpteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, double* work );
+
+lapack_int LAPACKE_sptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const float* d, const float* e, const float* df,
+                                const float* ef, const float* b, lapack_int ldb,
+                                float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work );
+lapack_int LAPACKE_dptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const double* d, const double* e,
+                                const double* df, const double* ef,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work );
+lapack_int LAPACKE_cptrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e, const float* df,
+                                const lapack_complex_float* ef,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zptrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e,
+                                const double* df,
+                                const lapack_complex_double* ef,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* d, float* e, float* b, lapack_int ldb );
+lapack_int LAPACKE_dptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* d, double* e, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* d, lapack_complex_float* e,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* d, lapack_complex_double* e,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const float* d, const float* e,
+                                float* df, float* ef, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work );
+lapack_int LAPACKE_dptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const double* e, double* df, double* ef,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work );
+lapack_int LAPACKE_cptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e, float* df,
+                                lapack_complex_float* ef,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e, double* df,
+                                lapack_complex_double* ef,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spttrf_work( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dpttrf_work( lapack_int n, double* d, double* e );
+lapack_int LAPACKE_cpttrf_work( lapack_int n, float* d,
+                                lapack_complex_float* e );
+lapack_int LAPACKE_zpttrf_work( lapack_int n, double* d,
+                                lapack_complex_double* e );
+
+lapack_int LAPACKE_spttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const float* d, const float* e, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dpttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const double* d, const double* e, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpttrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpttrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd, float* ab,
+                               lapack_int ldab, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dsbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd, double* ab,
+                               lapack_int ldab, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd, float* ab,
+                                lapack_int ldab, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd, double* ab,
+                                lapack_int ldab, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                float* ab, lapack_int ldab, float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                double* ab, lapack_int ldab, double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                float* ab, lapack_int ldab, const float* bb,
+                                lapack_int ldbb, float* x, lapack_int ldx,
+                                float* work );
+lapack_int LAPACKE_dsbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                double* ab, lapack_int ldab, const double* bb,
+                                lapack_int ldbb, double* x, lapack_int ldx,
+                                double* work );
+
+lapack_int LAPACKE_ssbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               float* ab, lapack_int ldab, float* bb,
+                               lapack_int ldbb, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dsbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               double* ab, lapack_int ldab, double* bb,
+                               lapack_int ldbb, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                float* ab, lapack_int ldab, float* bb,
+                                lapack_int ldbb, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                double* ab, lapack_int ldab, double* bb,
+                                lapack_int ldbb, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, float* ab, lapack_int ldab,
+                                float* bb, lapack_int ldbb, float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, double* ab, lapack_int ldab,
+                                double* bb, lapack_int ldbb, double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd, float* ab,
+                                lapack_int ldab, float* d, float* e, float* q,
+                                lapack_int ldq, float* work );
+lapack_int LAPACKE_dsbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd, double* ab,
+                                lapack_int ldab, double* d, double* e,
+                                double* q, lapack_int ldq, double* work );
+
+lapack_int LAPACKE_ssfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               float alpha, const float* a, lapack_int lda,
+                               float beta, float* c );
+lapack_int LAPACKE_dsfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               double alpha, const double* a, lapack_int lda,
+                               double beta, double* c );
+
+lapack_int LAPACKE_sspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_sspev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, float* ap, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dspev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, double* ap, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_sspevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, float* ap, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dspevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, double* ap, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sspevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* ap, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dspevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* ap, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, double* work,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_sspgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, float* ap, const float* bp );
+lapack_int LAPACKE_dspgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, double* ap, const double* bp );
+
+lapack_int LAPACKE_sspgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, float* ap, float* bp,
+                               float* w, float* z, lapack_int ldz,
+                               float* work );
+lapack_int LAPACKE_dspgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, double* ap, double* bp,
+                               double* w, double* z, lapack_int ldz,
+                               double* work );
+
+lapack_int LAPACKE_sspgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, float* ap, float* bp,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dspgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, double* ap, double* bp,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sspgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, float* ap,
+                                float* bp, float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_dspgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, double* ap,
+                                double* bp, double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const float* afp, const lapack_int* ipiv,
+                                const float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dsprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const double* afp, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_csprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zsprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* ap, lapack_int* ipiv,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* ap, lapack_int* ipiv,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_sspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* ap,
+                                float* afp, lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* ap,
+                                double* afp, lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* afp, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* afp, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_ssptrd_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, float* d, float* e, float* tau );
+lapack_int LAPACKE_dsptrd_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssptrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_dsptrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, lapack_int* ipiv );
+lapack_int LAPACKE_csptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zsptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptri_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, const lapack_int* ipiv,
+                                float* work );
+lapack_int LAPACKE_dsptri_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, const lapack_int* ipiv,
+                                double* work );
+lapack_int LAPACKE_csptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zsptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_ssptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dsptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const lapack_int* ipiv, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_csptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zsptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sstebz_work( char range, char order, lapack_int n, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, const float* d, const float* e,
+                                lapack_int* m, lapack_int* nsplit, float* w,
+                                lapack_int* iblock, lapack_int* isplit,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dstebz_work( char range, char order, lapack_int n, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, const double* d, const double* e,
+                                lapack_int* m, lapack_int* nsplit, double* w,
+                                lapack_int* iblock, lapack_int* isplit,
+                                double* work, lapack_int* iwork );
+
+lapack_int LAPACKE_sstedc_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstedc_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstedc_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstedc_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_sstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int* isuppz, double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_sstein_work( int matrix_order, lapack_int n, const float* d,
+                                const float* e, lapack_int m, const float* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_dstein_work( int matrix_order, lapack_int n, const double* d,
+                                const double* e, lapack_int m, const double* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_cstein_work( int matrix_order, lapack_int n, const float* d,
+                                const float* e, lapack_int m, const float* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit,
+                                lapack_complex_float* z, lapack_int ldz,
+                                float* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_zstein_work( int matrix_order, lapack_int n, const double* d,
+                                const double* e, lapack_int m, const double* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit,
+                                lapack_complex_double* z, lapack_int ldz,
+                                double* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+
+lapack_int LAPACKE_sstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int nzc,
+                                lapack_int* isuppz, lapack_logical* tryrac,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, lapack_int nzc,
+                                lapack_int* isuppz, lapack_logical* tryrac,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int nzc, lapack_int* isuppz,
+                                lapack_logical* tryrac, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int nzc, lapack_int* isuppz,
+                                lapack_logical* tryrac, double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_ssteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work );
+lapack_int LAPACKE_dsteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work );
+lapack_int LAPACKE_csteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, float* work );
+lapack_int LAPACKE_zsteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssterf_work( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dsterf_work( lapack_int n, double* d, double* e );
+
+lapack_int LAPACKE_sstev_work( int matrix_order, char jobz, lapack_int n,
+                               float* d, float* e, float* z, lapack_int ldz,
+                               float* work );
+lapack_int LAPACKE_dstev_work( int matrix_order, char jobz, lapack_int n,
+                               double* d, double* e, double* z, lapack_int ldz,
+                               double* work );
+
+lapack_int LAPACKE_sstevd_work( int matrix_order, char jobz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstevd_work( int matrix_order, char jobz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sstevr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dstevr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sstevx_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dstevx_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, double* work,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssycon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dsycon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_csycon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zsycon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_ssyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const float* a, lapack_int lda, float* s,
+                                 float* scond, float* amax, float* work );
+lapack_int LAPACKE_dsyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const double* a, lapack_int lda, double* s,
+                                 double* scond, double* amax, double* work );
+lapack_int LAPACKE_csyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_zsyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_ssyev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, float* a, lapack_int lda, float* w,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dsyev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* w, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssyevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* w, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsyevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* w, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssyevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dsyevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssyevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_dsyevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssygst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, float* a, lapack_int lda,
+                                const float* b, lapack_int ldb );
+lapack_int LAPACKE_dsygst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, double* a, lapack_int lda,
+                                const double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssygv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, float* a,
+                               lapack_int lda, float* b, lapack_int ldb,
+                               float* w, float* work, lapack_int lwork );
+lapack_int LAPACKE_dsygv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, double* a,
+                               lapack_int lda, double* b, lapack_int ldb,
+                               double* w, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssygvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* w, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsygvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* w, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssygvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsygvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_csyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zsyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_ssyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const float* b, lapack_int ldb,
+                                 float* x, lapack_int ldx, float* rcond,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dsyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s, const double* b,
+                                 lapack_int ldb, double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_csyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zsyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_ssysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* a, lapack_int lda,
+                               lapack_int* ipiv, float* b, lapack_int ldb,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dsysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* a, lapack_int lda,
+                               lapack_int* ipiv, double* b, lapack_int ldb,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_csysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zsysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_csysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zsysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_ssysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dsysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* rpvgrw,
+                                 double* berr, lapack_int n_err_bnds,
+                                 double* err_bnds_norm, double* err_bnds_comp,
+                                 lapack_int nparams, double* params,
+                                 double* work, lapack_int* iwork );
+lapack_int LAPACKE_csysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zsysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_ssytrd_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, float* d, float* e,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dsytrd_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, double* d, double* e,
+                                double* tau, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssytrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dsytrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_csytrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_zsytrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_ssytri_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* work );
+lapack_int LAPACKE_dsytri_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda,
+                                const lapack_int* ipiv, double* work );
+lapack_int LAPACKE_csytri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zsytri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_ssytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dsytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const float* ab, lapack_int ldab, float* rcond,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const double* ab, lapack_int ldab,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_ztbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const float* ab,
+                                lapack_int ldab, const float* b, lapack_int ldb,
+                                const float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const double* ab,
+                                lapack_int ldab, const double* b,
+                                lapack_int ldb, const double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const lapack_complex_float* ab,
+                                lapack_int ldab, const lapack_complex_float* b,
+                                lapack_int ldb, const lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_complex_double* b,
+                                lapack_int ldb, const lapack_complex_double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const float* ab,
+                                lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const double* ab,
+                                lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_ztbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_stfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, float alpha, const float* a,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dtfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, double alpha, const double* a,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_ctfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, lapack_complex_float alpha,
+                               const lapack_complex_float* a,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, lapack_complex_double alpha,
+                               const lapack_complex_double* a,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n, float* a );
+lapack_int LAPACKE_dtftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n, double* a );
+lapack_int LAPACKE_ctftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n,
+                                lapack_complex_float* a );
+lapack_int LAPACKE_ztftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n,
+                                lapack_complex_double* a );
+
+lapack_int LAPACKE_stfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* arf, float* ap );
+lapack_int LAPACKE_dtfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* arf, double* ap );
+lapack_int LAPACKE_ctfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* arf,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_ztfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* arf,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_stfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* arf, float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_dtfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* arf, double* a,
+                                lapack_int lda );
+lapack_int LAPACKE_ctfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* arf,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* arf,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_stgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* s, lapack_int lds, const float* p,
+                                lapack_int ldp, float* vl, lapack_int ldvl,
+                                float* vr, lapack_int ldvr, lapack_int mm,
+                                lapack_int* m, float* work );
+lapack_int LAPACKE_dtgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* s, lapack_int lds,
+                                const double* p, lapack_int ldp, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work );
+lapack_int LAPACKE_ctgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* s, lapack_int lds,
+                                const lapack_complex_float* p, lapack_int ldp,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* s, lapack_int lds,
+                                const lapack_complex_double* p, lapack_int ldp,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* q, lapack_int ldq, float* z,
+                                lapack_int ldz, lapack_int* ifst,
+                                lapack_int* ilst, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dtgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* q, lapack_int ldq, double* z,
+                                lapack_int ldz, lapack_int* ifst,
+                                lapack_int* ilst, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_ctgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_stgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* alphar, float* alphai,
+                                float* beta, float* q, lapack_int ldq, float* z,
+                                lapack_int ldz, lapack_int* m, float* pl,
+                                float* pr, float* dif, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dtgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* alphar, double* alphai,
+                                double* beta, double* q, lapack_int ldq,
+                                double* z, lapack_int ldz, lapack_int* m,
+                                double* pl, double* pr, double* dif,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ctgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int* m, float* pl, float* pr, float* dif,
+                                lapack_complex_float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ztgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int* m, double* pl, double* pr,
+                                double* dif, lapack_complex_double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_stgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float tola, float tolb,
+                                float* alpha, float* beta, float* u,
+                                lapack_int ldu, float* v, lapack_int ldv,
+                                float* q, lapack_int ldq, float* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_dtgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double tola, double tolb,
+                                double* alpha, double* beta, double* u,
+                                lapack_int ldu, double* v, lapack_int ldv,
+                                double* q, lapack_int ldq, double* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_ctgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float tola, float tolb, float* alpha,
+                                float* beta, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* v,
+                                lapack_int ldv, lapack_complex_float* q,
+                                lapack_int ldq, lapack_complex_float* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_ztgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double tola, double tolb, double* alpha,
+                                double* beta, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* v,
+                                lapack_int ldv, lapack_complex_double* q,
+                                lapack_int ldq, lapack_complex_double* work,
+                                lapack_int* ncycle );
+
+lapack_int LAPACKE_stgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, const float* vl,
+                                lapack_int ldvl, const float* vr,
+                                lapack_int ldvr, float* s, float* dif,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_dtgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb,
+                                const double* vl, lapack_int ldvl,
+                                const double* vr, lapack_int ldvr, double* s,
+                                double* dif, lapack_int mm, lapack_int* m,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* vl, lapack_int ldvl,
+                                const lapack_complex_float* vr, lapack_int ldvr,
+                                float* s, float* dif, lapack_int mm,
+                                lapack_int* m, lapack_complex_float* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_ztgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* vl,
+                                lapack_int ldvl,
+                                const lapack_complex_double* vr,
+                                lapack_int ldvr, double* s, double* dif,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_stgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n, const float* a,
+                                lapack_int lda, const float* b, lapack_int ldb,
+                                float* c, lapack_int ldc, const float* d,
+                                lapack_int ldd, const float* e, lapack_int lde,
+                                float* f, lapack_int ldf, float* scale,
+                                float* dif, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n, const double* a,
+                                lapack_int lda, const double* b, lapack_int ldb,
+                                double* c, lapack_int ldc, const double* d,
+                                lapack_int ldd, const double* e, lapack_int lde,
+                                double* f, lapack_int ldf, double* scale,
+                                double* dif, double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* c, lapack_int ldc,
+                                const lapack_complex_float* d, lapack_int ldd,
+                                const lapack_complex_float* e, lapack_int lde,
+                                lapack_complex_float* f, lapack_int ldf,
+                                float* scale, float* dif,
+                                lapack_complex_float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ztgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* c, lapack_int ldc,
+                                const lapack_complex_double* d, lapack_int ldd,
+                                const lapack_complex_double* e, lapack_int lde,
+                                lapack_complex_double* f, lapack_int ldf,
+                                double* scale, double* dif,
+                                lapack_complex_double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_stpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const float* ap,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const double* ap,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_float* ap, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_double* ap, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* ap, const float* b, lapack_int ldb,
+                                const float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* ap, const double* b,
+                                lapack_int ldb, const double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, float* ap );
+lapack_int LAPACKE_dtptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, double* ap );
+lapack_int LAPACKE_ctptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_float* ap );
+lapack_int LAPACKE_ztptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_double* ap );
+
+lapack_int LAPACKE_stptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* ap, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* ap, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* ap, float* arf );
+lapack_int LAPACKE_dtpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* ap, double* arf );
+lapack_int LAPACKE_ctpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* ap,
+                                lapack_complex_float* arf );
+lapack_int LAPACKE_ztpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* ap,
+                                lapack_complex_double* arf );
+
+lapack_int LAPACKE_stpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float* a, lapack_int lda );
+lapack_int LAPACKE_dtpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double* a, lapack_int lda );
+lapack_int LAPACKE_ctpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const float* a,
+                                lapack_int lda, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const double* a,
+                                lapack_int lda, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_ztrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* rcond, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_strevc_work( int matrix_order, char side, char howmny,
+                                lapack_logical* select, lapack_int n,
+                                const float* t, lapack_int ldt, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, float* work );
+lapack_int LAPACKE_dtrevc_work( int matrix_order, char side, char howmny,
+                                lapack_logical* select, lapack_int n,
+                                const double* t, lapack_int ldt, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work );
+lapack_int LAPACKE_ctrevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztrevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_strexc_work( int matrix_order, char compq, lapack_int n,
+                                float* t, lapack_int ldt, float* q,
+                                lapack_int ldq, lapack_int* ifst,
+                                lapack_int* ilst, float* work );
+lapack_int LAPACKE_dtrexc_work( int matrix_order, char compq, lapack_int n,
+                                double* t, lapack_int ldt, double* q,
+                                lapack_int ldq, lapack_int* ifst,
+                                lapack_int* ilst, double* work );
+lapack_int LAPACKE_ctrexc_work( int matrix_order, char compq, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztrexc_work( int matrix_order, char compq, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_strrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, const float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb,
+                                const double* x, lapack_int ldx, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_ctrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_strsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                float* t, lapack_int ldt, float* q,
+                                lapack_int ldq, float* wr, float* wi,
+                                lapack_int* m, float* s, float* sep,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dtrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                double* t, lapack_int ldt, double* q,
+                                lapack_int ldq, double* wr, double* wi,
+                                lapack_int* m, double* s, double* sep,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ctrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* w, lapack_int* m,
+                                float* s, float* sep,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ztrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* w, lapack_int* m,
+                                double* s, double* sep,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_strsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* t, lapack_int ldt, const float* vl,
+                                lapack_int ldvl, const float* vr,
+                                lapack_int ldvr, float* s, float* sep,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int ldwork, lapack_int* iwork );
+lapack_int LAPACKE_dtrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* t, lapack_int ldt,
+                                const double* vl, lapack_int ldvl,
+                                const double* vr, lapack_int ldvr, double* s,
+                                double* sep, lapack_int mm, lapack_int* m,
+                                double* work, lapack_int ldwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                const lapack_complex_float* vl, lapack_int ldvl,
+                                const lapack_complex_float* vr, lapack_int ldvr,
+                                float* s, float* sep, lapack_int mm,
+                                lapack_int* m, lapack_complex_float* work,
+                                lapack_int ldwork, float* rwork );
+lapack_int LAPACKE_ztrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                const lapack_complex_double* vl,
+                                lapack_int ldvl,
+                                const lapack_complex_double* vr,
+                                lapack_int ldvr, double* s, double* sep,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, lapack_int ldwork,
+                                double* rwork );
+
+lapack_int LAPACKE_strsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, float* c, lapack_int ldc,
+                                float* scale );
+lapack_int LAPACKE_dtrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb, double* c,
+                                lapack_int ldc, double* scale );
+lapack_int LAPACKE_ctrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* c, lapack_int ldc,
+                                float* scale );
+lapack_int LAPACKE_ztrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* c, lapack_int ldc,
+                                double* scale );
+
+lapack_int LAPACKE_strtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, float* a, lapack_int lda );
+lapack_int LAPACKE_dtrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, double* a, lapack_int lda );
+lapack_int LAPACKE_ctrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_ztrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda );
+
+lapack_int LAPACKE_strtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* a, lapack_int lda, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dtrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* a, lapack_int lda, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_ctrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_strttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* arf );
+lapack_int LAPACKE_dtrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* arf );
+lapack_int LAPACKE_ctrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* arf );
+lapack_int LAPACKE_ztrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* arf );
+
+lapack_int LAPACKE_strttp_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda, float* ap );
+lapack_int LAPACKE_dtrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda, double* ap );
+lapack_int LAPACKE_ctrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_ztrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_stzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dtzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_ctzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ztzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungtr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungtr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cupgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zupgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_cupmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zupmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_claghe( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, lapack_complex_float* a,
+                           lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_zlaghe( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, lapack_complex_double* a,
+                           lapack_int lda, lapack_int* iseed );
+
+lapack_int LAPACKE_slagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, float* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_dlagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, double* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_clagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, lapack_complex_float* a,
+                           lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_zlagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, lapack_complex_double* a,
+                           lapack_int lda, lapack_int* iseed );
+
+lapack_int LAPACKE_slapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, float* x, lapack_int ldx,
+                           lapack_int* k );
+lapack_int LAPACKE_dlapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, double* x,
+                           lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_clapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, lapack_complex_float* x,
+                           lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_zlapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* k );
+
+
+float LAPACKE_slapy2( float x, float y );
+double LAPACKE_dlapy2( double x, double y );
+
+float LAPACKE_slapy3( float x, float y, float z );
+double LAPACKE_dlapy3( double x, double y, double z );
+
+lapack_int LAPACKE_slartgp( float f, float g, float* cs, float* sn, float* r );
+lapack_int LAPACKE_dlartgp( double f, double g, double* cs, double* sn,
+                            double* r );
+
+lapack_int LAPACKE_slartgs( float x, float y, float sigma, float* cs,
+                            float* sn );
+lapack_int LAPACKE_dlartgs( double x, double y, double sigma, double* cs,
+                            double* sn );
+
+
+//LAPACK 3.3.0
+lapack_int LAPACKE_cbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, float* theta, float* phi,
+                           lapack_complex_float* u1, lapack_int ldu1,
+                           lapack_complex_float* u2, lapack_int ldu2,
+                           lapack_complex_float* v1t, lapack_int ldv1t,
+                           lapack_complex_float* v2t, lapack_int ldv2t,
+                           float* b11d, float* b11e, float* b12d, float* b12e,
+                           float* b21d, float* b21e, float* b22d, float* b22e );
+lapack_int LAPACKE_cbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* theta, float* phi,
+                                lapack_complex_float* u1, lapack_int ldu1,
+                                lapack_complex_float* u2, lapack_int ldu2,
+                                lapack_complex_float* v1t, lapack_int ldv1t,
+                                lapack_complex_float* v2t, lapack_int ldv2t,
+                                float* b11d, float* b11e, float* b12d,
+                                float* b12e, float* b21d, float* b21e,
+                                float* b22d, float* b22e, float* rwork,
+                                lapack_int lrwork );
+lapack_int LAPACKE_cheswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_cheswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_chetri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_chetri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_chetri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_chetri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_float* work, lapack_int nb );
+lapack_int LAPACKE_chetrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_float* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_chetrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_csyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_csyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_csyswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_csyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_csytri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_csytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_csytri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_csytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_float* work, lapack_int nb );
+lapack_int LAPACKE_csytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_float* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_cunbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_float* x11, lapack_int ldx11,
+                           lapack_complex_float* x12, lapack_int ldx12,
+                           lapack_complex_float* x21, lapack_int ldx21,
+                           lapack_complex_float* x22, lapack_int ldx22,
+                           float* theta, float* phi,
+                           lapack_complex_float* taup1,
+                           lapack_complex_float* taup2,
+                           lapack_complex_float* tauq1,
+                           lapack_complex_float* tauq2 );
+lapack_int LAPACKE_cunbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                lapack_complex_float* x11, lapack_int ldx11,
+                                lapack_complex_float* x12, lapack_int ldx12,
+                                lapack_complex_float* x21, lapack_int ldx21,
+                                lapack_complex_float* x22, lapack_int ldx22,
+                                float* theta, float* phi,
+                                lapack_complex_float* taup1,
+                                lapack_complex_float* taup2,
+                                lapack_complex_float* tauq1,
+                                lapack_complex_float* tauq2,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_cuncsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_float* x11, lapack_int ldx11,
+                           lapack_complex_float* x12, lapack_int ldx12,
+                           lapack_complex_float* x21, lapack_int ldx21,
+                           lapack_complex_float* x22, lapack_int ldx22,
+                           float* theta, lapack_complex_float* u1,
+                           lapack_int ldu1, lapack_complex_float* u2,
+                           lapack_int ldu2, lapack_complex_float* v1t,
+                           lapack_int ldv1t, lapack_complex_float* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_cuncsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, lapack_complex_float* x11,
+                                lapack_int ldx11, lapack_complex_float* x12,
+                                lapack_int ldx12, lapack_complex_float* x21,
+                                lapack_int ldx21, lapack_complex_float* x22,
+                                lapack_int ldx22, float* theta,
+                                lapack_complex_float* u1, lapack_int ldu1,
+                                lapack_complex_float* u2, lapack_int ldu2,
+                                lapack_complex_float* v1t, lapack_int ldv1t,
+                                lapack_complex_float* v2t, lapack_int ldv2t,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, double* theta,
+                           double* phi, double* u1, lapack_int ldu1, double* u2,
+                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
+                           double* v2t, lapack_int ldv2t, double* b11d,
+                           double* b11e, double* b12d, double* b12e,
+                           double* b21d, double* b21e, double* b22d,
+                           double* b22e );
+lapack_int LAPACKE_dbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* theta, double* phi, double* u1,
+                                lapack_int ldu1, double* u2, lapack_int ldu2,
+                                double* v1t, lapack_int ldv1t, double* v2t,
+                                lapack_int ldv2t, double* b11d, double* b11e,
+                                double* b12d, double* b12e, double* b21d,
+                                double* b21e, double* b22d, double* b22e,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_dorbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           double* x11, lapack_int ldx11, double* x12,
+                           lapack_int ldx12, double* x21, lapack_int ldx21,
+                           double* x22, lapack_int ldx22, double* theta,
+                           double* phi, double* taup1, double* taup2,
+                           double* tauq1, double* tauq2 );
+lapack_int LAPACKE_dorbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* x11, lapack_int ldx11, double* x12,
+                                lapack_int ldx12, double* x21, lapack_int ldx21,
+                                double* x22, lapack_int ldx22, double* theta,
+                                double* phi, double* taup1, double* taup2,
+                                double* tauq1, double* tauq2, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           double* x11, lapack_int ldx11, double* x12,
+                           lapack_int ldx12, double* x21, lapack_int ldx21,
+                           double* x22, lapack_int ldx22, double* theta,
+                           double* u1, lapack_int ldu1, double* u2,
+                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
+                           double* v2t, lapack_int ldv2t );
+lapack_int LAPACKE_dorcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, double* x11, lapack_int ldx11,
+                                double* x12, lapack_int ldx12, double* x21,
+                                lapack_int ldx21, double* x22, lapack_int ldx22,
+                                double* theta, double* u1, lapack_int ldu1,
+                                double* u2, lapack_int ldu2, double* v1t,
+                                lapack_int ldv1t, double* v2t, lapack_int ldv2t,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            double* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, double* a, lapack_int lda,
+                                 const lapack_int* ipiv, double* work );
+lapack_int LAPACKE_dsyswapr( int matrix_order, char uplo, lapack_int n,
+                             double* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_dsyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  double* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_dsytri2( int matrix_order, char uplo, lapack_int n,
+                            double* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_dsytri2x( int matrix_order, char uplo, lapack_int n,
+                             double* a, lapack_int lda, const lapack_int* ipiv,
+                             lapack_int nb );
+lapack_int LAPACKE_dsytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  double* a, lapack_int lda,
+                                  const lapack_int* ipiv, double* work,
+                                  lapack_int nb );
+lapack_int LAPACKE_dsytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const double* a, lapack_int lda,
+                            const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_dsytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 double* b, lapack_int ldb, double* work );
+lapack_int LAPACKE_sbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, float* theta, float* phi,
+                           float* u1, lapack_int ldu1, float* u2,
+                           lapack_int ldu2, float* v1t, lapack_int ldv1t,
+                           float* v2t, lapack_int ldv2t, float* b11d,
+                           float* b11e, float* b12d, float* b12e, float* b21d,
+                           float* b21e, float* b22d, float* b22e );
+lapack_int LAPACKE_sbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* theta, float* phi, float* u1,
+                                lapack_int ldu1, float* u2, lapack_int ldu2,
+                                float* v1t, lapack_int ldv1t, float* v2t,
+                                lapack_int ldv2t, float* b11d, float* b11e,
+                                float* b12d, float* b12e, float* b21d,
+                                float* b21e, float* b22d, float* b22e,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_sorbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q, float* x11,
+                           lapack_int ldx11, float* x12, lapack_int ldx12,
+                           float* x21, lapack_int ldx21, float* x22,
+                           lapack_int ldx22, float* theta, float* phi,
+                           float* taup1, float* taup2, float* tauq1,
+                           float* tauq2 );
+lapack_int LAPACKE_sorbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* x11, lapack_int ldx11, float* x12,
+                                lapack_int ldx12, float* x21, lapack_int ldx21,
+                                float* x22, lapack_int ldx22, float* theta,
+                                float* phi, float* taup1, float* taup2,
+                                float* tauq1, float* tauq2, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_sorcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q, float* x11,
+                           lapack_int ldx11, float* x12, lapack_int ldx12,
+                           float* x21, lapack_int ldx21, float* x22,
+                           lapack_int ldx22, float* theta, float* u1,
+                           lapack_int ldu1, float* u2, lapack_int ldu2,
+                           float* v1t, lapack_int ldv1t, float* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_sorcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, float* x11, lapack_int ldx11,
+                                float* x12, lapack_int ldx12, float* x21,
+                                lapack_int ldx21, float* x22, lapack_int ldx22,
+                                float* theta, float* u1, lapack_int ldu1,
+                                float* u2, lapack_int ldu2, float* v1t,
+                                lapack_int ldv1t, float* v2t, lapack_int ldv2t,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ssyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            float* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_ssyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, float* a, lapack_int lda,
+                                 const lapack_int* ipiv, float* work );
+lapack_int LAPACKE_ssyswapr( int matrix_order, char uplo, lapack_int n,
+                             float* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_ssyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  float* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_ssytri2( int matrix_order, char uplo, lapack_int n, float* a,
+                            lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_ssytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ssytri2x( int matrix_order, char uplo, lapack_int n,
+                             float* a, lapack_int lda, const lapack_int* ipiv,
+                             lapack_int nb );
+lapack_int LAPACKE_ssytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  float* a, lapack_int lda,
+                                  const lapack_int* ipiv, float* work,
+                                  lapack_int nb );
+lapack_int LAPACKE_ssytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const float* a, lapack_int lda,
+                            const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_ssytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 float* b, lapack_int ldb, float* work );
+lapack_int LAPACKE_zbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, double* theta,
+                           double* phi, lapack_complex_double* u1,
+                           lapack_int ldu1, lapack_complex_double* u2,
+                           lapack_int ldu2, lapack_complex_double* v1t,
+                           lapack_int ldv1t, lapack_complex_double* v2t,
+                           lapack_int ldv2t, double* b11d, double* b11e,
+                           double* b12d, double* b12e, double* b21d,
+                           double* b21e, double* b22d, double* b22e );
+lapack_int LAPACKE_zbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* theta, double* phi,
+                                lapack_complex_double* u1, lapack_int ldu1,
+                                lapack_complex_double* u2, lapack_int ldu2,
+                                lapack_complex_double* v1t, lapack_int ldv1t,
+                                lapack_complex_double* v2t, lapack_int ldv2t,
+                                double* b11d, double* b11e, double* b12d,
+                                double* b12e, double* b21d, double* b21e,
+                                double* b22d, double* b22e, double* rwork,
+                                lapack_int lrwork );
+lapack_int LAPACKE_zheswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_zheswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_zhetri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zhetri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zhetri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_zhetri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_double* work, lapack_int nb );
+lapack_int LAPACKE_zhetrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_double* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_double* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zsyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zsyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zsyswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_zsyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_zsytri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zsytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zsytri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_zsytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_double* work, lapack_int nb );
+lapack_int LAPACKE_zsytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_double* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_double* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zunbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_double* x11, lapack_int ldx11,
+                           lapack_complex_double* x12, lapack_int ldx12,
+                           lapack_complex_double* x21, lapack_int ldx21,
+                           lapack_complex_double* x22, lapack_int ldx22,
+                           double* theta, double* phi,
+                           lapack_complex_double* taup1,
+                           lapack_complex_double* taup2,
+                           lapack_complex_double* tauq1,
+                           lapack_complex_double* tauq2 );
+lapack_int LAPACKE_zunbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                lapack_complex_double* x11, lapack_int ldx11,
+                                lapack_complex_double* x12, lapack_int ldx12,
+                                lapack_complex_double* x21, lapack_int ldx21,
+                                lapack_complex_double* x22, lapack_int ldx22,
+                                double* theta, double* phi,
+                                lapack_complex_double* taup1,
+                                lapack_complex_double* taup2,
+                                lapack_complex_double* tauq1,
+                                lapack_complex_double* tauq2,
+                                lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zuncsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_double* x11, lapack_int ldx11,
+                           lapack_complex_double* x12, lapack_int ldx12,
+                           lapack_complex_double* x21, lapack_int ldx21,
+                           lapack_complex_double* x22, lapack_int ldx22,
+                           double* theta, lapack_complex_double* u1,
+                           lapack_int ldu1, lapack_complex_double* u2,
+                           lapack_int ldu2, lapack_complex_double* v1t,
+                           lapack_int ldv1t, lapack_complex_double* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_zuncsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, lapack_complex_double* x11,
+                                lapack_int ldx11, lapack_complex_double* x12,
+                                lapack_int ldx12, lapack_complex_double* x21,
+                                lapack_int ldx21, lapack_complex_double* x22,
+                                lapack_int ldx22, double* theta,
+                                lapack_complex_double* u1, lapack_int ldu1,
+                                lapack_complex_double* u2, lapack_int ldu2,
+                                lapack_complex_double* v1t, lapack_int ldv1t,
+                                lapack_complex_double* v2t, lapack_int ldv2t,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork );
+//LAPACK 3.4.0
+lapack_int LAPACKE_sgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const float* v, lapack_int ldv,
+                            const float* t, lapack_int ldt, float* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_dgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const double* v, lapack_int ldv,
+                            const double* t, lapack_int ldt, double* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_cgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const lapack_complex_float* v,
+                            lapack_int ldv, const lapack_complex_float* t,
+                            lapack_int ldt, lapack_complex_float* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_zgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const lapack_complex_double* v,
+                            lapack_int ldv, const lapack_complex_double* t,
+                            lapack_int ldt, lapack_complex_double* c,
+                            lapack_int ldc );
+
+lapack_int LAPACKE_sgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, float* a, lapack_int lda, float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_dgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, double* a, lapack_int lda, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_cgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_zgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* t,
+                           lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_dgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_cgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_dgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_cgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb, const float* v,
+                            lapack_int ldv, const float* t, lapack_int ldt,
+                            float* a, lapack_int lda, float* b,
+                            lapack_int ldb );
+lapack_int LAPACKE_dtpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb, const double* v,
+                            lapack_int ldv, const double* t, lapack_int ldt,
+                            double* a, lapack_int lda, double* b,
+                            lapack_int ldb );
+lapack_int LAPACKE_ctpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb,
+                            const lapack_complex_float* v, lapack_int ldv,
+                            const lapack_complex_float* t, lapack_int ldt,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb,
+                            const lapack_complex_double* v, lapack_int ldv,
+                            const lapack_complex_double* t, lapack_int ldt,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_dtpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_ctpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* t,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int ldt );
+lapack_int LAPACKE_ztpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* b, lapack_int ldb,
+                            float* t, lapack_int ldt );
+lapack_int LAPACKE_dtpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* b,
+                            lapack_int ldb, double* t, lapack_int ldt );
+lapack_int LAPACKE_ctpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_ztpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l, const float* v,
+                           lapack_int ldv, const float* t, lapack_int ldt,
+                           float* a, lapack_int lda, float* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_dtprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l, const double* v,
+                           lapack_int ldv, const double* t, lapack_int ldt,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_ctprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l,
+                           const lapack_complex_float* v, lapack_int ldv,
+                           const lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_ztprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l,
+                           const lapack_complex_double* v, lapack_int ldv,
+                           const lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_int myldwork );
+
+lapack_int LAPACKE_sgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const float* v, lapack_int ldv,
+                                 const float* t, lapack_int ldt, float* c,
+                                 lapack_int ldc, float* work );
+lapack_int LAPACKE_dgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const double* v, lapack_int ldv,
+                                 const double* t, lapack_int ldt, double* c,
+                                 lapack_int ldc, double* work );
+lapack_int LAPACKE_cgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const lapack_complex_float* v,
+                                 lapack_int ldv, const lapack_complex_float* t,
+                                 lapack_int ldt, lapack_complex_float* c,
+                                 lapack_int ldc, lapack_complex_float* work );
+lapack_int LAPACKE_zgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const lapack_complex_double* v,
+                                 lapack_int ldv, const lapack_complex_double* t,
+                                 lapack_int ldt, lapack_complex_double* c,
+                                 lapack_int ldc, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, float* a, lapack_int lda,
+                                float* t, lapack_int ldt, float* work );
+lapack_int LAPACKE_dgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, double* a, lapack_int lda,
+                                double* t, lapack_int ldt, double* work );
+lapack_int LAPACKE_cgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* t,
+                                lapack_int ldt, lapack_complex_float* work );
+lapack_int LAPACKE_zgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* t,
+                                lapack_int ldt, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_dgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_cgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_dgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_cgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb, const float* v,
+                                 lapack_int ldv, const float* t, lapack_int ldt,
+                                 float* a, lapack_int lda, float* b,
+                                 lapack_int ldb, float* work );
+lapack_int LAPACKE_dtpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb, const double* v,
+                                 lapack_int ldv, const double* t,
+                                 lapack_int ldt, double* a, lapack_int lda,
+                                 double* b, lapack_int ldb, double* work );
+lapack_int LAPACKE_ctpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb,
+                                 const lapack_complex_float* v, lapack_int ldv,
+                                 const lapack_complex_float* t, lapack_int ldt,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_ztpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb,
+                                 const lapack_complex_double* v, lapack_int ldv,
+                                 const lapack_complex_double* t, lapack_int ldt,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_dtpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* t, lapack_int ldt, double* work );
+lapack_int LAPACKE_ctpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* t,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_int ldt, lapack_complex_float* work );
+lapack_int LAPACKE_ztpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_stpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* b,
+                                 lapack_int ldb, float* t, lapack_int ldt );
+lapack_int LAPACKE_dtpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* b,
+                                 lapack_int ldb, double* t, lapack_int ldt );
+lapack_int LAPACKE_ctpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_ztpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const float* v, lapack_int ldv, const float* t,
+                                lapack_int ldt, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, const float* mywork,
+                                lapack_int myldwork );
+lapack_int LAPACKE_dtprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const double* v, lapack_int ldv,
+                                const double* t, lapack_int ldt, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                const double* mywork, lapack_int myldwork );
+lapack_int LAPACKE_ctprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                const float* mywork, lapack_int myldwork );
+lapack_int LAPACKE_ztprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                const double* mywork, lapack_int myldwork );
+//LAPACK 3.X.X
+lapack_int LAPACKE_csyr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float alpha,
+                             const lapack_complex_float* x, lapack_int incx,
+                             lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zsyr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double alpha,
+                             const lapack_complex_double* x, lapack_int incx,
+                             lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_csyr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float alpha,
+                                  const lapack_complex_float* x,
+                                  lapack_int incx, lapack_complex_float* a,
+                                  lapack_int lda );
+lapack_int LAPACKE_zsyr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double alpha,
+                                  const lapack_complex_double* x,
+                                  lapack_int incx, lapack_complex_double* a,
+                                  lapack_int lda );
+
+
+
+#define LAPACK_sgetrf LAPACK_GLOBAL(sgetrf,SGETRF)
+#define LAPACK_dgetrf LAPACK_GLOBAL(dgetrf,DGETRF)
+#define LAPACK_cgetrf LAPACK_GLOBAL(cgetrf,CGETRF)
+#define LAPACK_zgetrf LAPACK_GLOBAL(zgetrf,ZGETRF)
+#define LAPACK_sgbtrf LAPACK_GLOBAL(sgbtrf,SGBTRF)
+#define LAPACK_dgbtrf LAPACK_GLOBAL(dgbtrf,DGBTRF)
+#define LAPACK_cgbtrf LAPACK_GLOBAL(cgbtrf,CGBTRF)
+#define LAPACK_zgbtrf LAPACK_GLOBAL(zgbtrf,ZGBTRF)
+#define LAPACK_sgttrf LAPACK_GLOBAL(sgttrf,SGTTRF)
+#define LAPACK_dgttrf LAPACK_GLOBAL(dgttrf,DGTTRF)
+#define LAPACK_cgttrf LAPACK_GLOBAL(cgttrf,CGTTRF)
+#define LAPACK_zgttrf LAPACK_GLOBAL(zgttrf,ZGTTRF)
+#define LAPACK_spotrf LAPACK_GLOBAL(spotrf,SPOTRF)
+#define LAPACK_dpotrf LAPACK_GLOBAL(dpotrf,DPOTRF)
+#define LAPACK_cpotrf LAPACK_GLOBAL(cpotrf,CPOTRF)
+#define LAPACK_zpotrf LAPACK_GLOBAL(zpotrf,ZPOTRF)
+#define LAPACK_dpstrf LAPACK_GLOBAL(dpstrf,DPSTRF)
+#define LAPACK_spstrf LAPACK_GLOBAL(spstrf,SPSTRF)
+#define LAPACK_zpstrf LAPACK_GLOBAL(zpstrf,ZPSTRF)
+#define LAPACK_cpstrf LAPACK_GLOBAL(cpstrf,CPSTRF)
+#define LAPACK_dpftrf LAPACK_GLOBAL(dpftrf,DPFTRF)
+#define LAPACK_spftrf LAPACK_GLOBAL(spftrf,SPFTRF)
+#define LAPACK_zpftrf LAPACK_GLOBAL(zpftrf,ZPFTRF)
+#define LAPACK_cpftrf LAPACK_GLOBAL(cpftrf,CPFTRF)
+#define LAPACK_spptrf LAPACK_GLOBAL(spptrf,SPPTRF)
+#define LAPACK_dpptrf LAPACK_GLOBAL(dpptrf,DPPTRF)
+#define LAPACK_cpptrf LAPACK_GLOBAL(cpptrf,CPPTRF)
+#define LAPACK_zpptrf LAPACK_GLOBAL(zpptrf,ZPPTRF)
+#define LAPACK_spbtrf LAPACK_GLOBAL(spbtrf,SPBTRF)
+#define LAPACK_dpbtrf LAPACK_GLOBAL(dpbtrf,DPBTRF)
+#define LAPACK_cpbtrf LAPACK_GLOBAL(cpbtrf,CPBTRF)
+#define LAPACK_zpbtrf LAPACK_GLOBAL(zpbtrf,ZPBTRF)
+#define LAPACK_spttrf LAPACK_GLOBAL(spttrf,SPTTRF)
+#define LAPACK_dpttrf LAPACK_GLOBAL(dpttrf,DPTTRF)
+#define LAPACK_cpttrf LAPACK_GLOBAL(cpttrf,CPTTRF)
+#define LAPACK_zpttrf LAPACK_GLOBAL(zpttrf,ZPTTRF)
+#define LAPACK_ssytrf LAPACK_GLOBAL(ssytrf,SSYTRF)
+#define LAPACK_dsytrf LAPACK_GLOBAL(dsytrf,DSYTRF)
+#define LAPACK_csytrf LAPACK_GLOBAL(csytrf,CSYTRF)
+#define LAPACK_zsytrf LAPACK_GLOBAL(zsytrf,ZSYTRF)
+#define LAPACK_chetrf LAPACK_GLOBAL(chetrf,CHETRF)
+#define LAPACK_zhetrf LAPACK_GLOBAL(zhetrf,ZHETRF)
+#define LAPACK_ssptrf LAPACK_GLOBAL(ssptrf,SSPTRF)
+#define LAPACK_dsptrf LAPACK_GLOBAL(dsptrf,DSPTRF)
+#define LAPACK_csptrf LAPACK_GLOBAL(csptrf,CSPTRF)
+#define LAPACK_zsptrf LAPACK_GLOBAL(zsptrf,ZSPTRF)
+#define LAPACK_chptrf LAPACK_GLOBAL(chptrf,CHPTRF)
+#define LAPACK_zhptrf LAPACK_GLOBAL(zhptrf,ZHPTRF)
+#define LAPACK_sgetrs LAPACK_GLOBAL(sgetrs,SGETRS)
+#define LAPACK_dgetrs LAPACK_GLOBAL(dgetrs,DGETRS)
+#define LAPACK_cgetrs LAPACK_GLOBAL(cgetrs,CGETRS)
+#define LAPACK_zgetrs LAPACK_GLOBAL(zgetrs,ZGETRS)
+#define LAPACK_sgbtrs LAPACK_GLOBAL(sgbtrs,SGBTRS)
+#define LAPACK_dgbtrs LAPACK_GLOBAL(dgbtrs,DGBTRS)
+#define LAPACK_cgbtrs LAPACK_GLOBAL(cgbtrs,CGBTRS)
+#define LAPACK_zgbtrs LAPACK_GLOBAL(zgbtrs,ZGBTRS)
+#define LAPACK_sgttrs LAPACK_GLOBAL(sgttrs,SGTTRS)
+#define LAPACK_dgttrs LAPACK_GLOBAL(dgttrs,DGTTRS)
+#define LAPACK_cgttrs LAPACK_GLOBAL(cgttrs,CGTTRS)
+#define LAPACK_zgttrs LAPACK_GLOBAL(zgttrs,ZGTTRS)
+#define LAPACK_spotrs LAPACK_GLOBAL(spotrs,SPOTRS)
+#define LAPACK_dpotrs LAPACK_GLOBAL(dpotrs,DPOTRS)
+#define LAPACK_cpotrs LAPACK_GLOBAL(cpotrs,CPOTRS)
+#define LAPACK_zpotrs LAPACK_GLOBAL(zpotrs,ZPOTRS)
+#define LAPACK_dpftrs LAPACK_GLOBAL(dpftrs,DPFTRS)
+#define LAPACK_spftrs LAPACK_GLOBAL(spftrs,SPFTRS)
+#define LAPACK_zpftrs LAPACK_GLOBAL(zpftrs,ZPFTRS)
+#define LAPACK_cpftrs LAPACK_GLOBAL(cpftrs,CPFTRS)
+#define LAPACK_spptrs LAPACK_GLOBAL(spptrs,SPPTRS)
+#define LAPACK_dpptrs LAPACK_GLOBAL(dpptrs,DPPTRS)
+#define LAPACK_cpptrs LAPACK_GLOBAL(cpptrs,CPPTRS)
+#define LAPACK_zpptrs LAPACK_GLOBAL(zpptrs,ZPPTRS)
+#define LAPACK_spbtrs LAPACK_GLOBAL(spbtrs,SPBTRS)
+#define LAPACK_dpbtrs LAPACK_GLOBAL(dpbtrs,DPBTRS)
+#define LAPACK_cpbtrs LAPACK_GLOBAL(cpbtrs,CPBTRS)
+#define LAPACK_zpbtrs LAPACK_GLOBAL(zpbtrs,ZPBTRS)
+#define LAPACK_spttrs LAPACK_GLOBAL(spttrs,SPTTRS)
+#define LAPACK_dpttrs LAPACK_GLOBAL(dpttrs,DPTTRS)
+#define LAPACK_cpttrs LAPACK_GLOBAL(cpttrs,CPTTRS)
+#define LAPACK_zpttrs LAPACK_GLOBAL(zpttrs,ZPTTRS)
+#define LAPACK_ssytrs LAPACK_GLOBAL(ssytrs,SSYTRS)
+#define LAPACK_dsytrs LAPACK_GLOBAL(dsytrs,DSYTRS)
+#define LAPACK_csytrs LAPACK_GLOBAL(csytrs,CSYTRS)
+#define LAPACK_zsytrs LAPACK_GLOBAL(zsytrs,ZSYTRS)
+#define LAPACK_chetrs LAPACK_GLOBAL(chetrs,CHETRS)
+#define LAPACK_zhetrs LAPACK_GLOBAL(zhetrs,ZHETRS)
+#define LAPACK_ssptrs LAPACK_GLOBAL(ssptrs,SSPTRS)
+#define LAPACK_dsptrs LAPACK_GLOBAL(dsptrs,DSPTRS)
+#define LAPACK_csptrs LAPACK_GLOBAL(csptrs,CSPTRS)
+#define LAPACK_zsptrs LAPACK_GLOBAL(zsptrs,ZSPTRS)
+#define LAPACK_chptrs LAPACK_GLOBAL(chptrs,CHPTRS)
+#define LAPACK_zhptrs LAPACK_GLOBAL(zhptrs,ZHPTRS)
+#define LAPACK_strtrs LAPACK_GLOBAL(strtrs,STRTRS)
+#define LAPACK_dtrtrs LAPACK_GLOBAL(dtrtrs,DTRTRS)
+#define LAPACK_ctrtrs LAPACK_GLOBAL(ctrtrs,CTRTRS)
+#define LAPACK_ztrtrs LAPACK_GLOBAL(ztrtrs,ZTRTRS)
+#define LAPACK_stptrs LAPACK_GLOBAL(stptrs,STPTRS)
+#define LAPACK_dtptrs LAPACK_GLOBAL(dtptrs,DTPTRS)
+#define LAPACK_ctptrs LAPACK_GLOBAL(ctptrs,CTPTRS)
+#define LAPACK_ztptrs LAPACK_GLOBAL(ztptrs,ZTPTRS)
+#define LAPACK_stbtrs LAPACK_GLOBAL(stbtrs,STBTRS)
+#define LAPACK_dtbtrs LAPACK_GLOBAL(dtbtrs,DTBTRS)
+#define LAPACK_ctbtrs LAPACK_GLOBAL(ctbtrs,CTBTRS)
+#define LAPACK_ztbtrs LAPACK_GLOBAL(ztbtrs,ZTBTRS)
+#define LAPACK_sgecon LAPACK_GLOBAL(sgecon,SGECON)
+#define LAPACK_dgecon LAPACK_GLOBAL(dgecon,DGECON)
+#define LAPACK_cgecon LAPACK_GLOBAL(cgecon,CGECON)
+#define LAPACK_zgecon LAPACK_GLOBAL(zgecon,ZGECON)
+#define LAPACK_sgbcon LAPACK_GLOBAL(sgbcon,SGBCON)
+#define LAPACK_dgbcon LAPACK_GLOBAL(dgbcon,DGBCON)
+#define LAPACK_cgbcon LAPACK_GLOBAL(cgbcon,CGBCON)
+#define LAPACK_zgbcon LAPACK_GLOBAL(zgbcon,ZGBCON)
+#define LAPACK_sgtcon LAPACK_GLOBAL(sgtcon,SGTCON)
+#define LAPACK_dgtcon LAPACK_GLOBAL(dgtcon,DGTCON)
+#define LAPACK_cgtcon LAPACK_GLOBAL(cgtcon,CGTCON)
+#define LAPACK_zgtcon LAPACK_GLOBAL(zgtcon,ZGTCON)
+#define LAPACK_spocon LAPACK_GLOBAL(spocon,SPOCON)
+#define LAPACK_dpocon LAPACK_GLOBAL(dpocon,DPOCON)
+#define LAPACK_cpocon LAPACK_GLOBAL(cpocon,CPOCON)
+#define LAPACK_zpocon LAPACK_GLOBAL(zpocon,ZPOCON)
+#define LAPACK_sppcon LAPACK_GLOBAL(sppcon,SPPCON)
+#define LAPACK_dppcon LAPACK_GLOBAL(dppcon,DPPCON)
+#define LAPACK_cppcon LAPACK_GLOBAL(cppcon,CPPCON)
+#define LAPACK_zppcon LAPACK_GLOBAL(zppcon,ZPPCON)
+#define LAPACK_spbcon LAPACK_GLOBAL(spbcon,SPBCON)
+#define LAPACK_dpbcon LAPACK_GLOBAL(dpbcon,DPBCON)
+#define LAPACK_cpbcon LAPACK_GLOBAL(cpbcon,CPBCON)
+#define LAPACK_zpbcon LAPACK_GLOBAL(zpbcon,ZPBCON)
+#define LAPACK_sptcon LAPACK_GLOBAL(sptcon,SPTCON)
+#define LAPACK_dptcon LAPACK_GLOBAL(dptcon,DPTCON)
+#define LAPACK_cptcon LAPACK_GLOBAL(cptcon,CPTCON)
+#define LAPACK_zptcon LAPACK_GLOBAL(zptcon,ZPTCON)
+#define LAPACK_ssycon LAPACK_GLOBAL(ssycon,SSYCON)
+#define LAPACK_dsycon LAPACK_GLOBAL(dsycon,DSYCON)
+#define LAPACK_csycon LAPACK_GLOBAL(csycon,CSYCON)
+#define LAPACK_zsycon LAPACK_GLOBAL(zsycon,ZSYCON)
+#define LAPACK_checon LAPACK_GLOBAL(checon,CHECON)
+#define LAPACK_zhecon LAPACK_GLOBAL(zhecon,ZHECON)
+#define LAPACK_sspcon LAPACK_GLOBAL(sspcon,SSPCON)
+#define LAPACK_dspcon LAPACK_GLOBAL(dspcon,DSPCON)
+#define LAPACK_cspcon LAPACK_GLOBAL(cspcon,CSPCON)
+#define LAPACK_zspcon LAPACK_GLOBAL(zspcon,ZSPCON)
+#define LAPACK_chpcon LAPACK_GLOBAL(chpcon,CHPCON)
+#define LAPACK_zhpcon LAPACK_GLOBAL(zhpcon,ZHPCON)
+#define LAPACK_strcon LAPACK_GLOBAL(strcon,STRCON)
+#define LAPACK_dtrcon LAPACK_GLOBAL(dtrcon,DTRCON)
+#define LAPACK_ctrcon LAPACK_GLOBAL(ctrcon,CTRCON)
+#define LAPACK_ztrcon LAPACK_GLOBAL(ztrcon,ZTRCON)
+#define LAPACK_stpcon LAPACK_GLOBAL(stpcon,STPCON)
+#define LAPACK_dtpcon LAPACK_GLOBAL(dtpcon,DTPCON)
+#define LAPACK_ctpcon LAPACK_GLOBAL(ctpcon,CTPCON)
+#define LAPACK_ztpcon LAPACK_GLOBAL(ztpcon,ZTPCON)
+#define LAPACK_stbcon LAPACK_GLOBAL(stbcon,STBCON)
+#define LAPACK_dtbcon LAPACK_GLOBAL(dtbcon,DTBCON)
+#define LAPACK_ctbcon LAPACK_GLOBAL(ctbcon,CTBCON)
+#define LAPACK_ztbcon LAPACK_GLOBAL(ztbcon,ZTBCON)
+#define LAPACK_sgerfs LAPACK_GLOBAL(sgerfs,SGERFS)
+#define LAPACK_dgerfs LAPACK_GLOBAL(dgerfs,DGERFS)
+#define LAPACK_cgerfs LAPACK_GLOBAL(cgerfs,CGERFS)
+#define LAPACK_zgerfs LAPACK_GLOBAL(zgerfs,ZGERFS)
+#define LAPACK_dgerfsx LAPACK_GLOBAL(dgerfsx,DGERFSX)
+#define LAPACK_sgerfsx LAPACK_GLOBAL(sgerfsx,SGERFSX)
+#define LAPACK_zgerfsx LAPACK_GLOBAL(zgerfsx,ZGERFSX)
+#define LAPACK_cgerfsx LAPACK_GLOBAL(cgerfsx,CGERFSX)
+#define LAPACK_sgbrfs LAPACK_GLOBAL(sgbrfs,SGBRFS)
+#define LAPACK_dgbrfs LAPACK_GLOBAL(dgbrfs,DGBRFS)
+#define LAPACK_cgbrfs LAPACK_GLOBAL(cgbrfs,CGBRFS)
+#define LAPACK_zgbrfs LAPACK_GLOBAL(zgbrfs,ZGBRFS)
+#define LAPACK_dgbrfsx LAPACK_GLOBAL(dgbrfsx,DGBRFSX)
+#define LAPACK_sgbrfsx LAPACK_GLOBAL(sgbrfsx,SGBRFSX)
+#define LAPACK_zgbrfsx LAPACK_GLOBAL(zgbrfsx,ZGBRFSX)
+#define LAPACK_cgbrfsx LAPACK_GLOBAL(cgbrfsx,CGBRFSX)
+#define LAPACK_sgtrfs LAPACK_GLOBAL(sgtrfs,SGTRFS)
+#define LAPACK_dgtrfs LAPACK_GLOBAL(dgtrfs,DGTRFS)
+#define LAPACK_cgtrfs LAPACK_GLOBAL(cgtrfs,CGTRFS)
+#define LAPACK_zgtrfs LAPACK_GLOBAL(zgtrfs,ZGTRFS)
+#define LAPACK_sporfs LAPACK_GLOBAL(sporfs,SPORFS)
+#define LAPACK_dporfs LAPACK_GLOBAL(dporfs,DPORFS)
+#define LAPACK_cporfs LAPACK_GLOBAL(cporfs,CPORFS)
+#define LAPACK_zporfs LAPACK_GLOBAL(zporfs,ZPORFS)
+#define LAPACK_dporfsx LAPACK_GLOBAL(dporfsx,DPORFSX)
+#define LAPACK_sporfsx LAPACK_GLOBAL(sporfsx,SPORFSX)
+#define LAPACK_zporfsx LAPACK_GLOBAL(zporfsx,ZPORFSX)
+#define LAPACK_cporfsx LAPACK_GLOBAL(cporfsx,CPORFSX)
+#define LAPACK_spprfs LAPACK_GLOBAL(spprfs,SPPRFS)
+#define LAPACK_dpprfs LAPACK_GLOBAL(dpprfs,DPPRFS)
+#define LAPACK_cpprfs LAPACK_GLOBAL(cpprfs,CPPRFS)
+#define LAPACK_zpprfs LAPACK_GLOBAL(zpprfs,ZPPRFS)
+#define LAPACK_spbrfs LAPACK_GLOBAL(spbrfs,SPBRFS)
+#define LAPACK_dpbrfs LAPACK_GLOBAL(dpbrfs,DPBRFS)
+#define LAPACK_cpbrfs LAPACK_GLOBAL(cpbrfs,CPBRFS)
+#define LAPACK_zpbrfs LAPACK_GLOBAL(zpbrfs,ZPBRFS)
+#define LAPACK_sptrfs LAPACK_GLOBAL(sptrfs,SPTRFS)
+#define LAPACK_dptrfs LAPACK_GLOBAL(dptrfs,DPTRFS)
+#define LAPACK_cptrfs LAPACK_GLOBAL(cptrfs,CPTRFS)
+#define LAPACK_zptrfs LAPACK_GLOBAL(zptrfs,ZPTRFS)
+#define LAPACK_ssyrfs LAPACK_GLOBAL(ssyrfs,SSYRFS)
+#define LAPACK_dsyrfs LAPACK_GLOBAL(dsyrfs,DSYRFS)
+#define LAPACK_csyrfs LAPACK_GLOBAL(csyrfs,CSYRFS)
+#define LAPACK_zsyrfs LAPACK_GLOBAL(zsyrfs,ZSYRFS)
+#define LAPACK_dsyrfsx LAPACK_GLOBAL(dsyrfsx,DSYRFSX)
+#define LAPACK_ssyrfsx LAPACK_GLOBAL(ssyrfsx,SSYRFSX)
+#define LAPACK_zsyrfsx LAPACK_GLOBAL(zsyrfsx,ZSYRFSX)
+#define LAPACK_csyrfsx LAPACK_GLOBAL(csyrfsx,CSYRFSX)
+#define LAPACK_cherfs LAPACK_GLOBAL(cherfs,CHERFS)
+#define LAPACK_zherfs LAPACK_GLOBAL(zherfs,ZHERFS)
+#define LAPACK_zherfsx LAPACK_GLOBAL(zherfsx,ZHERFSX)
+#define LAPACK_cherfsx LAPACK_GLOBAL(cherfsx,CHERFSX)
+#define LAPACK_ssprfs LAPACK_GLOBAL(ssprfs,SSPRFS)
+#define LAPACK_dsprfs LAPACK_GLOBAL(dsprfs,DSPRFS)
+#define LAPACK_csprfs LAPACK_GLOBAL(csprfs,CSPRFS)
+#define LAPACK_zsprfs LAPACK_GLOBAL(zsprfs,ZSPRFS)
+#define LAPACK_chprfs LAPACK_GLOBAL(chprfs,CHPRFS)
+#define LAPACK_zhprfs LAPACK_GLOBAL(zhprfs,ZHPRFS)
+#define LAPACK_strrfs LAPACK_GLOBAL(strrfs,STRRFS)
+#define LAPACK_dtrrfs LAPACK_GLOBAL(dtrrfs,DTRRFS)
+#define LAPACK_ctrrfs LAPACK_GLOBAL(ctrrfs,CTRRFS)
+#define LAPACK_ztrrfs LAPACK_GLOBAL(ztrrfs,ZTRRFS)
+#define LAPACK_stprfs LAPACK_GLOBAL(stprfs,STPRFS)
+#define LAPACK_dtprfs LAPACK_GLOBAL(dtprfs,DTPRFS)
+#define LAPACK_ctprfs LAPACK_GLOBAL(ctprfs,CTPRFS)
+#define LAPACK_ztprfs LAPACK_GLOBAL(ztprfs,ZTPRFS)
+#define LAPACK_stbrfs LAPACK_GLOBAL(stbrfs,STBRFS)
+#define LAPACK_dtbrfs LAPACK_GLOBAL(dtbrfs,DTBRFS)
+#define LAPACK_ctbrfs LAPACK_GLOBAL(ctbrfs,CTBRFS)
+#define LAPACK_ztbrfs LAPACK_GLOBAL(ztbrfs,ZTBRFS)
+#define LAPACK_sgetri LAPACK_GLOBAL(sgetri,SGETRI)
+#define LAPACK_dgetri LAPACK_GLOBAL(dgetri,DGETRI)
+#define LAPACK_cgetri LAPACK_GLOBAL(cgetri,CGETRI)
+#define LAPACK_zgetri LAPACK_GLOBAL(zgetri,ZGETRI)
+#define LAPACK_spotri LAPACK_GLOBAL(spotri,SPOTRI)
+#define LAPACK_dpotri LAPACK_GLOBAL(dpotri,DPOTRI)
+#define LAPACK_cpotri LAPACK_GLOBAL(cpotri,CPOTRI)
+#define LAPACK_zpotri LAPACK_GLOBAL(zpotri,ZPOTRI)
+#define LAPACK_dpftri LAPACK_GLOBAL(dpftri,DPFTRI)
+#define LAPACK_spftri LAPACK_GLOBAL(spftri,SPFTRI)
+#define LAPACK_zpftri LAPACK_GLOBAL(zpftri,ZPFTRI)
+#define LAPACK_cpftri LAPACK_GLOBAL(cpftri,CPFTRI)
+#define LAPACK_spptri LAPACK_GLOBAL(spptri,SPPTRI)
+#define LAPACK_dpptri LAPACK_GLOBAL(dpptri,DPPTRI)
+#define LAPACK_cpptri LAPACK_GLOBAL(cpptri,CPPTRI)
+#define LAPACK_zpptri LAPACK_GLOBAL(zpptri,ZPPTRI)
+#define LAPACK_ssytri LAPACK_GLOBAL(ssytri,SSYTRI)
+#define LAPACK_dsytri LAPACK_GLOBAL(dsytri,DSYTRI)
+#define LAPACK_csytri LAPACK_GLOBAL(csytri,CSYTRI)
+#define LAPACK_zsytri LAPACK_GLOBAL(zsytri,ZSYTRI)
+#define LAPACK_chetri LAPACK_GLOBAL(chetri,CHETRI)
+#define LAPACK_zhetri LAPACK_GLOBAL(zhetri,ZHETRI)
+#define LAPACK_ssptri LAPACK_GLOBAL(ssptri,SSPTRI)
+#define LAPACK_dsptri LAPACK_GLOBAL(dsptri,DSPTRI)
+#define LAPACK_csptri LAPACK_GLOBAL(csptri,CSPTRI)
+#define LAPACK_zsptri LAPACK_GLOBAL(zsptri,ZSPTRI)
+#define LAPACK_chptri LAPACK_GLOBAL(chptri,CHPTRI)
+#define LAPACK_zhptri LAPACK_GLOBAL(zhptri,ZHPTRI)
+#define LAPACK_strtri LAPACK_GLOBAL(strtri,STRTRI)
+#define LAPACK_dtrtri LAPACK_GLOBAL(dtrtri,DTRTRI)
+#define LAPACK_ctrtri LAPACK_GLOBAL(ctrtri,CTRTRI)
+#define LAPACK_ztrtri LAPACK_GLOBAL(ztrtri,ZTRTRI)
+#define LAPACK_dtftri LAPACK_GLOBAL(dtftri,DTFTRI)
+#define LAPACK_stftri LAPACK_GLOBAL(stftri,STFTRI)
+#define LAPACK_ztftri LAPACK_GLOBAL(ztftri,ZTFTRI)
+#define LAPACK_ctftri LAPACK_GLOBAL(ctftri,CTFTRI)
+#define LAPACK_stptri LAPACK_GLOBAL(stptri,STPTRI)
+#define LAPACK_dtptri LAPACK_GLOBAL(dtptri,DTPTRI)
+#define LAPACK_ctptri LAPACK_GLOBAL(ctptri,CTPTRI)
+#define LAPACK_ztptri LAPACK_GLOBAL(ztptri,ZTPTRI)
+#define LAPACK_sgeequ LAPACK_GLOBAL(sgeequ,SGEEQU)
+#define LAPACK_dgeequ LAPACK_GLOBAL(dgeequ,DGEEQU)
+#define LAPACK_cgeequ LAPACK_GLOBAL(cgeequ,CGEEQU)
+#define LAPACK_zgeequ LAPACK_GLOBAL(zgeequ,ZGEEQU)
+#define LAPACK_dgeequb LAPACK_GLOBAL(dgeequb,DGEEQUB)
+#define LAPACK_sgeequb LAPACK_GLOBAL(sgeequb,SGEEQUB)
+#define LAPACK_zgeequb LAPACK_GLOBAL(zgeequb,ZGEEQUB)
+#define LAPACK_cgeequb LAPACK_GLOBAL(cgeequb,CGEEQUB)
+#define LAPACK_sgbequ LAPACK_GLOBAL(sgbequ,SGBEQU)
+#define LAPACK_dgbequ LAPACK_GLOBAL(dgbequ,DGBEQU)
+#define LAPACK_cgbequ LAPACK_GLOBAL(cgbequ,CGBEQU)
+#define LAPACK_zgbequ LAPACK_GLOBAL(zgbequ,ZGBEQU)
+#define LAPACK_dgbequb LAPACK_GLOBAL(dgbequb,DGBEQUB)
+#define LAPACK_sgbequb LAPACK_GLOBAL(sgbequb,SGBEQUB)
+#define LAPACK_zgbequb LAPACK_GLOBAL(zgbequb,ZGBEQUB)
+#define LAPACK_cgbequb LAPACK_GLOBAL(cgbequb,CGBEQUB)
+#define LAPACK_spoequ LAPACK_GLOBAL(spoequ,SPOEQU)
+#define LAPACK_dpoequ LAPACK_GLOBAL(dpoequ,DPOEQU)
+#define LAPACK_cpoequ LAPACK_GLOBAL(cpoequ,CPOEQU)
+#define LAPACK_zpoequ LAPACK_GLOBAL(zpoequ,ZPOEQU)
+#define LAPACK_dpoequb LAPACK_GLOBAL(dpoequb,DPOEQUB)
+#define LAPACK_spoequb LAPACK_GLOBAL(spoequb,SPOEQUB)
+#define LAPACK_zpoequb LAPACK_GLOBAL(zpoequb,ZPOEQUB)
+#define LAPACK_cpoequb LAPACK_GLOBAL(cpoequb,CPOEQUB)
+#define LAPACK_sppequ LAPACK_GLOBAL(sppequ,SPPEQU)
+#define LAPACK_dppequ LAPACK_GLOBAL(dppequ,DPPEQU)
+#define LAPACK_cppequ LAPACK_GLOBAL(cppequ,CPPEQU)
+#define LAPACK_zppequ LAPACK_GLOBAL(zppequ,ZPPEQU)
+#define LAPACK_spbequ LAPACK_GLOBAL(spbequ,SPBEQU)
+#define LAPACK_dpbequ LAPACK_GLOBAL(dpbequ,DPBEQU)
+#define LAPACK_cpbequ LAPACK_GLOBAL(cpbequ,CPBEQU)
+#define LAPACK_zpbequ LAPACK_GLOBAL(zpbequ,ZPBEQU)
+#define LAPACK_dsyequb LAPACK_GLOBAL(dsyequb,DSYEQUB)
+#define LAPACK_ssyequb LAPACK_GLOBAL(ssyequb,SSYEQUB)
+#define LAPACK_zsyequb LAPACK_GLOBAL(zsyequb,ZSYEQUB)
+#define LAPACK_csyequb LAPACK_GLOBAL(csyequb,CSYEQUB)
+#define LAPACK_zheequb LAPACK_GLOBAL(zheequb,ZHEEQUB)
+#define LAPACK_cheequb LAPACK_GLOBAL(cheequb,CHEEQUB)
+#define LAPACK_sgesv LAPACK_GLOBAL(sgesv,SGESV)
+#define LAPACK_dgesv LAPACK_GLOBAL(dgesv,DGESV)
+#define LAPACK_cgesv LAPACK_GLOBAL(cgesv,CGESV)
+#define LAPACK_zgesv LAPACK_GLOBAL(zgesv,ZGESV)
+#define LAPACK_dsgesv LAPACK_GLOBAL(dsgesv,DSGESV)
+#define LAPACK_zcgesv LAPACK_GLOBAL(zcgesv,ZCGESV)
+#define LAPACK_sgesvx LAPACK_GLOBAL(sgesvx,SGESVX)
+#define LAPACK_dgesvx LAPACK_GLOBAL(dgesvx,DGESVX)
+#define LAPACK_cgesvx LAPACK_GLOBAL(cgesvx,CGESVX)
+#define LAPACK_zgesvx LAPACK_GLOBAL(zgesvx,ZGESVX)
+#define LAPACK_dgesvxx LAPACK_GLOBAL(dgesvxx,DGESVXX)
+#define LAPACK_sgesvxx LAPACK_GLOBAL(sgesvxx,SGESVXX)
+#define LAPACK_zgesvxx LAPACK_GLOBAL(zgesvxx,ZGESVXX)
+#define LAPACK_cgesvxx LAPACK_GLOBAL(cgesvxx,CGESVXX)
+#define LAPACK_sgbsv LAPACK_GLOBAL(sgbsv,SGBSV)
+#define LAPACK_dgbsv LAPACK_GLOBAL(dgbsv,DGBSV)
+#define LAPACK_cgbsv LAPACK_GLOBAL(cgbsv,CGBSV)
+#define LAPACK_zgbsv LAPACK_GLOBAL(zgbsv,ZGBSV)
+#define LAPACK_sgbsvx LAPACK_GLOBAL(sgbsvx,SGBSVX)
+#define LAPACK_dgbsvx LAPACK_GLOBAL(dgbsvx,DGBSVX)
+#define LAPACK_cgbsvx LAPACK_GLOBAL(cgbsvx,CGBSVX)
+#define LAPACK_zgbsvx LAPACK_GLOBAL(zgbsvx,ZGBSVX)
+#define LAPACK_dgbsvxx LAPACK_GLOBAL(dgbsvxx,DGBSVXX)
+#define LAPACK_sgbsvxx LAPACK_GLOBAL(sgbsvxx,SGBSVXX)
+#define LAPACK_zgbsvxx LAPACK_GLOBAL(zgbsvxx,ZGBSVXX)
+#define LAPACK_cgbsvxx LAPACK_GLOBAL(cgbsvxx,CGBSVXX)
+#define LAPACK_sgtsv LAPACK_GLOBAL(sgtsv,SGTSV)
+#define LAPACK_dgtsv LAPACK_GLOBAL(dgtsv,DGTSV)
+#define LAPACK_cgtsv LAPACK_GLOBAL(cgtsv,CGTSV)
+#define LAPACK_zgtsv LAPACK_GLOBAL(zgtsv,ZGTSV)
+#define LAPACK_sgtsvx LAPACK_GLOBAL(sgtsvx,SGTSVX)
+#define LAPACK_dgtsvx LAPACK_GLOBAL(dgtsvx,DGTSVX)
+#define LAPACK_cgtsvx LAPACK_GLOBAL(cgtsvx,CGTSVX)
+#define LAPACK_zgtsvx LAPACK_GLOBAL(zgtsvx,ZGTSVX)
+#define LAPACK_sposv LAPACK_GLOBAL(sposv,SPOSV)
+#define LAPACK_dposv LAPACK_GLOBAL(dposv,DPOSV)
+#define LAPACK_cposv LAPACK_GLOBAL(cposv,CPOSV)
+#define LAPACK_zposv LAPACK_GLOBAL(zposv,ZPOSV)
+#define LAPACK_dsposv LAPACK_GLOBAL(dsposv,DSPOSV)
+#define LAPACK_zcposv LAPACK_GLOBAL(zcposv,ZCPOSV)
+#define LAPACK_sposvx LAPACK_GLOBAL(sposvx,SPOSVX)
+#define LAPACK_dposvx LAPACK_GLOBAL(dposvx,DPOSVX)
+#define LAPACK_cposvx LAPACK_GLOBAL(cposvx,CPOSVX)
+#define LAPACK_zposvx LAPACK_GLOBAL(zposvx,ZPOSVX)
+#define LAPACK_dposvxx LAPACK_GLOBAL(dposvxx,DPOSVXX)
+#define LAPACK_sposvxx LAPACK_GLOBAL(sposvxx,SPOSVXX)
+#define LAPACK_zposvxx LAPACK_GLOBAL(zposvxx,ZPOSVXX)
+#define LAPACK_cposvxx LAPACK_GLOBAL(cposvxx,CPOSVXX)
+#define LAPACK_sppsv LAPACK_GLOBAL(sppsv,SPPSV)
+#define LAPACK_dppsv LAPACK_GLOBAL(dppsv,DPPSV)
+#define LAPACK_cppsv LAPACK_GLOBAL(cppsv,CPPSV)
+#define LAPACK_zppsv LAPACK_GLOBAL(zppsv,ZPPSV)
+#define LAPACK_sppsvx LAPACK_GLOBAL(sppsvx,SPPSVX)
+#define LAPACK_dppsvx LAPACK_GLOBAL(dppsvx,DPPSVX)
+#define LAPACK_cppsvx LAPACK_GLOBAL(cppsvx,CPPSVX)
+#define LAPACK_zppsvx LAPACK_GLOBAL(zppsvx,ZPPSVX)
+#define LAPACK_spbsv LAPACK_GLOBAL(spbsv,SPBSV)
+#define LAPACK_dpbsv LAPACK_GLOBAL(dpbsv,DPBSV)
+#define LAPACK_cpbsv LAPACK_GLOBAL(cpbsv,CPBSV)
+#define LAPACK_zpbsv LAPACK_GLOBAL(zpbsv,ZPBSV)
+#define LAPACK_spbsvx LAPACK_GLOBAL(spbsvx,SPBSVX)
+#define LAPACK_dpbsvx LAPACK_GLOBAL(dpbsvx,DPBSVX)
+#define LAPACK_cpbsvx LAPACK_GLOBAL(cpbsvx,CPBSVX)
+#define LAPACK_zpbsvx LAPACK_GLOBAL(zpbsvx,ZPBSVX)
+#define LAPACK_sptsv LAPACK_GLOBAL(sptsv,SPTSV)
+#define LAPACK_dptsv LAPACK_GLOBAL(dptsv,DPTSV)
+#define LAPACK_cptsv LAPACK_GLOBAL(cptsv,CPTSV)
+#define LAPACK_zptsv LAPACK_GLOBAL(zptsv,ZPTSV)
+#define LAPACK_sptsvx LAPACK_GLOBAL(sptsvx,SPTSVX)
+#define LAPACK_dptsvx LAPACK_GLOBAL(dptsvx,DPTSVX)
+#define LAPACK_cptsvx LAPACK_GLOBAL(cptsvx,CPTSVX)
+#define LAPACK_zptsvx LAPACK_GLOBAL(zptsvx,ZPTSVX)
+#define LAPACK_ssysv LAPACK_GLOBAL(ssysv,SSYSV)
+#define LAPACK_dsysv LAPACK_GLOBAL(dsysv,DSYSV)
+#define LAPACK_csysv LAPACK_GLOBAL(csysv,CSYSV)
+#define LAPACK_zsysv LAPACK_GLOBAL(zsysv,ZSYSV)
+#define LAPACK_ssysvx LAPACK_GLOBAL(ssysvx,SSYSVX)
+#define LAPACK_dsysvx LAPACK_GLOBAL(dsysvx,DSYSVX)
+#define LAPACK_csysvx LAPACK_GLOBAL(csysvx,CSYSVX)
+#define LAPACK_zsysvx LAPACK_GLOBAL(zsysvx,ZSYSVX)
+#define LAPACK_dsysvxx LAPACK_GLOBAL(dsysvxx,DSYSVXX)
+#define LAPACK_ssysvxx LAPACK_GLOBAL(ssysvxx,SSYSVXX)
+#define LAPACK_zsysvxx LAPACK_GLOBAL(zsysvxx,ZSYSVXX)
+#define LAPACK_csysvxx LAPACK_GLOBAL(csysvxx,CSYSVXX)
+#define LAPACK_chesv LAPACK_GLOBAL(chesv,CHESV)
+#define LAPACK_zhesv LAPACK_GLOBAL(zhesv,ZHESV)
+#define LAPACK_chesvx LAPACK_GLOBAL(chesvx,CHESVX)
+#define LAPACK_zhesvx LAPACK_GLOBAL(zhesvx,ZHESVX)
+#define LAPACK_zhesvxx LAPACK_GLOBAL(zhesvxx,ZHESVXX)
+#define LAPACK_chesvxx LAPACK_GLOBAL(chesvxx,CHESVXX)
+#define LAPACK_sspsv LAPACK_GLOBAL(sspsv,SSPSV)
+#define LAPACK_dspsv LAPACK_GLOBAL(dspsv,DSPSV)
+#define LAPACK_cspsv LAPACK_GLOBAL(cspsv,CSPSV)
+#define LAPACK_zspsv LAPACK_GLOBAL(zspsv,ZSPSV)
+#define LAPACK_sspsvx LAPACK_GLOBAL(sspsvx,SSPSVX)
+#define LAPACK_dspsvx LAPACK_GLOBAL(dspsvx,DSPSVX)
+#define LAPACK_cspsvx LAPACK_GLOBAL(cspsvx,CSPSVX)
+#define LAPACK_zspsvx LAPACK_GLOBAL(zspsvx,ZSPSVX)
+#define LAPACK_chpsv LAPACK_GLOBAL(chpsv,CHPSV)
+#define LAPACK_zhpsv LAPACK_GLOBAL(zhpsv,ZHPSV)
+#define LAPACK_chpsvx LAPACK_GLOBAL(chpsvx,CHPSVX)
+#define LAPACK_zhpsvx LAPACK_GLOBAL(zhpsvx,ZHPSVX)
+#define LAPACK_sgeqrf LAPACK_GLOBAL(sgeqrf,SGEQRF)
+#define LAPACK_dgeqrf LAPACK_GLOBAL(dgeqrf,DGEQRF)
+#define LAPACK_cgeqrf LAPACK_GLOBAL(cgeqrf,CGEQRF)
+#define LAPACK_zgeqrf LAPACK_GLOBAL(zgeqrf,ZGEQRF)
+#define LAPACK_sgeqpf LAPACK_GLOBAL(sgeqpf,SGEQPF)
+#define LAPACK_dgeqpf LAPACK_GLOBAL(dgeqpf,DGEQPF)
+#define LAPACK_cgeqpf LAPACK_GLOBAL(cgeqpf,CGEQPF)
+#define LAPACK_zgeqpf LAPACK_GLOBAL(zgeqpf,ZGEQPF)
+#define LAPACK_sgeqp3 LAPACK_GLOBAL(sgeqp3,SGEQP3)
+#define LAPACK_dgeqp3 LAPACK_GLOBAL(dgeqp3,DGEQP3)
+#define LAPACK_cgeqp3 LAPACK_GLOBAL(cgeqp3,CGEQP3)
+#define LAPACK_zgeqp3 LAPACK_GLOBAL(zgeqp3,ZGEQP3)
+#define LAPACK_sorgqr LAPACK_GLOBAL(sorgqr,SORGQR)
+#define LAPACK_dorgqr LAPACK_GLOBAL(dorgqr,DORGQR)
+#define LAPACK_sormqr LAPACK_GLOBAL(sormqr,SORMQR)
+#define LAPACK_dormqr LAPACK_GLOBAL(dormqr,DORMQR)
+#define LAPACK_cungqr LAPACK_GLOBAL(cungqr,CUNGQR)
+#define LAPACK_zungqr LAPACK_GLOBAL(zungqr,ZUNGQR)
+#define LAPACK_cunmqr LAPACK_GLOBAL(cunmqr,CUNMQR)
+#define LAPACK_zunmqr LAPACK_GLOBAL(zunmqr,ZUNMQR)
+#define LAPACK_sgelqf LAPACK_GLOBAL(sgelqf,SGELQF)
+#define LAPACK_dgelqf LAPACK_GLOBAL(dgelqf,DGELQF)
+#define LAPACK_cgelqf LAPACK_GLOBAL(cgelqf,CGELQF)
+#define LAPACK_zgelqf LAPACK_GLOBAL(zgelqf,ZGELQF)
+#define LAPACK_sorglq LAPACK_GLOBAL(sorglq,SORGLQ)
+#define LAPACK_dorglq LAPACK_GLOBAL(dorglq,DORGLQ)
+#define LAPACK_sormlq LAPACK_GLOBAL(sormlq,SORMLQ)
+#define LAPACK_dormlq LAPACK_GLOBAL(dormlq,DORMLQ)
+#define LAPACK_cunglq LAPACK_GLOBAL(cunglq,CUNGLQ)
+#define LAPACK_zunglq LAPACK_GLOBAL(zunglq,ZUNGLQ)
+#define LAPACK_cunmlq LAPACK_GLOBAL(cunmlq,CUNMLQ)
+#define LAPACK_zunmlq LAPACK_GLOBAL(zunmlq,ZUNMLQ)
+#define LAPACK_sgeqlf LAPACK_GLOBAL(sgeqlf,SGEQLF)
+#define LAPACK_dgeqlf LAPACK_GLOBAL(dgeqlf,DGEQLF)
+#define LAPACK_cgeqlf LAPACK_GLOBAL(cgeqlf,CGEQLF)
+#define LAPACK_zgeqlf LAPACK_GLOBAL(zgeqlf,ZGEQLF)
+#define LAPACK_sorgql LAPACK_GLOBAL(sorgql,SORGQL)
+#define LAPACK_dorgql LAPACK_GLOBAL(dorgql,DORGQL)
+#define LAPACK_cungql LAPACK_GLOBAL(cungql,CUNGQL)
+#define LAPACK_zungql LAPACK_GLOBAL(zungql,ZUNGQL)
+#define LAPACK_sormql LAPACK_GLOBAL(sormql,SORMQL)
+#define LAPACK_dormql LAPACK_GLOBAL(dormql,DORMQL)
+#define LAPACK_cunmql LAPACK_GLOBAL(cunmql,CUNMQL)
+#define LAPACK_zunmql LAPACK_GLOBAL(zunmql,ZUNMQL)
+#define LAPACK_sgerqf LAPACK_GLOBAL(sgerqf,SGERQF)
+#define LAPACK_dgerqf LAPACK_GLOBAL(dgerqf,DGERQF)
+#define LAPACK_cgerqf LAPACK_GLOBAL(cgerqf,CGERQF)
+#define LAPACK_zgerqf LAPACK_GLOBAL(zgerqf,ZGERQF)
+#define LAPACK_sorgrq LAPACK_GLOBAL(sorgrq,SORGRQ)
+#define LAPACK_dorgrq LAPACK_GLOBAL(dorgrq,DORGRQ)
+#define LAPACK_cungrq LAPACK_GLOBAL(cungrq,CUNGRQ)
+#define LAPACK_zungrq LAPACK_GLOBAL(zungrq,ZUNGRQ)
+#define LAPACK_sormrq LAPACK_GLOBAL(sormrq,SORMRQ)
+#define LAPACK_dormrq LAPACK_GLOBAL(dormrq,DORMRQ)
+#define LAPACK_cunmrq LAPACK_GLOBAL(cunmrq,CUNMRQ)
+#define LAPACK_zunmrq LAPACK_GLOBAL(zunmrq,ZUNMRQ)
+#define LAPACK_stzrzf LAPACK_GLOBAL(stzrzf,STZRZF)
+#define LAPACK_dtzrzf LAPACK_GLOBAL(dtzrzf,DTZRZF)
+#define LAPACK_ctzrzf LAPACK_GLOBAL(ctzrzf,CTZRZF)
+#define LAPACK_ztzrzf LAPACK_GLOBAL(ztzrzf,ZTZRZF)
+#define LAPACK_sormrz LAPACK_GLOBAL(sormrz,SORMRZ)
+#define LAPACK_dormrz LAPACK_GLOBAL(dormrz,DORMRZ)
+#define LAPACK_cunmrz LAPACK_GLOBAL(cunmrz,CUNMRZ)
+#define LAPACK_zunmrz LAPACK_GLOBAL(zunmrz,ZUNMRZ)
+#define LAPACK_sggqrf LAPACK_GLOBAL(sggqrf,SGGQRF)
+#define LAPACK_dggqrf LAPACK_GLOBAL(dggqrf,DGGQRF)
+#define LAPACK_cggqrf LAPACK_GLOBAL(cggqrf,CGGQRF)
+#define LAPACK_zggqrf LAPACK_GLOBAL(zggqrf,ZGGQRF)
+#define LAPACK_sggrqf LAPACK_GLOBAL(sggrqf,SGGRQF)
+#define LAPACK_dggrqf LAPACK_GLOBAL(dggrqf,DGGRQF)
+#define LAPACK_cggrqf LAPACK_GLOBAL(cggrqf,CGGRQF)
+#define LAPACK_zggrqf LAPACK_GLOBAL(zggrqf,ZGGRQF)
+#define LAPACK_sgebrd LAPACK_GLOBAL(sgebrd,SGEBRD)
+#define LAPACK_dgebrd LAPACK_GLOBAL(dgebrd,DGEBRD)
+#define LAPACK_cgebrd LAPACK_GLOBAL(cgebrd,CGEBRD)
+#define LAPACK_zgebrd LAPACK_GLOBAL(zgebrd,ZGEBRD)
+#define LAPACK_sgbbrd LAPACK_GLOBAL(sgbbrd,SGBBRD)
+#define LAPACK_dgbbrd LAPACK_GLOBAL(dgbbrd,DGBBRD)
+#define LAPACK_cgbbrd LAPACK_GLOBAL(cgbbrd,CGBBRD)
+#define LAPACK_zgbbrd LAPACK_GLOBAL(zgbbrd,ZGBBRD)
+#define LAPACK_sorgbr LAPACK_GLOBAL(sorgbr,SORGBR)
+#define LAPACK_dorgbr LAPACK_GLOBAL(dorgbr,DORGBR)
+#define LAPACK_sormbr LAPACK_GLOBAL(sormbr,SORMBR)
+#define LAPACK_dormbr LAPACK_GLOBAL(dormbr,DORMBR)
+#define LAPACK_cungbr LAPACK_GLOBAL(cungbr,CUNGBR)
+#define LAPACK_zungbr LAPACK_GLOBAL(zungbr,ZUNGBR)
+#define LAPACK_cunmbr LAPACK_GLOBAL(cunmbr,CUNMBR)
+#define LAPACK_zunmbr LAPACK_GLOBAL(zunmbr,ZUNMBR)
+#define LAPACK_sbdsqr LAPACK_GLOBAL(sbdsqr,SBDSQR)
+#define LAPACK_dbdsqr LAPACK_GLOBAL(dbdsqr,DBDSQR)
+#define LAPACK_cbdsqr LAPACK_GLOBAL(cbdsqr,CBDSQR)
+#define LAPACK_zbdsqr LAPACK_GLOBAL(zbdsqr,ZBDSQR)
+#define LAPACK_sbdsdc LAPACK_GLOBAL(sbdsdc,SBDSDC)
+#define LAPACK_dbdsdc LAPACK_GLOBAL(dbdsdc,DBDSDC)
+#define LAPACK_ssytrd LAPACK_GLOBAL(ssytrd,SSYTRD)
+#define LAPACK_dsytrd LAPACK_GLOBAL(dsytrd,DSYTRD)
+#define LAPACK_sorgtr LAPACK_GLOBAL(sorgtr,SORGTR)
+#define LAPACK_dorgtr LAPACK_GLOBAL(dorgtr,DORGTR)
+#define LAPACK_sormtr LAPACK_GLOBAL(sormtr,SORMTR)
+#define LAPACK_dormtr LAPACK_GLOBAL(dormtr,DORMTR)
+#define LAPACK_chetrd LAPACK_GLOBAL(chetrd,CHETRD)
+#define LAPACK_zhetrd LAPACK_GLOBAL(zhetrd,ZHETRD)
+#define LAPACK_cungtr LAPACK_GLOBAL(cungtr,CUNGTR)
+#define LAPACK_zungtr LAPACK_GLOBAL(zungtr,ZUNGTR)
+#define LAPACK_cunmtr LAPACK_GLOBAL(cunmtr,CUNMTR)
+#define LAPACK_zunmtr LAPACK_GLOBAL(zunmtr,ZUNMTR)
+#define LAPACK_ssptrd LAPACK_GLOBAL(ssptrd,SSPTRD)
+#define LAPACK_dsptrd LAPACK_GLOBAL(dsptrd,DSPTRD)
+#define LAPACK_sopgtr LAPACK_GLOBAL(sopgtr,SOPGTR)
+#define LAPACK_dopgtr LAPACK_GLOBAL(dopgtr,DOPGTR)
+#define LAPACK_sopmtr LAPACK_GLOBAL(sopmtr,SOPMTR)
+#define LAPACK_dopmtr LAPACK_GLOBAL(dopmtr,DOPMTR)
+#define LAPACK_chptrd LAPACK_GLOBAL(chptrd,CHPTRD)
+#define LAPACK_zhptrd LAPACK_GLOBAL(zhptrd,ZHPTRD)
+#define LAPACK_cupgtr LAPACK_GLOBAL(cupgtr,CUPGTR)
+#define LAPACK_zupgtr LAPACK_GLOBAL(zupgtr,ZUPGTR)
+#define LAPACK_cupmtr LAPACK_GLOBAL(cupmtr,CUPMTR)
+#define LAPACK_zupmtr LAPACK_GLOBAL(zupmtr,ZUPMTR)
+#define LAPACK_ssbtrd LAPACK_GLOBAL(ssbtrd,SSBTRD)
+#define LAPACK_dsbtrd LAPACK_GLOBAL(dsbtrd,DSBTRD)
+#define LAPACK_chbtrd LAPACK_GLOBAL(chbtrd,CHBTRD)
+#define LAPACK_zhbtrd LAPACK_GLOBAL(zhbtrd,ZHBTRD)
+#define LAPACK_ssterf LAPACK_GLOBAL(ssterf,SSTERF)
+#define LAPACK_dsterf LAPACK_GLOBAL(dsterf,DSTERF)
+#define LAPACK_ssteqr LAPACK_GLOBAL(ssteqr,SSTEQR)
+#define LAPACK_dsteqr LAPACK_GLOBAL(dsteqr,DSTEQR)
+#define LAPACK_csteqr LAPACK_GLOBAL(csteqr,CSTEQR)
+#define LAPACK_zsteqr LAPACK_GLOBAL(zsteqr,ZSTEQR)
+#define LAPACK_sstemr LAPACK_GLOBAL(sstemr,SSTEMR)
+#define LAPACK_dstemr LAPACK_GLOBAL(dstemr,DSTEMR)
+#define LAPACK_cstemr LAPACK_GLOBAL(cstemr,CSTEMR)
+#define LAPACK_zstemr LAPACK_GLOBAL(zstemr,ZSTEMR)
+#define LAPACK_sstedc LAPACK_GLOBAL(sstedc,SSTEDC)
+#define LAPACK_dstedc LAPACK_GLOBAL(dstedc,DSTEDC)
+#define LAPACK_cstedc LAPACK_GLOBAL(cstedc,CSTEDC)
+#define LAPACK_zstedc LAPACK_GLOBAL(zstedc,ZSTEDC)
+#define LAPACK_sstegr LAPACK_GLOBAL(sstegr,SSTEGR)
+#define LAPACK_dstegr LAPACK_GLOBAL(dstegr,DSTEGR)
+#define LAPACK_cstegr LAPACK_GLOBAL(cstegr,CSTEGR)
+#define LAPACK_zstegr LAPACK_GLOBAL(zstegr,ZSTEGR)
+#define LAPACK_spteqr LAPACK_GLOBAL(spteqr,SPTEQR)
+#define LAPACK_dpteqr LAPACK_GLOBAL(dpteqr,DPTEQR)
+#define LAPACK_cpteqr LAPACK_GLOBAL(cpteqr,CPTEQR)
+#define LAPACK_zpteqr LAPACK_GLOBAL(zpteqr,ZPTEQR)
+#define LAPACK_sstebz LAPACK_GLOBAL(sstebz,SSTEBZ)
+#define LAPACK_dstebz LAPACK_GLOBAL(dstebz,DSTEBZ)
+#define LAPACK_sstein LAPACK_GLOBAL(sstein,SSTEIN)
+#define LAPACK_dstein LAPACK_GLOBAL(dstein,DSTEIN)
+#define LAPACK_cstein LAPACK_GLOBAL(cstein,CSTEIN)
+#define LAPACK_zstein LAPACK_GLOBAL(zstein,ZSTEIN)
+#define LAPACK_sdisna LAPACK_GLOBAL(sdisna,SDISNA)
+#define LAPACK_ddisna LAPACK_GLOBAL(ddisna,DDISNA)
+#define LAPACK_ssygst LAPACK_GLOBAL(ssygst,SSYGST)
+#define LAPACK_dsygst LAPACK_GLOBAL(dsygst,DSYGST)
+#define LAPACK_chegst LAPACK_GLOBAL(chegst,CHEGST)
+#define LAPACK_zhegst LAPACK_GLOBAL(zhegst,ZHEGST)
+#define LAPACK_sspgst LAPACK_GLOBAL(sspgst,SSPGST)
+#define LAPACK_dspgst LAPACK_GLOBAL(dspgst,DSPGST)
+#define LAPACK_chpgst LAPACK_GLOBAL(chpgst,CHPGST)
+#define LAPACK_zhpgst LAPACK_GLOBAL(zhpgst,ZHPGST)
+#define LAPACK_ssbgst LAPACK_GLOBAL(ssbgst,SSBGST)
+#define LAPACK_dsbgst LAPACK_GLOBAL(dsbgst,DSBGST)
+#define LAPACK_chbgst LAPACK_GLOBAL(chbgst,CHBGST)
+#define LAPACK_zhbgst LAPACK_GLOBAL(zhbgst,ZHBGST)
+#define LAPACK_spbstf LAPACK_GLOBAL(spbstf,SPBSTF)
+#define LAPACK_dpbstf LAPACK_GLOBAL(dpbstf,DPBSTF)
+#define LAPACK_cpbstf LAPACK_GLOBAL(cpbstf,CPBSTF)
+#define LAPACK_zpbstf LAPACK_GLOBAL(zpbstf,ZPBSTF)
+#define LAPACK_sgehrd LAPACK_GLOBAL(sgehrd,SGEHRD)
+#define LAPACK_dgehrd LAPACK_GLOBAL(dgehrd,DGEHRD)
+#define LAPACK_cgehrd LAPACK_GLOBAL(cgehrd,CGEHRD)
+#define LAPACK_zgehrd LAPACK_GLOBAL(zgehrd,ZGEHRD)
+#define LAPACK_sorghr LAPACK_GLOBAL(sorghr,SORGHR)
+#define LAPACK_dorghr LAPACK_GLOBAL(dorghr,DORGHR)
+#define LAPACK_sormhr LAPACK_GLOBAL(sormhr,SORMHR)
+#define LAPACK_dormhr LAPACK_GLOBAL(dormhr,DORMHR)
+#define LAPACK_cunghr LAPACK_GLOBAL(cunghr,CUNGHR)
+#define LAPACK_zunghr LAPACK_GLOBAL(zunghr,ZUNGHR)
+#define LAPACK_cunmhr LAPACK_GLOBAL(cunmhr,CUNMHR)
+#define LAPACK_zunmhr LAPACK_GLOBAL(zunmhr,ZUNMHR)
+#define LAPACK_sgebal LAPACK_GLOBAL(sgebal,SGEBAL)
+#define LAPACK_dgebal LAPACK_GLOBAL(dgebal,DGEBAL)
+#define LAPACK_cgebal LAPACK_GLOBAL(cgebal,CGEBAL)
+#define LAPACK_zgebal LAPACK_GLOBAL(zgebal,ZGEBAL)
+#define LAPACK_sgebak LAPACK_GLOBAL(sgebak,SGEBAK)
+#define LAPACK_dgebak LAPACK_GLOBAL(dgebak,DGEBAK)
+#define LAPACK_cgebak LAPACK_GLOBAL(cgebak,CGEBAK)
+#define LAPACK_zgebak LAPACK_GLOBAL(zgebak,ZGEBAK)
+#define LAPACK_shseqr LAPACK_GLOBAL(shseqr,SHSEQR)
+#define LAPACK_dhseqr LAPACK_GLOBAL(dhseqr,DHSEQR)
+#define LAPACK_chseqr LAPACK_GLOBAL(chseqr,CHSEQR)
+#define LAPACK_zhseqr LAPACK_GLOBAL(zhseqr,ZHSEQR)
+#define LAPACK_shsein LAPACK_GLOBAL(shsein,SHSEIN)
+#define LAPACK_dhsein LAPACK_GLOBAL(dhsein,DHSEIN)
+#define LAPACK_chsein LAPACK_GLOBAL(chsein,CHSEIN)
+#define LAPACK_zhsein LAPACK_GLOBAL(zhsein,ZHSEIN)
+#define LAPACK_strevc LAPACK_GLOBAL(strevc,STREVC)
+#define LAPACK_dtrevc LAPACK_GLOBAL(dtrevc,DTREVC)
+#define LAPACK_ctrevc LAPACK_GLOBAL(ctrevc,CTREVC)
+#define LAPACK_ztrevc LAPACK_GLOBAL(ztrevc,ZTREVC)
+#define LAPACK_strsna LAPACK_GLOBAL(strsna,STRSNA)
+#define LAPACK_dtrsna LAPACK_GLOBAL(dtrsna,DTRSNA)
+#define LAPACK_ctrsna LAPACK_GLOBAL(ctrsna,CTRSNA)
+#define LAPACK_ztrsna LAPACK_GLOBAL(ztrsna,ZTRSNA)
+#define LAPACK_strexc LAPACK_GLOBAL(strexc,STREXC)
+#define LAPACK_dtrexc LAPACK_GLOBAL(dtrexc,DTREXC)
+#define LAPACK_ctrexc LAPACK_GLOBAL(ctrexc,CTREXC)
+#define LAPACK_ztrexc LAPACK_GLOBAL(ztrexc,ZTREXC)
+#define LAPACK_strsen LAPACK_GLOBAL(strsen,STRSEN)
+#define LAPACK_dtrsen LAPACK_GLOBAL(dtrsen,DTRSEN)
+#define LAPACK_ctrsen LAPACK_GLOBAL(ctrsen,CTRSEN)
+#define LAPACK_ztrsen LAPACK_GLOBAL(ztrsen,ZTRSEN)
+#define LAPACK_strsyl LAPACK_GLOBAL(strsyl,STRSYL)
+#define LAPACK_dtrsyl LAPACK_GLOBAL(dtrsyl,DTRSYL)
+#define LAPACK_ctrsyl LAPACK_GLOBAL(ctrsyl,CTRSYL)
+#define LAPACK_ztrsyl LAPACK_GLOBAL(ztrsyl,ZTRSYL)
+#define LAPACK_sgghrd LAPACK_GLOBAL(sgghrd,SGGHRD)
+#define LAPACK_dgghrd LAPACK_GLOBAL(dgghrd,DGGHRD)
+#define LAPACK_cgghrd LAPACK_GLOBAL(cgghrd,CGGHRD)
+#define LAPACK_zgghrd LAPACK_GLOBAL(zgghrd,ZGGHRD)
+#define LAPACK_sggbal LAPACK_GLOBAL(sggbal,SGGBAL)
+#define LAPACK_dggbal LAPACK_GLOBAL(dggbal,DGGBAL)
+#define LAPACK_cggbal LAPACK_GLOBAL(cggbal,CGGBAL)
+#define LAPACK_zggbal LAPACK_GLOBAL(zggbal,ZGGBAL)
+#define LAPACK_sggbak LAPACK_GLOBAL(sggbak,SGGBAK)
+#define LAPACK_dggbak LAPACK_GLOBAL(dggbak,DGGBAK)
+#define LAPACK_cggbak LAPACK_GLOBAL(cggbak,CGGBAK)
+#define LAPACK_zggbak LAPACK_GLOBAL(zggbak,ZGGBAK)
+#define LAPACK_shgeqz LAPACK_GLOBAL(shgeqz,SHGEQZ)
+#define LAPACK_dhgeqz LAPACK_GLOBAL(dhgeqz,DHGEQZ)
+#define LAPACK_chgeqz LAPACK_GLOBAL(chgeqz,CHGEQZ)
+#define LAPACK_zhgeqz LAPACK_GLOBAL(zhgeqz,ZHGEQZ)
+#define LAPACK_stgevc LAPACK_GLOBAL(stgevc,STGEVC)
+#define LAPACK_dtgevc LAPACK_GLOBAL(dtgevc,DTGEVC)
+#define LAPACK_ctgevc LAPACK_GLOBAL(ctgevc,CTGEVC)
+#define LAPACK_ztgevc LAPACK_GLOBAL(ztgevc,ZTGEVC)
+#define LAPACK_stgexc LAPACK_GLOBAL(stgexc,STGEXC)
+#define LAPACK_dtgexc LAPACK_GLOBAL(dtgexc,DTGEXC)
+#define LAPACK_ctgexc LAPACK_GLOBAL(ctgexc,CTGEXC)
+#define LAPACK_ztgexc LAPACK_GLOBAL(ztgexc,ZTGEXC)
+#define LAPACK_stgsen LAPACK_GLOBAL(stgsen,STGSEN)
+#define LAPACK_dtgsen LAPACK_GLOBAL(dtgsen,DTGSEN)
+#define LAPACK_ctgsen LAPACK_GLOBAL(ctgsen,CTGSEN)
+#define LAPACK_ztgsen LAPACK_GLOBAL(ztgsen,ZTGSEN)
+#define LAPACK_stgsyl LAPACK_GLOBAL(stgsyl,STGSYL)
+#define LAPACK_dtgsyl LAPACK_GLOBAL(dtgsyl,DTGSYL)
+#define LAPACK_ctgsyl LAPACK_GLOBAL(ctgsyl,CTGSYL)
+#define LAPACK_ztgsyl LAPACK_GLOBAL(ztgsyl,ZTGSYL)
+#define LAPACK_stgsna LAPACK_GLOBAL(stgsna,STGSNA)
+#define LAPACK_dtgsna LAPACK_GLOBAL(dtgsna,DTGSNA)
+#define LAPACK_ctgsna LAPACK_GLOBAL(ctgsna,CTGSNA)
+#define LAPACK_ztgsna LAPACK_GLOBAL(ztgsna,ZTGSNA)
+#define LAPACK_sggsvp LAPACK_GLOBAL(sggsvp,SGGSVP)
+#define LAPACK_dggsvp LAPACK_GLOBAL(dggsvp,DGGSVP)
+#define LAPACK_cggsvp LAPACK_GLOBAL(cggsvp,CGGSVP)
+#define LAPACK_zggsvp LAPACK_GLOBAL(zggsvp,ZGGSVP)
+#define LAPACK_stgsja LAPACK_GLOBAL(stgsja,STGSJA)
+#define LAPACK_dtgsja LAPACK_GLOBAL(dtgsja,DTGSJA)
+#define LAPACK_ctgsja LAPACK_GLOBAL(ctgsja,CTGSJA)
+#define LAPACK_ztgsja LAPACK_GLOBAL(ztgsja,ZTGSJA)
+#define LAPACK_sgels LAPACK_GLOBAL(sgels,SGELS)
+#define LAPACK_dgels LAPACK_GLOBAL(dgels,DGELS)
+#define LAPACK_cgels LAPACK_GLOBAL(cgels,CGELS)
+#define LAPACK_zgels LAPACK_GLOBAL(zgels,ZGELS)
+#define LAPACK_sgelsy LAPACK_GLOBAL(sgelsy,SGELSY)
+#define LAPACK_dgelsy LAPACK_GLOBAL(dgelsy,DGELSY)
+#define LAPACK_cgelsy LAPACK_GLOBAL(cgelsy,CGELSY)
+#define LAPACK_zgelsy LAPACK_GLOBAL(zgelsy,ZGELSY)
+#define LAPACK_sgelss LAPACK_GLOBAL(sgelss,SGELSS)
+#define LAPACK_dgelss LAPACK_GLOBAL(dgelss,DGELSS)
+#define LAPACK_cgelss LAPACK_GLOBAL(cgelss,CGELSS)
+#define LAPACK_zgelss LAPACK_GLOBAL(zgelss,ZGELSS)
+#define LAPACK_sgelsd LAPACK_GLOBAL(sgelsd,SGELSD)
+#define LAPACK_dgelsd LAPACK_GLOBAL(dgelsd,DGELSD)
+#define LAPACK_cgelsd LAPACK_GLOBAL(cgelsd,CGELSD)
+#define LAPACK_zgelsd LAPACK_GLOBAL(zgelsd,ZGELSD)
+#define LAPACK_sgglse LAPACK_GLOBAL(sgglse,SGGLSE)
+#define LAPACK_dgglse LAPACK_GLOBAL(dgglse,DGGLSE)
+#define LAPACK_cgglse LAPACK_GLOBAL(cgglse,CGGLSE)
+#define LAPACK_zgglse LAPACK_GLOBAL(zgglse,ZGGLSE)
+#define LAPACK_sggglm LAPACK_GLOBAL(sggglm,SGGGLM)
+#define LAPACK_dggglm LAPACK_GLOBAL(dggglm,DGGGLM)
+#define LAPACK_cggglm LAPACK_GLOBAL(cggglm,CGGGLM)
+#define LAPACK_zggglm LAPACK_GLOBAL(zggglm,ZGGGLM)
+#define LAPACK_ssyev LAPACK_GLOBAL(ssyev,SSYEV)
+#define LAPACK_dsyev LAPACK_GLOBAL(dsyev,DSYEV)
+#define LAPACK_cheev LAPACK_GLOBAL(cheev,CHEEV)
+#define LAPACK_zheev LAPACK_GLOBAL(zheev,ZHEEV)
+#define LAPACK_ssyevd LAPACK_GLOBAL(ssyevd,SSYEVD)
+#define LAPACK_dsyevd LAPACK_GLOBAL(dsyevd,DSYEVD)
+#define LAPACK_cheevd LAPACK_GLOBAL(cheevd,CHEEVD)
+#define LAPACK_zheevd LAPACK_GLOBAL(zheevd,ZHEEVD)
+#define LAPACK_ssyevx LAPACK_GLOBAL(ssyevx,SSYEVX)
+#define LAPACK_dsyevx LAPACK_GLOBAL(dsyevx,DSYEVX)
+#define LAPACK_cheevx LAPACK_GLOBAL(cheevx,CHEEVX)
+#define LAPACK_zheevx LAPACK_GLOBAL(zheevx,ZHEEVX)
+#define LAPACK_ssyevr LAPACK_GLOBAL(ssyevr,SSYEVR)
+#define LAPACK_dsyevr LAPACK_GLOBAL(dsyevr,DSYEVR)
+#define LAPACK_cheevr LAPACK_GLOBAL(cheevr,CHEEVR)
+#define LAPACK_zheevr LAPACK_GLOBAL(zheevr,ZHEEVR)
+#define LAPACK_sspev LAPACK_GLOBAL(sspev,SSPEV)
+#define LAPACK_dspev LAPACK_GLOBAL(dspev,DSPEV)
+#define LAPACK_chpev LAPACK_GLOBAL(chpev,CHPEV)
+#define LAPACK_zhpev LAPACK_GLOBAL(zhpev,ZHPEV)
+#define LAPACK_sspevd LAPACK_GLOBAL(sspevd,SSPEVD)
+#define LAPACK_dspevd LAPACK_GLOBAL(dspevd,DSPEVD)
+#define LAPACK_chpevd LAPACK_GLOBAL(chpevd,CHPEVD)
+#define LAPACK_zhpevd LAPACK_GLOBAL(zhpevd,ZHPEVD)
+#define LAPACK_sspevx LAPACK_GLOBAL(sspevx,SSPEVX)
+#define LAPACK_dspevx LAPACK_GLOBAL(dspevx,DSPEVX)
+#define LAPACK_chpevx LAPACK_GLOBAL(chpevx,CHPEVX)
+#define LAPACK_zhpevx LAPACK_GLOBAL(zhpevx,ZHPEVX)
+#define LAPACK_ssbev LAPACK_GLOBAL(ssbev,SSBEV)
+#define LAPACK_dsbev LAPACK_GLOBAL(dsbev,DSBEV)
+#define LAPACK_chbev LAPACK_GLOBAL(chbev,CHBEV)
+#define LAPACK_zhbev LAPACK_GLOBAL(zhbev,ZHBEV)
+#define LAPACK_ssbevd LAPACK_GLOBAL(ssbevd,SSBEVD)
+#define LAPACK_dsbevd LAPACK_GLOBAL(dsbevd,DSBEVD)
+#define LAPACK_chbevd LAPACK_GLOBAL(chbevd,CHBEVD)
+#define LAPACK_zhbevd LAPACK_GLOBAL(zhbevd,ZHBEVD)
+#define LAPACK_ssbevx LAPACK_GLOBAL(ssbevx,SSBEVX)
+#define LAPACK_dsbevx LAPACK_GLOBAL(dsbevx,DSBEVX)
+#define LAPACK_chbevx LAPACK_GLOBAL(chbevx,CHBEVX)
+#define LAPACK_zhbevx LAPACK_GLOBAL(zhbevx,ZHBEVX)
+#define LAPACK_sstev LAPACK_GLOBAL(sstev,SSTEV)
+#define LAPACK_dstev LAPACK_GLOBAL(dstev,DSTEV)
+#define LAPACK_sstevd LAPACK_GLOBAL(sstevd,SSTEVD)
+#define LAPACK_dstevd LAPACK_GLOBAL(dstevd,DSTEVD)
+#define LAPACK_sstevx LAPACK_GLOBAL(sstevx,SSTEVX)
+#define LAPACK_dstevx LAPACK_GLOBAL(dstevx,DSTEVX)
+#define LAPACK_sstevr LAPACK_GLOBAL(sstevr,SSTEVR)
+#define LAPACK_dstevr LAPACK_GLOBAL(dstevr,DSTEVR)
+#define LAPACK_sgees LAPACK_GLOBAL(sgees,SGEES)
+#define LAPACK_dgees LAPACK_GLOBAL(dgees,DGEES)
+#define LAPACK_cgees LAPACK_GLOBAL(cgees,CGEES)
+#define LAPACK_zgees LAPACK_GLOBAL(zgees,ZGEES)
+#define LAPACK_sgeesx LAPACK_GLOBAL(sgeesx,SGEESX)
+#define LAPACK_dgeesx LAPACK_GLOBAL(dgeesx,DGEESX)
+#define LAPACK_cgeesx LAPACK_GLOBAL(cgeesx,CGEESX)
+#define LAPACK_zgeesx LAPACK_GLOBAL(zgeesx,ZGEESX)
+#define LAPACK_sgeev LAPACK_GLOBAL(sgeev,SGEEV)
+#define LAPACK_dgeev LAPACK_GLOBAL(dgeev,DGEEV)
+#define LAPACK_cgeev LAPACK_GLOBAL(cgeev,CGEEV)
+#define LAPACK_zgeev LAPACK_GLOBAL(zgeev,ZGEEV)
+#define LAPACK_sgeevx LAPACK_GLOBAL(sgeevx,SGEEVX)
+#define LAPACK_dgeevx LAPACK_GLOBAL(dgeevx,DGEEVX)
+#define LAPACK_cgeevx LAPACK_GLOBAL(cgeevx,CGEEVX)
+#define LAPACK_zgeevx LAPACK_GLOBAL(zgeevx,ZGEEVX)
+#define LAPACK_sgesvd LAPACK_GLOBAL(sgesvd,SGESVD)
+#define LAPACK_dgesvd LAPACK_GLOBAL(dgesvd,DGESVD)
+#define LAPACK_cgesvd LAPACK_GLOBAL(cgesvd,CGESVD)
+#define LAPACK_zgesvd LAPACK_GLOBAL(zgesvd,ZGESVD)
+#define LAPACK_sgesdd LAPACK_GLOBAL(sgesdd,SGESDD)
+#define LAPACK_dgesdd LAPACK_GLOBAL(dgesdd,DGESDD)
+#define LAPACK_cgesdd LAPACK_GLOBAL(cgesdd,CGESDD)
+#define LAPACK_zgesdd LAPACK_GLOBAL(zgesdd,ZGESDD)
+#define LAPACK_dgejsv LAPACK_GLOBAL(dgejsv,DGEJSV)
+#define LAPACK_sgejsv LAPACK_GLOBAL(sgejsv,SGEJSV)
+#define LAPACK_dgesvj LAPACK_GLOBAL(dgesvj,DGESVJ)
+#define LAPACK_sgesvj LAPACK_GLOBAL(sgesvj,SGESVJ)
+#define LAPACK_sggsvd LAPACK_GLOBAL(sggsvd,SGGSVD)
+#define LAPACK_dggsvd LAPACK_GLOBAL(dggsvd,DGGSVD)
+#define LAPACK_cggsvd LAPACK_GLOBAL(cggsvd,CGGSVD)
+#define LAPACK_zggsvd LAPACK_GLOBAL(zggsvd,ZGGSVD)
+#define LAPACK_ssygv LAPACK_GLOBAL(ssygv,SSYGV)
+#define LAPACK_dsygv LAPACK_GLOBAL(dsygv,DSYGV)
+#define LAPACK_chegv LAPACK_GLOBAL(chegv,CHEGV)
+#define LAPACK_zhegv LAPACK_GLOBAL(zhegv,ZHEGV)
+#define LAPACK_ssygvd LAPACK_GLOBAL(ssygvd,SSYGVD)
+#define LAPACK_dsygvd LAPACK_GLOBAL(dsygvd,DSYGVD)
+#define LAPACK_chegvd LAPACK_GLOBAL(chegvd,CHEGVD)
+#define LAPACK_zhegvd LAPACK_GLOBAL(zhegvd,ZHEGVD)
+#define LAPACK_ssygvx LAPACK_GLOBAL(ssygvx,SSYGVX)
+#define LAPACK_dsygvx LAPACK_GLOBAL(dsygvx,DSYGVX)
+#define LAPACK_chegvx LAPACK_GLOBAL(chegvx,CHEGVX)
+#define LAPACK_zhegvx LAPACK_GLOBAL(zhegvx,ZHEGVX)
+#define LAPACK_sspgv LAPACK_GLOBAL(sspgv,SSPGV)
+#define LAPACK_dspgv LAPACK_GLOBAL(dspgv,DSPGV)
+#define LAPACK_chpgv LAPACK_GLOBAL(chpgv,CHPGV)
+#define LAPACK_zhpgv LAPACK_GLOBAL(zhpgv,ZHPGV)
+#define LAPACK_sspgvd LAPACK_GLOBAL(sspgvd,SSPGVD)
+#define LAPACK_dspgvd LAPACK_GLOBAL(dspgvd,DSPGVD)
+#define LAPACK_chpgvd LAPACK_GLOBAL(chpgvd,CHPGVD)
+#define LAPACK_zhpgvd LAPACK_GLOBAL(zhpgvd,ZHPGVD)
+#define LAPACK_sspgvx LAPACK_GLOBAL(sspgvx,SSPGVX)
+#define LAPACK_dspgvx LAPACK_GLOBAL(dspgvx,DSPGVX)
+#define LAPACK_chpgvx LAPACK_GLOBAL(chpgvx,CHPGVX)
+#define LAPACK_zhpgvx LAPACK_GLOBAL(zhpgvx,ZHPGVX)
+#define LAPACK_ssbgv LAPACK_GLOBAL(ssbgv,SSBGV)
+#define LAPACK_dsbgv LAPACK_GLOBAL(dsbgv,DSBGV)
+#define LAPACK_chbgv LAPACK_GLOBAL(chbgv,CHBGV)
+#define LAPACK_zhbgv LAPACK_GLOBAL(zhbgv,ZHBGV)
+#define LAPACK_ssbgvd LAPACK_GLOBAL(ssbgvd,SSBGVD)
+#define LAPACK_dsbgvd LAPACK_GLOBAL(dsbgvd,DSBGVD)
+#define LAPACK_chbgvd LAPACK_GLOBAL(chbgvd,CHBGVD)
+#define LAPACK_zhbgvd LAPACK_GLOBAL(zhbgvd,ZHBGVD)
+#define LAPACK_ssbgvx LAPACK_GLOBAL(ssbgvx,SSBGVX)
+#define LAPACK_dsbgvx LAPACK_GLOBAL(dsbgvx,DSBGVX)
+#define LAPACK_chbgvx LAPACK_GLOBAL(chbgvx,CHBGVX)
+#define LAPACK_zhbgvx LAPACK_GLOBAL(zhbgvx,ZHBGVX)
+#define LAPACK_sgges LAPACK_GLOBAL(sgges,SGGES)
+#define LAPACK_dgges LAPACK_GLOBAL(dgges,DGGES)
+#define LAPACK_cgges LAPACK_GLOBAL(cgges,CGGES)
+#define LAPACK_zgges LAPACK_GLOBAL(zgges,ZGGES)
+#define LAPACK_sggesx LAPACK_GLOBAL(sggesx,SGGESX)
+#define LAPACK_dggesx LAPACK_GLOBAL(dggesx,DGGESX)
+#define LAPACK_cggesx LAPACK_GLOBAL(cggesx,CGGESX)
+#define LAPACK_zggesx LAPACK_GLOBAL(zggesx,ZGGESX)
+#define LAPACK_sggev LAPACK_GLOBAL(sggev,SGGEV)
+#define LAPACK_dggev LAPACK_GLOBAL(dggev,DGGEV)
+#define LAPACK_cggev LAPACK_GLOBAL(cggev,CGGEV)
+#define LAPACK_zggev LAPACK_GLOBAL(zggev,ZGGEV)
+#define LAPACK_sggevx LAPACK_GLOBAL(sggevx,SGGEVX)
+#define LAPACK_dggevx LAPACK_GLOBAL(dggevx,DGGEVX)
+#define LAPACK_cggevx LAPACK_GLOBAL(cggevx,CGGEVX)
+#define LAPACK_zggevx LAPACK_GLOBAL(zggevx,ZGGEVX)
+#define LAPACK_dsfrk LAPACK_GLOBAL(dsfrk,DSFRK)
+#define LAPACK_ssfrk LAPACK_GLOBAL(ssfrk,SSFRK)
+#define LAPACK_zhfrk LAPACK_GLOBAL(zhfrk,ZHFRK)
+#define LAPACK_chfrk LAPACK_GLOBAL(chfrk,CHFRK)
+#define LAPACK_dtfsm LAPACK_GLOBAL(dtfsm,DTFSM)
+#define LAPACK_stfsm LAPACK_GLOBAL(stfsm,STFSM)
+#define LAPACK_ztfsm LAPACK_GLOBAL(ztfsm,ZTFSM)
+#define LAPACK_ctfsm LAPACK_GLOBAL(ctfsm,CTFSM)
+#define LAPACK_dtfttp LAPACK_GLOBAL(dtfttp,DTFTTP)
+#define LAPACK_stfttp LAPACK_GLOBAL(stfttp,STFTTP)
+#define LAPACK_ztfttp LAPACK_GLOBAL(ztfttp,ZTFTTP)
+#define LAPACK_ctfttp LAPACK_GLOBAL(ctfttp,CTFTTP)
+#define LAPACK_dtfttr LAPACK_GLOBAL(dtfttr,DTFTTR)
+#define LAPACK_stfttr LAPACK_GLOBAL(stfttr,STFTTR)
+#define LAPACK_ztfttr LAPACK_GLOBAL(ztfttr,ZTFTTR)
+#define LAPACK_ctfttr LAPACK_GLOBAL(ctfttr,CTFTTR)
+#define LAPACK_dtpttf LAPACK_GLOBAL(dtpttf,DTPTTF)
+#define LAPACK_stpttf LAPACK_GLOBAL(stpttf,STPTTF)
+#define LAPACK_ztpttf LAPACK_GLOBAL(ztpttf,ZTPTTF)
+#define LAPACK_ctpttf LAPACK_GLOBAL(ctpttf,CTPTTF)
+#define LAPACK_dtpttr LAPACK_GLOBAL(dtpttr,DTPTTR)
+#define LAPACK_stpttr LAPACK_GLOBAL(stpttr,STPTTR)
+#define LAPACK_ztpttr LAPACK_GLOBAL(ztpttr,ZTPTTR)
+#define LAPACK_ctpttr LAPACK_GLOBAL(ctpttr,CTPTTR)
+#define LAPACK_dtrttf LAPACK_GLOBAL(dtrttf,DTRTTF)
+#define LAPACK_strttf LAPACK_GLOBAL(strttf,STRTTF)
+#define LAPACK_ztrttf LAPACK_GLOBAL(ztrttf,ZTRTTF)
+#define LAPACK_ctrttf LAPACK_GLOBAL(ctrttf,CTRTTF)
+#define LAPACK_dtrttp LAPACK_GLOBAL(dtrttp,DTRTTP)
+#define LAPACK_strttp LAPACK_GLOBAL(strttp,STRTTP)
+#define LAPACK_ztrttp LAPACK_GLOBAL(ztrttp,ZTRTTP)
+#define LAPACK_ctrttp LAPACK_GLOBAL(ctrttp,CTRTTP)
+#define LAPACK_sgeqrfp LAPACK_GLOBAL(sgeqrfp,SGEQRFP)
+#define LAPACK_dgeqrfp LAPACK_GLOBAL(dgeqrfp,DGEQRFP)
+#define LAPACK_cgeqrfp LAPACK_GLOBAL(cgeqrfp,CGEQRFP)
+#define LAPACK_zgeqrfp LAPACK_GLOBAL(zgeqrfp,ZGEQRFP)
+#define LAPACK_clacgv LAPACK_GLOBAL(clacgv,CLACGV)
+#define LAPACK_zlacgv LAPACK_GLOBAL(zlacgv,ZLACGV)
+#define LAPACK_slarnv LAPACK_GLOBAL(slarnv,SLARNV)
+#define LAPACK_dlarnv LAPACK_GLOBAL(dlarnv,DLARNV)
+#define LAPACK_clarnv LAPACK_GLOBAL(clarnv,CLARNV)
+#define LAPACK_zlarnv LAPACK_GLOBAL(zlarnv,ZLARNV)
+#define LAPACK_sgeqr2 LAPACK_GLOBAL(sgeqr2,SGEQR2)
+#define LAPACK_dgeqr2 LAPACK_GLOBAL(dgeqr2,DGEQR2)
+#define LAPACK_cgeqr2 LAPACK_GLOBAL(cgeqr2,CGEQR2)
+#define LAPACK_zgeqr2 LAPACK_GLOBAL(zgeqr2,ZGEQR2)
+#define LAPACK_slacpy LAPACK_GLOBAL(slacpy,SLACPY)
+#define LAPACK_dlacpy LAPACK_GLOBAL(dlacpy,DLACPY)
+#define LAPACK_clacpy LAPACK_GLOBAL(clacpy,CLACPY)
+#define LAPACK_zlacpy LAPACK_GLOBAL(zlacpy,ZLACPY)
+#define LAPACK_sgetf2 LAPACK_GLOBAL(sgetf2,SGETF2)
+#define LAPACK_dgetf2 LAPACK_GLOBAL(dgetf2,DGETF2)
+#define LAPACK_cgetf2 LAPACK_GLOBAL(cgetf2,CGETF2)
+#define LAPACK_zgetf2 LAPACK_GLOBAL(zgetf2,ZGETF2)
+#define LAPACK_slaswp LAPACK_GLOBAL(slaswp,SLASWP)
+#define LAPACK_dlaswp LAPACK_GLOBAL(dlaswp,DLASWP)
+#define LAPACK_claswp LAPACK_GLOBAL(claswp,CLASWP)
+#define LAPACK_zlaswp LAPACK_GLOBAL(zlaswp,ZLASWP)
+#define LAPACK_slange LAPACK_GLOBAL(slange,SLANGE)
+#define LAPACK_dlange LAPACK_GLOBAL(dlange,DLANGE)
+#define LAPACK_clange LAPACK_GLOBAL(clange,CLANGE)
+#define LAPACK_zlange LAPACK_GLOBAL(zlange,ZLANGE)
+#define LAPACK_clanhe LAPACK_GLOBAL(clanhe,CLANHE)
+#define LAPACK_zlanhe LAPACK_GLOBAL(zlanhe,ZLANHE)
+#define LAPACK_slansy LAPACK_GLOBAL(slansy,SLANSY)
+#define LAPACK_dlansy LAPACK_GLOBAL(dlansy,DLANSY)
+#define LAPACK_clansy LAPACK_GLOBAL(clansy,CLANSY)
+#define LAPACK_zlansy LAPACK_GLOBAL(zlansy,ZLANSY)
+#define LAPACK_slantr LAPACK_GLOBAL(slantr,SLANTR)
+#define LAPACK_dlantr LAPACK_GLOBAL(dlantr,DLANTR)
+#define LAPACK_clantr LAPACK_GLOBAL(clantr,CLANTR)
+#define LAPACK_zlantr LAPACK_GLOBAL(zlantr,ZLANTR)
+#define LAPACK_slamch LAPACK_GLOBAL(slamch,SLAMCH)
+#define LAPACK_dlamch LAPACK_GLOBAL(dlamch,DLAMCH)
+#define LAPACK_sgelq2 LAPACK_GLOBAL(sgelq2,SGELQ2)
+#define LAPACK_dgelq2 LAPACK_GLOBAL(dgelq2,DGELQ2)
+#define LAPACK_cgelq2 LAPACK_GLOBAL(cgelq2,CGELQ2)
+#define LAPACK_zgelq2 LAPACK_GLOBAL(zgelq2,ZGELQ2)
+#define LAPACK_slarfb LAPACK_GLOBAL(slarfb,SLARFB)
+#define LAPACK_dlarfb LAPACK_GLOBAL(dlarfb,DLARFB)
+#define LAPACK_clarfb LAPACK_GLOBAL(clarfb,CLARFB)
+#define LAPACK_zlarfb LAPACK_GLOBAL(zlarfb,ZLARFB)
+#define LAPACK_slarfg LAPACK_GLOBAL(slarfg,SLARFG)
+#define LAPACK_dlarfg LAPACK_GLOBAL(dlarfg,DLARFG)
+#define LAPACK_clarfg LAPACK_GLOBAL(clarfg,CLARFG)
+#define LAPACK_zlarfg LAPACK_GLOBAL(zlarfg,ZLARFG)
+#define LAPACK_slarft LAPACK_GLOBAL(slarft,SLARFT)
+#define LAPACK_dlarft LAPACK_GLOBAL(dlarft,DLARFT)
+#define LAPACK_clarft LAPACK_GLOBAL(clarft,CLARFT)
+#define LAPACK_zlarft LAPACK_GLOBAL(zlarft,ZLARFT)
+#define LAPACK_slarfx LAPACK_GLOBAL(slarfx,SLARFX)
+#define LAPACK_dlarfx LAPACK_GLOBAL(dlarfx,DLARFX)
+#define LAPACK_clarfx LAPACK_GLOBAL(clarfx,CLARFX)
+#define LAPACK_zlarfx LAPACK_GLOBAL(zlarfx,ZLARFX)
+#define LAPACK_slatms LAPACK_GLOBAL(slatms,SLATMS)
+#define LAPACK_dlatms LAPACK_GLOBAL(dlatms,DLATMS)
+#define LAPACK_clatms LAPACK_GLOBAL(clatms,CLATMS)
+#define LAPACK_zlatms LAPACK_GLOBAL(zlatms,ZLATMS)
+#define LAPACK_slag2d LAPACK_GLOBAL(slag2d,SLAG2D)
+#define LAPACK_dlag2s LAPACK_GLOBAL(dlag2s,DLAG2S)
+#define LAPACK_clag2z LAPACK_GLOBAL(clag2z,CLAG2Z)
+#define LAPACK_zlag2c LAPACK_GLOBAL(zlag2c,ZLAG2C)
+#define LAPACK_slauum LAPACK_GLOBAL(slauum,SLAUUM)
+#define LAPACK_dlauum LAPACK_GLOBAL(dlauum,DLAUUM)
+#define LAPACK_clauum LAPACK_GLOBAL(clauum,CLAUUM)
+#define LAPACK_zlauum LAPACK_GLOBAL(zlauum,ZLAUUM)
+#define LAPACK_slagge LAPACK_GLOBAL(slagge,SLAGGE)
+#define LAPACK_dlagge LAPACK_GLOBAL(dlagge,DLAGGE)
+#define LAPACK_clagge LAPACK_GLOBAL(clagge,CLAGGE)
+#define LAPACK_zlagge LAPACK_GLOBAL(zlagge,ZLAGGE)
+#define LAPACK_slaset LAPACK_GLOBAL(slaset,SLASET)
+#define LAPACK_dlaset LAPACK_GLOBAL(dlaset,DLASET)
+#define LAPACK_claset LAPACK_GLOBAL(claset,CLASET)
+#define LAPACK_zlaset LAPACK_GLOBAL(zlaset,ZLASET)
+#define LAPACK_slasrt LAPACK_GLOBAL(slasrt,SLASRT)
+#define LAPACK_dlasrt LAPACK_GLOBAL(dlasrt,DLASRT)
+#define LAPACK_slagsy LAPACK_GLOBAL(slagsy,SLAGSY)
+#define LAPACK_dlagsy LAPACK_GLOBAL(dlagsy,DLAGSY)
+#define LAPACK_clagsy LAPACK_GLOBAL(clagsy,CLAGSY)
+#define LAPACK_zlagsy LAPACK_GLOBAL(zlagsy,ZLAGSY)
+#define LAPACK_claghe LAPACK_GLOBAL(claghe,CLAGHE)
+#define LAPACK_zlaghe LAPACK_GLOBAL(zlaghe,ZLAGHE)
+#define LAPACK_slapmr LAPACK_GLOBAL(slapmr,SLAPMR)
+#define LAPACK_dlapmr LAPACK_GLOBAL(dlapmr,DLAPMR)
+#define LAPACK_clapmr LAPACK_GLOBAL(clapmr,CLAPMR)
+#define LAPACK_zlapmr LAPACK_GLOBAL(zlapmr,ZLAPMR)
+#define LAPACK_slapy2 LAPACK_GLOBAL(slapy2,SLAPY2)
+#define LAPACK_dlapy2 LAPACK_GLOBAL(dlapy2,DLAPY2)
+#define LAPACK_slapy3 LAPACK_GLOBAL(slapy3,SLAPY3)
+#define LAPACK_dlapy3 LAPACK_GLOBAL(dlapy3,DLAPY3)
+#define LAPACK_slartgp LAPACK_GLOBAL(slartgp,SLARTGP)
+#define LAPACK_dlartgp LAPACK_GLOBAL(dlartgp,DLARTGP)
+#define LAPACK_slartgs LAPACK_GLOBAL(slartgs,SLARTGS)
+#define LAPACK_dlartgs LAPACK_GLOBAL(dlartgs,DLARTGS)
+// LAPACK 3.3.0
+#define LAPACK_cbbcsd LAPACK_GLOBAL(cbbcsd,CBBCSD)
+#define LAPACK_cheswapr LAPACK_GLOBAL(cheswapr,CHESWAPR)
+#define LAPACK_chetri2 LAPACK_GLOBAL(chetri2,CHETRI2)
+#define LAPACK_chetri2x LAPACK_GLOBAL(chetri2x,CHETRI2X)
+#define LAPACK_chetrs2 LAPACK_GLOBAL(chetrs2,CHETRS2)
+#define LAPACK_csyconv LAPACK_GLOBAL(csyconv,CSYCONV)
+#define LAPACK_csyswapr LAPACK_GLOBAL(csyswapr,CSYSWAPR)
+#define LAPACK_csytri2 LAPACK_GLOBAL(csytri2,CSYTRI2)
+#define LAPACK_csytri2x LAPACK_GLOBAL(csytri2x,CSYTRI2X)
+#define LAPACK_csytrs2 LAPACK_GLOBAL(csytrs2,CSYTRS2)
+#define LAPACK_cunbdb LAPACK_GLOBAL(cunbdb,CUNBDB)
+#define LAPACK_cuncsd LAPACK_GLOBAL(cuncsd,CUNCSD)
+#define LAPACK_dbbcsd LAPACK_GLOBAL(dbbcsd,DBBCSD)
+#define LAPACK_dorbdb LAPACK_GLOBAL(dorbdb,DORBDB)
+#define LAPACK_dorcsd LAPACK_GLOBAL(dorcsd,DORCSD)
+#define LAPACK_dsyconv LAPACK_GLOBAL(dsyconv,DSYCONV)
+#define LAPACK_dsyswapr LAPACK_GLOBAL(dsyswapr,DSYSWAPR)
+#define LAPACK_dsytri2 LAPACK_GLOBAL(dsytri2,DSYTRI2)
+#define LAPACK_dsytri2x LAPACK_GLOBAL(dsytri2x,DSYTRI2X)
+#define LAPACK_dsytrs2 LAPACK_GLOBAL(dsytrs2,DSYTRS2)
+#define LAPACK_sbbcsd LAPACK_GLOBAL(sbbcsd,SBBCSD)
+#define LAPACK_sorbdb LAPACK_GLOBAL(sorbdb,SORBDB)
+#define LAPACK_sorcsd LAPACK_GLOBAL(sorcsd,SORCSD)
+#define LAPACK_ssyconv LAPACK_GLOBAL(ssyconv,SSYCONV)
+#define LAPACK_ssyswapr LAPACK_GLOBAL(ssyswapr,SSYSWAPR)
+#define LAPACK_ssytri2 LAPACK_GLOBAL(ssytri2,SSYTRI2)
+#define LAPACK_ssytri2x LAPACK_GLOBAL(ssytri2x,SSYTRI2X)
+#define LAPACK_ssytrs2 LAPACK_GLOBAL(ssytrs2,SSYTRS2)
+#define LAPACK_zbbcsd LAPACK_GLOBAL(zbbcsd,ZBBCSD)
+#define LAPACK_zheswapr LAPACK_GLOBAL(zheswapr,ZHESWAPR)
+#define LAPACK_zhetri2 LAPACK_GLOBAL(zhetri2,ZHETRI2)
+#define LAPACK_zhetri2x LAPACK_GLOBAL(zhetri2x,ZHETRI2X)
+#define LAPACK_zhetrs2 LAPACK_GLOBAL(zhetrs2,ZHETRS2)
+#define LAPACK_zsyconv LAPACK_GLOBAL(zsyconv,ZSYCONV)
+#define LAPACK_zsyswapr LAPACK_GLOBAL(zsyswapr,ZSYSWAPR)
+#define LAPACK_zsytri2 LAPACK_GLOBAL(zsytri2,ZSYTRI2)
+#define LAPACK_zsytri2x LAPACK_GLOBAL(zsytri2x,ZSYTRI2X)
+#define LAPACK_zsytrs2 LAPACK_GLOBAL(zsytrs2,ZSYTRS2)
+#define LAPACK_zunbdb LAPACK_GLOBAL(zunbdb,ZUNBDB)
+#define LAPACK_zuncsd LAPACK_GLOBAL(zuncsd,ZUNCSD)
+// LAPACK 3.4.0
+#define LAPACK_sgemqrt LAPACK_GLOBAL(sgemqrt,SGEMQRT)
+#define LAPACK_dgemqrt LAPACK_GLOBAL(dgemqrt,DGEMQRT)
+#define LAPACK_cgemqrt LAPACK_GLOBAL(cgemqrt,CGEMQRT)
+#define LAPACK_zgemqrt LAPACK_GLOBAL(zgemqrt,ZGEMQRT)
+#define LAPACK_sgeqrt LAPACK_GLOBAL(sgeqrt,SGEQRT)
+#define LAPACK_dgeqrt LAPACK_GLOBAL(dgeqrt,DGEQRT)
+#define LAPACK_cgeqrt LAPACK_GLOBAL(cgeqrt,CGEQRT)
+#define LAPACK_zgeqrt LAPACK_GLOBAL(zgeqrt,ZGEQRT)
+#define LAPACK_sgeqrt2 LAPACK_GLOBAL(sgeqrt2,SGEQRT2)
+#define LAPACK_dgeqrt2 LAPACK_GLOBAL(dgeqrt2,DGEQRT2)
+#define LAPACK_cgeqrt2 LAPACK_GLOBAL(cgeqrt2,CGEQRT2)
+#define LAPACK_zgeqrt2 LAPACK_GLOBAL(zgeqrt2,ZGEQRT2)
+#define LAPACK_sgeqrt3 LAPACK_GLOBAL(sgeqrt3,SGEQRT3)
+#define LAPACK_dgeqrt3 LAPACK_GLOBAL(dgeqrt3,DGEQRT3)
+#define LAPACK_cgeqrt3 LAPACK_GLOBAL(cgeqrt3,CGEQRT3)
+#define LAPACK_zgeqrt3 LAPACK_GLOBAL(zgeqrt3,ZGEQRT3)
+#define LAPACK_stpmqrt LAPACK_GLOBAL(stpmqrt,STPMQRT)
+#define LAPACK_dtpmqrt LAPACK_GLOBAL(dtpmqrt,DTPMQRT)
+#define LAPACK_ctpmqrt LAPACK_GLOBAL(ctpmqrt,CTPMQRT)
+#define LAPACK_ztpmqrt LAPACK_GLOBAL(ztpmqrt,ZTPMQRT)
+#define LAPACK_dtpqrt LAPACK_GLOBAL(dtpqrt,DTPQRT)
+#define LAPACK_ctpqrt LAPACK_GLOBAL(ctpqrt,CTPQRT)
+#define LAPACK_ztpqrt LAPACK_GLOBAL(ztpqrt,ZTPQRT)
+#define LAPACK_stpqrt2 LAPACK_GLOBAL(stpqrt2,STPQRT2)
+#define LAPACK_dtpqrt2 LAPACK_GLOBAL(dtpqrt2,DTPQRT2)
+#define LAPACK_ctpqrt2 LAPACK_GLOBAL(ctpqrt2,CTPQRT2)
+#define LAPACK_ztpqrt2 LAPACK_GLOBAL(ztpqrt2,ZTPQRT2)
+#define LAPACK_stprfb LAPACK_GLOBAL(stprfb,STPRFB)
+#define LAPACK_dtprfb LAPACK_GLOBAL(dtprfb,DTPRFB)
+#define LAPACK_ctprfb LAPACK_GLOBAL(ctprfb,CTPRFB)
+#define LAPACK_ztprfb LAPACK_GLOBAL(ztprfb,ZTPRFB)
+// LAPACK 3.X.X
+#define LAPACK_csyr LAPACK_GLOBAL(csyr,CSYR)
+#define LAPACK_zsyr LAPACK_GLOBAL(zsyr,ZSYR)
+
+
+void LAPACK_sgetrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgetrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgetrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgetrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, float* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, double* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgttrf( lapack_int* n, float* dl, float* d, float* du, float* du2,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgttrf( lapack_int* n, double* dl, double* d, double* du,
+                    double* du2, lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgttrf( lapack_int* n, lapack_complex_float* dl,
+                    lapack_complex_float* d, lapack_complex_float* du,
+                    lapack_complex_float* du2, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_zgttrf( lapack_int* n, lapack_complex_double* dl,
+                    lapack_complex_double* d, lapack_complex_double* du,
+                    lapack_complex_double* du2, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_spotrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dpotrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_cpotrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zpotrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dpstrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* piv, lapack_int* rank, double* tol,
+                    double* work, lapack_int *info );
+void LAPACK_spstrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* piv, lapack_int* rank, float* tol, float* work,
+                    lapack_int *info );
+void LAPACK_zpstrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
+                    double* tol, double* work, lapack_int *info );
+void LAPACK_cpstrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
+                    float* tol, float* work, lapack_int *info );
+void LAPACK_dpftrf( char* transr, char* uplo, lapack_int* n, double* a,
+                    lapack_int *info );
+void LAPACK_spftrf( char* transr, char* uplo, lapack_int* n, float* a,
+                    lapack_int *info );
+void LAPACK_zpftrf( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_cpftrf( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_spptrf( char* uplo, lapack_int* n, float* ap, lapack_int *info );
+void LAPACK_dpptrf( char* uplo, lapack_int* n, double* ap, lapack_int *info );
+void LAPACK_cpptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_zpptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_spbtrf( char* uplo, lapack_int* n, lapack_int* kd, float* ab,
+                    lapack_int* ldab, lapack_int *info );
+void LAPACK_dpbtrf( char* uplo, lapack_int* n, lapack_int* kd, double* ab,
+                    lapack_int* ldab, lapack_int *info );
+void LAPACK_cpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_int *info );
+void LAPACK_zpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_int *info );
+void LAPACK_spttrf( lapack_int* n, float* d, float* e, lapack_int *info );
+void LAPACK_dpttrf( lapack_int* n, double* d, double* e, lapack_int *info );
+void LAPACK_cpttrf( lapack_int* n, float* d, lapack_complex_float* e,
+                    lapack_int *info );
+void LAPACK_zpttrf( lapack_int* n, double* d, lapack_complex_double* e,
+                    lapack_int *info );
+void LAPACK_ssytrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dsytrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_csytrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zsytrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_chetrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zhetrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ssptrf( char* uplo, lapack_int* n, float* ap, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_dsptrf( char* uplo, lapack_int* n, double* ap, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_csptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zsptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_chptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zhptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, const lapack_int* ipiv,
+                    float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const lapack_int* ipiv,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_sgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_float* ab,
+                    lapack_int* ldab, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_double* ab,
+                    lapack_int* ldab, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    const float* du2, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    const double* du2, const lapack_int* ipiv, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spotrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* a, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_spptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_spbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const float* ab, lapack_int* ldab, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const double* ab, lapack_int* ldab, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spttrs( lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpttrs( lapack_int* n, lapack_int* nrhs, const double* d,
+                    const double* e, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cpttrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zpttrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ssytrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const lapack_int* ipiv,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_csytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_chetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zhetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_ssptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const lapack_int* ipiv, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_csptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_chptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zhptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_strtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dtrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_ctrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_stptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* ap, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dtptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* ap, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_ctptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* ap,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* ap,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_stbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const float* ab,
+                    lapack_int* ldab, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dtbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const double* ab,
+                    lapack_int* ldab, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ctbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sgecon( char* norm, lapack_int* n, const float* a, lapack_int* lda,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgecon( char* norm, lapack_int* n, const double* a, lapack_int* lda,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgecon( char* norm, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgecon( char* norm, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const float* ab, lapack_int* ldab, const lapack_int* ipiv,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const double* ab, lapack_int* ldab, const lapack_int* ipiv,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgtcon( char* norm, lapack_int* n, const float* dl, const float* d,
+                    const float* du, const float* du2, const lapack_int* ipiv,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgtcon( char* norm, lapack_int* n, const double* dl,
+                    const double* d, const double* du, const double* du2,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgtcon( char* norm, lapack_int* n, const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zgtcon( char* norm, lapack_int* n, const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_spocon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpocon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cpocon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpocon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sppcon( char* uplo, lapack_int* n, const float* ap, float* anorm,
+                    float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dppcon( char* uplo, lapack_int* n, const double* ap, double* anorm,
+                    double* rcond, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cppcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zppcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_spbcon( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
+                    lapack_int* ldab, float* anorm, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dpbcon( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
+                    lapack_int* ldab, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cpbcon( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zpbcon( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sptcon( lapack_int* n, const float* d, const float* e, float* anorm,
+                    float* rcond, float* work, lapack_int *info );
+void LAPACK_dptcon( lapack_int* n, const double* d, const double* e,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int *info );
+void LAPACK_cptcon( lapack_int* n, const float* d,
+                    const lapack_complex_float* e, float* anorm, float* rcond,
+                    float* work, lapack_int *info );
+void LAPACK_zptcon( lapack_int* n, const double* d,
+                    const lapack_complex_double* e, double* anorm,
+                    double* rcond, double* work, lapack_int *info );
+void LAPACK_ssycon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dsycon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_csycon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
+                    float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zsycon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
+                    double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_checon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
+                    float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zhecon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
+                    double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_sspcon( char* uplo, lapack_int* n, const float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dspcon( char* uplo, lapack_int* n, const double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cspcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zspcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_chpcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhpcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_strcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const float* a, lapack_int* lda, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const double* a, lapack_int* lda, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    float* rcond, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    double* rcond, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const float* ap, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const double* ap, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_float* ap, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_double* ap, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const float* ab, lapack_int* ldab,
+                    float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const double* ab, lapack_int* ldab,
+                    double* rcond, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const lapack_complex_float* ab,
+                    lapack_int* ldab, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_ztbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const lapack_complex_double* ab,
+                    lapack_int* ldab, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, const float* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const double* r,
+                     const double* c, const double* b, lapack_int* ldb,
+                     double* x, lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const float* r,
+                     const float* c, const float* b, lapack_int* ldb, float* x,
+                     lapack_int* ldx, float* rcond, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
+                    const float* afb, lapack_int* ldafb, const lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
+                    const double* afb, lapack_int* ldafb,
+                    const lapack_int* ipiv, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_float* ab,
+                    lapack_int* ldab, const lapack_complex_float* afb,
+                    lapack_int* ldafb, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_double* ab,
+                    lapack_int* ldab, const lapack_complex_double* afb,
+                    lapack_int* ldafb, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_dgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, const double* ab,
+                     lapack_int* ldab, const double* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const double* b, lapack_int* ldb, double* x,
+                     lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, const float* ab,
+                     lapack_int* ldab, const float* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     const lapack_complex_double* ab, lapack_int* ldab,
+                     const lapack_complex_double* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     const lapack_complex_float* ab, lapack_int* ldab,
+                     const lapack_complex_float* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    const float* dlf, const float* df, const float* duf,
+                    const float* du2, const lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    const double* dlf, const double* df, const double* duf,
+                    const double* du2, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* dlf,
+                    const lapack_complex_float* df,
+                    const lapack_complex_float* duf,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* dlf,
+                    const lapack_complex_double* df,
+                    const lapack_complex_double* duf,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sporfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const float* af, lapack_int* ldaf,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_dporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const double* s, const double* b,
+                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_sporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const float* s, const float* b,
+                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const double* s, const lapack_complex_double* b,
+                     lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                     double* rcond, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const float* s, const lapack_complex_float* b,
+                     lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_spprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const float* afp, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const double* afp, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const float* ab, lapack_int* ldab, const float* afb,
+                    lapack_int* ldafb, const float* b, lapack_int* ldb,
+                    float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const double* ab, lapack_int* ldab, const double* afb,
+                    lapack_int* ldafb, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* afb, lapack_int* ldafb,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* afb, lapack_int* ldafb,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sptrfs( lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, const float* df, const float* ef,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int *info );
+void LAPACK_dptrfs( lapack_int* n, lapack_int* nrhs, const double* d,
+                    const double* e, const double* df, const double* ef,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int *info );
+void LAPACK_cptrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, const float* df,
+                    const lapack_complex_float* ef,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zptrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e,
+                    const double* df, const lapack_complex_double* ef,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_ssyrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const float* b, lapack_int* ldb,
+                    float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_csyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const double* s,
+                     const double* b, lapack_int* ldb, double* x,
+                     lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_ssyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const float* s,
+                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* s,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_csyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* s,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_cherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_zherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* s,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* s,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_ssprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const float* afp, const lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const double* afp, const lapack_int* ipiv,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_csprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_chprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_strrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, const float* x,
+                    lapack_int* ldx, float* ferr, float* berr, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, const double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, const lapack_complex_float* x,
+                    lapack_int* ldx, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, const lapack_complex_double* x,
+                    lapack_int* ldx, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* ap, const float* b,
+                    lapack_int* ldb, const float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* ap, const double* b,
+                    lapack_int* ldb, const double* x, lapack_int* ldx,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* ap,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* ap,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    const lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_stbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const float* ab,
+                    lapack_int* ldab, const float* b, lapack_int* ldb,
+                    const float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dtbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const double* ab,
+                    lapack_int* ldab, const double* b, lapack_int* ldb,
+                    const double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    const lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgetri( lapack_int* n, float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgetri( lapack_int* n, double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgetri( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgetri( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_spotri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dpotri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_cpotri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zpotri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dpftri( char* transr, char* uplo, lapack_int* n, double* a,
+                    lapack_int *info );
+void LAPACK_spftri( char* transr, char* uplo, lapack_int* n, float* a,
+                    lapack_int *info );
+void LAPACK_zpftri( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_cpftri( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_spptri( char* uplo, lapack_int* n, float* ap, lapack_int *info );
+void LAPACK_dpptri( char* uplo, lapack_int* n, double* ap, lapack_int *info );
+void LAPACK_cpptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_zpptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ssytri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* work, lapack_int *info );
+void LAPACK_dsytri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* work, lapack_int *info );
+void LAPACK_csytri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zsytri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_chetri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhetri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_ssptri( char* uplo, lapack_int* n, float* ap,
+                    const lapack_int* ipiv, float* work, lapack_int *info );
+void LAPACK_dsptri( char* uplo, lapack_int* n, double* ap,
+                    const lapack_int* ipiv, double* work, lapack_int *info );
+void LAPACK_csptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zsptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_chptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zhptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_strtri( char* uplo, char* diag, lapack_int* n, float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dtrtri( char* uplo, char* diag, lapack_int* n, double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ctrtri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_ztrtri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dtftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    double* a, lapack_int *info );
+void LAPACK_stftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    float* a, lapack_int *info );
+void LAPACK_ztftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_ctftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_stptri( char* uplo, char* diag, lapack_int* n, float* ap,
+                    lapack_int *info );
+void LAPACK_dtptri( char* uplo, char* diag, lapack_int* n, double* ap,
+                    lapack_int *info );
+void LAPACK_ctptri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* ap, lapack_int *info );
+void LAPACK_ztptri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* ap, lapack_int *info );
+void LAPACK_sgeequ( lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_dgeequ( lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* r, double* c, double* rowcnd,
+                    double* colcnd, double* amax, lapack_int *info );
+void LAPACK_cgeequ( lapack_int* m, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgeequ( lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* r,
+                    double* c, double* rowcnd, double* colcnd, double* amax,
+                    lapack_int *info );
+void LAPACK_dgeequb( lapack_int* m, lapack_int* n, const double* a,
+                     lapack_int* lda, double* r, double* c, double* rowcnd,
+                     double* colcnd, double* amax, lapack_int *info );
+void LAPACK_sgeequb( lapack_int* m, lapack_int* n, const float* a,
+                     lapack_int* lda, float* r, float* c, float* rowcnd,
+                     float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgeequb( lapack_int* m, lapack_int* n,
+                     const lapack_complex_double* a, lapack_int* lda, double* r,
+                     double* c, double* rowcnd, double* colcnd, double* amax,
+                     lapack_int *info );
+void LAPACK_cgeequb( lapack_int* m, lapack_int* n,
+                     const lapack_complex_float* a, lapack_int* lda, float* r,
+                     float* c, float* rowcnd, float* colcnd, float* amax,
+                     lapack_int *info );
+void LAPACK_sgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* ab, lapack_int* ldab, float* r,
+                    float* c, float* rowcnd, float* colcnd, float* amax,
+                    lapack_int *info );
+void LAPACK_dgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* ab, lapack_int* ldab,
+                    double* r, double* c, double* rowcnd, double* colcnd,
+                    double* amax, lapack_int *info );
+void LAPACK_cgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const lapack_complex_float* ab,
+                    lapack_int* ldab, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const lapack_complex_double* ab,
+                    lapack_int* ldab, double* r, double* c, double* rowcnd,
+                    double* colcnd, double* amax, lapack_int *info );
+void LAPACK_dgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const double* ab, lapack_int* ldab,
+                     double* r, double* c, double* rowcnd, double* colcnd,
+                     double* amax, lapack_int *info );
+void LAPACK_sgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const float* ab, lapack_int* ldab,
+                     float* r, float* c, float* rowcnd, float* colcnd,
+                     float* amax, lapack_int *info );
+void LAPACK_zgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const lapack_complex_double* ab,
+                     lapack_int* ldab, double* r, double* c, double* rowcnd,
+                     double* colcnd, double* amax, lapack_int *info );
+void LAPACK_cgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const lapack_complex_float* ab,
+                     lapack_int* ldab, float* r, float* c, float* rowcnd,
+                     float* colcnd, float* amax, lapack_int *info );
+void LAPACK_spoequ( lapack_int* n, const float* a, lapack_int* lda, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_dpoequ( lapack_int* n, const double* a, lapack_int* lda, double* s,
+                    double* scond, double* amax, lapack_int *info );
+void LAPACK_cpoequ( lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* s, float* scond, float* amax,
+                    lapack_int *info );
+void LAPACK_zpoequ( lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* s, double* scond, double* amax,
+                    lapack_int *info );
+void LAPACK_dpoequb( lapack_int* n, const double* a, lapack_int* lda, double* s,
+                     double* scond, double* amax, lapack_int *info );
+void LAPACK_spoequb( lapack_int* n, const float* a, lapack_int* lda, float* s,
+                     float* scond, float* amax, lapack_int *info );
+void LAPACK_zpoequb( lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_int *info );
+void LAPACK_cpoequb( lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_int *info );
+void LAPACK_sppequ( char* uplo, lapack_int* n, const float* ap, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_dppequ( char* uplo, lapack_int* n, const double* ap, double* s,
+                    double* scond, double* amax, lapack_int *info );
+void LAPACK_cppequ( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    float* s, float* scond, float* amax, lapack_int *info );
+void LAPACK_zppequ( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    double* s, double* scond, double* amax, lapack_int *info );
+void LAPACK_spbequ( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
+                    lapack_int* ldab, float* s, float* scond, float* amax,
+                    lapack_int *info );
+void LAPACK_dpbequ( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
+                    lapack_int* ldab, double* s, double* scond, double* amax,
+                    lapack_int *info );
+void LAPACK_cpbequ( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_float* ab, lapack_int* ldab, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_zpbequ( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    double* s, double* scond, double* amax, lapack_int *info );
+void LAPACK_dsyequb( char* uplo, lapack_int* n, const double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     double* work, lapack_int *info );
+void LAPACK_ssyequb( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                     float* s, float* scond, float* amax, float* work,
+                     lapack_int *info );
+void LAPACK_zsyequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_csyequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_zheequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_cheequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_sgesv( lapack_int* n, lapack_int* nrhs, float* a, lapack_int* lda,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* a,
+                   lapack_int* lda, lapack_int* ipiv, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
+                   lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_dsgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
+                    lapack_int* ipiv, double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* work, float* swork,
+                    lapack_int* iter, lapack_int *info );
+void LAPACK_zcgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, lapack_complex_float* swork,
+                    double* rwork, lapack_int* iter, lapack_int *info );
+void LAPACK_sgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, float* r, float* c,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                     double* rcond, double* rpvgrw, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, float* ab, lapack_int* ldab,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, double* ab, lapack_int* ldab,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_int* ipiv, lapack_complex_float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_zgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, lapack_complex_double* ab,
+                   lapack_int* ldab, lapack_int* ipiv, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, float* ab,
+                    lapack_int* ldab, float* afb, lapack_int* ldafb,
+                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, double* ab,
+                    lapack_int* ldab, double* afb, lapack_int* ldafb,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* afb,
+                    lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
+                    float* c, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* afb,
+                    lapack_int* ldafb, lapack_int* ipiv, char* equed, double* r,
+                    double* c, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, double* ab,
+                     lapack_int* ldab, double* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                     double* rcond, double* rpvgrw, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, float* ab,
+                     lapack_int* ldab, float* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     lapack_complex_double* ab, lapack_int* ldab,
+                     lapack_complex_double* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
+                     lapack_int* ldab, lapack_complex_float* afb,
+                     lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
+                     float* c, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgtsv( lapack_int* n, lapack_int* nrhs, float* dl, float* d,
+                   float* du, float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dgtsv( lapack_int* n, lapack_int* nrhs, double* dl, double* d,
+                   double* du, double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* dl,
+                   lapack_complex_float* d, lapack_complex_float* du,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* dl,
+                   lapack_complex_double* d, lapack_complex_double* du,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_sgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    float* dlf, float* df, float* duf, float* du2,
+                    lapack_int* ipiv, const float* b, lapack_int* ldb, float* x,
+                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    double* dlf, double* df, double* duf, double* du2,
+                    lapack_int* ipiv, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* rcond, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du, lapack_complex_float* dlf,
+                    lapack_complex_float* df, lapack_complex_float* duf,
+                    lapack_complex_float* du2, lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du, lapack_complex_double* dlf,
+                    lapack_complex_double* df, lapack_complex_double* duf,
+                    lapack_complex_double* du2, lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sposv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dsposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* work, float* swork,
+                    lapack_int* iter, lapack_int *info );
+void LAPACK_zcposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, lapack_complex_float* swork,
+                    double* rwork, lapack_int* iter, lapack_int *info );
+void LAPACK_sposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                    char* equed, float* s, float* b, lapack_int* ldb, float* x,
+                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                    char* equed, double* s, double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* rcond, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf, char* equed,
+                    float* s, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf, char* equed,
+                    double* s, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     char* equed, double* s, double* b, lapack_int* ldb,
+                     double* x, lapack_int* ldx, double* rcond, double* rpvgrw,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_sposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     char* equed, float* s, float* b, lapack_int* ldb, float* x,
+                     lapack_int* ldx, float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf, char* equed,
+                     double* s, lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf, char* equed,
+                     float* s, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sppsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
+                   float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dppsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
+                   double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    float* ap, float* afp, char* equed, float* s, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    double* ap, double* afp, char* equed, double* s, double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* ap, lapack_complex_float* afp,
+                    char* equed, float* s, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* ap, lapack_complex_double* afp,
+                    char* equed, double* s, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   float* ab, lapack_int* ldab, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   double* ab, lapack_int* ldab, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   lapack_complex_double* ab, lapack_int* ldab,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_spbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, float* ab, lapack_int* ldab, float* afb,
+                    lapack_int* ldafb, char* equed, float* s, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, double* ab, lapack_int* ldab, double* afb,
+                    lapack_int* ldafb, char* equed, double* s, double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* afb,
+                    lapack_int* ldafb, char* equed, float* s,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* afb,
+                    lapack_int* ldafb, char* equed, double* s,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sptsv( lapack_int* n, lapack_int* nrhs, float* d, float* e,
+                   float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dptsv( lapack_int* n, lapack_int* nrhs, double* d, double* e,
+                   double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cptsv( lapack_int* n, lapack_int* nrhs, float* d,
+                   lapack_complex_float* e, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zptsv( lapack_int* n, lapack_int* nrhs, double* d,
+                   lapack_complex_double* e, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, float* df, float* ef, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int *info );
+void LAPACK_dptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const double* e, double* df, double* ef,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
+                    double* work, lapack_int *info );
+void LAPACK_cptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, float* df,
+                    lapack_complex_float* ef, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e, double* df,
+                    lapack_complex_double* ef, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_ssysv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
+                   lapack_int* lda, lapack_int* ipiv, float* b, lapack_int* ldb,
+                   float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dsysv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                   lapack_int* lda, lapack_int* ipiv, double* b,
+                   lapack_int* ldb, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_csysv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zsysv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_ssysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, float* af,
+                    lapack_int* ldaf, lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, double* af,
+                    lapack_int* ldaf, lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_csysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_dsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s, double* b,
+                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_ssysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s, float* b,
+                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_csysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_chesv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zhesv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_chesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_zhesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_chesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sspsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dspsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_sspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, float* afp, lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, double* afp, lapack_int* ipiv,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* afp,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* afp,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_chpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zhpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_chpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* afp,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* afp,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgeqrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgeqrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgeqrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgeqrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgeqpf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* jpvt, float* tau, float* work,
+                    lapack_int *info );
+void LAPACK_dgeqpf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* jpvt, double* tau, double* work,
+                    lapack_int *info );
+void LAPACK_cgeqpf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgeqpf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgeqp3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* jpvt, float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgeqp3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* jpvt, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgeqp3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgeqp3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sorgqr( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgqr( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungqr( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungqr( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgelqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgelqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgelqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgelqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorglq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorglq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunglq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunglq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgeqlf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgeqlf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgeqlf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgeqlf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorgql( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgql( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungql( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungql( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgerqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgerqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgerqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgerqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorgrq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgrq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungrq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungrq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_stzrzf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dtzrzf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ctzrzf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ztzrzf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggqrf( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
+                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
+                    float* taub, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggqrf( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
+                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
+                    double* taub, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* taua, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* taub,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* taua, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* taub,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sggrqf( lapack_int* m, lapack_int* p, lapack_int* n, float* a,
+                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
+                    float* taub, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggrqf( lapack_int* m, lapack_int* p, lapack_int* n, double* a,
+                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
+                    double* taub, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* taua, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* taub,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* taua, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* taub,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgebrd( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* d, float* e, float* tauq, float* taup, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgebrd( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* d, double* e, double* tauq, double* taup,
+                    double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgebrd( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, float* d, float* e,
+                    lapack_complex_float* tauq, lapack_complex_float* taup,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgebrd( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, double* d, double* e,
+                    lapack_complex_double* tauq, lapack_complex_double* taup,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, float* ab, lapack_int* ldab,
+                    float* d, float* e, float* q, lapack_int* ldq, float* pt,
+                    lapack_int* ldpt, float* c, lapack_int* ldc, float* work,
+                    lapack_int *info );
+void LAPACK_dgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, double* ab,
+                    lapack_int* ldab, double* d, double* e, double* q,
+                    lapack_int* ldq, double* pt, lapack_int* ldpt, double* c,
+                    lapack_int* ldc, double* work, lapack_int *info );
+void LAPACK_cgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, lapack_complex_float* ab,
+                    lapack_int* ldab, float* d, float* e,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* pt, lapack_int* ldpt,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, lapack_complex_double* ab,
+                    lapack_int* ldab, double* d, double* e,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* pt, lapack_int* ldpt,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    float* a, lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    double* a, lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
+                    float* vt, lapack_int* ldvt, float* u, lapack_int* ldu,
+                    float* c, lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
+                    double* vt, lapack_int* ldvt, double* u, lapack_int* ldu,
+                    double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_cbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* c, lapack_int* ldc, float* work,
+                    lapack_int *info );
+void LAPACK_zbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_sbdsdc( char* uplo, char* compq, lapack_int* n, float* d, float* e,
+                    float* u, lapack_int* ldu, float* vt, lapack_int* ldvt,
+                    float* q, lapack_int* iq, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dbdsdc( char* uplo, char* compq, lapack_int* n, double* d,
+                    double* e, double* u, lapack_int* ldu, double* vt,
+                    lapack_int* ldvt, double* q, lapack_int* iq, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ssytrd( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    float* d, float* e, float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dsytrd( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    double* d, double* e, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sorgtr( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    const float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dorgtr( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    const double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_chetrd( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, float* d, float* e,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zhetrd( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, double* d, double* e,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungtr( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zungtr( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ssptrd( char* uplo, lapack_int* n, float* ap, float* d, float* e,
+                    float* tau, lapack_int *info );
+void LAPACK_dsptrd( char* uplo, lapack_int* n, double* ap, double* d, double* e,
+                    double* tau, lapack_int *info );
+void LAPACK_sopgtr( char* uplo, lapack_int* n, const float* ap,
+                    const float* tau, float* q, lapack_int* ldq, float* work,
+                    lapack_int *info );
+void LAPACK_dopgtr( char* uplo, lapack_int* n, const double* ap,
+                    const double* tau, double* q, lapack_int* ldq, double* work,
+                    lapack_int *info );
+void LAPACK_sopmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const float* ap, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dopmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const double* ap, const double* tau,
+                    double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_chptrd( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    float* d, float* e, lapack_complex_float* tau,
+                    lapack_int *info );
+void LAPACK_zhptrd( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    double* d, double* e, lapack_complex_double* tau,
+                    lapack_int *info );
+void LAPACK_cupgtr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_complex_float* tau, lapack_complex_float* q,
+                    lapack_int* ldq, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zupgtr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_complex_double* tau, lapack_complex_double* q,
+                    lapack_int* ldq, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_cupmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_complex_float* tau, lapack_complex_float* c,
+                    lapack_int* ldc, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zupmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_ssbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    float* ab, lapack_int* ldab, float* d, float* e, float* q,
+                    lapack_int* ldq, float* work, lapack_int *info );
+void LAPACK_dsbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    double* ab, lapack_int* ldab, double* d, double* e,
+                    double* q, lapack_int* ldq, double* work,
+                    lapack_int *info );
+void LAPACK_chbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab, float* d,
+                    float* e, lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab, double* d,
+                    double* e, lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_ssterf( lapack_int* n, float* d, float* e, lapack_int *info );
+void LAPACK_dsterf( lapack_int* n, double* d, double* e, lapack_int *info );
+void LAPACK_ssteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dsteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_csteqr( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz, float* work,
+                    lapack_int *info );
+void LAPACK_zsteqr( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz, double* work,
+                    lapack_int *info );
+void LAPACK_sstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    lapack_int* nzc, lapack_int* isuppz, lapack_logical* tryrac,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dstemr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, lapack_int* m, double* w, double* z,
+                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
+                    lapack_logical* tryrac, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
+                    lapack_logical* tryrac, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zstemr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* nzc,
+                    lapack_int* isuppz, lapack_logical* tryrac, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_sstedc( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dstedc( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cstedc( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zstedc( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, lapack_int* isuppz, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_dstegr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, lapack_int* isuppz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_cstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_int* isuppz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zstegr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_int* isuppz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_spteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dpteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_cpteqr( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz, float* work,
+                    lapack_int *info );
+void LAPACK_zpteqr( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz, double* work,
+                    lapack_int *info );
+void LAPACK_sstebz( char* range, char* order, lapack_int* n, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    const float* d, const float* e, lapack_int* m,
+                    lapack_int* nsplit, float* w, lapack_int* iblock,
+                    lapack_int* isplit, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dstebz( char* range, char* order, lapack_int* n, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    const double* d, const double* e, lapack_int* m,
+                    lapack_int* nsplit, double* w, lapack_int* iblock,
+                    lapack_int* isplit, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_sstein( lapack_int* n, const float* d, const float* e,
+                    lapack_int* m, const float* w, const lapack_int* iblock,
+                    const lapack_int* isplit, float* z, lapack_int* ldz,
+                    float* work, lapack_int* iwork, lapack_int* ifailv,
+                    lapack_int *info );
+void LAPACK_dstein( lapack_int* n, const double* d, const double* e,
+                    lapack_int* m, const double* w, const lapack_int* iblock,
+                    const lapack_int* isplit, double* z, lapack_int* ldz,
+                    double* work, lapack_int* iwork, lapack_int* ifailv,
+                    lapack_int *info );
+void LAPACK_cstein( lapack_int* n, const float* d, const float* e,
+                    lapack_int* m, const float* w, const lapack_int* iblock,
+                    const lapack_int* isplit, lapack_complex_float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifailv, lapack_int *info );
+void LAPACK_zstein( lapack_int* n, const double* d, const double* e,
+                    lapack_int* m, const double* w, const lapack_int* iblock,
+                    const lapack_int* isplit, lapack_complex_double* z,
+                    lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifailv, lapack_int *info );
+void LAPACK_sdisna( char* job, lapack_int* m, lapack_int* n, const float* d,
+                    float* sep, lapack_int *info );
+void LAPACK_ddisna( char* job, lapack_int* m, lapack_int* n, const double* d,
+                    double* sep, lapack_int *info );
+void LAPACK_ssygst( lapack_int* itype, char* uplo, lapack_int* n, float* a,
+                    lapack_int* lda, const float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dsygst( lapack_int* itype, char* uplo, lapack_int* n, double* a,
+                    lapack_int* lda, const double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_chegst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zhegst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sspgst( lapack_int* itype, char* uplo, lapack_int* n, float* ap,
+                    const float* bp, lapack_int *info );
+void LAPACK_dspgst( lapack_int* itype, char* uplo, lapack_int* n, double* ap,
+                    const double* bp, lapack_int *info );
+void LAPACK_chpgst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, const lapack_complex_float* bp,
+                    lapack_int *info );
+void LAPACK_zhpgst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, const lapack_complex_double* bp,
+                    lapack_int *info );
+void LAPACK_ssbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, float* ab, lapack_int* ldab,
+                    const float* bb, lapack_int* ldbb, float* x,
+                    lapack_int* ldx, float* work, lapack_int *info );
+void LAPACK_dsbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, double* ab, lapack_int* ldab,
+                    const double* bb, lapack_int* ldbb, double* x,
+                    lapack_int* ldx, double* work, lapack_int *info );
+void LAPACK_chbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* bb, lapack_int* ldbb,
+                    lapack_complex_float* x, lapack_int* ldx,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* bb, lapack_int* ldbb,
+                    lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbstf( char* uplo, lapack_int* n, lapack_int* kb, float* bb,
+                    lapack_int* ldbb, lapack_int *info );
+void LAPACK_dpbstf( char* uplo, lapack_int* n, lapack_int* kb, double* bb,
+                    lapack_int* ldbb, lapack_int *info );
+void LAPACK_cpbstf( char* uplo, lapack_int* n, lapack_int* kb,
+                    lapack_complex_float* bb, lapack_int* ldbb,
+                    lapack_int *info );
+void LAPACK_zpbstf( char* uplo, lapack_int* n, lapack_int* kb,
+                    lapack_complex_double* bb, lapack_int* ldbb,
+                    lapack_int *info );
+void LAPACK_sgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
+                    lapack_int* lda, float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
+                    lapack_int* lda, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* c,
+                    lapack_int* ldc, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sgebal( char* job, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ilo, lapack_int* ihi, float* scale,
+                    lapack_int *info );
+void LAPACK_dgebal( char* job, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ilo, lapack_int* ihi, double* scale,
+                    lapack_int *info );
+void LAPACK_cgebal( char* job, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, lapack_int *info );
+void LAPACK_zgebal( char* job, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, lapack_int *info );
+void LAPACK_sgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* scale, lapack_int* m,
+                    float* v, lapack_int* ldv, lapack_int *info );
+void LAPACK_dgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* scale, lapack_int* m,
+                    double* v, lapack_int* ldv, lapack_int *info );
+void LAPACK_cgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* scale, lapack_int* m,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_zgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* scale, lapack_int* m,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_shseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, float* h, lapack_int* ldh, float* wr,
+                    float* wi, float* z, lapack_int* ldz, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, double* h, lapack_int* ldh, double* wr,
+                    double* wi, double* z, lapack_int* ldz, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_chseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_float* h, lapack_int* ldh,
+                    lapack_complex_float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_double* h, lapack_int* ldh,
+                    lapack_complex_double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_shsein( char* job, char* eigsrc, char* initv,
+                    lapack_logical* select, lapack_int* n, const float* h,
+                    lapack_int* ldh, float* wr, const float* wi, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_dhsein( char* job, char* eigsrc, char* initv,
+                    lapack_logical* select, lapack_int* n, const double* h,
+                    lapack_int* ldh, double* wr, const double* wi, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_chsein( char* job, char* eigsrc, char* initv,
+                    const lapack_logical* select, lapack_int* n,
+                    const lapack_complex_float* h, lapack_int* ldh,
+                    lapack_complex_float* w, lapack_complex_float* vl,
+                    lapack_int* ldvl, lapack_complex_float* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_zhsein( char* job, char* eigsrc, char* initv,
+                    const lapack_logical* select, lapack_int* n,
+                    const lapack_complex_double* h, lapack_int* ldh,
+                    lapack_complex_double* w, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_strevc( char* side, char* howmny, lapack_logical* select,
+                    lapack_int* n, const float* t, lapack_int* ldt, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int *info );
+void LAPACK_dtrevc( char* side, char* howmny, lapack_logical* select,
+                    lapack_int* n, const double* t, lapack_int* ldt, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int *info );
+void LAPACK_ctrevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* vl, lapack_int* ldvl,
+                    lapack_complex_double* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_strsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* t, lapack_int* ldt,
+                    const float* vl, lapack_int* ldvl, const float* vr,
+                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
+                    lapack_int* m, float* work, lapack_int* ldwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* t, lapack_int* ldt,
+                    const double* vl, lapack_int* ldvl, const double* vr,
+                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
+                    lapack_int* m, double* work, lapack_int* ldwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* t,
+                    lapack_int* ldt, const lapack_complex_float* vl,
+                    lapack_int* ldvl, const lapack_complex_float* vr,
+                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work,
+                    lapack_int* ldwork, float* rwork, lapack_int *info );
+void LAPACK_ztrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* t,
+                    lapack_int* ldt, const lapack_complex_double* vl,
+                    lapack_int* ldvl, const lapack_complex_double* vr,
+                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work,
+                    lapack_int* ldwork, double* rwork, lapack_int *info );
+void LAPACK_strexc( char* compq, lapack_int* n, float* t, lapack_int* ldt,
+                    float* q, lapack_int* ldq, lapack_int* ifst,
+                    lapack_int* ilst, float* work, lapack_int *info );
+void LAPACK_dtrexc( char* compq, lapack_int* n, double* t, lapack_int* ldt,
+                    double* q, lapack_int* ldq, lapack_int* ifst,
+                    lapack_int* ilst, double* work, lapack_int *info );
+void LAPACK_ctrexc( char* compq, lapack_int* n, lapack_complex_float* t,
+                    lapack_int* ldt, lapack_complex_float* q, lapack_int* ldq,
+                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
+void LAPACK_ztrexc( char* compq, lapack_int* n, lapack_complex_double* t,
+                    lapack_int* ldt, lapack_complex_double* q, lapack_int* ldq,
+                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
+void LAPACK_strsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, float* t, lapack_int* ldt, float* q,
+                    lapack_int* ldq, float* wr, float* wi, lapack_int* m,
+                    float* s, float* sep, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dtrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, double* t, lapack_int* ldt, double* q,
+                    lapack_int* ldq, double* wr, double* wi, lapack_int* m,
+                    double* s, double* sep, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ctrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* w, lapack_int* m, float* s,
+                    float* sep, lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ztrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* w, lapack_int* m, double* s,
+                    double* sep, lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_strsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, float* c, lapack_int* ldc,
+                    float* scale, lapack_int *info );
+void LAPACK_dtrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, double* c,
+                    lapack_int* ldc, double* scale, lapack_int *info );
+void LAPACK_ctrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* c, lapack_int* ldc,
+                    float* scale, lapack_int *info );
+void LAPACK_ztrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* c, lapack_int* ldc,
+                    double* scale, lapack_int *info );
+void LAPACK_sgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* q, lapack_int* ldq, float* z,
+                    lapack_int* ldz, lapack_int *info );
+void LAPACK_dgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* q, lapack_int* ldq, double* z,
+                    lapack_int* ldz, lapack_int *info );
+void LAPACK_cgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_int *info );
+void LAPACK_zgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_int *info );
+void LAPACK_sggbal( char* job, lapack_int* n, float* a, lapack_int* lda,
+                    float* b, lapack_int* ldb, lapack_int* ilo, lapack_int* ihi,
+                    float* lscale, float* rscale, float* work,
+                    lapack_int *info );
+void LAPACK_dggbal( char* job, lapack_int* n, double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, lapack_int* ilo,
+                    lapack_int* ihi, double* lscale, double* rscale,
+                    double* work, lapack_int *info );
+void LAPACK_cggbal( char* job, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int* ilo, lapack_int* ihi, float* lscale,
+                    float* rscale, float* work, lapack_int *info );
+void LAPACK_zggbal( char* job, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int* ilo, lapack_int* ihi, double* lscale,
+                    double* rscale, double* work, lapack_int *info );
+void LAPACK_sggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* lscale, const float* rscale,
+                    lapack_int* m, float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_dggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* lscale, const double* rscale,
+                    lapack_int* m, double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_cggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* lscale, const float* rscale,
+                    lapack_int* m, lapack_complex_float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_zggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* lscale, const double* rscale,
+                    lapack_int* m, lapack_complex_double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_shgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, float* h, lapack_int* ldh,
+                    float* t, lapack_int* ldt, float* alphar, float* alphai,
+                    float* beta, float* q, lapack_int* ldq, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dhgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, double* h,
+                    lapack_int* ldh, double* t, lapack_int* ldt, double* alphar,
+                    double* alphai, double* beta, double* q, lapack_int* ldq,
+                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_chgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, lapack_complex_float* h,
+                    lapack_int* ldh, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, lapack_complex_double* h,
+                    lapack_int* ldh, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_stgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* s, lapack_int* lds,
+                    const float* p, lapack_int* ldp, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int *info );
+void LAPACK_dtgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* s, lapack_int* lds,
+                    const double* p, lapack_int* ldp, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int *info );
+void LAPACK_ctgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* s,
+                    lapack_int* lds, const lapack_complex_float* p,
+                    lapack_int* ldp, lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* s,
+                    lapack_int* lds, const lapack_complex_double* p,
+                    lapack_int* ldp, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
+                    lapack_int* ifst, lapack_int* ilst, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dtgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* q, lapack_int* ldq, double* z, lapack_int* ldz,
+                    lapack_int* ifst, lapack_int* ilst, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_ctgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz, lapack_int* ifst,
+                    lapack_int* ilst, lapack_int *info );
+void LAPACK_ztgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* ifst,
+                    lapack_int* ilst, lapack_int *info );
+void LAPACK_stgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
+                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
+                    lapack_int* m, float* pl, float* pr, float* dif,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dtgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* alphar, double* alphai,
+                    double* beta, double* q, lapack_int* ldq, double* z,
+                    lapack_int* ldz, lapack_int* m, double* pl, double* pr,
+                    double* dif, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ctgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz, lapack_int* m,
+                    float* pl, float* pr, float* dif,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ztgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* m,
+                    double* pl, double* pr, double* dif,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_stgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const float* a, lapack_int* lda, const float* b,
+                    lapack_int* ldb, float* c, lapack_int* ldc, const float* d,
+                    lapack_int* ldd, const float* e, lapack_int* lde, float* f,
+                    lapack_int* ldf, float* scale, float* dif, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dtgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const double* a, lapack_int* lda, const double* b,
+                    lapack_int* ldb, double* c, lapack_int* ldc,
+                    const double* d, lapack_int* ldd, const double* e,
+                    lapack_int* lde, double* f, lapack_int* ldf, double* scale,
+                    double* dif, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    const lapack_complex_float* d, lapack_int* ldd,
+                    const lapack_complex_float* e, lapack_int* lde,
+                    lapack_complex_float* f, lapack_int* ldf, float* scale,
+                    float* dif, lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ztgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    const lapack_complex_double* d, lapack_int* ldd,
+                    const lapack_complex_double* e, lapack_int* lde,
+                    lapack_complex_double* f, lapack_int* ldf, double* scale,
+                    double* dif, lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_stgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, const float* vl,
+                    lapack_int* ldvl, const float* vr, lapack_int* ldvr,
+                    float* s, float* dif, lapack_int* mm, lapack_int* m,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, const double* vl,
+                    lapack_int* ldvl, const double* vr, lapack_int* ldvr,
+                    double* s, double* dif, lapack_int* mm, lapack_int* m,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, const lapack_complex_float* vl,
+                    lapack_int* ldvl, const lapack_complex_float* vr,
+                    lapack_int* ldvr, float* s, float* dif, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_ztgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, const lapack_complex_double* vl,
+                    lapack_int* ldvl, const lapack_complex_double* vr,
+                    lapack_int* ldvr, double* s, double* dif, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_sggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, float* a, lapack_int* lda,
+                    float* b, lapack_int* ldb, float* tola, float* tolb,
+                    lapack_int* k, lapack_int* l, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
+                    lapack_int* iwork, float* tau, float* work,
+                    lapack_int *info );
+void LAPACK_dggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, double* tola, double* tolb,
+                    lapack_int* k, lapack_int* l, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
+                    lapack_int* iwork, double* tau, double* work,
+                    lapack_int *info );
+void LAPACK_cggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    float* tola, float* tolb, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq, lapack_int* iwork,
+                    float* rwork, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    double* tola, double* tolb, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_int* iwork, double* rwork,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_stgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* tola, float* tolb, float* alpha, float* beta,
+                    float* u, lapack_int* ldu, float* v, lapack_int* ldv,
+                    float* q, lapack_int* ldq, float* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_dtgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* tola, double* tolb, double* alpha, double* beta,
+                    double* u, lapack_int* ldu, double* v, lapack_int* ldv,
+                    double* q, lapack_int* ldq, double* work,
+                    lapack_int* ncycle, lapack_int *info );
+void LAPACK_ctgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* tola,
+                    float* tolb, float* alpha, float* beta,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_ztgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* tola,
+                    double* tolb, double* alpha, double* beta,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_sgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                   float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                   double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_sgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int* jpvt, float* rcond, lapack_int* rank,
+                    float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb,
+                    lapack_int* jpvt, double* rcond, lapack_int* rank,
+                    double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, lapack_int* jpvt,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, lapack_int* jpvt,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_zgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgglse( lapack_int* m, lapack_int* n, lapack_int* p, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* c,
+                    float* d, float* x, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgglse( lapack_int* m, lapack_int* n, lapack_int* p, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* c,
+                    double* d, double* x, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgglse( lapack_int* m, lapack_int* n, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* c, lapack_complex_float* d,
+                    lapack_complex_float* x, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgglse( lapack_int* m, lapack_int* n, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* c, lapack_complex_double* d,
+                    lapack_complex_double* x, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggglm( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* d,
+                    float* x, float* y, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggglm( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* d,
+                    double* x, double* y, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggglm( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* d, lapack_complex_float* x,
+                    lapack_complex_float* y, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zggglm( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* d, lapack_complex_double* x,
+                    lapack_complex_double* y, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_ssyev( char* jobz, char* uplo, lapack_int* n, float* a,
+                   lapack_int* lda, float* w, float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_dsyev( char* jobz, char* uplo, lapack_int* n, double* a,
+                   lapack_int* lda, double* w, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_cheev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda, float* w,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zheev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda, double* w,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_ssyevd( char* jobz, char* uplo, lapack_int* n, float* a,
+                    lapack_int* lda, float* w, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsyevd( char* jobz, char* uplo, lapack_int* n, double* a,
+                    lapack_int* lda, double* w, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cheevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* w,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zheevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* w,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssyevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsyevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_cheevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zheevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_ssyevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    lapack_int* isuppz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsyevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    lapack_int* isuppz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cheevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_int* isuppz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zheevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_int* isuppz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspev( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
+                   float* z, lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dspev( char* jobz, char* uplo, lapack_int* n, double* ap, double* w,
+                   double* z, lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chpev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* ap, float* w, lapack_complex_float* z,
+                   lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                   lapack_int *info );
+void LAPACK_zhpev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* ap, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_sspevd( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dspevd( char* jobz, char* uplo, lapack_int* n, double* ap,
+                    double* w, double* z, lapack_int* ldz, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_chpevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* lrwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zhpevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* ap, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dspevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* ap, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chpevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhpevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_ssbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   float* ab, lapack_int* ldab, float* w, float* z,
+                   lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dsbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   double* ab, lapack_int* ldab, double* w, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   lapack_complex_float* ab, lapack_int* ldab, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   lapack_complex_double* ab, lapack_int* ldab, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_ssbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    float* ab, lapack_int* ldab, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    double* ab, lapack_int* ldab, double* w, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, float* ab, lapack_int* ldab, float* q,
+                    lapack_int* ldq, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, double* ab, lapack_int* ldab, double* q,
+                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* q, lapack_int* ldq, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* q, lapack_int* ldq, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_sstev( char* jobz, lapack_int* n, float* d, float* e, float* z,
+                   lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dstev( char* jobz, lapack_int* n, double* d, double* e, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_sstevd( char* jobz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dstevd( char* jobz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_sstevx( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dstevx( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_sstevr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, lapack_int* isuppz, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_dstevr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, lapack_int* isuppz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sgees( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
+                   lapack_int* n, float* a, lapack_int* lda, lapack_int* sdim,
+                   float* wr, float* wi, float* vs, lapack_int* ldvs,
+                   float* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_dgees( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
+                   lapack_int* n, double* a, lapack_int* lda, lapack_int* sdim,
+                   double* wr, double* wi, double* vs, lapack_int* ldvs,
+                   double* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_cgees( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
+                   lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                   lapack_int* sdim, lapack_complex_float* w,
+                   lapack_complex_float* vs, lapack_int* ldvs,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_zgees( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
+                   lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                   lapack_int* sdim, lapack_complex_double* w,
+                   lapack_complex_double* vs, lapack_int* ldvs,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_logical* bwork, lapack_int *info );
+void LAPACK_sgeesx( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
+                    char* sense, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* sdim, float* wr, float* wi, float* vs,
+                    lapack_int* ldvs, float* rconde, float* rcondv, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_logical* bwork, lapack_int *info );
+void LAPACK_dgeesx( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
+                    char* sense, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* sdim, double* wr, double* wi, double* vs,
+                    lapack_int* ldvs, double* rconde, double* rcondv,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cgeesx( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
+                    char* sense, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* sdim, lapack_complex_float* w,
+                    lapack_complex_float* vs, lapack_int* ldvs, float* rconde,
+                    float* rcondv, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zgeesx( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
+                    char* sense, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* sdim, lapack_complex_double* w,
+                    lapack_complex_double* vs, lapack_int* ldvs, double* rconde,
+                    double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_sgeev( char* jobvl, char* jobvr, lapack_int* n, float* a,
+                   lapack_int* lda, float* wr, float* wi, float* vl,
+                   lapack_int* ldvl, float* vr, lapack_int* ldvr, float* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_dgeev( char* jobvl, char* jobvr, lapack_int* n, double* a,
+                   lapack_int* lda, double* wr, double* wi, double* vl,
+                   lapack_int* ldvl, double* vr, lapack_int* ldvr, double* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_cgeev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* w, lapack_complex_float* vl,
+                   lapack_int* ldvl, lapack_complex_float* vr, lapack_int* ldvr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zgeev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* w, lapack_complex_double* vl,
+                   lapack_int* ldvl, lapack_complex_double* vr,
+                   lapack_int* ldvr, lapack_complex_double* work,
+                   lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, float* a, lapack_int* lda, float* wr,
+                    float* wi, float* vl, lapack_int* ldvl, float* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, float* abnrm, float* rconde, float* rcondv,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, double* a, lapack_int* lda, double* wr,
+                    double* wi, double* vl, lapack_int* ldvl, double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, double* abnrm, double* rconde,
+                    double* rcondv, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* w, lapack_complex_float* vl,
+                    lapack_int* ldvl, lapack_complex_float* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, float* abnrm, float* rconde, float* rcondv,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* w, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, double* abnrm, double* rconde,
+                    double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    float* a, lapack_int* lda, float* s, float* u,
+                    lapack_int* ldu, float* vt, lapack_int* ldvt, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    double* a, lapack_int* lda, double* s, double* u,
+                    lapack_int* ldu, double* vt, lapack_int* ldvt, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* s,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* s,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgesdd( char* jobz, lapack_int* m, lapack_int* n, float* a,
+                    lapack_int* lda, float* s, float* u, lapack_int* ldu,
+                    float* vt, lapack_int* ldvt, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dgesdd( char* jobz, lapack_int* m, lapack_int* n, double* a,
+                    lapack_int* lda, double* s, double* u, lapack_int* ldu,
+                    double* vt, lapack_int* ldvt, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgesdd( char* jobz, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* s,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_zgesdd( char* jobz, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* s,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
+                    char* jobp, lapack_int* m, lapack_int* n, double* a,
+                    lapack_int* lda, double* sva, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_sgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
+                    char* jobp, lapack_int* m, lapack_int* n, float* a,
+                    lapack_int* lda, float* sva, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
+                    lapack_int* n, double* a, lapack_int* lda, double* sva,
+                    lapack_int* mv, double* v, lapack_int* ldv, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
+                    lapack_int* n, float* a, lapack_int* lda, float* sva,
+                    lapack_int* mv, float* v, lapack_int* ldv, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* alpha, float* beta, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* alpha, double* beta, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* alpha,
+                    float* beta, lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_zggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* alpha,
+                    double* beta, lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ssygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                   float* w, float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dsygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                   double* w, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_chegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, float* w,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zhegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb, double* w,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_ssygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* w, float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dsygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* w, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* w,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* w,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_dsygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_chegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zhegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_sspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   float* ap, float* bp, float* w, float* z, lapack_int* ldz,
+                   float* work, lapack_int *info );
+void LAPACK_dspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   double* ap, double* bp, double* w, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* ap, lapack_complex_float* bp, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* ap, lapack_complex_double* bp,
+                   double* w, lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_sspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    float* ap, float* bp, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    double* ap, double* bp, double* w, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, lapack_complex_float* bp,
+                    float* w, lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, lapack_complex_double* bp,
+                    double* w, lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, float* ap, float* bp, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* iwork, lapack_int* ifail,
+                    lapack_int *info );
+void LAPACK_dspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, double* ap, double* bp, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* iwork, lapack_int* ifail,
+                    lapack_int *info );
+void LAPACK_chpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_float* ap,
+                    lapack_complex_float* bp, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_double* ap,
+                    lapack_complex_double* bp, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_ssbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
+                   lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
+                   float* work, lapack_int *info );
+void LAPACK_dsbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
+                   lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
+                   double* work, lapack_int *info );
+void LAPACK_chbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_complex_float* bb, lapack_int* ldbb, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                   lapack_complex_double* bb, lapack_int* ldbb, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_ssbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
+                    lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dsbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
+                    lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_chbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* bb, lapack_int* ldbb, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* bb, lapack_int* ldbb, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, float* ab, lapack_int* ldab,
+                    float* bb, lapack_int* ldbb, float* q, lapack_int* ldq,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, double* ab,
+                    lapack_int* ldab, double* bb, lapack_int* ldbb, double* q,
+                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* bb,
+                    lapack_int* ldbb, lapack_complex_float* q, lapack_int* ldq,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zhbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* bb,
+                    lapack_int* ldbb, lapack_complex_double* q, lapack_int* ldq,
+                    double* vl, double* vu, lapack_int* il, lapack_int* iu,
+                    double* abstol, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_sgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_S_SELECT3 selctg, lapack_int* n, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb, lapack_int* sdim,
+                   float* alphar, float* alphai, float* beta, float* vsl,
+                   lapack_int* ldvsl, float* vsr, lapack_int* ldvsr,
+                   float* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_dgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_D_SELECT3 selctg, lapack_int* n, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb,
+                   lapack_int* sdim, double* alphar, double* alphai,
+                   double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
+                   lapack_int* ldvsr, double* work, lapack_int* lwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_cgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_C_SELECT2 selctg, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
+                   lapack_complex_float* alpha, lapack_complex_float* beta,
+                   lapack_complex_float* vsl, lapack_int* ldvsl,
+                   lapack_complex_float* vsr, lapack_int* ldvsr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_zgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_Z_SELECT2 selctg, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
+                   lapack_complex_double* alpha, lapack_complex_double* beta,
+                   lapack_complex_double* vsl, lapack_int* ldvsl,
+                   lapack_complex_double* vsr, lapack_int* ldvsr,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_logical* bwork, lapack_int *info );
+void LAPACK_sggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_S_SELECT3 selctg, char* sense, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int* sdim, float* alphar, float* alphai, float* beta,
+                    float* vsl, lapack_int* ldvsl, float* vsr,
+                    lapack_int* ldvsr, float* rconde, float* rcondv,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_dggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_D_SELECT3 selctg, char* sense, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    lapack_int* sdim, double* alphar, double* alphai,
+                    double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
+                    lapack_int* ldvsr, double* rconde, double* rcondv,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_C_SELECT2 selctg, char* sense, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* vsl, lapack_int* ldvsl,
+                    lapack_complex_float* vsr, lapack_int* ldvsr, float* rconde,
+                    float* rcondv, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_Z_SELECT2 selctg, char* sense, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* vsl, lapack_int* ldvsl,
+                    lapack_complex_double* vsr, lapack_int* ldvsr,
+                    double* rconde, double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_sggev( char* jobvl, char* jobvr, lapack_int* n, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb, float* alphar,
+                   float* alphai, float* beta, float* vl, lapack_int* ldvl,
+                   float* vr, lapack_int* ldvr, float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_dggev( char* jobvl, char* jobvr, lapack_int* n, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb, double* alphar,
+                   double* alphai, double* beta, double* vl, lapack_int* ldvl,
+                   double* vr, lapack_int* ldvr, double* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_cggev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* alpha, lapack_complex_float* beta,
+                   lapack_complex_float* vl, lapack_int* ldvl,
+                   lapack_complex_float* vr, lapack_int* ldvr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zggev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* alpha, lapack_complex_double* beta,
+                   lapack_complex_double* vl, lapack_int* ldvl,
+                   lapack_complex_double* vr, lapack_int* ldvr,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_sggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
+                    float* vl, lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* ilo, lapack_int* ihi, float* lscale,
+                    float* rscale, float* abnrm, float* bbnrm, float* rconde,
+                    float* rcondv, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_dggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* alphar, double* alphai,
+                    double* beta, double* vl, lapack_int* ldvl, double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* lscale, double* rscale, double* abnrm,
+                    double* bbnrm, double* rconde, double* rcondv, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* ilo,
+                    lapack_int* ihi, float* lscale, float* rscale, float* abnrm,
+                    float* bbnrm, float* rconde, float* rcondv,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* vl, lapack_int* ldvl,
+                    lapack_complex_double* vr, lapack_int* ldvr,
+                    lapack_int* ilo, lapack_int* ihi, double* lscale,
+                    double* rscale, double* abnrm, double* bbnrm,
+                    double* rconde, double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_logical* bwork, lapack_int *info );
+void LAPACK_dsfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, double* alpha, const double* a,
+                   lapack_int* lda, double* beta, double* c );
+void LAPACK_ssfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, float* alpha, const float* a, lapack_int* lda,
+                   float* beta, float* c );
+void LAPACK_zhfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, double* alpha, const lapack_complex_double* a,
+                   lapack_int* lda, double* beta, lapack_complex_double* c );
+void LAPACK_chfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, float* alpha, const lapack_complex_float* a,
+                   lapack_int* lda, float* beta, lapack_complex_float* c );
+void LAPACK_dtfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n, double* alpha,
+                   const double* a, double* b, lapack_int* ldb );
+void LAPACK_stfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n, float* alpha,
+                   const float* a, float* b, lapack_int* ldb );
+void LAPACK_ztfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n,
+                   lapack_complex_double* alpha, const lapack_complex_double* a,
+                   lapack_complex_double* b, lapack_int* ldb );
+void LAPACK_ctfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n,
+                   lapack_complex_float* alpha, const lapack_complex_float* a,
+                   lapack_complex_float* b, lapack_int* ldb );
+void LAPACK_dtfttp( char* transr, char* uplo, lapack_int* n, const double* arf,
+                    double* ap, lapack_int *info );
+void LAPACK_stfttp( char* transr, char* uplo, lapack_int* n, const float* arf,
+                    float* ap, lapack_int *info );
+void LAPACK_ztfttp( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* arf, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ctfttp( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* arf, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_dtfttr( char* transr, char* uplo, lapack_int* n, const double* arf,
+                    double* a, lapack_int* lda, lapack_int *info );
+void LAPACK_stfttr( char* transr, char* uplo, lapack_int* n, const float* arf,
+                    float* a, lapack_int* lda, lapack_int *info );
+void LAPACK_ztfttr( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* arf, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ctfttr( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* arf, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dtpttf( char* transr, char* uplo, lapack_int* n, const double* ap,
+                    double* arf, lapack_int *info );
+void LAPACK_stpttf( char* transr, char* uplo, lapack_int* n, const float* ap,
+                    float* arf, lapack_int *info );
+void LAPACK_ztpttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* ap, lapack_complex_double* arf,
+                    lapack_int *info );
+void LAPACK_ctpttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* ap, lapack_complex_float* arf,
+                    lapack_int *info );
+void LAPACK_dtpttr( char* uplo, lapack_int* n, const double* ap, double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_stpttr( char* uplo, lapack_int* n, const float* ap, float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ztpttr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_ctpttr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dtrttf( char* transr, char* uplo, lapack_int* n, const double* a,
+                    lapack_int* lda, double* arf, lapack_int *info );
+void LAPACK_strttf( char* transr, char* uplo, lapack_int* n, const float* a,
+                    lapack_int* lda, float* arf, lapack_int *info );
+void LAPACK_ztrttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* arf, lapack_int *info );
+void LAPACK_ctrttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* arf, lapack_int *info );
+void LAPACK_dtrttp( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    double* ap, lapack_int *info );
+void LAPACK_strttp( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    float* ap, lapack_int *info );
+void LAPACK_ztrttp( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ctrttp( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_sgeqrfp( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* tau, float* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_dgeqrfp( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* tau, double* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_cgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* tau,
+                     lapack_complex_float* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_zgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* tau,
+                     lapack_complex_double* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_clacgv( lapack_int* n, lapack_complex_float* x, lapack_int* incx );
+void LAPACK_zlacgv( lapack_int* n, lapack_complex_double* x, lapack_int* incx );
+void LAPACK_slarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    float* x );
+void LAPACK_dlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    double* x );
+void LAPACK_clarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    lapack_complex_float* x );
+void LAPACK_zlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    lapack_complex_double* x );
+void LAPACK_sgeqr2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int *info );
+void LAPACK_dgeqr2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int *info );
+void LAPACK_cgeqr2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgeqr2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slacpy( char* uplo, lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb );
+void LAPACK_dlacpy( char* uplo, lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb );
+void LAPACK_clacpy( char* uplo, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb );
+void LAPACK_zlacpy( char* uplo, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb );
+void LAPACK_sgetf2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgetf2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgetf2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgetf2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_slaswp( lapack_int* n, float* a, lapack_int* lda, lapack_int* k1,
+                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
+void LAPACK_dlaswp( lapack_int* n, double* a, lapack_int* lda, lapack_int* k1,
+                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
+void LAPACK_claswp( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
+                    lapack_int* incx );
+void LAPACK_zlaswp( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
+                    lapack_int* incx );
+float LAPACK_slange( char* norm, lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* work );
+double LAPACK_dlange( char* norm, lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* work );
+float LAPACK_clange( char* norm, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlange( char* norm, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_clanhe( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlanhe( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_slansy( char* norm, char* uplo, lapack_int* n, const float* a,
+                    lapack_int* lda, float* work );
+double LAPACK_dlansy( char* norm, char* uplo, lapack_int* n, const double* a,
+                    lapack_int* lda, double* work );
+float LAPACK_clansy( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlansy( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_slantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda, float* work );
+double LAPACK_dlantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda, double* work );
+float LAPACK_clantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a, lapack_int* lda,
+                    float* work );
+double LAPACK_zlantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a, lapack_int* lda,
+                    double* work );
+float LAPACK_slamch( char* cmach );
+double LAPACK_dlamch( char* cmach );
+void LAPACK_sgelq2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int *info );
+void LAPACK_dgelq2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int *info );
+void LAPACK_cgelq2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgelq2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, const float* v,
+                    lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
+                    lapack_int* ldc, float* work, lapack_int* ldwork );
+void LAPACK_dlarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const double* v, lapack_int* ldv, const double* t,
+                    lapack_int* ldt, double* c, lapack_int* ldc, double* work,
+                    lapack_int* ldwork );
+void LAPACK_clarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* ldwork );
+void LAPACK_zlarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* ldwork );
+void LAPACK_slarfg( lapack_int* n, float* alpha, float* x, lapack_int* incx,
+                    float* tau );
+void LAPACK_dlarfg( lapack_int* n, double* alpha, double* x, lapack_int* incx,
+                    double* tau );
+void LAPACK_clarfg( lapack_int* n, lapack_complex_float* alpha,
+                    lapack_complex_float* x, lapack_int* incx,
+                    lapack_complex_float* tau );
+void LAPACK_zlarfg( lapack_int* n, lapack_complex_double* alpha,
+                    lapack_complex_double* x, lapack_int* incx,
+                    lapack_complex_double* tau );
+void LAPACK_slarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const float* v, lapack_int* ldv, const float* tau, float* t,
+                    lapack_int* ldt );
+void LAPACK_dlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const double* v, lapack_int* ldv, const double* tau,
+                    double* t, lapack_int* ldt );
+void LAPACK_clarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* tau, lapack_complex_float* t,
+                    lapack_int* ldt );
+void LAPACK_zlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* tau, lapack_complex_double* t,
+                    lapack_int* ldt );
+void LAPACK_slarfx( char* side, lapack_int* m, lapack_int* n, const float* v,
+                    float* tau, float* c, lapack_int* ldc, float* work );
+void LAPACK_dlarfx( char* side, lapack_int* m, lapack_int* n, const double* v,
+                    double* tau, double* c, lapack_int* ldc, double* work );
+void LAPACK_clarfx( char* side, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* v, lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work );
+void LAPACK_zlarfx( char* side, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* v, lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work );
+void LAPACK_slatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, float* d, lapack_int* mode, float* cond,
+                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    float* a, lapack_int* lda, float* work, lapack_int *info );
+void LAPACK_dlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, double* d, lapack_int* mode, double* cond,
+                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    double* a, lapack_int* lda, double* work,
+                    lapack_int *info );
+void LAPACK_clatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, float* d, lapack_int* mode, float* cond,
+                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, double* d, lapack_int* mode, double* cond,
+                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slag2d( lapack_int* m, lapack_int* n, const float* sa,
+                    lapack_int* ldsa, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dlag2s( lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, float* sa, lapack_int* ldsa,
+                    lapack_int *info );
+void LAPACK_clag2z( lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* sa, lapack_int* ldsa,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_zlag2c( lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_float* sa, lapack_int* ldsa,
+                    lapack_int *info );
+void LAPACK_slauum( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dlauum( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_clauum( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zlauum( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_slagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* d, float* a, lapack_int* lda,
+                    lapack_int* iseed, float* work, lapack_int *info );
+void LAPACK_dlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* d, double* a, lapack_int* lda,
+                    lapack_int* iseed, double* work, lapack_int *info );
+void LAPACK_clagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* d, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* d, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slaset( char* uplo, lapack_int* m, lapack_int* n, float* alpha,
+                    float* beta, float* a, lapack_int* lda );
+void LAPACK_dlaset( char* uplo, lapack_int* m, lapack_int* n, double* alpha,
+                    double* beta, double* a, lapack_int* lda );
+void LAPACK_claset( char* uplo, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* a, lapack_int* lda );
+void LAPACK_zlaset( char* uplo, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* a, lapack_int* lda );
+void LAPACK_slasrt( char* id, lapack_int* n, float* d, lapack_int *info );
+void LAPACK_dlasrt( char* id, lapack_int* n, double* d, lapack_int *info );
+void LAPACK_claghe( lapack_int* n, lapack_int* k, const float* d,
+                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlaghe( lapack_int* n, lapack_int* k, const double* d,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* iseed, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_slagsy( lapack_int* n, lapack_int* k, const float* d, float* a,
+                    lapack_int* lda, lapack_int* iseed, float* work,
+                    lapack_int *info );
+void LAPACK_dlagsy( lapack_int* n, lapack_int* k, const double* d, double* a,
+                    lapack_int* lda, lapack_int* iseed, double* work,
+                    lapack_int *info );
+void LAPACK_clagsy( lapack_int* n, lapack_int* k, const float* d,
+                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlagsy( lapack_int* n, lapack_int* k, const double* d,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* iseed, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_slapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    float* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_dlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    double* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_clapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_zlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* x, lapack_int* ldx, lapack_int* k );
+float LAPACK_slapy2( float* x, float* y );
+double LAPACK_dlapy2( double* x, double* y );
+float LAPACK_slapy3( float* x, float* y, float* z );
+double LAPACK_dlapy3( double* x, double* y, double* z );
+void LAPACK_slartgp( float* f, float* g, float* cs, float* sn, float* r );
+void LAPACK_dlartgp( double* f, double* g, double* cs, double* sn, double* r );
+void LAPACK_slartgs( float* x, float* y, float* sigma, float* cs, float* sn );
+void LAPACK_dlartgs( double* x, double* y, double* sigma, double* cs,
+                     double* sn );
+// LAPACK 3.3.0
+void LAPACK_cbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* theta, float* phi,
+                    lapack_complex_float* u1, lapack_int* ldu1,
+                    lapack_complex_float* u2, lapack_int* ldu2,
+                    lapack_complex_float* v1t, lapack_int* ldv1t,
+                    lapack_complex_float* v2t, lapack_int* ldv2t,
+                    float* b11d, float* b11e, float* b12d,
+                    float* b12e, float* b21d, float* b21e,
+                    float* b22d, float* b22e, float* rwork,
+                    lapack_int* lrwork , lapack_int *info );
+void LAPACK_cheswapr( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_chetri2( char* uplo, lapack_int* n,
+                     lapack_complex_float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_chetri2x( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
+void LAPACK_chetrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_csyconv( char* uplo, char* way,
+                     lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_csyswapr( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_csytri2( char* uplo, lapack_int* n,
+                     lapack_complex_float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_csytri2x( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
+void LAPACK_csytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_cunbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    lapack_complex_float* x11, lapack_int* ldx11,
+                    lapack_complex_float* x12, lapack_int* ldx12,
+                    lapack_complex_float* x21, lapack_int* ldx21,
+                    lapack_complex_float* x22, lapack_int* ldx22,
+                    float* theta, float* phi,
+                    lapack_complex_float* taup1,
+                    lapack_complex_float* taup2,
+                    lapack_complex_float* tauq1,
+                    lapack_complex_float* tauq2,
+                    lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_cuncsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, lapack_complex_float* x11,
+                    lapack_int* ldx11, lapack_complex_float* x12,
+                    lapack_int* ldx12, lapack_complex_float* x21,
+                    lapack_int* ldx21, lapack_complex_float* x22,
+                    lapack_int* ldx22, float* theta,
+                    lapack_complex_float* u1, lapack_int* ldu1,
+                    lapack_complex_float* u2, lapack_int* ldu2,
+                    lapack_complex_float* v1t, lapack_int* ldv1t,
+                    lapack_complex_float* v2t, lapack_int* ldv2t,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    float* rwork, lapack_int* lrwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_dbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* theta, double* phi, double* u1,
+                    lapack_int* ldu1, double* u2, lapack_int* ldu2,
+                    double* v1t, lapack_int* ldv1t, double* v2t,
+                    lapack_int* ldv2t, double* b11d, double* b11e,
+                    double* b12d, double* b12e, double* b21d,
+                    double* b21e, double* b22d, double* b22e,
+                    double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_dorbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* x11, lapack_int* ldx11, double* x12,
+                    lapack_int* ldx12, double* x21, lapack_int* ldx21,
+                    double* x22, lapack_int* ldx22, double* theta,
+                    double* phi, double* taup1, double* taup2,
+                    double* tauq1, double* tauq2, double* work,
+                    lapack_int* lwork , lapack_int *info );
+void LAPACK_dorcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, double* x11, lapack_int* ldx11,
+                    double* x12, lapack_int* ldx12, double* x21,
+                    lapack_int* ldx21, double* x22, lapack_int* ldx22,
+                    double* theta, double* u1, lapack_int* ldu1,
+                    double* u2, lapack_int* ldu2, double* v1t,
+                    lapack_int* ldv1t, double* v2t, lapack_int* ldv2t,
+                    double* work, lapack_int* lwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_dsyconv( char* uplo, char* way,
+                     lapack_int* n, double* a, lapack_int* lda,
+                     const lapack_int* ipiv, double* work , lapack_int *info );
+void LAPACK_dsyswapr( char* uplo, lapack_int* n,
+                      double* a, lapack_int* i1, lapack_int* i2 );
+void LAPACK_dsytri2( char* uplo, lapack_int* n,
+                     double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_dsytri2x( char* uplo, lapack_int* n,
+                      double* a, lapack_int* lda,
+                      const lapack_int* ipiv, double* work,
+                      lapack_int* nb , lapack_int *info );
+void LAPACK_dsytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const double* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     double* b, lapack_int* ldb, double* work , lapack_int *info );
+void LAPACK_sbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* theta, float* phi, float* u1,
+                    lapack_int* ldu1, float* u2, lapack_int* ldu2,
+                    float* v1t, lapack_int* ldv1t, float* v2t,
+                    lapack_int* ldv2t, float* b11d, float* b11e,
+                    float* b12d, float* b12e, float* b21d,
+                    float* b21e, float* b22d, float* b22e,
+                    float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_sorbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* x11, lapack_int* ldx11, float* x12,
+                    lapack_int* ldx12, float* x21, lapack_int* ldx21,
+                    float* x22, lapack_int* ldx22, float* theta,
+                    float* phi, float* taup1, float* taup2,
+                    float* tauq1, float* tauq2, float* work,
+                    lapack_int* lwork , lapack_int *info );
+void LAPACK_sorcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, float* x11, lapack_int* ldx11,
+                    float* x12, lapack_int* ldx12, float* x21,
+                    lapack_int* ldx21, float* x22, lapack_int* ldx22,
+                    float* theta, float* u1, lapack_int* ldu1,
+                    float* u2, lapack_int* ldu2, float* v1t,
+                    lapack_int* ldv1t, float* v2t, lapack_int* ldv2t,
+                    float* work, lapack_int* lwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_ssyconv( char* uplo, char* way,
+                     lapack_int* n, float* a, lapack_int* lda,
+                     const lapack_int* ipiv, float* work , lapack_int *info );
+void LAPACK_ssyswapr( char* uplo, lapack_int* n,
+                      float* a, lapack_int* i1, lapack_int* i2 );
+void LAPACK_ssytri2( char* uplo, lapack_int* n,
+                     float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_ssytri2x( char* uplo, lapack_int* n,
+                      float* a, lapack_int* lda,
+                      const lapack_int* ipiv, float* work,
+                      lapack_int* nb , lapack_int *info );
+void LAPACK_ssytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     float* b, lapack_int* ldb, float* work , lapack_int *info );
+void LAPACK_zbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* theta, double* phi,
+                    lapack_complex_double* u1, lapack_int* ldu1,
+                    lapack_complex_double* u2, lapack_int* ldu2,
+                    lapack_complex_double* v1t, lapack_int* ldv1t,
+                    lapack_complex_double* v2t, lapack_int* ldv2t,
+                    double* b11d, double* b11e, double* b12d,
+                    double* b12e, double* b21d, double* b21e,
+                    double* b22d, double* b22e, double* rwork,
+                    lapack_int* lrwork , lapack_int *info );
+void LAPACK_zheswapr( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_zhetri2( char* uplo, lapack_int* n,
+                     lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zhetri2x( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
+void LAPACK_zhetrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zsyconv( char* uplo, char* way,
+                     lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zsyswapr( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_zsytri2( char* uplo, lapack_int* n,
+                     lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zsytri2x( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
+void LAPACK_zsytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zunbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    lapack_complex_double* x11, lapack_int* ldx11,
+                    lapack_complex_double* x12, lapack_int* ldx12,
+                    lapack_complex_double* x21, lapack_int* ldx21,
+                    lapack_complex_double* x22, lapack_int* ldx22,
+                    double* theta, double* phi,
+                    lapack_complex_double* taup1,
+                    lapack_complex_double* taup2,
+                    lapack_complex_double* tauq1,
+                    lapack_complex_double* tauq2,
+                    lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zuncsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, lapack_complex_double* x11,
+                    lapack_int* ldx11, lapack_complex_double* x12,
+                    lapack_int* ldx12, lapack_complex_double* x21,
+                    lapack_int* ldx21, lapack_complex_double* x22,
+                    lapack_int* ldx22, double* theta,
+                    lapack_complex_double* u1, lapack_int* ldu1,
+                    lapack_complex_double* u2, lapack_int* ldu2,
+                    lapack_complex_double* v1t, lapack_int* ldv1t,
+                    lapack_complex_double* v2t, lapack_int* ldv2t,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork,
+                    lapack_int* iwork , lapack_int *info );
+// LAPACK 3.4.0
+void LAPACK_sgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb, const float* v,
+                     lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
+                     lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb, const double* v,
+                     lapack_int* ldv, const double* t, lapack_int* ldt,
+                     double* c, lapack_int* ldc, double* work,
+                     lapack_int *info );
+void LAPACK_cgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb,
+                     const lapack_complex_float* v, lapack_int* ldv,
+                     const lapack_complex_float* t, lapack_int* ldt,
+                     lapack_complex_float* c, lapack_int* ldc,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb,
+                     const lapack_complex_double* v, lapack_int* ldv,
+                     const lapack_complex_double* t, lapack_int* ldt,
+                     lapack_complex_double* c, lapack_int* ldc,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_sgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, float* a,
+                    lapack_int* lda, float* t, lapack_int* ldt, float* work,
+                    lapack_int *info );
+void LAPACK_dgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, double* a,
+                    lapack_int* lda, double* t, lapack_int* ldt, double* work,
+                    lapack_int *info );
+void LAPACK_cgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_sgeqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_dgeqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_cgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_zgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_sgeqrt3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_dgeqrt3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_cgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_zgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_stpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const float* v, lapack_int* ldv, const float* t,
+                     lapack_int* ldt, float* a, lapack_int* lda, float* b,
+                     lapack_int* ldb, float* work, lapack_int *info );
+void LAPACK_dtpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const double* v, lapack_int* ldv, const double* t,
+                     lapack_int* ldt, double* a, lapack_int* lda, double* b,
+                     lapack_int* ldb, double* work, lapack_int *info );
+void LAPACK_ctpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const lapack_complex_float* v, lapack_int* ldv,
+                     const lapack_complex_float* t, lapack_int* ldt,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_ztpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const lapack_complex_double* v, lapack_int* ldv,
+                     const lapack_complex_double* t, lapack_int* ldt,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_dtpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* t, lapack_int* ldt, double* work,
+                    lapack_int *info );
+void LAPACK_ctpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* t, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int* ldt,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_ztpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_stpqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* b, lapack_int* ldb, float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_dtpqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* b, lapack_int* ldb, double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_ctpqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_ztpqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_stprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const float* v, lapack_int* ldv, const float* t,
+                    lapack_int* ldt, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, const float* mywork,
+                    lapack_int* myldwork );
+void LAPACK_dtprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const double* v, lapack_int* ldv, const double* t,
+                    lapack_int* ldt, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, const double* mywork,
+                    lapack_int* myldwork );
+void LAPACK_ctprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    const float* mywork, lapack_int* myldwork );
+void LAPACK_ztprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    const double* mywork, lapack_int* myldwork );
+// LAPACK 3.X.X
+void LAPACK_csyr( char* uplo, lapack_int* n, lapack_complex_float* alpha,
+                      const lapack_complex_float* x, lapack_int* incx,
+                      lapack_complex_float* a, lapack_int* lda );
+void LAPACK_zsyr( char* uplo, lapack_int* n, lapack_complex_double* alpha,
+                      const lapack_complex_double* x, lapack_int* incx,
+                      lapack_complex_double* a, lapack_int* lda );
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _LAPACKE_H_ */
+
+#endif /* _MKL_LAPACKE_H_ */
diff --git a/vendor/eigen/Eigen/src/misc/lapacke_mangling.h b/vendor/eigen/Eigen/src/misc/lapacke_mangling.h
new file mode 100644
index 0000000..6211fd1
--- /dev/null
+++ b/vendor/eigen/Eigen/src/misc/lapacke_mangling.h
@@ -0,0 +1,17 @@
+#ifndef LAPACK_HEADER_INCLUDED
+#define LAPACK_HEADER_INCLUDED
+
+#ifndef LAPACK_GLOBAL
+#if defined(LAPACK_GLOBAL_PATTERN_LC) || defined(ADD_)
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
+#elif defined(LAPACK_GLOBAL_PATTERN_UC) || defined(UPPER)
+#define LAPACK_GLOBAL(lcname,UCNAME)  UCNAME
+#elif defined(LAPACK_GLOBAL_PATTERN_MC) || defined(NOCHANGE)
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname
+#else
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
+#endif
+#endif
+
+#endif
+
diff --git a/vendor/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/vendor/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
index 1951286..1f8a531 100644
--- a/vendor/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -1,12 +1,14 @@
+
 /** \returns an expression of the coefficient wise product of \c *this and \a other
   *
   * \sa MatrixBase::cwiseProduct
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
 operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient wise quotient of \c *this and \a other
@@ -14,10 +16,11 @@ operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa MatrixBase::cwiseQuotient
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>
 operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise min of \c *this and \a other
@@ -27,13 +30,14 @@ operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   *
   * \sa max()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(min,internal::scalar_min_op)
+EIGEN_MAKE_CWISE_BINARY_OP(min,min)
 
 /** \returns an expression of the coefficient-wise min of \c *this and scalar \a other
   *
   * \sa max()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived,
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived,
                                         const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 min
@@ -52,13 +56,14 @@ min
   *
   * \sa min()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(max,internal::scalar_max_op)
+EIGEN_MAKE_CWISE_BINARY_OP(max,max)
 
 /** \returns an expression of the coefficient-wise max of \c *this and scalar \a other
   *
   * \sa min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived,
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived,
                                         const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 max
@@ -70,33 +75,62 @@ max
   return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
 }
 
+/** \returns an expression of the coefficient-wise power of \c *this to the given array of \a exponents.
+  *
+  * This function computes the coefficient-wise power.
+  *
+  * Example: \include Cwise_array_power_array.cpp
+  * Output: \verbinclude Cwise_array_power_array.out
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(pow,pow)
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(pow,pow)
+#else
+/** \returns an expression of the coefficients of \c *this rasied to the constant power \a exponent
+  *
+  * \tparam T is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression.
+  *
+  * This function computes the coefficient-wise power. The function MatrixBase::pow() in the
+  * unsupported module MatrixFunctions computes the matrix power.
+  *
+  * Example: \include Cwise_pow.cpp
+  * Output: \verbinclude Cwise_pow.out
+  *
+  * \sa ArrayBase::pow(ArrayBase), square(), cube(), exp(), log()
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_pow_op<Scalar,T>,Derived,Constant<T> > pow(const T& exponent) const;
+#endif
+
 
+// TODO code generating macros could be moved to Macros.h and could include generation of documentation
 #define EIGEN_MAKE_CWISE_COMP_OP(OP, COMPARATOR) \
 template<typename OtherDerived> \
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
 OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
 { \
-  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
+  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
 }\
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
-EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
 OP(const Scalar& s) const { \
   return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \
 } \
-friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
+EIGEN_DEVICE_FUNC friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
 OP(const Scalar& s, const Derived& d) { \
   return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \
 }
 
 #define EIGEN_MAKE_CWISE_COMP_R_OP(OP, R_OP, RCOMPARATOR) \
 template<typename OtherDerived> \
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
 OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
 { \
-  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
+  return CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
 } \
-\
+EIGEN_DEVICE_FUNC \
 inline const RCmp ## RCOMPARATOR ## ReturnType \
 OP(const Scalar& s) const { \
   return Derived::PlainObject::Constant(rows(), cols(), s).R_OP(*this); \
@@ -107,6 +141,7 @@ OP(const Scalar& s, const Derived& d) { \
 }
 
 
+
 /** \returns an expression of the coefficient-wise \< operator of *this and \a other
   *
   * Example: \include Cwise_less.cpp
@@ -171,83 +206,127 @@ EIGEN_MAKE_CWISE_COMP_OP(operator==, EQ)
   */
 EIGEN_MAKE_CWISE_COMP_OP(operator!=, NEQ)
 
+
 #undef EIGEN_MAKE_CWISE_COMP_OP
 #undef EIGEN_MAKE_CWISE_COMP_R_OP
 
 // scalar addition
-
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator+,sum)
+#else
 /** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
   *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  *
   * Example: \include Cwise_plus.cpp
   * Output: \verbinclude Cwise_plus.out
   *
   * \sa operator+=(), operator-()
   */
-inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator+(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>(derived(), internal::scalar_add_op<Scalar>(scalar));
-}
-
-friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator+(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
-{
-  return other + scalar;
-}
+template<typename T>
+const CwiseBinaryOp<internal::scalar_sum_op<Scalar,T>,Derived,Constant<T> > operator+(const T& scalar) const;
+/** \returns an expression of \a expr with each coeff incremented by the constant \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_sum_op<T,Scalar>,Constant<T>,Derived> operator+(const T& scalar, const StorageBaseType& expr);
+#endif
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator-,difference)
+#else
 /** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
   *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  *
   * Example: \include Cwise_minus.cpp
   * Output: \verbinclude Cwise_minus.out
   *
-  * \sa operator+(), operator-=()
+  * \sa operator+=(), operator-()
   */
-inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator-(const Scalar& scalar) const
-{
-  return *this + (-scalar);
-}
+template<typename T>
+const CwiseBinaryOp<internal::scalar_difference_op<Scalar,T>,Derived,Constant<T> > operator-(const T& scalar) const;
+/** \returns an expression of the constant matrix of value \a scalar decremented by the coefficients of \a expr
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_difference_op<T,Scalar>,Constant<T>,Derived> operator-(const T& scalar, const StorageBaseType& expr);
+#endif
 
-friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> >
-operator-(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(operator/,quotient)
+#else
+  /**
+    * \brief Component-wise division of the scalar \a s by array elements of \a a.
+    *
+    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+    */
+  template<typename T> friend
+  inline const CwiseBinaryOp<internal::scalar_quotient_op<T,Scalar>,Constant<T>,Derived>
+  operator/(const T& s,const StorageBaseType& a);
+#endif
+
+/** \returns an expression of the coefficient-wise ^ operator of *this and \a other
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_xor.cpp
+ * Output: \verbinclude Cwise_boolean_xor.out
+ *
+ * \sa operator&&(), select()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>
+operator^(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return (-other) + scalar;
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>(derived(),other.derived());
 }
 
-/** \returns an expression of the coefficient-wise && operator of *this and \a other
+// NOTE disabled until we agree on argument order
+#if 0
+/** \cpp11 \returns an expression of the coefficient-wise polygamma function.
   *
-  * \warning this operator is for expression of bool only.
+  * \specialfunctions_module
   *
-  * Example: \include Cwise_boolean_and.cpp
-  * Output: \verbinclude Cwise_boolean_and.out
+  * It returns the \a n -th derivative of the digamma(psi) evaluated at \c *this.
   *
-  * \sa operator||(), select()
+  * \warning Be careful with the order of the parameters: x.polygamma(n) is equivalent to polygamma(n,x)
+  *
+  * \sa Eigen::polygamma()
   */
-template<typename OtherDerived>
-inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
-operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+template<typename DerivedN>
+inline const CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>
+polygamma(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedN> &n) const
 {
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
+  return CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>(n.derived(), this->derived());
 }
+#endif
 
-/** \returns an expression of the coefficient-wise || operator of *this and \a other
+/** \returns an expression of the coefficient-wise zeta function.
+  *
+  * \specialfunctions_module
+  *
+  * It returns the Riemann zeta function of two arguments \c *this and \a q:
   *
-  * \warning this operator is for expression of bool only.
+  * \param *this is the exposent, it must be > 1
+  * \param q is the shift, it must be > 0
   *
-  * Example: \include Cwise_boolean_or.cpp
-  * Output: \verbinclude Cwise_boolean_or.out
+  * \note This function supports only float and double scalar types. To support other scalar types, the user has
+  * to provide implementations of zeta(T,T) for any scalar type T to be supported.
   *
-  * \sa operator&&(), select()
+  * This method is an alias for zeta(*this,q);
+  *
+  * \sa Eigen::zeta()
   */
-template<typename OtherDerived>
-inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
-operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+template<typename DerivedQ>
+inline const CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>
+zeta(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedQ> &q) const
 {
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
+  return CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>(this->derived(), q.derived());
 }
-
-
diff --git a/vendor/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/vendor/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
index 1c3ed3f..ebaa3f1 100644
--- a/vendor/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -1,16 +1,62 @@
 
 
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> AbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_arg_op<Scalar>, const Derived> ArgReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> Abs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> SqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_rsqrt_op<Scalar>, const Derived> RsqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> SignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> InverseReturnType;
+typedef CwiseUnaryOp<internal::scalar_boolean_not_op<Scalar>, const Derived> BooleanNotReturnType;
+
+typedef CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived> ExpReturnType;
+typedef CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived> LogReturnType;
+typedef CwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived> Log1pReturnType;
+typedef CwiseUnaryOp<internal::scalar_log10_op<Scalar>, const Derived> Log10ReturnType;
+typedef CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived> CosReturnType;
+typedef CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived> SinReturnType;
+typedef CwiseUnaryOp<internal::scalar_tan_op<Scalar>, const Derived> TanReturnType;
+typedef CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived> AcosReturnType;
+typedef CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived> AsinReturnType;
+typedef CwiseUnaryOp<internal::scalar_atan_op<Scalar>, const Derived> AtanReturnType;
+typedef CwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived> TanhReturnType;
+typedef CwiseUnaryOp<internal::scalar_sinh_op<Scalar>, const Derived> SinhReturnType;
+typedef CwiseUnaryOp<internal::scalar_cosh_op<Scalar>, const Derived> CoshReturnType;
+typedef CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived> SquareReturnType;
+typedef CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived> CubeReturnType;
+typedef CwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived> RoundReturnType;
+typedef CwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived> FloorReturnType;
+typedef CwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived> CeilReturnType;
+typedef CwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived> IsNaNReturnType;
+typedef CwiseUnaryOp<internal::scalar_isinf_op<Scalar>, const Derived> IsInfReturnType;
+typedef CwiseUnaryOp<internal::scalar_isfinite_op<Scalar>, const Derived> IsFiniteReturnType;
+
 /** \returns an expression of the coefficient-wise absolute value of \c *this
   *
   * Example: \include Cwise_abs.cpp
   * Output: \verbinclude Cwise_abs.out
   *
-  * \sa abs2()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs">Math functions</a>, abs2()
   */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const AbsReturnType
 abs() const
 {
-  return derived();
+  return AbsReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise phase angle of \c *this
+  *
+  * Example: \include Cwise_arg.cpp
+  * Output: \verbinclude Cwise_arg.out
+  *
+  * \sa abs()
+  */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const ArgReturnType
+arg() const
+{
+  return ArgReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise squared absolute value of \c *this
@@ -18,78 +64,190 @@ abs() const
   * Example: \include Cwise_abs2.cpp
   * Output: \verbinclude Cwise_abs2.out
   *
-  * \sa abs(), square()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs2">Math functions</a>, abs(), square()
   */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const Abs2ReturnType
 abs2() const
 {
-  return derived();
+  return Abs2ReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise exponential of *this.
   *
+  * This function computes the coefficient-wise exponential. The function MatrixBase::exp() in the
+  * unsupported module MatrixFunctions computes the matrix exponential.
+  *
   * Example: \include Cwise_exp.cpp
   * Output: \verbinclude Cwise_exp.out
   *
-  * \sa pow(), log(), sin(), cos()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_exp">Math functions</a>, pow(), log(), sin(), cos()
   */
-inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const ExpReturnType
 exp() const
 {
-  return derived();
+  return ExpReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise logarithm of *this.
   *
+  * This function computes the coefficient-wise logarithm. The function MatrixBase::log() in the
+  * unsupported module MatrixFunctions computes the matrix logarithm.
+  *
   * Example: \include Cwise_log.cpp
   * Output: \verbinclude Cwise_log.out
   *
-  * \sa exp()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log">Math functions</a>, exp()
   */
-inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const LogReturnType
 log() const
 {
-  return derived();
+  return LogReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise logarithm of 1 plus \c *this.
+  *
+  * In exact arithmetic, \c x.log() is equivalent to \c (x+1).log(),
+  * however, with finite precision, this function is much more accurate when \c x is close to zero.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log1p">Math functions</a>, log()
+  */
+EIGEN_DEVICE_FUNC
+inline const Log1pReturnType
+log1p() const
+{
+  return Log1pReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise base-10 logarithm of *this.
+  *
+  * This function computes the coefficient-wise base-10 logarithm.
+  *
+  * Example: \include Cwise_log10.cpp
+  * Output: \verbinclude Cwise_log10.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log10">Math functions</a>, log()
+  */
+EIGEN_DEVICE_FUNC
+inline const Log10ReturnType
+log10() const
+{
+  return Log10ReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise square root of *this.
   *
+  * This function computes the coefficient-wise square root. The function MatrixBase::sqrt() in the
+  * unsupported module MatrixFunctions computes the matrix square root.
+  *
   * Example: \include Cwise_sqrt.cpp
   * Output: \verbinclude Cwise_sqrt.out
   *
-  * \sa pow(), square()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sqrt">Math functions</a>, pow(), square()
   */
-inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const SqrtReturnType
 sqrt() const
 {
-  return derived();
+  return SqrtReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise inverse square root of *this.
+  *
+  * This function computes the coefficient-wise inverse square root.
+  *
+  * Example: \include Cwise_sqrt.cpp
+  * Output: \verbinclude Cwise_sqrt.out
+  *
+  * \sa pow(), square()
+  */
+EIGEN_DEVICE_FUNC
+inline const RsqrtReturnType
+rsqrt() const
+{
+  return RsqrtReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise signum of *this.
+  *
+  * This function computes the coefficient-wise signum.
+  *
+  * Example: \include Cwise_sign.cpp
+  * Output: \verbinclude Cwise_sign.out
+  *
+  * \sa pow(), square()
+  */
+EIGEN_DEVICE_FUNC
+inline const SignReturnType
+sign() const
+{
+  return SignReturnType(derived());
+}
+
+
 /** \returns an expression of the coefficient-wise cosine of *this.
   *
+  * This function computes the coefficient-wise cosine. The function MatrixBase::cos() in the
+  * unsupported module MatrixFunctions computes the matrix cosine.
+  *
   * Example: \include Cwise_cos.cpp
   * Output: \verbinclude Cwise_cos.out
   *
-  * \sa sin(), acos()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cos">Math functions</a>, sin(), acos()
   */
-inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const CosReturnType
 cos() const
 {
-  return derived();
+  return CosReturnType(derived());
 }
 
 
 /** \returns an expression of the coefficient-wise sine of *this.
   *
+  * This function computes the coefficient-wise sine. The function MatrixBase::sin() in the
+  * unsupported module MatrixFunctions computes the matrix sine.
+  *
   * Example: \include Cwise_sin.cpp
   * Output: \verbinclude Cwise_sin.out
   *
-  * \sa cos(), asin()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sin">Math functions</a>, cos(), asin()
   */
-inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const SinReturnType
 sin() const
 {
-  return derived();
+  return SinReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise tan of *this.
+  *
+  * Example: \include Cwise_tan.cpp
+  * Output: \verbinclude Cwise_tan.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tan">Math functions</a>, cos(), sin()
+  */
+EIGEN_DEVICE_FUNC
+inline const TanReturnType
+tan() const
+{
+  return TanReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise arc tan of *this.
+  *
+  * Example: \include Cwise_atan.cpp
+  * Output: \verbinclude Cwise_atan.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_atan">Math functions</a>, tan(), asin(), acos()
+  */
+EIGEN_DEVICE_FUNC
+inline const AtanReturnType
+atan() const
+{
+  return AtanReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise arc cosine of *this.
@@ -97,12 +255,13 @@ sin() const
   * Example: \include Cwise_acos.cpp
   * Output: \verbinclude Cwise_acos.out
   *
-  * \sa cos(), asin()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_acos">Math functions</a>, cos(), asin()
   */
-inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const AcosReturnType
 acos() const
 {
-  return derived();
+  return AcosReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise arc sine of *this.
@@ -110,42 +269,56 @@ acos() const
   * Example: \include Cwise_asin.cpp
   * Output: \verbinclude Cwise_asin.out
   *
-  * \sa sin(), acos()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_asin">Math functions</a>, sin(), acos()
   */
-inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const AsinReturnType
 asin() const
 {
-  return derived();
+  return AsinReturnType(derived());
 }
 
-/** \returns an expression of the coefficient-wise tan of *this.
+/** \returns an expression of the coefficient-wise hyperbolic tan of *this.
   *
-  * Example: \include Cwise_tan.cpp
-  * Output: \verbinclude Cwise_tan.out
+  * Example: \include Cwise_tanh.cpp
+  * Output: \verbinclude Cwise_tanh.out
   *
-  * \sa cos(), sin()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tanh">Math functions</a>, tan(), sinh(), cosh()
   */
-inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
-tan() const
+EIGEN_DEVICE_FUNC
+inline const TanhReturnType
+tanh() const
 {
-  return derived();
+  return TanhReturnType(derived());
 }
 
-
-/** \returns an expression of the coefficient-wise power of *this to the given exponent.
+/** \returns an expression of the coefficient-wise hyperbolic sin of *this.
   *
-  * Example: \include Cwise_pow.cpp
-  * Output: \verbinclude Cwise_pow.out
+  * Example: \include Cwise_sinh.cpp
+  * Output: \verbinclude Cwise_sinh.out
   *
-  * \sa exp(), log()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sinh">Math functions</a>, sin(), tanh(), cosh()
   */
-inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
-pow(const Scalar& exponent) const
+EIGEN_DEVICE_FUNC
+inline const SinhReturnType
+sinh() const
 {
-  return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
-          (derived(), internal::scalar_pow_op<Scalar>(exponent));
+  return SinhReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise hyperbolic cos of *this.
+  *
+  * Example: \include Cwise_cosh.cpp
+  * Output: \verbinclude Cwise_cosh.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tan(), sinh(), cosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const CoshReturnType
+cosh() const
+{
+  return CoshReturnType(derived());
+}
 
 /** \returns an expression of the coefficient-wise inverse of *this.
   *
@@ -154,10 +327,11 @@ pow(const Scalar& exponent) const
   *
   * \sa operator/(), operator*()
   */
-inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const InverseReturnType
 inverse() const
 {
-  return derived();
+  return InverseReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise square of *this.
@@ -165,12 +339,13 @@ inverse() const
   * Example: \include Cwise_square.cpp
   * Output: \verbinclude Cwise_square.out
   *
-  * \sa operator/(), operator*(), abs2()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_squareE">Math functions</a>, abs2(), cube(), pow()
   */
-inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const SquareReturnType
 square() const
 {
-  return derived();
+  return SquareReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise cube of *this.
@@ -178,10 +353,200 @@ square() const
   * Example: \include Cwise_cube.cpp
   * Output: \verbinclude Cwise_cube.out
   *
-  * \sa square(), pow()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cube">Math functions</a>, square(), pow()
   */
-inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const CubeReturnType
 cube() const
 {
-  return derived();
+  return CubeReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise round of *this.
+  *
+  * Example: \include Cwise_round.cpp
+  * Output: \verbinclude Cwise_round.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_round">Math functions</a>, ceil(), floor()
+  */
+EIGEN_DEVICE_FUNC
+inline const RoundReturnType
+round() const
+{
+  return RoundReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise floor of *this.
+  *
+  * Example: \include Cwise_floor.cpp
+  * Output: \verbinclude Cwise_floor.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_floor">Math functions</a>, ceil(), round()
+  */
+EIGEN_DEVICE_FUNC
+inline const FloorReturnType
+floor() const
+{
+  return FloorReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ceil of *this.
+  *
+  * Example: \include Cwise_ceil.cpp
+  * Output: \verbinclude Cwise_ceil.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_ceil">Math functions</a>, floor(), round()
+  */
+EIGEN_DEVICE_FUNC
+inline const CeilReturnType
+ceil() const
+{
+  return CeilReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isnan of *this.
+  *
+  * Example: \include Cwise_isNaN.cpp
+  * Output: \verbinclude Cwise_isNaN.out
+  *
+  * \sa isfinite(), isinf()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsNaNReturnType
+isNaN() const
+{
+  return IsNaNReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isinf of *this.
+  *
+  * Example: \include Cwise_isInf.cpp
+  * Output: \verbinclude Cwise_isInf.out
+  *
+  * \sa isnan(), isfinite()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsInfReturnType
+isInf() const
+{
+  return IsInfReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isfinite of *this.
+  *
+  * Example: \include Cwise_isFinite.cpp
+  * Output: \verbinclude Cwise_isFinite.out
+  *
+  * \sa isnan(), isinf()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsFiniteReturnType
+isFinite() const
+{
+  return IsFiniteReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ! operator of *this
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_not.cpp
+  * Output: \verbinclude Cwise_boolean_not.out
+  *
+  * \sa operator!=()
+  */
+EIGEN_DEVICE_FUNC
+inline const BooleanNotReturnType
+operator!() const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return BooleanNotReturnType(derived());
+}
+
+
+// --- SpecialFunctions module ---
+
+typedef CwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived> LgammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived> DigammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived> ErfReturnType;
+typedef CwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived> ErfcReturnType;
+
+/** \cpp11 \returns an expression of the coefficient-wise ln(|gamma(*this)|).
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_lgamma.cpp
+  * Output: \verbinclude Cwise_lgamma.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of lgamma(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_lgamma">Math functions</a>, digamma()
+  */
+EIGEN_DEVICE_FUNC
+inline const LgammaReturnType
+lgamma() const
+{
+  return LgammaReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise digamma (psi, derivative of lgamma).
+  *
+  * \specialfunctions_module
+  *
+  * \note This function supports only float and double scalar types. To support other scalar types,
+  * the user has to provide implementations of digamma(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_digamma">Math functions</a>, Eigen::digamma(), Eigen::polygamma(), lgamma()
+  */
+EIGEN_DEVICE_FUNC
+inline const DigammaReturnType
+digamma() const
+{
+  return DigammaReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Gauss error
+  * function of *this.
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_erf.cpp
+  * Output: \verbinclude Cwise_erf.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of erf(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erf">Math functions</a>, erfc()
+  */
+EIGEN_DEVICE_FUNC
+inline const ErfReturnType
+erf() const
+{
+  return ErfReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Complementary error
+  * function of *this.
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_erfc.cpp
+  * Output: \verbinclude Cwise_erfc.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of erfc(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erfc">Math functions</a>, erf()
+  */
+EIGEN_DEVICE_FUNC
+inline const ErfcReturnType
+erfc() const
+{
+  return ErfcReturnType(derived());
 }
diff --git a/vendor/eigen/Eigen/src/plugins/BlockMethods.h b/vendor/eigen/Eigen/src/plugins/BlockMethods.h
index 2788251..ac35a00 100644
--- a/vendor/eigen/Eigen/src/plugins/BlockMethods.h
+++ b/vendor/eigen/Eigen/src/plugins/BlockMethods.h
@@ -8,27 +8,32 @@
 // 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_PARSED_BY_DOXYGEN
 
-/** \internal expression type of a column */
+/// \internal expression type of a column */
 typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
 typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
-/** \internal expression type of a row */
+/// \internal expression type of a row */
 typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
 typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
-/** \internal expression type of a block of whole columns */
+/// \internal expression type of a block of whole columns */
 typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
 typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
-/** \internal expression type of a block of whole rows */
+/// \internal expression type of a block of whole rows */
 typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
 typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
-/** \internal expression type of a block of whole columns */
+/// \internal expression type of a block of whole columns */
 template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
 template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
-/** \internal expression type of a block of whole rows */
+/// \internal expression type of a block of whole rows */
 template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
 template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+/// \internal expression of a block */
+typedef Block<Derived> BlockXpr;
+typedef const Block<const Derived> ConstBlockXpr;
+/// \internal expression of a block of fixed sizes */
+template<int Rows, int Cols> struct FixedBlockXpr { typedef Block<Derived,Rows,Cols> Type; };
+template<int Rows, int Cols> struct ConstFixedBlockXpr { typedef Block<const Derived,Rows,Cols> Type; };
 
 typedef VectorBlock<Derived> SegmentReturnType;
 typedef const VectorBlock<const Derived> ConstSegmentReturnType;
@@ -37,378 +42,430 @@ template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBloc
 
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
-/** \returns a dynamic-size expression of a block in *this.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  * \param blockRows the number of rows in the block
-  * \param blockCols the number of columns in the block
-  *
-  * Example: \include MatrixBase_block_int_int_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int_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)
-  */
-inline Block<Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols)
-{
-  return Block<Derived>(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/** This is the const version of block(Index,Index,Index,Index). */
-inline const Block<const Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
-{
-  return Block<const Derived>(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-
-
-
-/** \returns a dynamic-size expression of a top-right corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_topRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_topRightCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> topRightCorner(Index cRows, Index cCols)
-{
-  return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-/** This is the const version of topRightCorner(Index, Index).*/
-inline const Block<const Derived> topRightCorner(Index cRows, Index cCols) const
-{
-  return Block<const Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-/** \returns an expression of a fixed-size top-right corner of *this.
-  *
-  * \tparam CRows the number of rows in the corner
-  * \tparam CCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_template_int_int_topRightCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
-  *
-  * \sa class Block, block<int,int>(Index,Index)
-  */
+/// \returns a dynamic-size expression of a block in *this.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+/// \param blockRows the number of rows in the block
+/// \param blockCols the number of columns in the block
+///
+/// Example: \include MatrixBase_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int_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.
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols)
+{
+  return BlockXpr(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/// This is the const version of block(Index,Index,Index,Index). */
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
+{
+  return ConstBlockXpr(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+
+
+
+/// \returns a dynamic-size expression of a top-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topRightCorner(Index cRows, Index cCols)
+{
+  return BlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/// This is the const version of topRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topRightCorner(Index cRows, Index cCols) const
+{
+  return ConstBlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/// \returns an expression of a fixed-size top-right corner of *this.
+///
+/// \tparam CRows the number of rows in the corner
+/// \tparam CCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block<int,int>(Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topRightCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
 }
 
-/** This is the const version of topRightCorner<int, int>().*/
+/// This is the const version of topRightCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topRightCorner() const
-{
-  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-}
-
-/** \returns an expression of a top-right corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
-  *
-  * \sa class Block
-  */
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
+{
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
+}
+
+/// \returns an expression of a top-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topRightCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, cols() - cCols, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of topRightCorner<int, int>(Index, Index).*/
+/// This is the const version of topRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topRightCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - cCols, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a top-left corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_topLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> topLeftCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a top-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), 0, 0, cRows, cCols);
+  return BlockXpr(derived(), 0, 0, cRows, cCols);
 }
 
-/** This is the const version of topLeftCorner(Index, Index).*/
-inline const Block<const Derived> topLeftCorner(Index cRows, Index cCols) const
+/// This is the const version of topLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), 0, 0, cRows, cCols);
+  return ConstBlockXpr(derived(), 0, 0, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size top-left corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size top-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topLeftCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, 0);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
 }
 
-/** This is the const version of topLeftCorner<int, int>().*/
+/// This is the const version of topLeftCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topLeftCorner() const
-{
-  return Block<const Derived, CRows, CCols>(derived(), 0, 0);
-}
-
-/** \returns an expression of a top-left corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
-  *
-  * \sa class Block
-  */
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
+{
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
+}
+
+/// \returns an expression of a top-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topLeftCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, 0, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
 
-/** This is the const version of topLeftCorner<int, int>(Index, Index).*/
+/// This is the const version of topLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topLeftCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, 0, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a bottom-right corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_bottomRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> bottomRightCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a bottom-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return BlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of bottomRightCorner(Index, Index).*/
-inline const Block<const Derived> bottomRightCorner(Index cRows, Index cCols) const
+/// This is the const version of bottomRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return ConstBlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size bottom-right corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size bottom-right corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomRightCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
 }
 
-/** This is the const version of bottomRightCorner<int, int>().*/
+/// This is the const version of bottomRightCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomRightCorner() const
-{
-  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-}
-
-/** \returns an expression of a bottom-right corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
-  *
-  * \sa class Block
-  */
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
+{
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
+}
+
+/// \returns an expression of a bottom-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomRightCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of bottomRightCorner<int, int>(Index, Index).*/
+/// This is the const version of bottomRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomRightCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a bottom-left corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> bottomLeftCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a bottom-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+  return BlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** This is the const version of bottomLeftCorner(Index, Index).*/
-inline const Block<const Derived> bottomLeftCorner(Index cRows, Index cCols) const
+/// This is the const version of bottomLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+  return ConstBlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size bottom-left corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size bottom-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomLeftCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
 }
 
-/** This is the const version of bottomLeftCorner<int, int>().*/
+/// This is the const version of bottomLeftCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomLeftCorner() const
-{
-  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-}
-
-/** \returns an expression of a bottom-left corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
-  *
-  * \sa class Block
-  */
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
+{
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
+}
+
+/// \returns an expression of a bottom-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomLeftCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - cRows, 0, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** This is the const version of bottomLeftCorner<int, int>(Index, Index).*/
+/// This is the const version of bottomLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomLeftCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - cRows, 0, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
 
 
-/** \returns a block consisting of the top rows of *this.
-  *
-  * \param n the number of rows in the block
-  *
-  * Example: \include MatrixBase_topRows_int.cpp
-  * Output: \verbinclude MatrixBase_topRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the top rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_topRows_int.cpp
+/// Output: \verbinclude MatrixBase_topRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr topRows(Index n)
 {
   return RowsBlockXpr(derived(), 0, 0, n, cols());
 }
 
-/** This is the const version of topRows(Index).*/
+/// This is the const version of topRows(Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr topRows(Index n) const
 {
   return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
 }
 
-/** \returns a block consisting of the top rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_topRows.cpp
-  * Output: \verbinclude MatrixBase_template_int_topRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the top rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_topRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_topRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type topRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
 }
 
-/** This is the const version of topRows<int>().*/
+/// This is the const version of topRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
@@ -416,47 +473,55 @@ inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
 
 
 
-/** \returns a block consisting of the bottom rows of *this.
-  *
-  * \param n the number of rows in the block
-  *
-  * Example: \include MatrixBase_bottomRows_int.cpp
-  * Output: \verbinclude MatrixBase_bottomRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_bottomRows_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr bottomRows(Index n)
 {
   return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
 }
 
-/** This is the const version of bottomRows(Index).*/
+/// This is the const version of bottomRows(Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr bottomRows(Index n) const
 {
   return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
 }
 
-/** \returns a block consisting of the bottom rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_bottomRows.cpp
-  * Output: \verbinclude MatrixBase_template_int_bottomRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_bottomRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_bottomRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
 }
 
-/** This is the const version of bottomRows<int>().*/
+/// This is the const version of bottomRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
@@ -464,49 +529,57 @@ inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
 
 
 
-/** \returns a block consisting of a range of rows of *this.
-  *
-  * \param startRow the index of the first row in the block
-  * \param n the number of rows in the block
-  *
-  * Example: \include DenseBase_middleRows_int.cpp
-  * Output: \verbinclude DenseBase_middleRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block
+///
+/// Example: \include DenseBase_middleRows_int.cpp
+/// Output: \verbinclude DenseBase_middleRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr middleRows(Index startRow, Index n)
 {
   return RowsBlockXpr(derived(), startRow, 0, n, cols());
 }
 
-/** This is the const version of middleRows(Index,Index).*/
+/// This is the const version of middleRows(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr middleRows(Index startRow, Index n) const
 {
   return ConstRowsBlockXpr(derived(), startRow, 0, n, cols());
 }
 
-/** \returns a block consisting of a range of rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param startRow the index of the first row in the block
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include DenseBase_template_int_middleRows.cpp
-  * Output: \verbinclude DenseBase_template_int_middleRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleRows.cpp
+/// Output: \verbinclude DenseBase_template_int_middleRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
 }
 
-/** This is the const version of middleRows<int>().*/
+/// This is the const version of middleRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
@@ -514,47 +587,55 @@ inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n =
 
 
 
-/** \returns a block consisting of the left columns of *this.
-  *
-  * \param n the number of columns in the block
-  *
-  * Example: \include MatrixBase_leftCols_int.cpp
-  * Output: \verbinclude MatrixBase_leftCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the left columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_leftCols_int.cpp
+/// Output: \verbinclude MatrixBase_leftCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr leftCols(Index n)
 {
   return ColsBlockXpr(derived(), 0, 0, rows(), n);
 }
 
-/** This is the const version of leftCols(Index).*/
+/// This is the const version of leftCols(Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr leftCols(Index n) const
 {
   return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
 }
 
-/** \returns a block consisting of the left columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_leftCols.cpp
-  * Output: \verbinclude MatrixBase_template_int_leftCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the left columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_leftCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_leftCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type leftCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
 }
 
-/** This is the const version of leftCols<int>().*/
+/// This is the const version of leftCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
@@ -562,47 +643,55 @@ inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
 
 
 
-/** \returns a block consisting of the right columns of *this.
-  *
-  * \param n the number of columns in the block
-  *
-  * Example: \include MatrixBase_rightCols_int.cpp
-  * Output: \verbinclude MatrixBase_rightCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the right columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_rightCols_int.cpp
+/// Output: \verbinclude MatrixBase_rightCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr rightCols(Index n)
 {
   return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
 }
 
-/** This is the const version of rightCols(Index).*/
+/// This is the const version of rightCols(Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr rightCols(Index n) const
 {
   return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
 }
 
-/** \returns a block consisting of the right columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_rightCols.cpp
-  * Output: \verbinclude MatrixBase_template_int_rightCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the right columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_rightCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_rightCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type rightCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
 }
 
-/** This is the const version of rightCols<int>().*/
+/// This is the const version of rightCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
@@ -610,49 +699,57 @@ inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
 
 
 
-/** \returns a block consisting of a range of columns of *this.
-  *
-  * \param startCol the index of the first column in the block
-  * \param numCols the number of columns in the block
-  *
-  * Example: \include DenseBase_middleCols_int.cpp
-  * Output: \verbinclude DenseBase_middleCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \param startCol the index of the first column in the block
+/// \param numCols the number of columns in the block
+///
+/// Example: \include DenseBase_middleCols_int.cpp
+/// Output: \verbinclude DenseBase_middleCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr middleCols(Index startCol, Index numCols)
 {
   return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
 }
 
-/** This is the const version of middleCols(Index,Index).*/
+/// This is the const version of middleCols(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
 {
   return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
 }
 
-/** \returns a block consisting of a range of columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param startCol the index of the first column in the block
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include DenseBase_template_int_middleCols.cpp
-  * Output: \verbinclude DenseBase_template_int_middleCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param startCol the index of the first column in the block
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleCols.cpp
+/// Output: \verbinclude DenseBase_template_int_middleCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
 }
 
-/** This is the const version of middleCols<int>().*/
+/// This is the const version of middleCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
@@ -660,119 +757,134 @@ inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n =
 
 
 
-/** \returns a fixed-size expression of a block in *this.
-  *
-  * The template parameters \a BlockRows and \a BlockCols are the number of
-  * rows and columns in the block.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  *
-  * Example: \include MatrixBase_block_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int.out
-  *
-  * \note since block is a templated member, the keyword template has to be used
-  * if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<int BlockRows, int BlockCols>
-inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol)
-{
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
-}
-
-/** This is the const version of block<>(Index, Index). */
-template<int BlockRows, int BlockCols>
-inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol) const
-{
-  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
-}
-
-/** \returns an expression of a block in *this.
-  *
-  * \tparam BlockRows number of rows in block as specified at compile-time
-  * \tparam BlockCols number of columns in block as specified at compile-time
-  * \param  startRow  the first row in the block
-  * \param  startCol  the first column in the block
-  * \param  blockRows number of rows in block as specified at run-time
-  * \param  blockCols number of columns in block as specified at run-time
-  *
-  * This function is mainly useful for blocks where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a blockRows should equal \a BlockRows unless
-  * \a BlockRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<int BlockRows, int BlockCols>
-inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol, 
+/// \returns a fixed-size expression of a block in *this.
+///
+/// The template parameters \a NRows and \a NCols are the number of
+/// rows and columns in the block.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+///
+/// Example: \include MatrixBase_block_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int.out
+///
+/// \note since block is a templated member, the keyword template has to be used
+/// if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
+{
+  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
+}
+
+/// This is the const version of block<>(Index, Index). */
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
+{
+  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
+}
+
+/// \returns an expression of a block in *this.
+///
+/// \tparam NRows number of rows in block as specified at compile-time
+/// \tparam NCols number of columns in block as specified at compile-time
+/// \param  startRow  the first row in the block
+/// \param  startCol  the first column in the block
+/// \param  blockRows number of rows in block as specified at run-time
+/// \param  blockCols number of columns in block as specified at run-time
+///
+/// This function is mainly useful for blocks where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a blockRows should equal \a NRows unless
+/// \a NRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                   Index blockRows, Index blockCols)
 {
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol, blockRows, blockCols);
+  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
 }
 
-/** This is the const version of block<>(Index, Index, Index, Index). */
-template<int BlockRows, int BlockCols>
-inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol,
+/// This is the const version of block<>(Index, Index, Index, Index).
+template<int NRows, int NCols>
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                               Index blockRows, Index blockCols) const
 {
-  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol, blockRows, blockCols);
+  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
 }
 
-/** \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
-  *
-  * Example: \include MatrixBase_col.cpp
-  * Output: \verbinclude MatrixBase_col.out
-  *
+/// \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_col.cpp
+/// Output: \verbinclude MatrixBase_col.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+/**
   * \sa row(), class Block */
+EIGEN_DEVICE_FUNC
 inline ColXpr col(Index i)
 {
   return ColXpr(derived(), i);
 }
 
-/** This is the const version of col(). */
+/// This is the const version of col().
+EIGEN_DEVICE_FUNC
 inline ConstColXpr col(Index i) const
 {
   return ConstColXpr(derived(), i);
 }
 
-/** \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
-  *
-  * Example: \include MatrixBase_row.cpp
-  * Output: \verbinclude MatrixBase_row.out
-  *
+/// \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_row.cpp
+/// Output: \verbinclude MatrixBase_row.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+/**
   * \sa col(), class Block */
+EIGEN_DEVICE_FUNC
 inline RowXpr row(Index i)
 {
   return RowXpr(derived(), i);
 }
 
-/** This is the const version of row(). */
+/// This is the const version of row(). */
+EIGEN_DEVICE_FUNC
 inline ConstRowXpr row(Index i) const
 {
   return ConstRowXpr(derived(), i);
 }
 
-/** \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
-  *
-  * \only_for_vectors
-  *
-  * \param start the first coefficient in the segment
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_segment_int_int.cpp
-  * Output: \verbinclude MatrixBase_segment_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, segment(Index)
-  */
+/// \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
+///
+/// \only_for_vectors
+///
+/// \param start the first coefficient in the segment
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_segment_int_int.cpp
+/// Output: \verbinclude MatrixBase_segment_int_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, segment(Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType segment(Index start, Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
@@ -780,154 +892,165 @@ inline SegmentReturnType segment(Index start, Index n)
 }
 
 
-/** This is the const version of segment(Index,Index).*/
+/// This is the const version of segment(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType segment(Index start, Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), start, n);
 }
 
-/** \returns a dynamic-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_start_int.cpp
-  * Output: \verbinclude MatrixBase_start_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index)
-  */
+/// \returns a dynamic-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_start_int.cpp
+/// Output: \verbinclude MatrixBase_start_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType head(Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return SegmentReturnType(derived(), 0, n);
 }
 
-/** This is the const version of head(Index).*/
+/// This is the const version of head(Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType head(Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), 0, n);
 }
 
-/** \returns a dynamic-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_end_int.cpp
-  * Output: \verbinclude MatrixBase_end_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index)
-  */
+/// \returns a dynamic-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_end_int.cpp
+/// Output: \verbinclude MatrixBase_end_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType tail(Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return SegmentReturnType(derived(), this->size() - n, n);
 }
 
-/** This is the const version of tail(Index).*/
+/// This is the const version of tail(Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType tail(Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), this->size() - n, n);
 }
 
-/** \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param start the index of the first element in the segment
-  * \param n the number of coefficients in the segment as specified at compile-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_segment.cpp
-  * Output: \verbinclude MatrixBase_template_int_segment.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param start the index of the first element in the segment
+/// \param n the number of coefficients in the segment as specified at compile-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_segment.cpp
+/// Output: \verbinclude MatrixBase_template_int_segment.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), start, n);
 }
 
-/** This is the const version of segment<int>(Index).*/
+/// This is the const version of segment<int>(Index).
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), start, n);
 }
 
-/** \returns a fixed-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param  n the number of coefficients in the segment as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_start.cpp
-  * Output: \verbinclude MatrixBase_template_int_start.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param  n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_start.cpp
+/// Output: \verbinclude MatrixBase_template_int_start.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), 0, n);
 }
 
-/** This is the const version of head<int>().*/
+/// This is the const version of head<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), 0, n);
 }
 
-/** \returns a fixed-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param  n the number of coefficients in the segment as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_end.cpp
-  * Output: \verbinclude MatrixBase_template_int_end.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param  n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_end.cpp
+/// Output: \verbinclude MatrixBase_template_int_end.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), size() - n);
 }
 
-/** This is the const version of tail<int>.*/
+/// This is the const version of tail<int>.
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
diff --git a/vendor/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h b/vendor/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
index 688d224..8b6730e 100644
--- a/vendor/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud at inria.fr>
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud at inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1 at gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -16,7 +16,7 @@
   *
   * \sa class CwiseBinaryOp, operator-=()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
+EIGEN_MAKE_CWISE_BINARY_OP(operator-,difference)
 
 /** \returns an expression of the sum of \c *this and \a other
   *
@@ -24,7 +24,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
   *
   * \sa class CwiseBinaryOp, operator+=()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
+EIGEN_MAKE_CWISE_BINARY_OP(operator+,sum)
 
 /** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
   *
@@ -38,9 +38,78 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
   * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
   */
 template<typename CustomBinaryOp, typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
 binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
 {
   return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
 }
 
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
+#else
+/** \returns an expression of \c *this scaled by the scalar factor \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_product_op<Scalar,T>,Derived,Constant<T> > operator*(const T& scalar) const;
+/** \returns an expression of \a expr scaled by the scalar factor \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_product_op<T,Scalar>,Constant<T>,Derived> operator*(const T& scalar, const StorageBaseType& expr);
+#endif
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/,quotient)
+#else
+/** \returns an expression of \c *this divided by the scalar value \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,T>,Derived,Constant<T> > operator/(const T& scalar) const;
+#endif
+
+/** \returns an expression of the coefficient-wise boolean \b and operator of \c *this and \a other
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_and.cpp
+  * Output: \verbinclude Cwise_boolean_and.out
+  *
+  * \sa operator||(), select()
+  */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
+operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
+
+/** \returns an expression of the coefficient-wise boolean \b or operator of \c *this and \a other
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_or.cpp
+  * Output: \verbinclude Cwise_boolean_or.out
+  *
+  * \sa operator&&(), select()
+  */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
+operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
diff --git a/vendor/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h b/vendor/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
index 08e931a..89f4faa 100644
--- a/vendor/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -12,10 +12,6 @@
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 
-/** \internal Represents a scalar multiple of an expression */
-typedef CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived> ScalarMultipleReturnType;
-/** \internal Represents a quotient of an expression by a scalar*/
-typedef CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived> ScalarQuotient1ReturnType;
 /** \internal the return type of conjugate() */
 typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
                     const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
@@ -36,137 +32,132 @@ typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturn
 /** \internal the return type of imag() */
 typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
 
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-/** \returns an expression of the opposite of \c *this
-  */
-inline const CwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>, const Derived>
-operator-() const { return derived(); }
-
-
-/** \returns an expression of \c *this scaled by the scalar factor \a scalar */
-inline const ScalarMultipleReturnType
-operator*(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived>
-    (derived(), internal::scalar_multiple_op<Scalar>(scalar));
-}
+typedef CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> NegativeReturnType;
 
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-const ScalarMultipleReturnType operator*(const RealScalar& scalar) const;
-#endif
-
-/** \returns an expression of \c *this divided by the scalar value \a scalar */
-inline const CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, const Derived>
-operator/(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived>
-    (derived(), internal::scalar_quotient1_op<Scalar>(scalar));
-}
-
-/** Overloaded for efficient real matrix times complex scalar value */
-inline const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-operator*(const std::complex<Scalar>& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-    (*static_cast<const Derived*>(this), internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >(scalar));
-}
+#endif // not EIGEN_PARSED_BY_DOXYGEN
 
-inline friend const ScalarMultipleReturnType
-operator*(const Scalar& scalar, const StorageBaseType& matrix)
-{ return matrix*scalar; }
-
-inline friend const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
-{ return matrix*scalar; }
-
-/** \returns an expression of *this with the \a Scalar type casted to
-  * \a NewScalar.
-  *
-  * The template parameter \a NewScalar is the type we are casting the scalars to.
-  *
-  * \sa class CwiseUnaryOp
-  */
+/// \returns an expression of the opposite of \c *this
+///
+EIGEN_DOC_UNARY_ADDONS(operator-,opposite)
+///
+EIGEN_DEVICE_FUNC
+inline const NegativeReturnType
+operator-() const { return NegativeReturnType(derived()); }
+
+
+template<class NewType> struct CastXpr { typedef typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<Scalar, NewType>, const Derived> >::type Type; };
+
+/// \returns an expression of \c *this with the \a Scalar type casted to
+/// \a NewScalar.
+///
+/// The template parameter \a NewScalar is the type we are casting the scalars to.
+///
+EIGEN_DOC_UNARY_ADDONS(cast,conversion function)
+///
+/// \sa class CwiseUnaryOp
+///
 template<typename NewType>
-typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, const Derived> >::type
+EIGEN_DEVICE_FUNC
+typename CastXpr<NewType>::Type
 cast() const
 {
-  return derived();
+  return typename CastXpr<NewType>::Type(derived());
 }
 
-/** \returns an expression of the complex conjugate of \c *this.
-  *
-  * \sa adjoint() */
+/// \returns an expression of the complex conjugate of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(conjugate,complex conjugate)
+///
+/// \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_conj">Math functions</a>, MatrixBase::adjoint()
+EIGEN_DEVICE_FUNC
 inline ConjugateReturnType
 conjugate() const
 {
   return ConjugateReturnType(derived());
 }
 
-/** \returns a read-only expression of the real part of \c *this.
-  *
-  * \sa imag() */
+/// \returns a read-only expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
 inline RealReturnType
-real() const { return derived(); }
-
-/** \returns an read-only expression of the imaginary part of \c *this.
-  *
-  * \sa real() */
+real() const { return RealReturnType(derived()); }
+
+/// \returns an read-only expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
 inline const ImagReturnType
-imag() const { return derived(); }
-
-/** \brief Apply a unary operator coefficient-wise
-  * \param[in]  func  Functor implementing the unary operator
-  * \tparam  CustomUnaryOp Type of \a func  
-  * \returns An expression of a custom coefficient-wise unary operator \a func of *this
-  *
-  * The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp_ptrfun.cpp
-  * Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
-  *
-  * Genuine functors allow for more possibilities, for instance it may contain a state.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp.cpp
-  * Output: \verbinclude class_CwiseUnaryOp.out
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp
-  */
+imag() const { return ImagReturnType(derived()); }
+
+/// \brief Apply a unary operator coefficient-wise
+/// \param[in]  func  Functor implementing the unary operator
+/// \tparam  CustomUnaryOp Type of \a func
+/// \returns An expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
+///
+/// Example:
+/// \include class_CwiseUnaryOp_ptrfun.cpp
+/// Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
+///
+/// Genuine functors allow for more possibilities, for instance it may contain a state.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryExpr,unary function)
+///
+/// \sa unaryViewExpr, binaryExpr, class CwiseUnaryOp
+///
 template<typename CustomUnaryOp>
+EIGEN_DEVICE_FUNC
 inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
 unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
 {
   return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
 }
 
-/** \returns an expression of a custom coefficient-wise unary operator \a func of *this
-  *
-  * The template parameter \a CustomUnaryOp is the type of the functor
-  * of the custom unary operator.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp.cpp
-  * Output: \verbinclude class_CwiseUnaryOp.out
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp
-  */
+/// \returns an expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The template parameter \a CustomUnaryOp is the type of the functor
+/// of the custom unary operator.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryViewExpr,unary function)
+///
+/// \sa unaryExpr, binaryExpr class CwiseUnaryOp
+///
 template<typename CustomViewOp>
+EIGEN_DEVICE_FUNC
 inline const CwiseUnaryView<CustomViewOp, const Derived>
 unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
 {
   return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
 }
 
-/** \returns a non const expression of the real part of \c *this.
-  *
-  * \sa imag() */
+/// \returns a non const expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
 inline NonConstRealReturnType
-real() { return derived(); }
-
-/** \returns a non const expression of the imaginary part of \c *this.
-  *
-  * \sa real() */
+real() { return NonConstRealReturnType(derived()); }
+
+/// \returns a non const expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
 inline NonConstImagReturnType
-imag() { return derived(); }
+imag() { return NonConstImagReturnType(derived()); }
diff --git a/vendor/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/vendor/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
index c4a042b..f1084ab 100644
--- a/vendor/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -18,10 +18,11 @@
   * \sa class CwiseBinaryOp, cwiseAbs2
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
 cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise == operator of *this and \a other
@@ -37,6 +38,7 @@ cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
 cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
@@ -56,6 +58,7 @@ cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
 cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
@@ -70,17 +73,19 @@ cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa class CwiseBinaryOp, max()
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>
 cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise min of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
 cwiseMin(const Scalar &other) const
 {
   return cwiseMin(Derived::Constant(rows(), cols(), other));
@@ -94,17 +99,19 @@ cwiseMin(const Scalar &other) const
   * \sa class CwiseBinaryOp, min()
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>
 cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise max of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
 cwiseMax(const Scalar &other) const
 {
   return cwiseMax(Derived::Constant(rows(), cols(), other));
@@ -119,13 +126,14 @@ cwiseMax(const Scalar &other) const
   * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
 cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
   return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
 
 /** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
   *
@@ -136,8 +144,9 @@ typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,internal::cmp_EQ>, const De
   *
   * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
   */
+EIGEN_DEVICE_FUNC
 inline const CwiseScalarEqualReturnType
 cwiseEqual(const Scalar& s) const
 {
-  return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,internal::cmp_EQ>());
+  return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>());
 }
diff --git a/vendor/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/vendor/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
index 8de1093..b1be3d5 100644
--- a/vendor/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+++ b/vendor/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -8,45 +8,78 @@
 // 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/.
 
-// This file is a base class plugin containing matrix specifics coefficient wise functions.
-
-/** \returns an expression of the coefficient-wise absolute value of \c *this
-  *
-  * Example: \include MatrixBase_cwiseAbs.cpp
-  * Output: \verbinclude MatrixBase_cwiseAbs.out
-  *
-  * \sa cwiseAbs2()
-  */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
-cwiseAbs() const { return derived(); }
-
-/** \returns an expression of the coefficient-wise squared absolute value of \c *this
-  *
-  * Example: \include MatrixBase_cwiseAbs2.cpp
-  * Output: \verbinclude MatrixBase_cwiseAbs2.out
-  *
-  * \sa cwiseAbs()
-  */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
-cwiseAbs2() const { return derived(); }
-
-/** \returns an expression of the coefficient-wise square root of *this.
-  *
-  * Example: \include MatrixBase_cwiseSqrt.cpp
-  * Output: \verbinclude MatrixBase_cwiseSqrt.out
-  *
-  * \sa cwisePow(), cwiseSquare()
-  */
-inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
-cwiseSqrt() const { return derived(); }
-
-/** \returns an expression of the coefficient-wise inverse of *this.
-  *
-  * Example: \include MatrixBase_cwiseInverse.cpp
-  * Output: \verbinclude MatrixBase_cwiseInverse.out
-  *
-  * \sa cwiseProduct()
-  */
-inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
-cwiseInverse() const { return derived(); }
+// This file is included into the body of the base classes supporting matrix specific coefficient-wise functions.
+// This include MatrixBase and SparseMatrixBase.
+
+
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
+
+/// \returns an expression of the coefficient-wise absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs,absolute value)
+///
+/// \sa cwiseAbs2()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbsReturnType
+cwiseAbs() const { return CwiseAbsReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise squared absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs2.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs2.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs2,squared absolute value)
+///
+/// \sa cwiseAbs()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbs2ReturnType
+cwiseAbs2() const { return CwiseAbs2ReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise square root of *this.
+///
+/// Example: \include MatrixBase_cwiseSqrt.cpp
+/// Output: \verbinclude MatrixBase_cwiseSqrt.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSqrt,square-root)
+///
+/// \sa cwisePow(), cwiseSquare()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSqrtReturnType
+cwiseSqrt() const { return CwiseSqrtReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise signum of *this.
+///
+/// Example: \include MatrixBase_cwiseSign.cpp
+/// Output: \verbinclude MatrixBase_cwiseSign.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSign,sign function)
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSignReturnType
+cwiseSign() const { return CwiseSignReturnType(derived()); }
+
+
+/// \returns an expression of the coefficient-wise inverse of *this.
+///
+/// Example: \include MatrixBase_cwiseInverse.cpp
+/// Output: \verbinclude MatrixBase_cwiseInverse.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseInverse,inverse)
+///
+/// \sa cwiseProduct()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseInverseReturnType
+cwiseInverse() const { return CwiseInverseReturnType(derived()); }
+
 
diff --git a/vendor/kazhdan/Allocator.h b/vendor/kazhdan/Allocator.h
new file mode 100644
index 0000000..6c84021
--- /dev/null
+++ b/vendor/kazhdan/Allocator.h
@@ -0,0 +1,165 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef ALLOCATOR_INCLUDED
+#define ALLOCATOR_INCLUDED
+
+#include <vector>
+
+class AllocatorState
+{
+public:
+	int index , remains;
+};
+/** This templated class assists in memory allocation and is well suited for instances
+  * when it is known that the sequence of memory allocations is performed in a stack-based
+  * manner, so that memory allocated last is released first. It also preallocates memory
+  * in chunks so that multiple requests for small chunks of memory do not require separate
+  * system calls to the memory manager.
+  * The allocator is templated off of the class of objects that we would like it to allocate,
+  * ensuring that appropriate constructors and destructors are called as necessary.
+  */
+template<class T>
+class Allocator
+{
+	int blockSize;
+	int index , remains;
+	std::vector< T* > memory;
+public:
+	Allocator( void ){ blockSize = index = remains = 0; }
+	~Allocator( void ){ reset(); }
+
+	/** This method is the allocators destructor. It frees up any of the memory that
+	  * it has allocated. */
+	void reset( void )
+	{
+		for( size_t i=0 ; i<memory.size() ; i++ ) delete[] memory[i];
+		memory.clear();
+		blockSize = index = remains = 0;
+	}
+	/** This method returns the memory state of the allocator. */
+	AllocatorState getState( void ) const
+	{
+		AllocatorState s;
+		s.index = index;
+		s.remains = remains;
+		return s;
+	}
+
+
+	/** This method rolls back the allocator so that it makes all of the memory previously
+	  * allocated available for re-allocation. Note that it does it not call the constructor
+	  * again, so after this method has been called, assumptions about the state of the values
+	  * in memory are no longer valid. */
+	void rollBack(void)
+	{
+		if( memory.size() )
+		{
+			for( size_t i=0 ; i<memory.size() ; i++ )
+			{
+				for( int j=0 ; j<blockSize ; j++ )
+				{
+					memory[i][j].~T();
+					new(&memory[i][j]) T();
+				}
+			}
+			index=0;
+			remains=blockSize;
+		}
+	}
+	/** This method rolls back the allocator to the previous memory state and makes all of the memory previously
+	  * allocated available for re-allocation. Note that it does it not call the constructor
+	  * again, so after this method has been called, assumptions about the state of the values
+	  * in memory are no longer valid. */
+	void rollBack(const AllocatorState& state){
+		if(state.index<index || (state.index==index && state.remains<remains)){
+			if(state.index<index){
+				for(int j=state.remains;j<blockSize;j++){
+					memory[state.index][j].~T();
+					new(&memory[state.index][j]) T();
+				}
+				for(int i=state.index+1;i<index-1;i++){
+					for(int j=0;j<blockSize;j++){
+						memory[i][j].~T();
+						new(&memory[i][j]) T();
+					}
+				}
+				for(int j=0;j<remains;j++){
+					memory[index][j].~T();
+					new(&memory[index][j]) T();
+				}
+				index=state.index;
+				remains=state.remains;
+			}
+			else{
+				for(int j=0;j<state.remains;j<remains){
+					memory[index][j].~T();
+					new(&memory[index][j]) T();
+				}
+				remains=state.remains;
+			}
+		}
+	}
+
+	/** This method initiallizes the constructor and the blockSize variable specifies the
+	  * the number of objects that should be pre-allocated at a time. */
+	void set( int blockSize )
+	{
+		reset();
+		this->blockSize = blockSize;
+		index=-1;
+		remains=0;
+	}
+
+	/** This method returns a pointer to an array of elements objects. If there is left over pre-allocated
+	  * memory, this method simply returns a pointer to the next free piece of memory, otherwise it pre-allocates
+	  * more memory. Note that if the number of objects requested is larger than the value blockSize with which
+	  * the allocator was initialized, the request for memory will fail.
+	  */
+	T* newElements( int elements=1 )
+	{
+		T* mem;
+		if( !elements ) return NULL;
+		if( elements>blockSize ) fprintf( stderr , "[ERROR] Allocator: elements bigger than block-size: %d>%d\n" , elements , blockSize ) , exit( 0 );
+		if( remains<elements )
+		{
+			if( index==(int)(memory.size()-1))
+			{
+				mem = new T[blockSize];
+				if( !mem ) fprintf( stderr , "[ERROR] Failed to allocate memory\n" ) , exit(0);
+				memory.push_back( mem );
+			}
+			index++;
+			remains = blockSize;
+		}
+		mem = &(memory[index][blockSize-remains]);
+		remains -= elements;
+		return mem;
+	}
+};
+#endif // ALLOCATOR_INCLUDE
diff --git a/vendor/kazhdan/Array.h b/vendor/kazhdan/Array.h
new file mode 100644
index 0000000..e46e768
--- /dev/null
+++ b/vendor/kazhdan/Array.h
@@ -0,0 +1,116 @@
+/*
+Copyright (c) 2011, Michael Kazhdan and Ming Chuang
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef ARRAY_INCLUDED
+#define ARRAY_INCLUDED
+
+#include <stdlib.h>
+#include <vector>
+
+#ifdef _WIN64
+#define ASSERT( x ) { if( !( x ) ) __debugbreak(); }
+#else // !_WIN64
+#ifdef _WIN32
+#define ASSERT( x ) { if( !( x ) ) _asm{ int 0x03 } }
+#else // !_WIN32
+#define ASSERT( x ) { if( !( x ) ) exit(0); }
+#endif // _WIN32
+#endif // _WIN64
+
+// Code from http://stackoverflow.com
+void* aligned_malloc( size_t size , size_t align )
+{
+	// Align enough for the data, the alignment padding, and room to store a pointer to the actual start of the memory
+	void*  mem = malloc( size + align + sizeof( void* ) );
+	// The position at which we could potentially start addressing
+	char* amem = ( (char*)mem ) + sizeof( void* );
+	// Add align-1 to the start of the address and then zero out at most of the first align-1 bits.
+	amem = ( char* )( ( (size_t)( ( (char*)amem ) + (align-1) ) ) & ~( align-1 ) );
+    void **vmem = reinterpret_cast<void **>(amem);
+
+	// Pre-write the actual address
+//	( ( void** ) amem )[-1] = mem;
+	vmem[-1] = mem;
+	return amem;
+}
+void aligned_free( void* mem ) { free( ( ( void** )mem )[-1] ); }
+
+#ifdef ARRAY_DEBUG
+#pragma message ( "[WARNING] Array debugging is enabled" )
+#include "Array.inl"
+#define      Pointer( ... )      Array< __VA_ARGS__ >
+#define ConstPointer( ... ) ConstArray< __VA_ARGS__ >
+#define  NullPointer( ... )      Array< __VA_ARGS__ >()
+template< class C > void        FreePointer( Array< C >& a ){ a.Free( ); }
+template< class C > void AlignedFreePointer( Array< C >& a ){ a.Free( ); }
+template< class C > void       VFreePointer( Array< C >& a ){ a.Free( ); }
+template< class C > void      DeletePointer( Array< C >& a ){ a.Delete( ); }
+
+template< class C > Array< C >          NewPointer(                  size_t size ,                    const char* name=NULL ){ return Array< C >::New         (     size ,                     name ); }
+template< class C > Array< C >        AllocPointer(                  size_t size ,                    const char* name=NULL ){ return Array< C >::Alloc       (     size ,             false , name ); }
+template< class C > Array< C > AlignedAllocPointer(                  size_t size , size_t alignment , const char* name=NULL ){ return Array< C >::AlignedAlloc(     size , alignment , false , name ); }
+template< class C > Array< C >      ReAllocPointer( Array< C >&  a , size_t size ,                    const char* name=NULL ){ return Array< C >::ReAlloc     ( a , size ,             false , name ); }
+
+template< class C >       C* PointerAddress(      Array< C >& a ) { return a.pointer(); }
+template< class C > const C* PointerAddress( ConstArray< C >& a ) { return a.pointer(); }
+template< class C >      Array< C > GetPointer(       C& c ) { return      Array< C >::FromPointer( &c , 1 ); }
+template< class C > ConstArray< C > GetPointer( const C& c ) { return ConstArray< C >::FromPointer( &c , 1 ); }
+template< class C >      Array< C > GetPointer(       std::vector< C >& v ){ return      Array< C >::FromPointer( &v[0] , v.size() ); }
+template< class C > ConstArray< C > GetPointer( const std::vector< C >& v ){ return ConstArray< C >::FromPointer( &v[0] , v.size() ); }
+
+template< class C >      Array< C > GetPointer(       C* c , int sz ) { return      Array< C >::FromPointer( c , sz ); }
+template< class C > ConstArray< C > GetPointer( const C* c , int sz ) { return ConstArray< C >::FromPointer( c , sz ); }
+
+#else // !ARRAY_DEBUG
+#define      Pointer( ... )       __VA_ARGS__*
+#define ConstPointer( ... ) const __VA_ARGS__*
+#define  NullPointer( ... ) NULL
+
+#define        FreePointer( ... ) { if( __VA_ARGS__ )         free( __VA_ARGS__ ) ,                   __VA_ARGS__ = NULL; }
+#define AlignedFreePointer( ... ) { if( __VA_ARGS__ ) aligned_free( __VA_ARGS__ ) ,                   __VA_ARGS__ = NULL; }
+#define      DeletePointer( ... ) { if( __VA_ARGS__ )      delete[] __VA_ARGS__ ,                     __VA_ARGS__ = NULL; }
+
+template< class C > C*          NewPointer(        size_t size ,                    const char* name=NULL ){ return new C[size]; }
+template< class C > C*        AllocPointer(        size_t size ,                    const char* name=NULL ){ return (C*)        malloc(        sizeof(C) * size             ); }
+template< class C > C* AlignedAllocPointer(        size_t size , size_t alignment , const char* name=NULL ){ return (C*)aligned_malloc(        sizeof(C) * size , alignment ); }
+template< class C > C*      ReAllocPointer( C* c , size_t size ,                    const char* name=NULL ){ return (C*)       realloc( c    , sizeof(C) * size             ); }
+
+//template< class C > C* NullPointer( void ){ return NULL; }
+
+template< class C >       C* PointerAddress(       C* c ){ return c; }
+template< class C > const C* PointerAddress( const C* c ){ return c; }
+template< class C >       C* GetPointer(       C& c ){ return &c; }
+template< class C > const C* GetPointer( const C& c ){ return &c; }
+template< class C >       C* GetPointer(       std::vector< C >& v ){ return &v[0]; }
+template< class C > const C* GetPointer( const std::vector< C >& v ){ return &v[0]; }
+
+template< class C >       C* GetPointer(       C* c , int sz ) { return c; }
+template< class C > const C* GetPointer( const C* c , int sz ) { return c; }
+
+#endif // ARRAY_DEBUG
+#endif // ARRAY_INCLUDED
diff --git a/vendor/kazhdan/BSplineData.h b/vendor/kazhdan/BSplineData.h
new file mode 100644
index 0000000..601253e
--- /dev/null
+++ b/vendor/kazhdan/BSplineData.h
@@ -0,0 +1,471 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef BSPLINE_DATA_INCLUDED
+#define BSPLINE_DATA_INCLUDED
+
+#define NEW_BSPLINE_CODE
+
+#include "BinaryNode.h"
+#include "PPolynomial.h"
+#include "Array.h"
+
+enum BoundaryType
+{
+	BOUNDARY_FREE ,
+	BOUNDARY_DIRICHLET ,
+	BOUNDARY_NEUMANN ,
+	BOUNDARY_COUNT
+};
+const char* BoundaryNames[] = { "free" , "Dirichlet" , "Neumann" };
+template< BoundaryType BType > inline bool HasPartitionOfUnity( void ){ return BType!=BOUNDARY_DIRICHLET; }
+
+// This class represents a function that is a linear combination of B-spline elements.
+// The coeff member indicating how much of each element is present.
+// [WARNING] The ordering of B-spline elements is in the opposite order from that returned by Polynomial::BSplineComponent
+template< int Degree >
+struct BSplineElementCoefficients
+{
+	int coeffs[Degree+1];
+	BSplineElementCoefficients( void ){ memset( coeffs , 0 , sizeof( coeffs ) ); }
+	int& operator[]( int idx ){ return coeffs[idx]; }
+	const int& operator[]( int idx ) const { return coeffs[idx]; }
+};
+
+// This class represents a function on the the interval, partitioned into "res" blocks.
+// On each block, the function is a degree-Degree polynomial, represented by the coefficients
+// in the associated BSplineElementCoefficients.
+// [NOTE] This representation of a function is agnostic to the type of boundary conditions (though the constructor is not).
+template< int Degree >
+struct BSplineElements : public std::vector< BSplineElementCoefficients< Degree > >
+{
+	static const bool _Primal = (Degree&1)==1;
+	static const int _Off = (Degree+1)/2;
+	static int _ReflectLeft ( int offset , int res );
+	static int _ReflectRight( int offset , int res );
+	static int _RotateLeft  ( int offset , int res );
+	static int _RotateRight ( int offset , int res );
+	template< bool Left > void _addPeriodic( int offset , bool negate );
+public:
+	// Coefficients are ordered as "/" "-" "\"
+	// [WARNING] This is the opposite of the order in Polynomial::BSplineComponent
+	int denominator;
+
+	BSplineElements( void ) { denominator = 1; }
+	BSplineElements( int res , int offset , BoundaryType bType );
+
+	void upSample( BSplineElements& high ) const;
+	template< unsigned int D >
+	void differentiate( BSplineElements< Degree-D >& d ) const;
+
+	void print( FILE* fp=stdout ) const
+	{
+		for( int i=0 ; i<std::vector< BSplineElementCoefficients< Degree > >::size() ; i++ )
+		{
+			printf( "%d]" , i );
+			for( int j=0 ; j<=Degree ; j++ ) printf( " %d" , (*this)[i][j] );
+			printf( " (%d)\n" , denominator );
+		}
+	}
+	Polynomial< Degree > polynomial( int idx ) const
+	{
+		int res = (int)std::vector< BSplineElementCoefficients< Degree > >::size();
+		Polynomial< Degree > P;
+		if( idx>=0 && idx<res ) for( int d=0 ; d<=Degree ; d++ ) P += Polynomial< Degree >::BSplineComponent( Degree-d ).scale( 1./res ).shift( (idx+0.)/res ) * ( (*this)[idx][d] );
+		return P / denominator;
+	}
+	PPolynomial< Degree > pPolynomial( void ) const
+	{
+		int res = (int)std::vector< BSplineElementCoefficients< Degree > >::size();
+		PPolynomial< Degree > P;
+		P.polyCount = res + 1;
+		P.polys = AllocPointer< StartingPolynomial< Degree > >( P.polyCount );
+		for( int i=0 ; i<P.polyCount ; i++ ) P.polys[i].start = (i+0.) / res , P.polys[i].p = polynomial(i);
+		for( int i=res ; i>=1 ; i-- ) P.polys[i].p -= P.polys[i-1].p;
+		return P.compress(0);
+	}
+};
+template< int Degree , int DDegree > struct Differentiator                   { static void Differentiate( const BSplineElements< Degree >& bse , BSplineElements< DDegree >& dbse ); };
+template< int Degree >               struct Differentiator< Degree , Degree >{ static void Differentiate( const BSplineElements< Degree >& bse , BSplineElements<  Degree >& dbse ); };
+#define BSPLINE_SET_BOUNDS( name , s , e ) \
+	static const int name ## Start = (s); \
+	static const int name ## End   = (e); \
+	static const int name ## Size  = (e)-(s)+1
+
+// Assumes that x is non-negative
+#define _FLOOR_OF_HALF( x ) (   (x)    >>1 )
+#define  _CEIL_OF_HALF( x ) ( ( (x)+1 )>>1 )
+// Done with the assumption
+#define FLOOR_OF_HALF( x ) ( (x)<0 ? -  _CEIL_OF_HALF( -(x) ) : _FLOOR_OF_HALF( x ) )
+#define  CEIL_OF_HALF( x ) ( (x)<0 ? - _FLOOR_OF_HALF( -(x) ) :  _CEIL_OF_HALF( x ) )
+#define SMALLEST_INTEGER_LARGER_THAN_HALF( x ) (  CEIL_OF_HALF( (x)+1 ) )
+#define LARGEST_INTEGER_SMALLER_THAN_HALF( x ) ( FLOOR_OF_HALF( (x)-1 ) )
+#define SMALLEST_INTEGER_LARGER_THAN_OR_EQUAL_TO_HALF( x ) (  CEIL_OF_HALF( x ) )
+#define LARGEST_INTEGER_SMALLER_THAN_OR_EQUAL_TO_HALF( x ) ( FLOOR_OF_HALF( x ) )
+
+template< int Degree >
+struct BSplineSupportSizes
+{
+	inline static int Nodes( int depth ){ return ( 1<<depth ) + ( Degree&1 ); }
+	inline static bool OutOfBounds( int depth , int offset ){ return offset>=0 || offset<Nodes(depth); }
+	// An index is interiorly supported if its support is in the range [0,1<<depth)
+	inline static void InteriorSupportedSpan( int depth , int& begin , int& end ){ begin = -SupportStart , end = (1<<depth)-SupportEnd; }
+
+	// If the degree is even, we use a dual basis and functions are centered at the center of the interval
+	// It the degree is odd, we use a primal basis and functions are centered at the left end of the interval
+	// The function at index I is supported in:
+	//	Support( I ) = [ I - (Degree+1-Inset)/2 , I + (Degree+1+Inset)/2 ]
+	// [NOTE] The value of ( Degree + 1 +/- Inset ) is always even
+	static const int Inset = (Degree&1) ? 0 : 1;
+	BSPLINE_SET_BOUNDS(      Support , -( (Degree+1)/2 ) , Degree/2           );
+	BSPLINE_SET_BOUNDS( ChildSupport ,    2*SupportStart , 2*(SupportEnd+1)-1 );
+	BSPLINE_SET_BOUNDS(       Corner ,    SupportStart+1 , SupportEnd         );
+	BSPLINE_SET_BOUNDS(  ChildCorner ,  2*SupportStart+1 , 2*SupportEnd + 1   );
+
+	// Setting I=0, we are looking for the smallest/largest integers J such that:
+	//		Support( 0 ) CONTAINS Support( J )
+	// <=>	[-(Degree+1-Inset) , (Degree+1+Inset) ] CONTAINS [ J-(Degree+1-Inset)/2 , J+(Degree+1+Inset)/2 ]
+	// Which is the same as the smallest/largest integers J such that:
+	//		J - (Degree+1-Inset)/2 >= -(Degree+1-Inset)	| J + (Degree+1+Inset)/2 <= (Degree+1+Inset)
+	// <=>	J >= -(Degree+1-Inset)/2					| J <= (Degree+1+Inset)/2
+	BSPLINE_SET_BOUNDS( UpSample , - ( Degree + 1 - Inset ) / 2 , ( Degree + 1 + Inset ) /2 );
+
+	// Setting I=0/1, we are looking for the smallest/largest integers J such that:
+	//		Support( J ) CONTAINS Support( 0/1 )
+	// <=>	[ 2*J - (Degree+1-Inset) , 2*J + (Degree+1+Inset) ] CONTAINS [ 0/1 - (Degree+1-Inset)/2 , 0/1 + (Degree+1+Inset)/2 ]
+	// Which is the same as the smallest/largest integers J such that:
+	//		2*J + (Degree+1+Inset) >= 0/1 + (Degree+1+Inset)/2	| 2*J - (Degree+1-Inset) <= 0/1 - (Degree+1-Inset)/2
+	// <=>	2*J >= 0/1 - (Degree+1+Inset)/2						| 2*J <= 0/1 + (Degree+1-Inset)/2
+	BSPLINE_SET_BOUNDS( DownSample0 , SMALLEST_INTEGER_LARGER_THAN_OR_EQUAL_TO_HALF( 0 - ( Degree + 1 + Inset ) / 2 ) , LARGEST_INTEGER_SMALLER_THAN_OR_EQUAL_TO_HALF( 0 + ( Degree + 1 - Inset ) / 2 ) );
+	BSPLINE_SET_BOUNDS( DownSample1 , SMALLEST_INTEGER_LARGER_THAN_OR_EQUAL_TO_HALF( 1 - ( Degree + 1 + Inset ) / 2 ) , LARGEST_INTEGER_SMALLER_THAN_OR_EQUAL_TO_HALF( 1 + ( Degree + 1 - Inset ) / 2 ) );
+	static const int DownSampleStart[] , DownSampleEnd[] , DownSampleSize[];
+};
+template< int Degree > const int BSplineSupportSizes< Degree >::DownSampleStart[] = { DownSample0Start , DownSample1Start };
+template< int Degree > const int BSplineSupportSizes< Degree >::DownSampleEnd  [] = { DownSample0End   , DownSample1End   };
+template< int Degree > const int BSplineSupportSizes< Degree >::DownSampleSize [] = { DownSample0Size  , DownSample1Size  };
+
+
+// Given a B-Spline of degree Degree1 at position i, this gives the offsets of the B-splines of degree Degree2 that just overlap with it.
+template< int Degree1 , int Degree2 >
+struct BSplineOverlapSizes
+{
+	typedef BSplineSupportSizes< Degree1 > EData1;
+	typedef BSplineSupportSizes< Degree2 > EData2;
+	BSPLINE_SET_BOUNDS(             Overlap , EData1::     SupportStart - EData2::SupportEnd , EData1::     SupportEnd - EData2::SupportStart );
+	BSPLINE_SET_BOUNDS(        ChildOverlap , EData1::ChildSupportStart - EData2::SupportEnd , EData1::ChildSupportEnd - EData2::SupportStart );
+	BSPLINE_SET_BOUNDS(      OverlapSupport ,      OverlapStart + EData2::SupportStart ,      OverlapEnd + EData2::SupportEnd );
+	BSPLINE_SET_BOUNDS( ChildOverlapSupport , ChildOverlapStart + EData2::SupportStart , ChildOverlapEnd + EData2::SupportEnd );
+
+	// Setting I=0/1, we are looking for the smallest/largest integers J such that:
+	//		Support( 2*J ) * 2 INTERSECTION Support( 0/1 ) NON-EMPTY
+	// <=>	[ 2*J - (Degree2+1-Inset2) , 2*J + (Degree2+1+Inset2) ] INTERSECTION [ 0/1 - (Degree1+1-Inset1)/2 , 0/1 + (Degree1+1+Inset1)/2 ] NON-EMPTY
+	// Which is the same as the smallest/largest integers J such that:
+	//		0/1 - (Degree1+1-Inset1)/2 < 2*J + (Degree2+1+Inset2)			| 0/1 + (Degree1+1+Inset1)/2 > 2*J - (Degree2+1-Inset2)	
+	// <=>	2*J > 0/1 - ( 2*Degree2 + Degree1 + 3 + 2*Inset2 - Inset1 ) / 2	| 2*J < 0/1 + ( 2*Degree2 + Degree1 + 3 - 2*Inset2 + Inset1 ) / 2
+	BSPLINE_SET_BOUNDS( ParentOverlap0 , SMALLEST_INTEGER_LARGER_THAN_HALF( 0 - ( 2*Degree2 + Degree1 + 3 + 2*EData2::Inset - EData1::Inset ) / 2 ) , LARGEST_INTEGER_SMALLER_THAN_HALF( 0 + ( 2*Degree2 + Degree1 + 3 - 2*EData2::Inset + EData1::Inset ) / 2 ) );
+	BSPLINE_SET_BOUNDS( ParentOverlap1 , SMALLEST_INTEGER_LARGER_THAN_HALF( 1 - ( 2*Degree2 + Degree1 + 3 + 2*EData2::Inset - EData1::Inset ) / 2 ) , LARGEST_INTEGER_SMALLER_THAN_HALF( 1 + ( 2*Degree2 + Degree1 + 3 - 2*EData2::Inset + EData1::Inset ) / 2 ) );
+	static const int ParentOverlapStart[] , ParentOverlapEnd[] , ParentOverlapSize[];
+};
+template< int Degree1 , int Degree2 > const int BSplineOverlapSizes< Degree1 , Degree2 >::ParentOverlapStart[] = { ParentOverlap0Start , ParentOverlap1Start };
+template< int Degree1 , int Degree2 > const int BSplineOverlapSizes< Degree1 , Degree2 >::ParentOverlapEnd  [] = { ParentOverlap0End   , ParentOverlap1End   };
+template< int Degree1 , int Degree2 > const int BSplineOverlapSizes< Degree1 , Degree2 >::ParentOverlapSize [] = { ParentOverlap0Size  , ParentOverlap1Size  };
+
+template< int Degree , BoundaryType BType >
+class BSplineEvaluationData
+{
+public:
+	static const int Pad = (BType==BOUNDARY_FREE ) ? BSplineSupportSizes< Degree >::SupportEnd : ( (Degree&1) && BType==BOUNDARY_DIRICHLET ) ? -1 : 0;
+	inline static int Begin( int depth ){ return -Pad; }
+	inline static int End  ( int depth ){ return (1<<depth) + (Degree&1) + Pad; }
+	inline static bool OutOfBounds( int depth , int offset ){ return offset<Begin(depth) || offset>=End(depth); }
+
+	static const int OffsetStart = -BSplineSupportSizes< Degree >::SupportStart , OffsetStop = BSplineSupportSizes< Degree >::SupportEnd + ( Degree&1 ) , IndexSize = OffsetStart + OffsetStop + 1 + 2 * Pad;
+	static int OffsetToIndex( int depth , int offset )
+	{
+		int dim = BSplineSupportSizes< Degree >::Nodes( depth );
+		if     ( offset<OffsetStart )     return Pad + offset;
+		else if( offset>=dim-OffsetStop ) return Pad + OffsetStart + 1 + offset - ( dim-OffsetStop );
+		else                              return Pad + OffsetStart;
+	}
+	static inline int IndexToOffset( int depth , int idx ){ return ( idx-Pad<=OffsetStart ? idx - Pad : ( BSplineSupportSizes< Degree >::Nodes(depth) + Pad - IndexSize + idx ) ); }
+
+	BSplineEvaluationData( void );
+
+	// [NOTE] The offset represents the node position, not the index of the function
+	static double Value( int depth , int off , double s , bool derivative );
+
+	// Note that this struct stores the components in left-to-right order
+	struct BSplineComponents
+	{
+	protected:
+		Polynomial< Degree > _polys[Degree+1];
+	public:
+		BSplineComponents( void ){ ; }
+		BSplineComponents( int depth , int offset );
+		const Polynomial< Degree >& operator[] ( int idx ) const { return _polys[idx]; }
+		BSplineComponents derivative( void ) const;
+		void printnl( void ) const { for( int d=0 ; d<=Degree ; d++ ) printf( "[%d] " , d ) , _polys[d].printnl(); }
+	};
+	struct BSplineUpSamplingCoefficients
+	{
+	protected:
+		int _coefficients[ BSplineSupportSizes< Degree >::UpSampleSize ];
+	public:
+		BSplineUpSamplingCoefficients( void ){ ; }
+		BSplineUpSamplingCoefficients( int depth , int offset );
+		double operator[] ( int idx ){ return (double)_coefficients[idx] / (1<<Degree); }
+	};
+
+	struct CenterEvaluator
+	{
+		struct Evaluator
+		{
+		protected:
+			friend BSplineEvaluationData;
+			int _depth;
+			double _ccValues[2][IndexSize][BSplineSupportSizes< Degree >::SupportSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			Evaluator( void ){ _depth = 0 ; memset( _ccValues , 0 , sizeof(_ccValues) ); }
+#endif // BRUNO_LEVY_FIX
+			double value( int fIdx , int cIdx , bool d ) const;
+			int depth( void ) const { return _depth; }
+		};
+		struct ChildEvaluator
+		{
+		protected:
+			friend BSplineEvaluationData;
+			int _parentDepth;
+			double _pcValues[2][IndexSize][BSplineSupportSizes< Degree >::ChildSupportSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			ChildEvaluator( void ){ _parentDepth = 0 ; memset( _pcValues , 0 , sizeof(_pcValues) ); }
+#endif // BRUNO_LEVY_FIX
+			double value( int fIdx , int cIdx , bool d ) const;
+			int parentDepth( void ) const { return _parentDepth; }
+			int childDepth( void ) const { return _parentDepth+1; }
+		};
+	};
+	static void SetCenterEvaluator( typename CenterEvaluator::Evaluator& evaluator , int depth );
+	static void SetChildCenterEvaluator( typename CenterEvaluator::ChildEvaluator& evaluator , int parentDepth );
+
+	struct CornerEvaluator
+	{
+		struct Evaluator
+		{
+		protected:
+			friend BSplineEvaluationData;
+			int _depth;
+			double _ccValues[2][IndexSize][BSplineSupportSizes< Degree >::CornerSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			Evaluator( void ){ _depth = 0 ; memset( _ccValues , 0 , sizeof( _ccValues ) ); }
+#endif // BRUNO_LEVY_FIX
+			double value( int fIdx , int cIdx , bool d ) const;
+			int depth( void ) const { return _depth; }
+		};
+		struct ChildEvaluator
+		{
+		protected:
+			friend BSplineEvaluationData;
+			int _parentDepth;
+			double _pcValues[2][IndexSize][BSplineSupportSizes< Degree >::ChildCornerSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			ChildEvaluator( void ){ _parentDepth = 0 ; memset( _pcValues , 0 , sizeof( _pcValues ) ); }
+#endif // BRUNO_LEVY_FIX
+			double value( int fIdx , int cIdx , bool d ) const;
+			int parentDepth( void ) const { return _parentDepth; }
+			int childDepth( void ) const { return _parentDepth+1; }
+		};
+	};
+	static void SetCornerEvaluator( typename CornerEvaluator::Evaluator& evaluator , int depth );
+	static void SetChildCornerEvaluator( typename CornerEvaluator::ChildEvaluator& evaluator , int parentDepth );
+
+	struct Evaluator
+	{
+		typename CenterEvaluator::Evaluator centerEvaluator;
+		typename CornerEvaluator::Evaluator cornerEvaluator;
+		double centerValue( int fIdx , int cIdx , bool d ) const { return centerEvaluator.value( fIdx , cIdx , d ); }
+		double cornerValue( int fIdx , int cIdx , bool d ) const { return cornerEvaluator.value( fIdx , cIdx , d ); }
+	};
+	static void SetEvaluator( Evaluator& evaluator , int depth ){ SetCenterEvaluator( evaluator.centerEvaluator , depth ) , SetCornerEvaluator( evaluator.cornerEvaluator , depth ); }
+
+	struct ChildEvaluator
+	{
+		typename CenterEvaluator::ChildEvaluator centerEvaluator;
+		typename CornerEvaluator::ChildEvaluator cornerEvaluator;
+		double centerValue( int fIdx , int cIdx , bool d ) const { return centerEvaluator.value( fIdx , cIdx , d ); }
+		double cornerValue( int fIdx , int cIdx , bool d ) const { return cornerEvaluator.value( fIdx , cIdx , d ); }
+	};
+	static void SetChildEvaluator( ChildEvaluator& evaluator , int depth ){ SetChildCenterEvaluator( evaluator.centerEvaluator , depth ) , SetChildCornerEvaluator( evaluator.cornerEvaluator , depth ); }
+
+	struct UpSampleEvaluator
+	{
+	protected:
+		friend BSplineEvaluationData;
+		int _lowDepth;
+		double _pcValues[IndexSize][BSplineSupportSizes< Degree >::UpSampleSize];
+	public:
+#ifdef BRUNO_LEVY_FIX
+		UpSampleEvaluator( void ){ _lowDepth = 0 ; memset( _pcValues , 0 , sizeof( _pcValues ) ); }
+#endif // BRUNO_LEVY_FIX
+		double value( int pIdx , int cIdx ) const;
+		int lowDepth( void ) const { return _lowDepth; }
+	};
+	static void SetUpSampleEvaluator( UpSampleEvaluator& evaluator , int lowDepth );
+};
+
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+class BSplineIntegrationData
+{
+public:
+	static const int OffsetStart = - BSplineOverlapSizes< Degree1 , Degree2 >::OverlapSupportStart , OffsetStop = BSplineOverlapSizes< Degree1 , Degree2 >::OverlapSupportEnd + ( Degree1&1 ) , IndexSize = OffsetStart + OffsetStop + 1 + 2 * BSplineEvaluationData< Degree1 , BType1 >::Pad;
+	static int OffsetToIndex( int depth , int offset )
+	{
+		int dim = BSplineSupportSizes< Degree1 >::Nodes( depth );
+		if     ( offset<OffsetStart )     return BSplineEvaluationData< Degree1 , BType1 >::Pad + offset;
+		else if( offset>=dim-OffsetStop ) return BSplineEvaluationData< Degree1 , BType1 >::Pad + OffsetStart + 1 + offset - ( dim-OffsetStop );
+		else                              return BSplineEvaluationData< Degree1 , BType1 >::Pad + OffsetStart;
+	}
+	static inline int IndexToOffset( int depth , int idx ){ return ( idx-BSplineEvaluationData< Degree1 , BType1 >::Pad<=OffsetStart ? idx-BSplineEvaluationData< Degree1 , BType1 >::Pad : ( BSplineSupportSizes< Degree1 >::Nodes(depth) + BSplineEvaluationData< Degree1 , BType1 >::Pad - IndexSize + idx ) ); }
+
+	template< unsigned int D1 , unsigned int D2 > static double Dot( int depth1 , int off1 , int depth2 , int off2 );
+	// An index is interiorly overlapped if the support of its overlapping neighbors is in the range [0,1<<depth)
+	inline static void InteriorOverlappedSpan( int depth , int& begin , int& end ){ begin = -BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart-BSplineSupportSizes< Degree2 >::SupportStart , end = (1<<depth)-BSplineOverlapSizes< Degree1 , Degree2 >::OverlapEnd-BSplineSupportSizes< Degree2 >::SupportEnd; }
+
+	struct FunctionIntegrator
+	{
+		template< unsigned int D1 , unsigned int D2 >
+		struct Integrator
+		{
+		protected:
+			friend BSplineIntegrationData;
+			int _depth;
+			double _ccIntegrals[D1+1][D2+1][IndexSize][BSplineOverlapSizes< Degree1 , Degree2 >::OverlapSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			Integrator( void ){ _depth = 0 ; memset(_ccIntegrals, 0, sizeof(_ccIntegrals)); }
+#endif // BRUNO_LEVY_FIX
+			double dot( int fIdx1 , int fidx2 , int d1 , int d2 ) const;
+			int depth( void ) const { return _depth; }
+		};
+		template< unsigned int D1 , unsigned int D2 >
+		struct ChildIntegrator
+		{
+		protected:
+			friend BSplineIntegrationData;
+			int _parentDepth;
+			double _pcIntegrals[D1+1][D2+1][IndexSize][BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapSize];
+		public:
+#ifdef BRUNO_LEVY_FIX
+			ChildIntegrator( void ){ _parentDepth = 0 ; memset( _pcIntegrals , 0 , sizeof( _pcIntegrals ) ); }
+#endif // BRUNO_LEVY_FIX
+			double dot( int fIdx1 , int fidx2 , int d1 , int d2 ) const;
+			int parentDepth( void ) const { return _parentDepth; }
+			int childDepth( void ) const { return _parentDepth+1; }
+		};
+	};
+	// D1 and D2 indicate the number of derivatives that should be taken
+	template< unsigned int D1 , unsigned int D2 >
+	static void SetIntegrator( typename FunctionIntegrator::template Integrator< D1 , D2 >& integrator , int depth );
+	template< unsigned int D1 , unsigned int D2 >
+	static void SetChildIntegrator( typename FunctionIntegrator::template ChildIntegrator< D1 , D2 >& integrator , int parentDepth );
+
+protected:
+	// _D1 and _D2 indicate the total number of derivatives the integrator will be storing
+	template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 >
+	struct _IntegratorSetter
+	{
+		static void Set( typename FunctionIntegrator::template      Integrator< _D1 , _D2 >& integrator , int depth );
+		static void Set( typename FunctionIntegrator::template ChildIntegrator< _D1 , _D2 >& integrator , int depth );
+	};
+
+	template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+	struct IntegratorSetter
+	{
+		static void Set2D( Integrator& integrator , int depth );
+		static void Set1D( Integrator& integrator , int depth );
+	};
+	template< unsigned int D1 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+	struct IntegratorSetter< D1 , 0 , _D1 , _D2 , Integrator >
+	{
+		static void Set2D( Integrator& integrator , int  depth );
+		static void Set1D( Integrator& integrator , int  depth );
+	};
+	template< unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+	struct IntegratorSetter< 0 , D2 , _D1 , _D2 , Integrator >
+	{
+		static void Set2D( Integrator& integrator , int  depth );
+		static void Set1D( Integrator& integrator , int  depth );
+	};
+	template< unsigned int _D1 , unsigned int _D2 , class Integrator >
+	struct IntegratorSetter< 0 , 0 , _D1 , _D2 , Integrator >
+	{
+		static void Set2D( Integrator& integrator , int  depth );
+		static void Set1D( Integrator& integrator , int  depth );
+	};
+};
+#undef BSPLINE_SET_BOUNDS
+#undef _FLOOR_OF_HALF
+#undef  _CEIL_OF_HALF
+#undef FLOOR_OF_HALF
+#undef  CEIL_OF_HALF
+#undef SMALLEST_INTEGER_LARGER_THAN_HALF
+#undef LARGEST_INTEGER_SMALLER_THAN_HALF
+#undef SMALLEST_INTEGER_LARGER_THAN_OR_EQUAL_TO_HALF
+#undef LARGEST_INTEGER_SMALLER_THAN_OR_EQUAL_TO_HALF
+
+template< int Degree , BoundaryType BType >
+struct BSplineData
+{
+	inline static int TotalFunctionCount( int depth ){ return depth<0 ? 0 : (1<<(depth+1)) - 1 + (depth+1) * ( (Degree&1) + 2 * BSplineEvaluationData< Degree , BType >::Pad ); }
+	inline static int FunctionIndex( int depth , int offset ){ return TotalFunctionCount( depth-1 ) + offset + BSplineEvaluationData< Degree , BType >::Pad; }
+	inline static void FactorFunctionIndex( int idx , int& depth , int& offset )
+	{
+		int dim;
+		depth = 0;
+		while( idx>=( dim = BSplineEvaluationData< Degree , BType >::End( depth ) - BSplineEvaluationData< Degree , BType >::Begin( depth ) ) ) idx -= dim , depth++;
+		offset = idx - BSplineEvaluationData< Degree , BType >::Pad;
+	}
+	inline static void FunctionSpan( int depth , int& fStart , int& fEnd ){ fStart = TotalFunctionCount( depth-1 ) , fEnd = TotalFunctionCount( depth ); }
+	inline static int RemapOffset( int depth , int idx , bool& reflect );
+
+	size_t functionCount;
+	Pointer( typename BSplineEvaluationData< Degree , BType >::BSplineComponents )  baseBSplines;
+	Pointer( typename BSplineEvaluationData< Degree , BType >::BSplineComponents ) dBaseBSplines;
+
+	BSplineData( int maxDepth );
+	~BSplineData( void );
+};
+
+template< int Degree1 , int Degree2 > void SetBSplineElementIntegrals( double integrals[Degree1+1][Degree2+1] );
+
+
+#include "BSplineData.inl"
+#endif // BSPLINE_DATA_INCLUDED
\ No newline at end of file
diff --git a/vendor/kazhdan/BSplineData.inl b/vendor/kazhdan/BSplineData.inl
new file mode 100644
index 0000000..225fed8
--- /dev/null
+++ b/vendor/kazhdan/BSplineData.inl
@@ -0,0 +1,546 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+///////////////////////////
+// BSplineEvaluationData //
+///////////////////////////
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::Value( int depth , int off , double s , bool derivative )
+{
+	if( s<0 || s>1 ) return 0.;
+
+	int res = 1<<depth;
+	if( OutOfBounds( depth , off ) ) return 0;
+
+	BSplineComponents components = BSplineComponents( depth , off );
+
+	// [NOTE] This is an ugly way to ensure that when s=1 we evaluate using a B-Spline component within the valid range.
+	int ii = std::max< int >( 0 , std::min< int >( res-1 , (int)floor( s * res ) ) ) - off;
+
+	if( ii<BSplineSupportSizes< Degree >::SupportStart || ii>BSplineSupportSizes< Degree >::SupportEnd ) return 0;
+	if( derivative ) return components[ ii-BSplineSupportSizes< Degree >::SupportStart ].derivative()(s);
+	else             return components[ ii-BSplineSupportSizes< Degree >::SupportStart ](s);
+}
+template< int Degree , BoundaryType BType >
+void BSplineEvaluationData< Degree , BType >::SetCenterEvaluator( typename CenterEvaluator::Evaluator& evaluator , int depth )
+{
+	evaluator._depth = depth;
+	int res = 1<<depth;
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineSupportSizes< Degree >::SupportStart ; j<=BSplineSupportSizes< Degree >::SupportEnd ; j++ )
+	{
+		int ii = IndexToOffset( depth , i );
+		double s = 0.5 + ii + j;
+		for( int d1=0 ; d1<2 ; d1++ ) evaluator._ccValues[d1][i][j-BSplineSupportSizes< Degree >::SupportStart] = Value( depth , ii , s/res , d1!=0 );
+	}
+}
+template< int Degree , BoundaryType BType >
+void BSplineEvaluationData< Degree , BType >::SetChildCenterEvaluator( typename CenterEvaluator::ChildEvaluator& evaluator , int parentDepth )
+{
+	evaluator._parentDepth = parentDepth;
+	int res = 1<<(parentDepth+1);
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineSupportSizes< Degree >::ChildSupportStart ; j<=BSplineSupportSizes< Degree >::ChildSupportEnd ; j++ )
+	{
+		int ii = IndexToOffset( parentDepth , i );
+		double s = 0.5 + 2*ii + j;
+		for( int d1=0 ; d1<2 ; d1++ ) evaluator._pcValues[d1][i][j-BSplineSupportSizes< Degree >::ChildSupportStart] = Value( parentDepth , ii , s/res , d1!=0 );
+	}
+}
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::CenterEvaluator::Evaluator::value( int fIdx , int cIdx , bool d ) const
+{
+	int dd = cIdx-fIdx , res = 1<<(_depth);
+	if( cIdx<0 || cIdx>=res || OutOfBounds( _depth , fIdx ) || dd<BSplineSupportSizes< Degree >::SupportStart || dd>BSplineSupportSizes< Degree >::SupportEnd ) return 0;
+	return _ccValues[d?1:0][ OffsetToIndex( _depth , fIdx ) ][dd-BSplineSupportSizes< Degree >::SupportStart];
+}
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::CenterEvaluator::ChildEvaluator::value( int fIdx , int cIdx , bool d ) const
+{
+	int dd = cIdx-2*fIdx , res = 1<<(_parentDepth+1);
+	if( cIdx<0 || cIdx>=res || OutOfBounds( _parentDepth , fIdx ) || dd<BSplineSupportSizes< Degree >::ChildSupportStart || dd>BSplineSupportSizes< Degree >::ChildSupportEnd ) return 0;
+	return _pcValues[d?1:0][ OffsetToIndex( _parentDepth , fIdx ) ][dd-BSplineSupportSizes< Degree >::ChildSupportStart];
+}
+template< int Degree , BoundaryType BType >
+void BSplineEvaluationData< Degree , BType >::SetCornerEvaluator( typename CornerEvaluator::Evaluator& evaluator , int depth )
+{
+	evaluator._depth = depth;
+	int res = 1<<depth;
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineSupportSizes< Degree >::CornerStart ; j<=BSplineSupportSizes< Degree >::CornerEnd ; j++ )
+	{
+		int ii = IndexToOffset( depth , i );
+		double s = ii + j;
+		for( int d1=0 ; d1<2 ; d1++ ) evaluator._ccValues[d1][i][j-BSplineSupportSizes< Degree >::CornerStart] = Value( depth , ii , s/res , d1!=0 );
+	}
+}
+template< int Degree , BoundaryType BType >
+void BSplineEvaluationData< Degree , BType >::SetChildCornerEvaluator( typename CornerEvaluator::ChildEvaluator& evaluator , int parentDepth )
+{
+	evaluator._parentDepth = parentDepth;
+	int res = 1<<(parentDepth+1);
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineSupportSizes< Degree >::ChildCornerStart ; j<=BSplineSupportSizes< Degree >::ChildCornerEnd ; j++ )
+	{
+		int ii = IndexToOffset( parentDepth , i );
+		double s = 2*ii + j;
+		for( int d1=0 ; d1<2 ; d1++ ) evaluator._pcValues[d1][i][j-BSplineSupportSizes< Degree >::ChildCornerStart] = Value( parentDepth , ii , s/res , d1!=0 );
+	}
+}
+template< int Degree , BoundaryType BType >
+void BSplineEvaluationData< Degree , BType >::SetUpSampleEvaluator( UpSampleEvaluator& evaluator , int lowDepth )
+{
+	evaluator._lowDepth = lowDepth;
+	for( int i=0 ; i<IndexSize ; i++ )
+	{
+		int ii = IndexToOffset( lowDepth , i );
+		BSplineUpSamplingCoefficients b( lowDepth , ii );
+		for( int j=0 ; j<BSplineSupportSizes< Degree >::UpSampleSize ; j++ ) evaluator._pcValues[i][j] = b[j];
+	}
+}
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::CornerEvaluator::Evaluator::value( int fIdx , int cIdx , bool d ) const
+{
+	int dd = cIdx-fIdx , res = ( 1<<_depth ) + 1;
+	if( cIdx<0 || cIdx>=res || OutOfBounds( _depth , fIdx ) || dd<BSplineSupportSizes< Degree >::CornerStart || dd>BSplineSupportSizes< Degree >::CornerEnd ) return 0;
+	return _ccValues[d?1:0][ OffsetToIndex( _depth , fIdx ) ][dd-BSplineSupportSizes< Degree >::CornerStart];
+}
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::CornerEvaluator::ChildEvaluator::value( int fIdx , int cIdx , bool d ) const
+{
+	int dd = cIdx-2*fIdx , res = ( 1<<(_parentDepth+1) ) + 1;
+	if( cIdx<0 || cIdx>=res || OutOfBounds( _parentDepth , fIdx ) || dd<BSplineSupportSizes< Degree >::ChildCornerStart || dd>BSplineSupportSizes< Degree >::ChildCornerEnd ) return 0;
+	return _pcValues[d?1:0][ OffsetToIndex( _parentDepth , fIdx ) ][dd-BSplineSupportSizes< Degree >::ChildCornerStart];
+}
+template< int Degree , BoundaryType BType >
+double BSplineEvaluationData< Degree , BType >::UpSampleEvaluator::value( int pIdx , int cIdx ) const
+{
+	int dd = cIdx-2*pIdx;
+	if( OutOfBounds( _lowDepth+1 , cIdx ) || OutOfBounds( _lowDepth , pIdx ) || dd<BSplineSupportSizes< Degree >::UpSampleStart || dd>BSplineSupportSizes< Degree >::UpSampleEnd ) return 0;
+	return _pcValues[ OffsetToIndex( _lowDepth , pIdx ) ][dd-BSplineSupportSizes< Degree >::UpSampleStart];
+}
+
+//////////////////////////////////////////////
+// BSplineEvaluationData::BSplineComponents //
+//////////////////////////////////////////////
+template< int Degree , BoundaryType BType >
+BSplineEvaluationData< Degree , BType >::BSplineComponents::BSplineComponents( int depth , int offset )
+{
+	int res = 1<<depth;
+	BSplineElements< Degree > elements( res , offset , BType );
+
+	// The first index is the position, the second is the element type
+	Polynomial< Degree > components[Degree+1][Degree+1];
+	// Generate the elements that can appear in the base function corresponding to the base function at (depth,offset) = (0,0)
+	for( int d=0 ; d<=Degree ; d++ ) for( int dd=0 ; dd<=Degree ; dd++ ) components[d][dd] = Polynomial< Degree >::BSplineComponent( Degree-dd ).shift( -( (Degree+1)/2 ) + d );
+
+	// Now adjust to the desired depth and offset
+	double width = 1. / res;
+	for( int d=0 ; d<=Degree ; d++ ) for( int dd=0 ; dd<=Degree ; dd++ ) components[d][dd] = components[d][dd].scale( width ).shift( width*offset );
+
+	// Now write in the polynomials
+	for( int d=0 ; d<=Degree ; d++ )
+	{
+		int idx = offset + BSplineSupportSizes< Degree >::SupportStart + d;
+		_polys[d] = Polynomial< Degree >();
+
+		if( idx>=0 && idx<res ) for( int dd=0 ; dd<=Degree ; dd++ ) _polys[d] += components[d][dd] * ( ( double )( elements[idx][dd] ) ) / elements.denominator;
+	}
+}
+
+template< int Degree , BoundaryType BType >
+typename BSplineEvaluationData< Degree , BType >::BSplineComponents BSplineEvaluationData< Degree , BType >::BSplineComponents::derivative( void ) const
+{
+	BSplineComponents b = (*this);
+	for( int d=0 ; d<=Degree ; d++ ) b._polys[d] = b._polys[d].derivative();
+	return b;
+}
+
+//////////////////////////////////////////////////////////
+// BSplineEvaluationData::BSplineUpSamplingCoefficients //
+//////////////////////////////////////////////////////////
+template< int Degree , BoundaryType BType >
+BSplineEvaluationData< Degree , BType >::BSplineUpSamplingCoefficients::BSplineUpSamplingCoefficients( int depth , int offset )
+{
+	// [ 1/8 1/2 3/4 1/2 1/8]
+	// [ 1 , 1 ] ->  [ 3/4 , 1/2 , 1/8 ] + [ 1/8 , 1/2 , 3/4 ] = [ 7/8 , 1 , 7/8 ]
+	int dim = BSplineSupportSizes< Degree >::Nodes(depth) , _dim = BSplineSupportSizes< Degree >::Nodes(depth+1);
+	bool reflect;
+	offset = BSplineData< Degree , BType >::RemapOffset( depth , offset , reflect );
+	int multiplier = ( BType==BOUNDARY_DIRICHLET && reflect ) ? -1 : 1;
+	bool useReflected = ( BType!=BOUNDARY_FREE ) && ( BSplineSupportSizes< Degree >::Inset || ( offset % ( dim-1 ) ) );
+	int b[ BSplineSupportSizes< Degree >::UpSampleSize ];
+	Polynomial< Degree+1 >::BinomialCoefficients( b );
+
+	// Clear the values
+	memset( _coefficients , 0 , sizeof(int) * BSplineSupportSizes< Degree >::UpSampleSize );
+
+	// Get the array of coefficients, relative to the origin
+	int* coefficients = _coefficients - ( 2*offset + BSplineSupportSizes< Degree >::UpSampleStart );
+	for( int i=BSplineSupportSizes< Degree >::UpSampleStart ; i<=BSplineSupportSizes< Degree >::UpSampleEnd ; i++ )
+	{
+		int _offset = 2*offset+i;
+		_offset = BSplineData< Degree , BType >::RemapOffset( depth+1 , _offset , reflect );
+		if( useReflected || !reflect )
+		{
+			int _multiplier = multiplier * ( ( BType==BOUNDARY_DIRICHLET && reflect ) ? -1 : 1 );
+			coefficients[ _offset ] += b[ i-BSplineSupportSizes< Degree >::UpSampleStart ] * _multiplier;
+		}
+		// If we are not inset and we are at the boundary, use the reflection as well
+		if( BType!=BOUNDARY_FREE && !BSplineSupportSizes< Degree >::Inset && ( offset % (dim-1) ) && !( _offset % (_dim-1) ) )
+		{
+			_offset = BSplineData< Degree , BType >::RemapOffset( depth+1 , _offset , reflect );
+			int _multiplier = multiplier * ( ( BType==BOUNDARY_DIRICHLET && reflect ) ? -1 : 1 );
+			if( BType==BOUNDARY_DIRICHLET ) _multiplier *= -1;
+			coefficients[ _offset ] += b[ i-BSplineSupportSizes< Degree >::UpSampleStart ] * _multiplier;
+		}
+	}
+}
+
+////////////////////////////
+// BSplineIntegrationData //
+////////////////////////////
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 >
+double BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::Dot( int depth1 ,  int off1 , int depth2 , int off2 )
+{
+	if( D1>Degree1 ) fprintf( stderr , "[ERROR] BSplineIntegrationData::Dot: taking more derivatives than the degree: %d > %d\n" , D1 , Degree1 ) , exit( 0 );
+	if( D2>Degree2 ) fprintf( stderr , "[ERROR] BSplineIntegrationData::Dot: taking more derivatives than the degree: %d > %d\n" , D2 , Degree2 ) , exit( 0 );
+	const int _Degree1 = ( Degree1>=D1 ) ? Degree1 - D1 : 0 , _Degree2 = ( Degree2>=D2 ) ? Degree2 - D2 : 0;
+	int sums[ Degree1+1 ][ Degree2+1 ];
+
+	int depth = std::max< int >( depth1 , depth2 );
+
+	BSplineElements< Degree1 > b1( 1<<depth1 , off1 , BType1 );
+	BSplineElements< Degree2 > b2( 1<<depth2 , off2 , BType2 );
+
+	{
+		BSplineElements< Degree1 > b;
+		while( depth1<depth ) b=b1 , b.upSample( b1 ) , depth1++;
+	}
+	{
+		BSplineElements< Degree2 > b;
+		while( depth2<depth ) b=b2 , b.upSample( b2 ) , depth2++;
+	}
+
+	BSplineElements< Degree1-D1 > db1;
+	BSplineElements< Degree2-D2 > db2;
+	b1.template differentiate< D1 >( db1 ) , b2.template differentiate< D2 >( db2 );
+
+	int start1=-1 , end1=-1 , start2=-1 , end2=-1;
+	for( int i=0 ; i<int( b1.size() ) ; i++ )
+	{
+		for( int j=0 ; j<=Degree1 ; j++ )
+		{
+			if( b1[i][j] && start1==-1 ) start1 = i;
+			if( b1[i][j] ) end1 = i+1;
+		}
+		for( int j=0 ; j<=Degree2 ; j++ )
+		{
+			if( b2[i][j] && start2==-1 ) start2 = i;
+			if( b2[i][j] ) end2 = i+1;
+		}
+	}
+	if( start1==end1 || start2==end2 || start1>=end2 || start2>=end1 ) return 0.;
+	int start = std::max< int >( start1 , start2 ) , end = std::min< int >( end1 , end2 );
+	memset( sums , 0 , sizeof( sums ) );
+
+	// Iterate over the support
+	for( int i=start ; i<end ; i++ )
+		// Iterate over all pairs of elements within a node
+		for( int j=0 ; j<=_Degree1 ; j++ ) for( int k=0 ; k<=_Degree2 ; k++ )
+			// Accumulate the product of the coefficients
+			sums[j][k] += db1[i][j] * db2[i][k];
+
+	double _dot = 0;
+	{
+		double integrals[ _Degree1+1 ][ _Degree2+1 ];
+		SetBSplineElementIntegrals< _Degree1 , _Degree2 >( integrals );
+		for( int j=0 ; j<=_Degree1 ; j++ ) for( int k=0 ; k<=_Degree2 ; k++ ) _dot += integrals[j][k] * sums[j][k];
+	}
+
+	_dot /= b1.denominator;
+	_dot /= b2.denominator;
+	return ( !D1 && !D2 ) ? _dot / (1<<depth) : _dot * ( 1<<( depth*(D1+D2-1) ) );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< D1 , D2 , _D1 , _D2 , Integrator >::Set2D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< D1-1 , D2 , _D1 , _D2 , Integrator >::Set2D( integrator , depth );
+	IntegratorSetter< D1   , D2 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< D1 , D2 , _D1 , _D2 , Integrator >::Set1D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< D1 , D2-1 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+	_IntegratorSetter< D1 , D2 , _D1 , _D2 >::Set( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< 0 , D2 , _D1 , _D2 , Integrator >::Set2D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< 0 , D2 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D2 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< 0 , D2 , _D1 , _D2 , Integrator >::Set1D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< 0 , D2-1 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+	_IntegratorSetter< 0 , D2 , _D1 , _D2 >::Set( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< D1 , 0 , _D1 , _D2 , Integrator >::Set2D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< D1-1 , 0 , _D1 , _D2 , Integrator >::Set2D( integrator , depth );
+	IntegratorSetter< D1   , 0 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< D1 , 0 , _D1 , _D2 , Integrator >::Set1D( Integrator& integrator , int depth )
+{
+	_IntegratorSetter< D1 , 0 , _D1 , _D2 >::Set( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< 0 , 0 , _D1 , _D2 , Integrator >::Set2D( Integrator& integrator , int depth )
+{
+	IntegratorSetter< 0 , 0 , _D1 , _D2 , Integrator >::Set1D( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int _D1 , unsigned int _D2 , class Integrator >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::IntegratorSetter< 0 , 0 , _D1 , _D2 , Integrator >::Set1D( Integrator& integrator , int depth )
+{
+	_IntegratorSetter< 0 , 0 , _D1 , _D2 >::Set( integrator , depth );
+}
+
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::_IntegratorSetter< D1 , D2 , _D1 , _D2 >::Set( typename FunctionIntegrator::template Integrator< _D1 , _D2 >& integrator , int depth )
+{
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart ; j<=BSplineOverlapSizes< Degree1 , Degree2 >::OverlapEnd ; j++ )
+	{
+		int ii = IndexToOffset( depth , i );
+		integrator._ccIntegrals[D1][D2][i][j-BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart] = Dot< D1 , D2 >( depth , ii , depth , ii+j );
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 , unsigned int _D1 , unsigned int _D2 >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::_IntegratorSetter< D1 , D2 , _D1 , _D2 >::Set( typename FunctionIntegrator::template ChildIntegrator< _D1 , _D2 >& integrator , int pDepth )
+{
+	for( int i=0 ; i<IndexSize ; i++ ) for( int j=BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapStart ; j<=BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapEnd ; j++ )
+	{
+		int ii = IndexToOffset( pDepth , i );
+		integrator._pcIntegrals[D1][D2][i][j-BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapStart] = Dot< D1 , D2 >( pDepth , ii , pDepth+1 , 2*ii+j );
+	}
+}
+
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::SetIntegrator( typename FunctionIntegrator::template Integrator< D1 , D2 >& integrator , int depth )
+{
+	integrator._depth = depth;
+	IntegratorSetter< D1 , D2 , D1 , D2 , typename FunctionIntegrator::template Integrator< D1 , D2 > >::Set2D( integrator , depth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 >
+void BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::SetChildIntegrator( typename FunctionIntegrator::template ChildIntegrator< D1 , D2 >& integrator , int parentDepth )
+{
+	integrator._parentDepth = parentDepth;
+	IntegratorSetter< D1 , D2 , D1 , D2 , typename FunctionIntegrator::template ChildIntegrator< D1 , D2 > >::Set2D( integrator , parentDepth );
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 >
+double BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::FunctionIntegrator::Integrator< D1 , D2 >::dot( int off1 , int off2 , int d1 , int d2 ) const
+{
+	int d = off2-off1;
+	if( BSplineEvaluationData< Degree1 , BType1 >::OutOfBounds( _depth , off1 ) || BSplineEvaluationData< Degree2 , BType2 >::OutOfBounds( _depth , off2 ) || d<BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart || d>BSplineOverlapSizes< Degree1 , Degree2 >::OverlapEnd ) return 0;
+	return _ccIntegrals[d1][d2][ OffsetToIndex( _depth , off1 ) ][d-BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart];
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< unsigned int D1 , unsigned int D2 >
+double BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::FunctionIntegrator::ChildIntegrator< D1 , D2 >::dot( int off1 , int off2 , int d1 , int d2 ) const
+{
+	int d = off2-2*off1;
+	if( BSplineEvaluationData< Degree1 , BType1 >::OutOfBounds( _parentDepth , off1 ) || BSplineEvaluationData< Degree2 , BType2 >::OutOfBounds( _parentDepth+1 , off2 ) || d<BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapStart || d>BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapEnd ) return 0;
+	return _pcIntegrals[d1][d2][ OffsetToIndex( _parentDepth , off1 ) ][d-BSplineOverlapSizes< Degree1 , Degree2 >::ChildOverlapStart];
+}
+
+/////////////////
+// BSplineData //
+/////////////////
+#define MODULO( A , B ) ( (A)<0 ? ( (B)-((-(A))%(B)) ) % (B) : (A) % (B) )
+template< int Degree , BoundaryType BType >
+int BSplineData< Degree , BType >::RemapOffset( int depth , int offset , bool& reflect )
+{
+	const int I = ( Degree&1 ) ? 0 : 1;
+	if( BType==BOUNDARY_FREE ){ reflect = false ; return offset; }
+	int dim = BSplineEvaluationData< Degree , BOUNDARY_NEUMANN >::End( depth ) - BSplineEvaluationData< Degree , BOUNDARY_NEUMANN >::Begin( depth );
+	offset = MODULO( offset , 2*(dim-1+I) );
+	reflect = offset>=dim;
+	if( reflect ) return 2*(dim-1+I) - (offset+I);
+	else          return offset;
+}
+#undef MODULO
+
+template< int Degree , BoundaryType BType >
+BSplineData< Degree , BType >::BSplineData( int maxDepth )
+{
+	functionCount = TotalFunctionCount( maxDepth );
+	baseBSplines = NewPointer< typename BSplineEvaluationData< Degree , BType >::BSplineComponents >( functionCount );
+	dBaseBSplines = NewPointer< typename BSplineEvaluationData< Degree , BType >::BSplineComponents >( functionCount );
+
+	for( size_t i=0 ; i<functionCount ; i++ )
+	{
+		int d , off;
+		FactorFunctionIndex( (int)i , d , off );
+		baseBSplines[i] = typename BSplineEvaluationData< Degree , BType >::BSplineComponents( d , off );
+		dBaseBSplines[i] = baseBSplines[i].derivative();
+	}
+}
+template< int Degree , BoundaryType BType >
+BSplineData< Degree , BType >::~BSplineData( void )
+{
+	FreePointer(  baseBSplines );
+	FreePointer( dBaseBSplines );
+}
+
+/////////////////////
+// BSplineElements //
+/////////////////////
+template< int Degree >
+BSplineElements< Degree >::BSplineElements( int res , int offset , BoundaryType bType )
+{
+	denominator = 1;
+	std::vector< BSplineElementCoefficients< Degree > >::resize( res , BSplineElementCoefficients< Degree >() );
+
+	// If we have primal dirichlet constraints, the boundary functions are necessarily zero
+	if( _Primal && bType==BOUNDARY_DIRICHLET && !(offset%res) ) return;
+
+	// Construct the B-Spline
+	for( int i=0 ; i<=Degree ; i++ )
+	{
+		int idx = -_Off + offset + i;
+		if( idx>=0 && idx<res ) (*this)[idx][i] = 1;
+	}
+	if( bType!=BOUNDARY_FREE )
+	{
+		// Fold in the periodic instances (which cancels the negation)
+		_addPeriodic< true >( _RotateLeft ( offset , res ) , false ) , _addPeriodic< false >( _RotateRight( offset , res ) , false );
+
+		// Recursively fold in the boundaries
+		if( _Primal && !(offset%res) ) return;
+
+		// Fold in the reflected instance (which may require negation)
+		_addPeriodic< true >( _ReflectLeft( offset , res ) , bType==BOUNDARY_DIRICHLET ) , _addPeriodic< false >( _ReflectRight( offset , res ) , bType==BOUNDARY_DIRICHLET );
+	}
+}
+template< int Degree > int BSplineElements< Degree >::_ReflectLeft ( int offset , int res ){ return (Degree&1) ?      -offset :      -1-offset; }
+template< int Degree > int BSplineElements< Degree >::_ReflectRight( int offset , int res ){ return (Degree&1) ? 2*res-offset : 2*res-1-offset; }
+template< int Degree > int BSplineElements< Degree >::_RotateLeft  ( int offset , int res ){ return offset-2*res; }
+template< int Degree > int BSplineElements< Degree >::_RotateRight ( int offset , int res ){ return offset+2*res; }
+
+template< int Degree >
+template< bool Left >
+void BSplineElements< Degree >::_addPeriodic( int offset , bool negate )
+{
+	int res = int( std::vector< BSplineElementCoefficients< Degree > >::size() );
+	bool set = false;
+	// Add in the corresponding B-spline elements (possibly negated)
+	for( int i=0 ; i<=Degree ; i++ )
+	{
+		int idx = -_Off + offset + i;
+		if( idx>=0 && idx<res ) (*this)[idx][i] += negate ? -1 : 1 , set = true;
+	}
+	// If there is a change for additional overlap, give it a go
+	if( set ) _addPeriodic< Left >( Left ? _RotateLeft( offset , res ) : _RotateRight( offset , res ) , negate );
+}
+template< int Degree >
+void BSplineElements< Degree >::upSample( BSplineElements< Degree >& high ) const
+{
+	int bCoefficients[ BSplineSupportSizes< Degree >::UpSampleSize ];
+	Polynomial< Degree+1 >::BinomialCoefficients( bCoefficients );
+
+	high.resize( std::vector< BSplineElementCoefficients< Degree > >::size()*2 );
+	high.assign( high.size() , BSplineElementCoefficients< Degree >() );
+	// [NOTE] We have flipped the order of the B-spline elements
+	for( int i=0 ; i<int(std::vector< BSplineElementCoefficients< Degree > >::size()) ; i++ ) for( int j=0 ; j<=Degree ; j++ )
+	{
+		// At index I , B-spline element J corresponds to a B-spline centered at:
+		//		I - SupportStart - J
+		int idx = i - BSplineSupportSizes< Degree >::SupportStart - j;
+		for( int k=BSplineSupportSizes< Degree >::UpSampleStart ; k<=BSplineSupportSizes< Degree >::UpSampleEnd ; k++ )
+		{
+			// Index idx at the coarser resolution gets up-sampled into indices:
+			//		2*idx + [UpSampleStart,UpSampleEnd]
+			// at the finer resolution
+			int _idx = 2*idx + k;
+			// Compute the index of the B-spline element relative to 2*i and 2*i+1
+			int _j1 = -_idx + 2*i - BSplineSupportSizes< Degree >::SupportStart , _j2 = -_idx + 2*i + 1 - BSplineSupportSizes< Degree >::SupportStart;
+			if( _j1>=0 && _j1<=Degree ) high[2*i+0][_j1] += (*this)[i][j] * bCoefficients[k-BSplineSupportSizes< Degree >::UpSampleStart];
+			if( _j2>=0 && _j2<=Degree ) high[2*i+1][_j2] += (*this)[i][j] * bCoefficients[k-BSplineSupportSizes< Degree >::UpSampleStart];
+		}
+	}
+	high.denominator = denominator<<Degree;
+}
+
+template< int Degree >
+template< unsigned int D >
+void BSplineElements< Degree >::differentiate( BSplineElements< Degree-D >& d ) const{ Differentiator< Degree , Degree-D >::Differentiate( *this , d ); }
+
+template< int Degree , int DDegree >
+void Differentiator< Degree , DDegree >::Differentiate( const BSplineElements< Degree >& bse , BSplineElements< DDegree >& dbse )
+{
+	BSplineElements< Degree-1 > _dbse;
+	_dbse.resize( bse.size() );
+	_dbse.assign( _dbse.size() , BSplineElementCoefficients< Degree-1 >() );
+	for( int i=0 ; i<(int)bse.size() ; i++ ) for( int j=0 ; j<=Degree ; j++ )
+	{
+		if( j-1>=0 )   _dbse[i][j-1] -= bse[i][j];
+		if( j<Degree ) _dbse[i][j  ] += bse[i][j];
+	}
+	_dbse.denominator = bse.denominator;
+	return Differentiator< Degree-1 , DDegree >::Differentiate( _dbse , dbse );
+}
+
+template< int Degree >
+void Differentiator< Degree , Degree >::Differentiate( const BSplineElements< Degree >& bse , BSplineElements< Degree >& dbse ){ dbse = bse; }
+
+// If we were really good, we would implement this integral table to store
+// rational values to improve precision...
+template< int Degree1 , int Degree2 >
+void SetBSplineElementIntegrals( double integrals[Degree1+1][Degree2+1] )
+{
+	for( int i=0 ; i<=Degree1 ; i++ )
+	{
+		Polynomial< Degree1 > p1 = Polynomial< Degree1 >::BSplineComponent( Degree1-i );
+		for( int j=0 ; j<=Degree2 ; j++ )
+		{
+			Polynomial< Degree2 > p2 = Polynomial< Degree2 >::BSplineComponent( Degree2-j );
+			integrals[i][j] = ( p1 * p2 ).integral( 0 , 1 );
+		}
+	}
+}
diff --git a/vendor/kazhdan/BinaryNode.h b/vendor/kazhdan/BinaryNode.h
new file mode 100644
index 0000000..7c5a171
--- /dev/null
+++ b/vendor/kazhdan/BinaryNode.h
@@ -0,0 +1,70 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef BINARY_NODE_INCLUDED
+#define BINARY_NODE_INCLUDED
+
+class BinaryNode
+{
+public:
+	static inline int CenterCount( int depth ) { return  1<<depth; }
+	static inline int CornerCount( int depth ) { return (1<<depth)+1; }
+	static inline int CumulativeCenterCount( int maxDepth ) { return (1<<(maxDepth+1))-1; }
+	static inline int CumulativeCornerCount( int maxDepth ) { return (1<<(maxDepth+1))+maxDepth; }
+	static inline int CenterIndex( int depth , int offSet ) { return (1<<depth)+offSet-1; }
+	static inline int CornerIndex( int depth , int offSet ) { return (1<<depth)+offSet-1+depth; }
+
+	static inline int CornerIndex( int maxDepth , int depth , int offSet , int forwardCorner ){ return (offSet+forwardCorner)<<(maxDepth-depth); }
+	template< class Real > static inline Real Width( int depth ){ return Real(1.0/(1<<depth)); }
+	template< class Real > static inline void CenterAndWidth( int depth , int offset , Real& center , Real& width ){ width = Real (1.0/(1<<depth) ) , center = Real((0.5+offset)*width); }
+	template< class Real > static inline void CornerAndWidth( int depth , int offset , Real& corner , Real& width ){ width = Real(1.0/(1<<depth) ) , corner = Real(offset*width); }
+	template< class Real > static inline void CenterAndWidth( int idx , Real& center , Real& width )
+	{
+		int depth , offset;
+		CenterDepthAndOffset( idx , depth , offset );
+		CenterAndWidth( depth , offset , center , width );
+	}
+	template< class Real > static inline void CornerAndWidth( int idx , Real& corner , Real& width )
+	{
+		int depth , offset;
+		CornerDepthAndOffset( idx , depth , offset );
+		CornerAndWidth( depth , offset , corner , width );
+	}
+	static inline void CenterDepthAndOffset( int idx , int& depth , int& offset )
+	{
+		offset = idx , depth = 0;
+		while( offset>=(1<<depth) ) offset -= (1<<depth) , depth++;
+	}
+	static inline void CornerDepthAndOffset( int idx , int& depth , int& offset )
+	{
+		offset = idx , depth = 0;
+		while( offset>=( (1<<depth)+1 ) ) offset -= ( (1<<depth)+1 ) , depth++;
+	}
+};
+
+#endif // BINARY_NODE_INCLUDED
diff --git a/vendor/kazhdan/CMakeLists.txt b/vendor/kazhdan/CMakeLists.txt
new file mode 100644
index 0000000..2cd857c
--- /dev/null
+++ b/vendor/kazhdan/CMakeLists.txt
@@ -0,0 +1,16 @@
+get_property(EXISTS GLOBAL PROPERTY _PDAL_KAZHDAN_INCLUDED)
+if (EXISTS)
+    return()
+endif()
+
+PDAL_ADD_FREE_LIBRARY(${PDAL_KAZHDAN_LIB_NAME} STATIC
+    Factor.cpp
+    Geometry.cpp
+    MarchingCubes.cpp
+)
+if (UNIX)
+    target_compile_options(${PDAL_KAZHDAN_LIB_NAME} PRIVATE -fPIC)
+endif()
+target_link_libraries(${PDAL_KAZHDAN_LIB_NAME})
+
+set_property(GLOBAL PROPERTY _PDAL_KAZHDAN_INCLUDED TRUE)
diff --git a/vendor/kazhdan/Factor.cpp b/vendor/kazhdan/Factor.cpp
new file mode 100644
index 0000000..145c100
--- /dev/null
+++ b/vendor/kazhdan/Factor.cpp
@@ -0,0 +1,264 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+//////////////////////
+// Polynomial Roots //
+//////////////////////
+#include <math.h>
+#include "Factor.h"
+int Factor(double a1,double a0,double roots[1][2],double EPS){
+	if(fabs(a1)<=EPS){return 0;}
+	roots[0][0]=-a0/a1;
+	roots[0][1]=0;
+	return 1;
+}
+int Factor(double a2,double a1,double a0,double roots[2][2],double EPS){
+	double d;
+	if(fabs(a2)<=EPS){return Factor(a1,a0,roots,EPS);}
+
+	d=a1*a1-4*a0*a2;
+	a1/=(2*a2);
+	if(d<0){
+		d=sqrt(-d)/(2*a2);
+		roots[0][0]=roots[1][0]=-a1;
+		roots[0][1]=-d;
+		roots[1][1]= d;
+	}
+	else{
+		d=sqrt(d)/(2*a2);
+		roots[0][1]=roots[1][1]=0;
+		roots[0][0]=-a1-d;
+		roots[1][0]=-a1+d;
+	}
+	return 2;
+}
+// Solution taken from: http://mathworld.wolfram.com/CubicFormula.html
+// and http://www.csit.fsu.edu/~burkardt/f_src/subpak/subpak.f90
+int Factor(double a3,double a2,double a1,double a0,double roots[3][2],double EPS){
+	double q,r,r2,q3;
+
+	if(fabs(a3)<=EPS){return Factor(a2,a1,a0,roots,EPS);}
+	a2/=a3;
+	a1/=a3;
+	a0/=a3;
+
+	q=-(3*a1-a2*a2)/9;
+	r=-(9*a2*a1-27*a0-2*a2*a2*a2)/54;
+	r2=r*r;
+	q3=q*q*q;
+
+	if(r2<q3){
+		double sqrQ=sqrt(q);
+		double theta = acos ( r / (sqrQ*q) );
+		double cTheta=cos(theta/3)*sqrQ;
+		double sTheta=sin(theta/3)*sqrQ*SQRT_3/2;
+		roots[0][1]=roots[1][1]=roots[2][1]=0;
+		roots[0][0]=-2*cTheta;
+		roots[1][0]=-2*(-cTheta*0.5-sTheta);
+		roots[2][0]=-2*(-cTheta*0.5+sTheta);
+	}
+	else{
+		double s1,s2,sqr=sqrt(r2-q3);
+		double t;
+		t=-r+sqr;
+		if(t<0){s1=-pow(-t,1.0/3);}
+		else{s1=pow(t,1.0/3);}
+		t=-r-sqr;
+		if(t<0){s2=-pow(-t,1.0/3);}
+		else{s2=pow(t,1.0/3);}
+		roots[0][1]=0;
+		roots[0][0]=s1+s2;
+		s1/=2;
+		s2/=2;
+		roots[1][0]= roots[2][0]=-s1-s2;
+		roots[1][1]= SQRT_3*(s1-s2);
+		roots[2][1]=-roots[1][1];
+	}
+	roots[0][0]-=a2/3;
+	roots[1][0]-=a2/3;
+	roots[2][0]-=a2/3;
+	return 3;
+}
+double ArcTan2(double y,double x){
+	/* This first case should never happen */
+	if(y==0 && x==0){return 0;}
+	if(x==0){
+		if(y>0){return PI/2.0;}
+		else{return -PI/2.0;}
+	}
+	if(x>=0){return atan(y/x);}
+	else{
+		if(y>=0){return atan(y/x)+PI;}
+		else{return atan(y/x)-PI;}
+	}
+}
+double Angle(const double in[2]){
+	if((in[0]*in[0]+in[1]*in[1])==0.0){return 0;}
+	else{return ArcTan2(in[1],in[0]);}
+}
+void Sqrt(const double in[2],double out[2]){
+	double r=sqrt(sqrt(in[0]*in[0]+in[1]*in[1]));
+	double a=Angle(in)*0.5;
+	out[0]=r*cos(a);
+	out[1]=r*sin(a);
+}
+void Add(const double in1[2],const double in2[2],double out[2]){
+	out[0]=in1[0]+in2[0];
+	out[1]=in1[1]+in2[1];
+}
+void Subtract(const double in1[2],const double in2[2],double out[2]){
+	out[0]=in1[0]-in2[0];
+	out[1]=in1[1]-in2[1];
+}
+void Multiply(const double in1[2],const double in2[2],double out[2]){
+	out[0]=in1[0]*in2[0]-in1[1]*in2[1];
+	out[1]=in1[0]*in2[1]+in1[1]*in2[0];
+}
+void Divide(const double in1[2],const double in2[2],double out[2]){
+	double temp[2];
+	double l=in2[0]*in2[0]+in2[1]*in2[1];
+	temp[0]= in2[0]/l;
+	temp[1]=-in2[1]/l;
+	Multiply(in1,temp,out);
+}
+// Solution taken from: http://mathworld.wolfram.com/QuarticEquation.html
+// and http://www.csit.fsu.edu/~burkardt/f_src/subpak/subpak.f90
+int Factor(double a4,double a3,double a2,double a1,double a0,double roots[4][2],double EPS){
+	double R[2],D[2],E[2],R2[2];
+
+	if(fabs(a4)<EPS){return Factor(a3,a2,a1,a0,roots,EPS);}
+	a3/=a4;
+	a2/=a4;
+	a1/=a4;
+	a0/=a4;
+
+	Factor(1.0,-a2,a3*a1-4.0*a0,-a3*a3*a0+4.0*a2*a0-a1*a1,roots,EPS);
+
+	R2[0]=a3*a3/4.0-a2+roots[0][0];
+	R2[1]=0;
+	Sqrt(R2,R);
+	if(fabs(R[0])>10e-8){
+		double temp1[2],temp2[2];
+		double p1[2],p2[2];
+
+		p1[0]=a3*a3*0.75-2.0*a2-R2[0];
+		p1[1]=0;
+
+		temp2[0]=((4.0*a3*a2-8.0*a1-a3*a3*a3)/4.0);
+		temp2[1]=0;
+		Divide(temp2,R,p2);
+
+		Add     (p1,p2,temp1);
+		Subtract(p1,p2,temp2);
+
+		Sqrt(temp1,D);
+		Sqrt(temp2,E);
+	}
+	else{
+		R[0]=R[1]=0;
+		double temp1[2],temp2[2];
+		temp1[0]=roots[0][0]*roots[0][0]-4.0*a0;
+		temp1[1]=0;
+		Sqrt(temp1,temp2);
+		temp1[0]=a3*a3*0.75-2.0*a2+2.0*temp2[0];
+		temp1[1]=                  2.0*temp2[1];
+		Sqrt(temp1,D);
+		temp1[0]=a3*a3*0.75-2.0*a2-2.0*temp2[0];
+		temp1[1]=                 -2.0*temp2[1];
+		Sqrt(temp1,E);
+	}
+
+	roots[0][0]=-a3/4.0+R[0]/2.0+D[0]/2.0;
+	roots[0][1]=        R[1]/2.0+D[1]/2.0;
+
+	roots[1][0]=-a3/4.0+R[0]/2.0-D[0]/2.0;
+	roots[1][1]=        R[1]/2.0-D[1]/2.0;
+
+	roots[2][0]=-a3/4.0-R[0]/2.0+E[0]/2.0;
+	roots[2][1]=       -R[1]/2.0+E[1]/2.0;
+
+	roots[3][0]=-a3/4.0-R[0]/2.0-E[0]/2.0;
+	roots[3][1]=       -R[1]/2.0-E[1]/2.0;
+	return 4;
+}
+
+int Solve(const double* eqns,const double* values,double* solutions,int dim){
+	int i,j,eIndex;
+	double v,m;
+	int *index=new int[dim];
+	int *set=new int[dim];
+	double* myEqns=new double[dim*dim];
+	double* myValues=new double[dim];
+
+	for(i=0;i<dim*dim;i++){myEqns[i]=eqns[i];}
+	for(i=0;i<dim;i++){
+		myValues[i]=values[i];
+		set[i]=0;
+	}
+	for(i=0;i<dim;i++){
+		// Find the largest equation that has a non-zero entry in the i-th index
+		m=-1;
+		eIndex=-1;
+		for(j=0;j<dim;j++){
+			if(set[j]){continue;}
+			if(myEqns[j*dim+i]!=0 && fabs(myEqns[j*dim+i])>m){
+				m=fabs(myEqns[j*dim+i]);
+				eIndex=j;
+			}
+		}
+		if(eIndex==-1){
+			delete[] index;
+			delete[] myValues;
+			delete[] myEqns;
+			delete[] set;
+			return 0;
+		}
+		// The position in which the solution for the i-th variable can be found
+		index[i]=eIndex;
+		set[eIndex]=1;
+
+		// Normalize the equation
+		v=myEqns[eIndex*dim+i];
+		for(j=0;j<dim;j++){myEqns[eIndex*dim+j]/=v;}
+		myValues[eIndex]/=v;
+
+		// Subtract it off from everything else
+		for(j=0;j<dim;j++){
+			if(j==eIndex){continue;}
+			double vv=myEqns[j*dim+i];
+			for(int k=0;k<dim;k++){myEqns[j*dim+k]-=myEqns[eIndex*dim+k]*vv;}
+			myValues[j]-=myValues[eIndex]*vv;
+		}
+	}
+	for(i=0;i<dim;i++){solutions[i]=myValues[index[i]];}
+	delete[] index;
+	delete[] myValues;
+	delete[] myEqns;
+	delete[] set;
+	return 1;
+}
diff --git a/vendor/kazhdan/Factor.h b/vendor/kazhdan/Factor.h
new file mode 100644
index 0000000..d6ee4b2
--- /dev/null
+++ b/vendor/kazhdan/Factor.h
@@ -0,0 +1,50 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef FACTOR_INCLUDED
+#define FACTOR_INCLUDED
+
+#define PI 3.1415926535897932384
+#define SQRT_3 1.7320508075688772935
+
+double ArcTan2(double y,double x);
+double Angle(const double in[2]);
+void Sqrt(const double in[2],double out[2]);
+void Add(const double in1[2],const double in2[2],double out[2]);
+void Subtract(const double in1[2],const double in2[2],double out[2]);
+void Multiply(const double in1[2],const double in2[2],double out[2]);
+void Divide(const double in1[2],const double in2[2],double out[2]);
+
+int Factor(double a1,double a0,double roots[1][2],double EPS);
+int Factor(double a2,double a1,double a0,double roots[2][2],double EPS);
+int Factor(double a3,double a2,double a1,double a0,double roots[3][2],double EPS);
+int Factor(double a4,double a3,double a2,double a1,double a0,double roots[4][2],double EPS);
+
+int Solve(const double* eqns,const double* values,double* solutions, int dim);
+
+#endif // FACTOR_INCLUDED
\ No newline at end of file
diff --git a/vendor/kazhdan/Geometry.cpp b/vendor/kazhdan/Geometry.cpp
new file mode 100644
index 0000000..d6fa728
--- /dev/null
+++ b/vendor/kazhdan/Geometry.cpp
@@ -0,0 +1,122 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+#include "Geometry.h"
+#include <stdio.h>
+#include <string.h>
+#ifdef _WIN32
+#include <io.h>
+#endif // _WIN32
+
+///////////////////
+// CoredMeshData //
+///////////////////
+
+TriangulationEdge::TriangulationEdge(void){pIndex[0]=pIndex[1]=tIndex[0]=tIndex[1]=-1;}
+TriangulationTriangle::TriangulationTriangle(void){eIndex[0]=eIndex[1]=eIndex[2]=-1;}
+
+///////////////////////////
+// BufferedReadWriteFile //
+///////////////////////////
+BufferedReadWriteFile::BufferedReadWriteFile( char* fileName , int bufferSize )
+{
+	_bufferIndex = 0;
+	_bufferSize = bufferSize;
+	if( fileName ) strcpy( _fileName , fileName ) , tempFile = false , _fp = fopen( _fileName , "w+b" );
+	else
+	{
+		strcpy( _fileName , "PR_XXXXXX" );
+#ifdef _WIN32
+		_mktemp( _fileName );
+		_fp = fopen( _fileName , "w+b" );
+#else // !_WIN32
+		_fp = fdopen( mkstemp( _fileName ) , "w+b" );
+#endif // _WIN32
+		tempFile = true;
+	}
+	if( !_fp ) fprintf( stderr , "[ERROR] Failed to open file: %s\n" , _fileName ) , exit( 0 );
+	_buffer = (char*) malloc( _bufferSize );
+}
+BufferedReadWriteFile::~BufferedReadWriteFile( void )
+{
+	free( _buffer );
+	fclose( _fp );
+	if( tempFile ) remove( _fileName );
+}
+void BufferedReadWriteFile::reset( void )
+{
+	if( _bufferIndex ) fwrite( _buffer , 1 , _bufferIndex , _fp );
+	_bufferIndex = 0;
+	fseek( _fp , 0 , SEEK_SET );
+	_bufferIndex = 0;
+	_bufferSize = fread( _buffer , 1 , _bufferSize , _fp );
+}
+bool BufferedReadWriteFile::write( const void* data , size_t size )
+{
+	if( !size ) return true;
+	char* _data = (char*) data;
+	size_t sz = _bufferSize - _bufferIndex;
+	while( sz<=size )
+	{
+		memcpy( _buffer+_bufferIndex , _data , sz );
+		fwrite( _buffer , 1 , _bufferSize , _fp );
+		_data += sz;
+		size -= sz;
+		_bufferIndex = 0;
+		sz = _bufferSize;
+	}
+	if( size )
+	{
+		memcpy( _buffer+_bufferIndex , _data , size );
+		_bufferIndex += size;
+	}
+	return true;
+}
+bool BufferedReadWriteFile::read( void* data , size_t size )
+{
+	if( !size ) return true;
+	char *_data = (char*) data;
+	size_t sz = _bufferSize - _bufferIndex;
+	while( sz<=size )
+	{
+		if( size && !_bufferSize ) return false;
+		memcpy( _data , _buffer+_bufferIndex , sz );
+		_bufferSize = fread( _buffer , 1 , _bufferSize , _fp );
+		_data += sz;
+		size -= sz;
+		_bufferIndex = 0;
+		if( !size ) return true;
+		sz = _bufferSize;
+	}
+	if( size )
+	{
+		if( !_bufferSize ) return false;
+		memcpy( _data , _buffer+_bufferIndex , size );
+		_bufferIndex += size;
+	}
+	return true;
+}
\ No newline at end of file
diff --git a/vendor/kazhdan/Geometry.h b/vendor/kazhdan/Geometry.h
new file mode 100644
index 0000000..9c2018d
--- /dev/null
+++ b/vendor/kazhdan/Geometry.h
@@ -0,0 +1,414 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef GEOMETRY_INCLUDED
+#define GEOMETRY_INCLUDED
+
+#include <stdio.h>
+#include <math.h>
+#include <vector>
+#include <stdlib.h>
+#include <unordered_map>
+
+template<class Real>
+Real Random(void);
+
+template< class Real >
+struct Point3D
+{
+	Real coords[3];
+	Point3D( void ) { coords[0] = coords[1] = coords[2] = Real(0); }
+	Point3D( Real v ) { coords[0] = coords[1] = coords[2] = v; }
+	template< class _Real > Point3D( _Real v0 , _Real v1 , _Real v2 ){ coords[0] = Real(v0) , coords[1] = Real(v1) , coords[2] = Real(v2); }
+	template< class _Real > Point3D( const Point3D< _Real >& p ){ coords[0] = Real( p[0] ) , coords[1] = Real( p[1] ) , coords[2] = Real( p[2] ); }
+	inline       Real& operator[] ( int i )       { return coords[i]; }
+	inline const Real& operator[] ( int i ) const { return coords[i]; }
+	inline Point3D  operator - ( void ) const { Point3D q ; q.coords[0] = -coords[0] , q.coords[1] = -coords[1] , q.coords[2] = -coords[2] ; return q; }
+
+	template< class _Real > inline Point3D& operator += ( Point3D< _Real > p ){ coords[0] += Real(p.coords[0]) , coords[1] += Real(p.coords[1]) , coords[2] += Real(p.coords[2]) ; return *this; }
+	template< class _Real > inline Point3D  operator +  ( Point3D< _Real > p ) const { Point3D q ; q.coords[0] = coords[0] + Real(p.coords[0]) , q.coords[1] = coords[1] + Real(p.coords[1]) , q.coords[2] = coords[2] + Real(p.coords[2]) ; return q; }
+	template< class _Real > inline Point3D& operator *= ( _Real r ) { coords[0] *= Real(r) , coords[1] *= Real(r) , coords[2] *= Real(r) ; return *this; }
+	template< class _Real > inline Point3D  operator *  ( _Real r ) const { Point3D q ; q.coords[0] = coords[0] * Real(r) , q.coords[1] = coords[1] * Real(r) , q.coords[2] = coords[2] * Real(r) ; return q; }
+
+	template< class _Real > inline Point3D& operator -= ( Point3D< _Real > p ){ return ( (*this)+=(-p) ); }
+	template< class _Real > inline Point3D  operator -  ( Point3D< _Real > p ) const { return (*this)+(-p); }
+	template< class _Real > inline Point3D& operator /= ( _Real r ){ return ( (*this)*=Real(1./r) ); }
+	template< class _Real > inline Point3D  operator /  ( _Real r ) const { return (*this) * ( Real(1.)/r ); }
+
+	static Real Dot( const Point3D< Real >& p1 , const Point3D< Real >& p2 ){ return p1.coords[0]*p2.coords[0] + p1.coords[1]*p2.coords[1] + p1.coords[2]*p2.coords[2]; }
+	template< class Real1 , class Real2 >
+	static Real Dot( const Point3D< Real1 >& p1 , const Point3D< Real2 >& p2 ){ return Real( p1.coords[0]*p2.coords[0] + p1.coords[1]*p2.coords[1] + p1.coords[2]*p2.coords[2] ); }
+};
+
+template< class Real >
+struct XForm3x3
+{
+	Real coords[3][3];
+	XForm3x3( void ) { for( int i=0 ; i<3 ; i++ ) for( int j=0 ; j<3 ; j++ )  coords[i][j] = Real(0.); }
+	static XForm3x3 Identity( void )
+	{
+		XForm3x3 xForm;
+		xForm(0,0) = xForm(1,1) = xForm(2,2) = Real(1.);
+		return xForm;
+	}
+	Real& operator() ( int i , int j ){ return coords[i][j]; }
+	const Real& operator() ( int i , int j ) const { return coords[i][j]; }
+	template< class _Real > Point3D< _Real > operator * ( const Point3D< _Real >& p ) const
+	{
+		Point3D< _Real > q;
+		for( int i=0 ; i<3 ; i++ ) for( int j=0 ; j<3 ; j++ ) q[i] += _Real( coords[j][i] * p[j] );
+		return q;
+	}
+	XForm3x3 operator * ( const XForm3x3& m ) const
+	{
+		XForm3x3 n;
+		for( int i=0 ; i<3 ; i++ ) for( int j=0 ; j<3 ; j++ ) for( int k=0 ; k<3 ; k++ ) n.coords[i][j] += m.coords[i][k]*coords[k][j];
+		return n;
+	}
+	XForm3x3 transpose( void ) const
+	{
+		XForm3x3 xForm;
+		for( int i=0 ; i<3 ; i++ ) for( int j=0 ; j<3 ; j++ ) xForm( i , j ) = coords[j][i];
+		return xForm;
+	}
+	Real subDeterminant( int i , int j ) const
+	{
+		int i1 = (i+1)%3 , i2 = (i+2)%3;
+		int j1 = (j+1)%3 , j2 = (j+2)%3;
+		return coords[i1][j1] * coords[i2][j2] - coords[i1][j2] * coords[i2][j1];
+	}
+	Real determinant( void ) const { return coords[0][0] * subDeterminant( 0 , 0 ) + coords[1][0] * subDeterminant( 1 , 0 ) + coords[2][0] * subDeterminant( 2 , 0 ); }
+	XForm3x3 inverse( void ) const
+	{
+		XForm3x3 xForm;
+		Real d = determinant();
+		for( int i=0 ; i<3 ; i++ ) for( int j=0 ; j<3 ;j++ ) xForm.coords[j][i] =  subDeterminant( i , j ) / d;
+		return xForm;
+	}
+};
+
+template< class Real >
+struct XForm4x4
+{
+	Real coords[4][4];
+	XForm4x4( void ) { for( int i=0 ; i<4 ; i++ ) for( int j=0 ; j<4 ; j++ )  coords[i][j] = Real(0.); }
+	static XForm4x4 Identity( void )
+	{
+		XForm4x4 xForm;
+		xForm(0,0) = xForm(1,1) = xForm(2,2) = xForm(3,3) = Real(1.);
+		return xForm;
+	}
+	Real& operator() ( int i , int j ){ return coords[i][j]; }
+	const Real& operator() ( int i , int j ) const { return coords[i][j]; }
+	template< class _Real > Point3D< _Real > operator * ( const Point3D< _Real >& p ) const
+	{
+		Point3D< _Real > q;
+		for( int i=0 ; i<3 ; i++ )
+		{
+			for( int j=0 ; j<3 ; j++ ) q[i] += (_Real)( coords[j][i] * p[j] );
+			q[i] += (_Real)coords[3][i];
+		}
+		return q;
+	}
+	XForm4x4 operator * ( const XForm4x4& m ) const
+	{
+		XForm4x4 n;
+		for( int i=0 ; i<4 ; i++ ) for( int j=0 ; j<4 ; j++ ) for( int k=0 ; k<4 ; k++ ) n.coords[i][j] += m.coords[i][k]*coords[k][j];
+		return n;
+	}
+	XForm4x4 transpose( void ) const
+	{
+		XForm4x4 xForm;
+		for( int i=0 ; i<4 ; i++ ) for( int j=0 ; j<4 ; j++ ) xForm( i , j ) = coords[j][i];
+		return xForm;
+	}
+	Real subDeterminant( int i , int j ) const
+	{
+		XForm3x3< Real > xForm;
+		int ii[] = { (i+1)%4 , (i+2)%4 , (i+3)%4 } , jj[] = { (j+1)%4 , (j+2)%4 , (j+3)%4 };
+		for( int _i=0 ; _i<3 ; _i++ ) for( int _j=0 ; _j<3 ; _j++ ) xForm( _i , _j ) = coords[ ii[_i] ][ jj[_j] ];
+		return xForm.determinant();
+	}
+	Real determinant( void ) const { return coords[0][0] * subDeterminant( 0 , 0 ) - coords[1][0] * subDeterminant( 1 , 0 ) + coords[2][0] * subDeterminant( 2 , 0 ) - coords[3][0] * subDeterminant( 3 , 0 ); }
+	XForm4x4 inverse( void ) const
+	{
+		XForm4x4 xForm;
+		Real d = determinant();
+		for( int i=0 ; i<4 ; i++ ) for( int j=0 ; j<4 ;j++ )
+			if( (i+j)%2==0 ) xForm.coords[j][i] =  subDeterminant( i , j ) / d;
+			else             xForm.coords[j][i] = -subDeterminant( i , j ) / d;
+		return xForm;
+	}
+};
+
+template< class Real >
+struct OrientedPoint3D
+{
+	Point3D< Real > p , n;
+	OrientedPoint3D( Point3D< Real > pp=Point3D< Real >() , Point3D< Real > nn=Point3D< Real >() ) : p(pp) , n(nn) { ; }
+	template< class _Real > OrientedPoint3D( const OrientedPoint3D< _Real >& p ) : OrientedPoint3D( Point3D< Real >( p.p ) , Point3D< Real >( p.n ) ){ ; }
+
+	template< class _Real > inline OrientedPoint3D& operator += ( OrientedPoint3D< _Real > _p ){ p += _p.p , n += _p.n ; return *this; }
+	template< class _Real > inline OrientedPoint3D  operator +  ( OrientedPoint3D< _Real > _p ) const { return OrientedPoint3D< Real >( p+_p.p , n+_p.n ); }
+	template< class _Real > inline OrientedPoint3D& operator *= ( _Real r ) { p *= r , n *= r ; return *this; }
+	template< class _Real > inline OrientedPoint3D  operator *  ( _Real r ) const { return OrientedPoint3D< Real >( p*r , n*r ); }
+
+	template< class _Real > inline OrientedPoint3D& operator -= ( OrientedPoint3D< _Real > p ){ return ( (*this)+=(-p) ); }
+	template< class _Real > inline OrientedPoint3D  operator -  ( OrientedPoint3D< _Real > p ) const { return (*this)+(-p); }
+	template< class _Real > inline OrientedPoint3D& operator /= ( _Real r ){ return ( (*this)*=Real(1./r) ); }
+	template< class _Real > inline OrientedPoint3D  operator /  ( _Real r ) const { return (*this) * ( Real(1.)/r ); }
+};
+
+template< class Data , class Real >
+struct ProjectiveData
+{
+	Data data;
+	Real weight;
+	ProjectiveData( Data d=Data(0) , Real w=Real(0) ) : data(d) , weight(w) { ; }
+	operator Data (){ return weight!=0 ? data/weight : data*weight; }
+	ProjectiveData& operator += ( const ProjectiveData& p ){ data += p.data , weight += p.weight ; return *this; }
+	ProjectiveData& operator -= ( const ProjectiveData& p ){ data -= p.data , weight -= p.weight ; return *this; }
+	ProjectiveData& operator *= ( Real s ){ data *= s , weight *= s ; return *this; }
+	ProjectiveData& operator /= ( Real s ){ data /= s , weight /= s ; return *this; }
+	ProjectiveData  operator +  ( const ProjectiveData& p ) const { return ProjectiveData( data+p.data , weight+p.weight ); }
+	ProjectiveData  operator -  ( const ProjectiveData& p ) const { return ProjectiveData( data-p.data , weight-p.weight ); }
+	ProjectiveData  operator *  ( Real s ) const { return ProjectiveData( data*s , weight*s ); }
+	ProjectiveData  operator /  ( Real s ) const { return ProjectiveData( data/s , weight/s ); }
+};
+
+template<class Real>
+Point3D<Real> RandomBallPoint(void);
+
+template<class Real>
+Point3D<Real> RandomSpherePoint(void);
+
+template<class Real>
+double Length(const Point3D<Real>& p);
+
+template<class Real>
+double SquareLength(const Point3D<Real>& p);
+
+template<class Real>
+double Distance(const Point3D<Real>& p1,const Point3D<Real>& p2);
+
+template<class Real>
+double SquareDistance(const Point3D<Real>& p1,const Point3D<Real>& p2);
+
+template <class Real>
+void CrossProduct(const Point3D<Real>& p1,const Point3D<Real>& p2,Point3D<Real>& p);
+
+
+class Edge{
+public:
+	double p[2][2];
+	double Length(void) const{
+		double d[2];
+		d[0]=p[0][0]-p[1][0];
+		d[1]=p[0][1]-p[1][1];
+
+		return sqrt(d[0]*d[0]+d[1]*d[1]);
+	}
+};
+class Triangle{
+public:
+	double p[3][3];
+	double Area(void) const{
+		double v1[3] , v2[3] , v[3];
+		for( int d=0 ; d<3 ; d++ )
+		{
+			v1[d] = p[1][d] - p[0][d];
+			v2[d] = p[2][d] - p[0][d];
+		}
+		v[0] =  v1[1]*v2[2] - v1[2]*v2[1];
+		v[1] = -v1[0]*v2[2] + v1[2]*v2[0];
+		v[2] =  v1[0]*v2[1] - v1[1]*v2[0];
+		return sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] ) / 2;
+	}
+	double AspectRatio(void) const{
+		double d=0;
+		int i,j;
+		for(i=0;i<3;i++){
+	  for(i=0;i<3;i++)
+			for(j=0;j<3;j++){d+=(p[(i+1)%3][j]-p[i][j])*(p[(i+1)%3][j]-p[i][j]);}
+		}
+		return Area()/d;
+	}
+	
+};
+class CoredPointIndex
+{
+public:
+	int index;
+	char inCore;
+
+	int operator == (const CoredPointIndex& cpi) const {return (index==cpi.index) && (inCore==cpi.inCore);};
+	int operator != (const CoredPointIndex& cpi) const {return (index!=cpi.index) || (inCore!=cpi.inCore);};
+};
+class EdgeIndex{
+public:
+	int idx[2];
+};
+class CoredEdgeIndex
+{
+public:
+	CoredPointIndex idx[2];
+};
+class TriangleIndex{
+public:
+	int idx[3];
+};
+
+class TriangulationEdge
+{
+public:
+	TriangulationEdge(void);
+	int pIndex[2];
+	int tIndex[2];
+};
+
+class TriangulationTriangle
+{
+public:
+	TriangulationTriangle(void);
+	int eIndex[3];
+};
+
+template<class Real>
+class Triangulation
+{
+public:
+
+	std::vector<Point3D<Real> >		points;
+	std::vector<TriangulationEdge>				edges;
+	std::vector<TriangulationTriangle>			triangles;
+
+	int factor( int tIndex,int& p1,int& p2,int& p3);
+	double area(void);
+	double area( int tIndex );
+	double area( int p1 , int p2 , int p3 );
+	int flipMinimize( int eIndex);
+	int addTriangle( int p1 , int p2 , int p3 );
+
+protected:
+	std::unordered_map<long long, int> edgeMap;
+	static long long EdgeIndex( int p1 , int p2 );
+	double area(const Triangle& t);
+};
+
+
+template<class Real>
+void EdgeCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector<Point3D<Real> >* normals);
+template<class Real>
+void TriangleCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector<Point3D<Real> >& positions,std::vector<Point3D<Real> >* normals);
+
+struct CoredVertexIndex
+{
+	int idx;
+	bool inCore;
+};
+template< class Vertex >
+class CoredMeshData
+{
+public:
+	std::vector< Vertex > inCorePoints;
+	virtual void resetIterator( void ) = 0;
+
+	virtual int addOutOfCorePoint( const Vertex& p ) = 0;
+	virtual int addOutOfCorePoint_s( const Vertex& p ) = 0;
+	virtual int addPolygon_s( const std::vector< CoredVertexIndex >& vertices ) = 0;
+	virtual int addPolygon_s( const std::vector< int >& vertices ) = 0;
+
+	virtual int nextOutOfCorePoint( Vertex& p )=0;
+	virtual int nextPolygon( std::vector< CoredVertexIndex >& vertices ) = 0;
+
+	virtual int outOfCorePointCount(void)=0;
+	virtual int polygonCount( void ) = 0;
+};
+
+template< class Vertex >
+class CoredVectorMeshData : public CoredMeshData< Vertex >
+{
+	std::vector< Vertex > oocPoints;
+	std::vector< std::vector< int > > polygons;
+	int polygonIndex;
+	int oocPointIndex;
+public:
+	CoredVectorMeshData(void);
+
+	void resetIterator(void);
+
+	int addOutOfCorePoint( const Vertex& p );
+	int addOutOfCorePoint_s( const Vertex& p );
+	int addPolygon_s( const std::vector< CoredVertexIndex >& vertices );
+	int addPolygon_s( const std::vector< int >& vertices );
+
+	int nextOutOfCorePoint( Vertex& p );
+	int nextPolygon( std::vector< CoredVertexIndex >& vertices );
+
+	int outOfCorePointCount(void);
+	int polygonCount( void );
+};
+class BufferedReadWriteFile
+{
+	bool tempFile;
+	FILE* _fp;
+	char *_buffer , _fileName[1024];
+	size_t _bufferIndex , _bufferSize;
+public:
+	BufferedReadWriteFile( char* fileName=NULL , int bufferSize=(1<<20) );
+	~BufferedReadWriteFile( void );
+	bool write( const void* data , size_t size );
+	bool read ( void* data , size_t size );
+	void reset( void );
+};
+template< class Vertex >
+class CoredFileMeshData : public CoredMeshData< Vertex >
+{
+	char pointFileName[1024] , polygonFileName[1024];
+	BufferedReadWriteFile *oocPointFile , *polygonFile;
+	int oocPoints , polygons;
+public:
+	CoredFileMeshData( void );
+	~CoredFileMeshData( void );
+
+	void resetIterator( void );
+
+	int addOutOfCorePoint( const Vertex& p );
+	int addOutOfCorePoint_s( const Vertex& p );
+	int addPolygon_s( const std::vector< CoredVertexIndex >& vertices );
+	int addPolygon_s( const std::vector< int >& vertices );
+
+	int nextOutOfCorePoint( Vertex& p );
+	int nextPolygon( std::vector< CoredVertexIndex >& vertices );
+
+	int outOfCorePointCount( void );
+	int polygonCount( void );
+};
+#include "Geometry.inl"
+
+#endif // GEOMETRY_INCLUDED
diff --git a/vendor/kazhdan/Geometry.inl b/vendor/kazhdan/Geometry.inl
new file mode 100644
index 0000000..b38f0e6
--- /dev/null
+++ b/vendor/kazhdan/Geometry.inl
@@ -0,0 +1,591 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <stdio.h>
+
+template<class Real>
+Real Random(void){return Real(rand())/RAND_MAX;}
+
+template<class Real>
+Point3D<Real> RandomBallPoint(void){
+	Point3D<Real> p;
+	while(1){
+		p.coords[0]=Real(1.0-2.0*Random<Real>());
+		p.coords[1]=Real(1.0-2.0*Random<Real>());
+		p.coords[2]=Real(1.0-2.0*Random<Real>());
+		double l=SquareLength(p);
+		if(l<=1){return p;}
+	}
+}
+template<class Real>
+Point3D<Real> RandomSpherePoint(void){
+	Point3D<Real> p=RandomBallPoint<Real>();
+	Real l=Real(Length(p));
+	p.coords[0]/=l;
+	p.coords[1]/=l;
+	p.coords[2]/=l;
+	return p;
+}
+
+template<class Real>
+double SquareLength(const Point3D<Real>& p){return p.coords[0]*p.coords[0]+p.coords[1]*p.coords[1]+p.coords[2]*p.coords[2];}
+
+template<class Real>
+double Length(const Point3D<Real>& p){return sqrt(SquareLength(p));}
+
+template<class Real>
+double SquareDistance(const Point3D<Real>& p1,const Point3D<Real>& p2){
+	return (p1.coords[0]-p2.coords[0])*(p1.coords[0]-p2.coords[0])+(p1.coords[1]-p2.coords[1])*(p1.coords[1]-p2.coords[1])+(p1.coords[2]-p2.coords[2])*(p1.coords[2]-p2.coords[2]);
+}
+
+template<class Real>
+double Distance(const Point3D<Real>& p1,const Point3D<Real>& p2){return sqrt(SquareDistance(p1,p2));}
+
+template <class Real>
+void CrossProduct(const Point3D<Real>& p1,const Point3D<Real>& p2,Point3D<Real>& p){
+	p.coords[0]= p1.coords[1]*p2.coords[2]-p1.coords[2]*p2.coords[1];
+	p.coords[1]=-p1.coords[0]*p2.coords[2]+p1.coords[2]*p2.coords[0];
+	p.coords[2]= p1.coords[0]*p2.coords[1]-p1.coords[1]*p2.coords[0];
+}
+template<class Real>
+void EdgeCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector< Point3D<Real> >* normals){
+	int i,j,*remapTable,*pointCount,idx[3];
+	Point3D<Real> p[3],q[2],c;
+	double d[3],a;
+	double Ratio=12.0/sqrt(3.0);	// (Sum of Squares Length / Area) for and equilateral triangle
+
+	remapTable=new int[positions.size()];
+	pointCount=new int[positions.size()];
+	for(i=0;i<int(positions.size());i++){
+		remapTable[i]=i;
+		pointCount[i]=1;
+	}
+	for(i=int(triangles.size()-1);i>=0;i--){
+		for(j=0;j<3;j++){
+			idx[j]=triangles[i].idx[j];
+			while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
+		}
+		if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+			continue;
+		}
+		for(j=0;j<3;j++){
+			p[j].coords[0]=positions[idx[j]].coords[0]/pointCount[idx[j]];
+			p[j].coords[1]=positions[idx[j]].coords[1]/pointCount[idx[j]];
+			p[j].coords[2]=positions[idx[j]].coords[2]/pointCount[idx[j]];
+		}
+		for(j=0;j<3;j++){
+			q[0].coords[j]=p[1].coords[j]-p[0].coords[j];
+			q[1].coords[j]=p[2].coords[j]-p[0].coords[j];
+			d[j]=SquareDistance(p[j],p[(j+1)%3]);
+		}
+		CrossProduct(q[0],q[1],c);
+		a=Length(c)/2;
+
+		if((d[0]+d[1]+d[2])*edgeRatio > a*Ratio){
+			// Find the smallest edge
+			j=0;
+			if(d[1]<d[j]){j=1;}
+			if(d[2]<d[j]){j=2;}
+
+			int idx1,idx2;
+			if(idx[j]<idx[(j+1)%3]){
+				idx1=idx[j];
+				idx2=idx[(j+1)%3];
+			}
+			else{
+				idx2=idx[j];
+				idx1=idx[(j+1)%3];
+			}
+			positions[idx1].coords[0]+=positions[idx2].coords[0];
+			positions[idx1].coords[1]+=positions[idx2].coords[1];
+			positions[idx1].coords[2]+=positions[idx2].coords[2];
+			if(normals){
+				(*normals)[idx1].coords[0]+=(*normals)[idx2].coords[0];
+				(*normals)[idx1].coords[1]+=(*normals)[idx2].coords[1];
+				(*normals)[idx1].coords[2]+=(*normals)[idx2].coords[2];
+			}
+			pointCount[idx1]+=pointCount[idx2];
+			remapTable[idx2]=idx1;
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+		}
+	}
+	int pCount=0;
+	for(i=0;i<int(positions.size());i++){
+		for(j=0;j<3;j++){positions[i].coords[j]/=pointCount[i];}
+		if(normals){
+			Real l=Real(Length((*normals)[i]));
+			for(j=0;j<3;j++){(*normals)[i].coords[j]/=l;}
+		}
+		if(remapTable[i]==i){ // If vertex i is being used
+			positions[pCount]=positions[i];
+			if(normals){(*normals)[pCount]=(*normals)[i];}
+			pointCount[i]=pCount;
+			pCount++;
+		}
+	}
+	positions.resize(pCount);
+	for(i=int(triangles.size()-1);i>=0;i--){
+		for(j=0;j<3;j++){
+			idx[j]=triangles[i].idx[j];
+			while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
+			triangles[i].idx[j]=pointCount[idx[j]];
+		}
+		if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+		}
+	}
+
+	delete[] pointCount;
+	delete[] remapTable;
+}
+template<class Real>
+void TriangleCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector< Point3D<Real> >* normals){
+	int i,j,*remapTable,*pointCount,idx[3];
+	Point3D<Real> p[3],q[2],c;
+	double d[3],a;
+	double Ratio=12.0/sqrt(3.0);	// (Sum of Squares Length / Area) for and equilateral triangle
+
+	remapTable=new int[positions.size()];
+	pointCount=new int[positions.size()];
+	for(i=0;i<int(positions.size());i++){
+		remapTable[i]=i;
+		pointCount[i]=1;
+	}
+	for(i=int(triangles.size()-1);i>=0;i--){
+		for(j=0;j<3;j++){
+			idx[j]=triangles[i].idx[j];
+			while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
+		}
+		if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+			continue;
+		}
+		for(j=0;j<3;j++){
+			p[j].coords[0]=positions[idx[j]].coords[0]/pointCount[idx[j]];
+			p[j].coords[1]=positions[idx[j]].coords[1]/pointCount[idx[j]];
+			p[j].coords[2]=positions[idx[j]].coords[2]/pointCount[idx[j]];
+		}
+		for(j=0;j<3;j++){
+			q[0].coords[j]=p[1].coords[j]-p[0].coords[j];
+			q[1].coords[j]=p[2].coords[j]-p[0].coords[j];
+			d[j]=SquareDistance(p[j],p[(j+1)%3]);
+		}
+		CrossProduct(q[0],q[1],c);
+		a=Length(c)/2;
+
+		if((d[0]+d[1]+d[2])*edgeRatio > a*Ratio){
+			// Find the smallest edge
+			j=0;
+			if(d[1]<d[j]){j=1;}
+			if(d[2]<d[j]){j=2;}
+
+			int idx1,idx2,idx3;
+			if(idx[0]<idx[1]){
+				if(idx[0]<idx[2]){
+					idx1=idx[0];
+					idx2=idx[2];
+					idx3=idx[1];
+				}
+				else{
+					idx1=idx[2];
+					idx2=idx[0];
+					idx3=idx[1];
+				}
+			}
+			else{
+				if(idx[1]<idx[2]){
+					idx1=idx[1];
+					idx2=idx[2];
+					idx3=idx[0];
+				}
+				else{
+					idx1=idx[2];
+					idx2=idx[1];
+					idx3=idx[0];
+				}
+			}
+			positions[idx1].coords[0]+=positions[idx2].coords[0]+positions[idx3].coords[0];
+			positions[idx1].coords[1]+=positions[idx2].coords[1]+positions[idx3].coords[1];
+			positions[idx1].coords[2]+=positions[idx2].coords[2]+positions[idx3].coords[2];
+			if(normals){
+				(*normals)[idx1].coords[0]+=(*normals)[idx2].coords[0]+(*normals)[idx3].coords[0];
+				(*normals)[idx1].coords[1]+=(*normals)[idx2].coords[1]+(*normals)[idx3].coords[1];
+				(*normals)[idx1].coords[2]+=(*normals)[idx2].coords[2]+(*normals)[idx3].coords[2];
+			}
+			pointCount[idx1]+=pointCount[idx2]+pointCount[idx3];
+			remapTable[idx2]=idx1;
+			remapTable[idx3]=idx1;
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+		}
+	}
+	int pCount=0;
+	for(i=0;i<int(positions.size());i++){
+		for(j=0;j<3;j++){positions[i].coords[j]/=pointCount[i];}
+		if(normals){
+			Real l=Real(Length((*normals)[i]));
+			for(j=0;j<3;j++){(*normals)[i].coords[j]/=l;}
+		}
+		if(remapTable[i]==i){ // If vertex i is being used
+			positions[pCount]=positions[i];
+			if(normals){(*normals)[pCount]=(*normals)[i];}
+			pointCount[i]=pCount;
+			pCount++;
+		}
+	}
+	positions.resize(pCount);
+	for(i=int(triangles.size()-1);i>=0;i--){
+		for(j=0;j<3;j++){
+			idx[j]=triangles[i].idx[j];
+			while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
+			triangles[i].idx[j]=pointCount[idx[j]];
+		}
+		if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
+			triangles[i]=triangles[triangles.size()-1];
+			triangles.pop_back();
+		}
+	}
+	delete[] pointCount;
+	delete[] remapTable;
+}
+
+///////////////////
+// Triangulation //
+///////////////////
+template<class Real>
+long long Triangulation<Real>::EdgeIndex( int p1 , int p2 )
+{
+	if(p1>p2)	{return ((long long)(p1)<<32) | ((long long)(p2));}
+	else		{return ((long long)(p2)<<32) | ((long long)(p1));}
+}
+
+template<class Real>
+int Triangulation<Real>::factor(int tIndex,int& p1,int& p2,int & p3){
+	if(triangles[tIndex].eIndex[0]<0 || triangles[tIndex].eIndex[1]<0 || triangles[tIndex].eIndex[2]<0){return 0;}
+	if(edges[triangles[tIndex].eIndex[0]].tIndex[0]==tIndex){p1=edges[triangles[tIndex].eIndex[0]].pIndex[0];}
+	else													{p1=edges[triangles[tIndex].eIndex[0]].pIndex[1];}
+	if(edges[triangles[tIndex].eIndex[1]].tIndex[0]==tIndex){p2=edges[triangles[tIndex].eIndex[1]].pIndex[0];}
+	else													{p2=edges[triangles[tIndex].eIndex[1]].pIndex[1];}
+	if(edges[triangles[tIndex].eIndex[2]].tIndex[0]==tIndex){p3=edges[triangles[tIndex].eIndex[2]].pIndex[0];}
+	else													{p3=edges[triangles[tIndex].eIndex[2]].pIndex[1];}
+	return 1;
+}
+template<class Real>
+double Triangulation<Real>::area(int p1,int p2,int p3){
+	Point3D<Real> q1,q2,q;
+	for(int i=0;i<3;i++){
+		q1.coords[i]=points[p2].coords[i]-points[p1].coords[i];
+		q2.coords[i]=points[p3].coords[i]-points[p1].coords[i];
+	}
+	CrossProduct(q1,q2,q);
+	return Length(q);
+}
+template<class Real>
+double Triangulation<Real>::area(int tIndex){
+	int p1,p2,p3;
+	factor(tIndex,p1,p2,p3);
+	return area(p1,p2,p3);
+}
+template<class Real>
+double Triangulation<Real>::area(void){
+	double a=0;
+	for(int i=0;i<int(triangles.size());i++){a+=area(i);}
+	return a;
+}
+template<class Real>
+int Triangulation<Real>::addTriangle(int p1,int p2,int p3)
+{
+	std::unordered_map<long long, int>::iterator iter;
+	int tIdx,eIdx,p[3];
+	p[0]=p1;
+	p[1]=p2;
+	p[2]=p3;
+	triangles.push_back(TriangulationTriangle());
+	tIdx=int(triangles.size())-1;
+
+	for(int i=0;i<3;i++)
+	{
+		long long e = EdgeIndex(p[i],p[(i+1)%3]);
+		iter=edgeMap.find(e);
+		if(iter==edgeMap.end())
+		{
+			TriangulationEdge edge;
+			edge.pIndex[0]=p[i];
+			edge.pIndex[1]=p[(i+1)%3];
+			edges.push_back(edge);
+			eIdx=int(edges.size())-1;
+			edgeMap[e]=eIdx;
+			edges[eIdx].tIndex[0]=tIdx;
+		}
+		else{
+			eIdx=edgeMap[e];
+			if(edges[eIdx].pIndex[0]==p[i]){
+				if(edges[eIdx].tIndex[0]<0){edges[eIdx].tIndex[0]=tIdx;}
+				else{printf("Edge Triangle in use 1\n");return 0;}
+			}
+			else{
+				if(edges[eIdx].tIndex[1]<0){edges[eIdx].tIndex[1]=tIdx;}
+				else{printf("Edge Triangle in use 2\n");return 0;}
+			}
+
+		}
+		triangles[tIdx].eIndex[i]=eIdx;
+	}
+	return tIdx;
+}
+template<class Real>
+int Triangulation<Real>::flipMinimize(int eIndex){
+	double oldArea,newArea;
+	int oldP[3],oldQ[3],newP[3],newQ[3];
+	TriangulationEdge newEdge;
+
+	if(edges[eIndex].tIndex[0]<0 || edges[eIndex].tIndex[1]<0){return 0;}
+
+	if(!factor(edges[eIndex].tIndex[0],oldP[0],oldP[1],oldP[2])){return 0;}
+	if(!factor(edges[eIndex].tIndex[1],oldQ[0],oldQ[1],oldQ[2])){return 0;}
+
+	oldArea=area(oldP[0],oldP[1],oldP[2])+area(oldQ[0],oldQ[1],oldQ[2]);
+	int idxP,idxQ;
+	for(idxP=0;idxP<3;idxP++){
+		int i;
+		for(i=0;i<3;i++){if(oldP[idxP]==oldQ[i]){break;}}
+		if(i==3){break;}
+	}
+	for(idxQ=0;idxQ<3;idxQ++){
+		int i;
+		for(i=0;i<3;i++){if(oldP[i]==oldQ[idxQ]){break;}}
+		if(i==3){break;}
+	}
+	if(idxP==3 || idxQ==3){return 0;}
+	newP[0]=oldP[idxP];
+	newP[1]=oldP[(idxP+1)%3];
+	newP[2]=oldQ[idxQ];
+	newQ[0]=oldQ[idxQ];
+	newQ[1]=oldP[(idxP+2)%3];
+	newQ[2]=oldP[idxP];
+
+	newArea=area(newP[0],newP[1],newP[2])+area(newQ[0],newQ[1],newQ[2]);
+	if(oldArea<=newArea){return 0;}
+
+	// Remove the entry in the hash_table for the old edge
+	edgeMap.erase(EdgeIndex(edges[eIndex].pIndex[0],edges[eIndex].pIndex[1]));
+	// Set the new edge so that the zero-side is newQ
+	edges[eIndex].pIndex[0]=newP[0];
+	edges[eIndex].pIndex[1]=newQ[0];
+	// Insert the entry into the hash_table for the new edge
+	edgeMap[EdgeIndex(newP[0],newQ[0])]=eIndex;
+	// Update the triangle information
+	for(int i=0;i<3;i++){
+		int idx;
+		idx=edgeMap[EdgeIndex(newQ[i],newQ[(i+1)%3])];
+		triangles[edges[eIndex].tIndex[0]].eIndex[i]=idx;
+		if(idx!=eIndex){
+			if(edges[idx].tIndex[0]==edges[eIndex].tIndex[1]){edges[idx].tIndex[0]=edges[eIndex].tIndex[0];}
+			if(edges[idx].tIndex[1]==edges[eIndex].tIndex[1]){edges[idx].tIndex[1]=edges[eIndex].tIndex[0];}
+		}
+
+		idx=edgeMap[EdgeIndex(newP[i],newP[(i+1)%3])];
+		triangles[edges[eIndex].tIndex[1]].eIndex[i]=idx;
+		if(idx!=eIndex){
+			if(edges[idx].tIndex[0]==edges[eIndex].tIndex[0]){edges[idx].tIndex[0]=edges[eIndex].tIndex[1];}
+			if(edges[idx].tIndex[1]==edges[eIndex].tIndex[0]){edges[idx].tIndex[1]=edges[eIndex].tIndex[1];}
+		}
+	}
+	return 1;
+}
+/////////////////////////
+// CoredVectorMeshData //
+/////////////////////////
+template< class Vertex >
+CoredVectorMeshData< Vertex >::CoredVectorMeshData( void ) { oocPointIndex = polygonIndex = 0; }
+template< class Vertex >
+void CoredVectorMeshData< Vertex >::resetIterator ( void ) { oocPointIndex = polygonIndex = 0; }
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::addOutOfCorePoint( const Vertex& p )
+{
+	oocPoints.push_back(p);
+	return int(oocPoints.size())-1;
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::addOutOfCorePoint_s( const Vertex& p )
+{
+	size_t sz;
+#pragma omp critical (CoredVectorMeshData_addOutOfCorePoint_s )
+	{
+		sz = oocPoints.size();
+		oocPoints.push_back(p);
+	}
+	return (int)sz;
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::addPolygon_s( const std::vector< int >& polygon )
+{
+	size_t sz;
+#pragma omp critical (CoredVectorMeshData_addPolygon_s)
+	{
+		sz = polygon.size();
+		polygons.push_back( polygon );
+	}
+	return (int)sz;
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::addPolygon_s( const std::vector< CoredVertexIndex >& vertices )
+{
+	std::vector< int > polygon( vertices.size() );
+	for( int i=0 ; i<(int)vertices.size() ; i++ ) 
+		if( vertices[i].inCore ) polygon[i] =  vertices[i].idx;
+		else                     polygon[i] = -vertices[i].idx-1;
+	return addPolygon_s( polygon );
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::nextOutOfCorePoint( Vertex& p )
+{
+	if( oocPointIndex<int(oocPoints.size()) )
+	{
+		p=oocPoints[oocPointIndex++];
+		return 1;
+	}
+	else{return 0;}
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::nextPolygon( std::vector< CoredVertexIndex >& vertices )
+{
+	if( polygonIndex<int( polygons.size() ) )
+	{
+		std::vector< int >& polygon = polygons[ polygonIndex++ ];
+		vertices.resize( polygon.size() );
+		for( int i=0 ; i<int(polygon.size()) ; i++ )
+			if( polygon[i]<0 ) vertices[i].idx = -polygon[i]-1 , vertices[i].inCore = false;
+			else               vertices[i].idx =  polygon[i]   , vertices[i].inCore = true;
+		return 1;
+	}
+	else return 0;
+}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::outOfCorePointCount(void){return int(oocPoints.size());}
+template< class Vertex >
+int CoredVectorMeshData< Vertex >::polygonCount( void ) { return int( polygons.size() ); }
+
+///////////////////////
+// CoredFileMeshData //
+///////////////////////
+template< class Vertex >
+CoredFileMeshData< Vertex >::CoredFileMeshData( void )
+{
+	oocPoints = polygons = 0;
+	
+	oocPointFile = new BufferedReadWriteFile();
+	polygonFile = new BufferedReadWriteFile();
+}
+template< class Vertex >
+CoredFileMeshData< Vertex >::~CoredFileMeshData( void )
+{
+	delete oocPointFile;
+	delete polygonFile;
+}
+template< class Vertex >
+void CoredFileMeshData< Vertex >::resetIterator ( void )
+{
+	oocPointFile->reset();
+	polygonFile->reset();
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::addOutOfCorePoint( const Vertex& p )
+{
+	oocPointFile->write( &p , sizeof( Vertex ) );
+	oocPoints++;
+	return oocPoints-1;
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::addOutOfCorePoint_s( const Vertex& p )
+{
+	int sz;
+#pragma omp critical (CoredFileMeshData_addOutOfCorePoint_s)
+	{
+		sz = oocPoints;
+		oocPointFile->write( &p , sizeof( Vertex ) );
+		oocPoints++;
+	}
+	return sz;
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::addPolygon_s( const std::vector< int >& vertices )
+{
+	int sz , vSize = (int)vertices.size();
+#pragma omp critical (CoredFileMeshData_addPolygon_s )
+	{
+		sz = polygons;
+		polygonFile->write( &vSize , sizeof(int) );
+		polygonFile->write( &vertices[0] , sizeof(int) * vSize );
+		polygons++;
+	}
+	return sz;
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::addPolygon_s( const std::vector< CoredVertexIndex >& vertices )
+{
+	std::vector< int > polygon( vertices.size() );
+	for( int i=0 ; i<(int)vertices.size() ; i++ ) 
+		if( vertices[i].inCore ) polygon[i] =  vertices[i].idx;
+		else                     polygon[i] = -vertices[i].idx-1;
+	return addPolygon_s( polygon );
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::nextOutOfCorePoint( Vertex& p )
+{
+	if( oocPointFile->read( &p , sizeof( Vertex ) ) ) return 1;
+	else return 0;
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::nextPolygon( std::vector< CoredVertexIndex >& vertices )
+{
+	int pSize;
+	if( polygonFile->read( &pSize , sizeof(int) ) )
+	{
+		std::vector< int > polygon( pSize );
+		if( polygonFile->read( &polygon[0] , sizeof(int)*pSize ) )
+		{
+			vertices.resize( pSize );
+			for( int i=0 ; i<int(polygon.size()) ; i++ )
+				if( polygon[i]<0 ) vertices[i].idx = -polygon[i]-1 , vertices[i].inCore = false;
+				else               vertices[i].idx =  polygon[i]   , vertices[i].inCore = true;
+			return 1;
+		}
+		return 0;
+	}
+	else return 0;
+}
+template< class Vertex >
+int CoredFileMeshData< Vertex >::outOfCorePointCount( void ){ return oocPoints; }
+template< class Vertex >
+int CoredFileMeshData< Vertex >::polygonCount( void ) { return polygons; }
diff --git a/vendor/kazhdan/MAT.h b/vendor/kazhdan/MAT.h
new file mode 100644
index 0000000..c090450
--- /dev/null
+++ b/vendor/kazhdan/MAT.h
@@ -0,0 +1,48 @@
+/*
+Copyright (c) 2007, Michael Kazhdan
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+#ifndef MAT_INCLUDED
+#define MAT_INCLUDED
+#include "Geometry.h"
+
+template <class Real>
+class MinimalAreaTriangulation
+{
+	Real* bestTriangulation;
+	int* midPoint;
+	Real GetArea(const size_t& i,const size_t& j,const std::vector<Point3D<Real> >& vertices);
+	void GetTriangulation(const size_t& i,const size_t& j,const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles);
+public:
+	MinimalAreaTriangulation(void);
+	~MinimalAreaTriangulation(void);
+	Real GetArea(const std::vector<Point3D<Real> >& vertices);
+	void GetTriangulation(const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles);
+};
+
+#include "MAT.inl"
+
+#endif // MAT_INCLUDED
diff --git a/vendor/kazhdan/MAT.inl b/vendor/kazhdan/MAT.inl
new file mode 100644
index 0000000..3f33d76
--- /dev/null
+++ b/vendor/kazhdan/MAT.inl
@@ -0,0 +1,220 @@
+/*
+Copyright (c) 2007, Michael Kazhdan
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+//////////////////////////////
+// MinimalAreaTriangulation //
+//////////////////////////////
+template <class Real>
+MinimalAreaTriangulation<Real>::MinimalAreaTriangulation(void)
+{
+	bestTriangulation=NULL;
+	midPoint=NULL;
+}
+template <class Real>
+MinimalAreaTriangulation<Real>::~MinimalAreaTriangulation(void)
+{
+	if(bestTriangulation)
+		delete[] bestTriangulation;
+	bestTriangulation=NULL;
+	if(midPoint)
+		delete[] midPoint;
+	midPoint=NULL;
+}
+template <class Real>
+void MinimalAreaTriangulation<Real>::GetTriangulation(const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles)
+{
+	if(vertices.size()==3)
+	{
+		triangles.resize(1);
+		triangles[0].idx[0]=0;
+		triangles[0].idx[1]=1;
+		triangles[0].idx[2]=2;
+		return;
+	}
+	else if(vertices.size()==4)
+	{
+		TriangleIndex tIndex[2][2];
+		Real area[2];
+
+		area[0]=area[1]=0;
+		triangles.resize(2);
+
+		tIndex[0][0].idx[0]=0;
+		tIndex[0][0].idx[1]=1;
+		tIndex[0][0].idx[2]=2;
+		tIndex[0][1].idx[0]=2;
+		tIndex[0][1].idx[1]=3;
+		tIndex[0][1].idx[2]=0;
+
+		tIndex[1][0].idx[0]=0;
+		tIndex[1][0].idx[1]=1;
+		tIndex[1][0].idx[2]=3;
+		tIndex[1][1].idx[0]=3;
+		tIndex[1][1].idx[1]=1;
+		tIndex[1][1].idx[2]=2;
+
+		Point3D<Real> n,p1,p2;
+		for(int i=0;i<2;i++)
+			for(int j=0;j<2;j++)
+			{
+				p1=vertices[tIndex[i][j].idx[1]]-vertices[tIndex[i][j].idx[0]];
+				p2=vertices[tIndex[i][j].idx[2]]-vertices[tIndex[i][j].idx[0]];
+				CrossProduct(p1,p2,n);
+				area[i] += Real( Length(n) );
+			}
+		if(area[0]>area[1])
+		{
+			triangles[0]=tIndex[1][0];
+			triangles[1]=tIndex[1][1];
+		}
+		else
+		{
+			triangles[0]=tIndex[0][0];
+			triangles[1]=tIndex[0][1];
+		}
+		return;
+	}
+	if(bestTriangulation)
+		delete[] bestTriangulation;
+	if(midPoint)
+		delete[] midPoint;
+	bestTriangulation=NULL;
+	midPoint=NULL;
+	size_t eCount=vertices.size();
+	bestTriangulation=new Real[eCount*eCount];
+	midPoint=new int[eCount*eCount];
+	for(size_t i=0;i<eCount*eCount;i++)
+		bestTriangulation[i]=-1;
+	memset(midPoint,-1,sizeof(int)*eCount*eCount);
+	GetArea(0,1,vertices);
+	triangles.clear();
+	GetTriangulation(0,1,vertices,triangles);
+}
+template <class Real>
+Real MinimalAreaTriangulation<Real>::GetArea(const std::vector<Point3D<Real> >& vertices)
+{
+	if(bestTriangulation)
+		delete[] bestTriangulation;
+	if(midPoint)
+		delete[] midPoint;
+	bestTriangulation=NULL;
+	midPoint=NULL;
+	int eCount=vertices.size();
+	bestTriangulation=new double[eCount*eCount];
+	midPoint=new int[eCount*eCount];
+	for(int i=0;i<eCount*eCount;i++)
+		bestTriangulation[i]=-1;
+	memset(midPoint,-1,sizeof(int)*eCount*eCount);
+	return GetArea(0,1,vertices);
+}
+template<class Real>
+void MinimalAreaTriangulation<Real>::GetTriangulation(const size_t& i,const size_t& j,const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles)
+{
+	TriangleIndex tIndex;
+	size_t eCount=vertices.size();
+#ifdef BRUNO_LEVY_FIX
+	int ii=(int)i;
+	if( i<j ) ii += (int)eCount;
+#else // !BRUNO_LEVY_FIX
+	size_t ii=i;
+	if( i<j ) ii += eCount;
+#endif // BRUNO_LEVY_FIX
+	if( j+1>=(size_t)ii )
+		return;
+	ii=midPoint[i*eCount+j];
+#ifdef BRUNO_LEVY_FIX  // Always true when type of ii is size_t
+	if( ii>=0 )
+#endif
+	{
+		tIndex.idx[0] = int( i );
+		tIndex.idx[1] = int( j );
+		tIndex.idx[2] = int( ii );
+		triangles.push_back(tIndex);
+		GetTriangulation(i,ii,vertices,triangles);
+		GetTriangulation(ii,j,vertices,triangles);
+	}
+}
+
+template<class Real>
+Real MinimalAreaTriangulation<Real>::GetArea(const size_t& i,const size_t& j,const std::vector<Point3D<Real> >& vertices)
+{
+	Real a(std::numeric_limits<float>::max());
+    Real temp;
+	size_t eCount=vertices.size();
+	size_t idx=i*eCount+j;
+	size_t ii=i;
+	if(i<j)
+		ii+=eCount;
+	if(j+1>=ii)
+	{
+		bestTriangulation[idx]=0;
+		return 0;
+	}
+	if(midPoint[idx]!=-1)
+		return bestTriangulation[idx];
+	int mid=-1;
+	for(size_t r=j+1;r<ii;r++)
+	{
+		size_t rr=r%eCount;
+		size_t idx1=i*eCount+rr,idx2=rr*eCount+j;
+		Point3D<Real> p,p1,p2;
+		p1=vertices[i]-vertices[rr];
+		p2=vertices[j]-vertices[rr];
+		CrossProduct(p1,p2,p);
+		temp = Real( Length(p) );
+		if(bestTriangulation[idx1]>=0)
+		{
+			temp+=bestTriangulation[idx1];
+			if(temp>a)
+				continue;
+			if(bestTriangulation[idx2]>0)
+				temp+=bestTriangulation[idx2];
+			else
+				temp+=GetArea(rr,j,vertices);
+		}
+		else
+		{
+			if(bestTriangulation[idx2]>=0)
+				temp+=bestTriangulation[idx2];
+			else
+				temp+=GetArea(rr,j,vertices);
+			if(temp>a)
+				continue;
+			temp+=GetArea(i,rr,vertices);
+		}
+
+		if(temp<a)
+		{
+			a=temp;
+			mid=int(rr);
+		}
+	}
+	bestTriangulation[idx]=a;
+	midPoint[idx]=mid;
+
+	return a;
+}
diff --git a/vendor/kazhdan/MarchingCubes.cpp b/vendor/kazhdan/MarchingCubes.cpp
new file mode 100644
index 0000000..5d07075
--- /dev/null
+++ b/vendor/kazhdan/MarchingCubes.cpp
@@ -0,0 +1,1025 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+#include <math.h>
+#include "MarchingCubes.h"
+
+////////////
+// Square //
+////////////
+int Square::AntipodalCornerIndex(int idx){
+	int x,y;
+	FactorCornerIndex(idx,x,y);
+	return CornerIndex( (x+1)%2 , (y+1)%2 );
+}
+int Square::CornerIndex( int x , int y ){ return (y<<1)|x; }
+void Square::FactorCornerIndex( int idx , int& x , int& y ){ x=(idx>>0)&1 , y=(idx>>1)&1; }
+int Square::EdgeIndex( int orientation , int i )
+{
+	switch( orientation )
+	{
+		case 0: // x
+			if( !i ) return  0; // (0,0) -> (1,0)
+			else     return  2; // (0,1) -> (1,1)
+		case 1: // y
+			if( !i ) return  3; // (0,0) -> (0,1)
+			else     return  1; // (1,0) -> (1,1)
+	};
+	return -1;
+}
+void Square::FactorEdgeIndex(int idx,int& orientation,int& i){
+	switch(idx){
+		case 0: case 2:
+			orientation=0;
+			i=idx/2;
+			return;
+		case 1: case 3:
+			orientation=1;
+			i=((idx/2)+1)%2;
+			return;
+	};
+}
+void Square::EdgeCorners(int idx,int& c1,int& c2){
+	int orientation,i;
+	FactorEdgeIndex(idx,orientation,i);
+	switch(orientation){
+		case 0:
+			c1 = CornerIndex(0,i);
+			c2 = CornerIndex(1,i);
+			break;
+		case 1:
+			c1 = CornerIndex(i,0);
+			c2 = CornerIndex(i,1);
+			break;
+	};
+}
+int Square::ReflectEdgeIndex(int idx,int edgeIndex){
+	int orientation=edgeIndex%2;
+	int o,i;
+	FactorEdgeIndex(idx,o,i);
+	if(o!=orientation){return idx;}
+	else{return EdgeIndex(o,(i+1)%2);}
+}
+int Square::ReflectCornerIndex(int idx,int edgeIndex){
+	int orientation=edgeIndex%2;
+	int x,y;
+	FactorCornerIndex(idx,x,y);
+	switch(orientation){
+		case 0:	return CornerIndex((x+1)%2,y);
+		case 1:	return CornerIndex(x,(y+1)%2);
+	};
+	return -1;
+}
+
+
+
+//////////
+// Cube //
+//////////
+int Cube::CornerIndex( int x , int y , int z ){ return (z<<2)|(y<<1)|x; }
+void Cube::FactorCornerIndex( int idx , int& x , int& y , int& z ){ x = (idx>>0)&1 , y = (idx>>1)&1 , z = (idx>>2)&1; }
+int Cube::EdgeIndex(int orientation,int i,int j){return (i | (j<<1))|(orientation<<2);}
+void Cube::FactorEdgeIndex( int idx , int& orientation , int& i , int &j )
+{
+	orientation=idx>>2;
+	i = (idx&1);
+	j = (idx&2)>>1;
+}
+int Cube::FaceIndex( int x , int y , int z )
+{
+	if     ( x<0 ) return  0;
+	else if( x>0 ) return  1;
+	else if( y<0 ) return  2;
+	else if( y>0 ) return  3;
+	else if( z<0 ) return  4;
+	else if( z>0 ) return  5;
+	else           return -1;
+}
+int Cube::FaceIndex( int dir , int offSet ){ return (dir<<1)|offSet; }
+
+void Cube::FactorFaceIndex( int idx , int& x , int& y , int& z )
+{
+	x=y=z=0;
+	switch( idx )
+	{
+		case 0: x=-1; break;
+		case 1: x= 1; break;
+		case 2: y=-1; break;
+		case 3: y= 1; break;
+		case 4: z=-1; break;
+		case 5: z= 1; break;
+	};
+}
+void Cube::FactorFaceIndex( int idx , int& dir , int& offSet )
+{
+	dir  = idx>>1;
+	offSet=idx &1;
+}
+bool Cube::IsEdgeCorner( int cIndex , int e )
+{
+	int o , i , j;
+	FactorEdgeIndex( e , o , i , j );
+	switch( o )
+	{
+	case 0: return (cIndex & 2)==(i<<1) && (cIndex & 4)==(j<<2);
+	case 1: return (cIndex & 1)==(i<<0) && (cIndex & 4)==(j<<2);
+	case 2: return (cIndex & 4)==(i<<2) && (cIndex & 2)==(j<<1);
+	default: return false;
+	}
+}
+bool Cube::IsFaceCorner( int cIndex , int f )
+{
+	int dir , off;
+	FactorFaceIndex( f , dir , off );
+	return ( cIndex & (1<<dir) )==(off<<dir);
+}
+
+int Cube::FaceAdjacentToEdges( int eIndex1 , int eIndex2 )
+{
+	int f1,f2,g1,g2;
+	FacesAdjacentToEdge(eIndex1,f1,f2);
+	FacesAdjacentToEdge(eIndex2,g1,g2);
+	if(f1==g1 || f1==g2){return f1;}
+	if(f2==g1 || f2==g2){return f2;}
+	return -1;
+}
+
+void Cube::FacesAdjacentToEdge( int eIndex , int& f1Index , int& f2Index )
+{
+	int orientation,i1,i2;
+	FactorEdgeIndex(eIndex,orientation,i1,i2);
+	i1<<=1;
+	i2<<=1;
+	i1--;
+	i2--;
+	switch(orientation){
+		case 0:
+			f1Index=FaceIndex( 0,i1, 0);
+			f2Index=FaceIndex( 0, 0,i2);
+			break;
+		case 1:
+			f1Index=FaceIndex(i1, 0, 0);
+			f2Index=FaceIndex( 0, 0,i2);
+			break;
+		case 2:
+			f1Index=FaceIndex(i1, 0, 0);
+			f2Index=FaceIndex( 0,i2, 0);
+			break;
+	};
+}
+void Cube::EdgeCorners( int idx , int& c1 , int& c2 )
+{
+	int orientation,i1,i2;
+	FactorEdgeIndex(idx,orientation,i1,i2);
+	switch(orientation){
+		case 0:
+			c1=CornerIndex(0,i1,i2);
+			c2=CornerIndex(1,i1,i2);
+			break;
+		case 1:
+			c1=CornerIndex(i1,0,i2);
+			c2=CornerIndex(i1,1,i2);
+			break;
+		case 2:
+			c1=CornerIndex(i1,i2,0);
+			c2=CornerIndex(i1,i2,1);
+			break;
+	};
+}
+void Cube::FaceCorners( int idx , int& c1 , int& c2 , int& c3 , int& c4 )
+{
+	int i=idx%2;
+	switch(idx/2){
+	case 0:
+		c1=CornerIndex(i,0,0);
+		c2=CornerIndex(i,1,0);
+		c3=CornerIndex(i,0,1);
+		c4=CornerIndex(i,1,1);
+		return;
+	case 1:
+		c1=CornerIndex(0,i,0);
+		c2=CornerIndex(1,i,0);
+		c3=CornerIndex(0,i,1);
+		c4=CornerIndex(1,i,1);
+		return;
+	case 2:
+		c1=CornerIndex(0,0,i);
+		c2=CornerIndex(1,0,i);
+		c3=CornerIndex(0,1,i);
+		c4=CornerIndex(1,1,i);
+		return;
+	}
+}
+int Cube::AntipodalCornerIndex( int idx )
+{
+	int x,y,z;
+	FactorCornerIndex(idx,x,y,z);
+	return CornerIndex((x+1)%2,(y+1)%2,(z+1)%2);
+}
+int Cube::FaceReflectFaceIndex( int idx , int faceIndex )
+{
+	if(idx/2!=faceIndex/2) return idx;
+	else
+	{
+		if( idx%2 ) return idx-1;
+		else        return idx+1;
+	}
+}
+int Cube::FaceReflectEdgeIndex( int idx , int faceIndex )
+{
+	int orientation=faceIndex/2;
+	int o,i,j;
+	FactorEdgeIndex(idx,o,i,j);
+	if(o==orientation){return idx;}
+	switch(orientation){
+		case 0:	return EdgeIndex(o,(i+1)%2,j);
+		case 1:
+			switch(o){
+				case 0:	return EdgeIndex(o,(i+1)%2,j);
+				case 2:	return EdgeIndex(o,i,(j+1)%2);
+			};
+		case 2:	return EdgeIndex(o,i,(j+1)%2);
+	};
+	return -1;
+}
+int Cube::FaceReflectCornerIndex( int idx , int faceIndex )
+{
+	int orientation=faceIndex/2;
+	int x,y,z;
+	FactorCornerIndex(idx,x,y,z);
+	switch(orientation){
+		case 0:	return CornerIndex((x+1)%2,y,z);
+		case 1:	return CornerIndex(x,(y+1)%2,z);
+		case 2: return CornerIndex(x,y,(z+1)%2);
+	};
+	return -1;
+}
+int Cube::EdgeReflectCornerIndex( int idx , int edgeIndex )
+{
+	int orientation , x , y , z;
+	FactorEdgeIndex( edgeIndex , orientation , x , y );
+	FactorCornerIndex( idx , x , y , z );
+	switch(orientation)
+	{
+		case 0:	return CornerIndex(  x      , (y+1)%2 , (z+1)%2 );
+		case 1:	return CornerIndex( (x+1)%2 ,  y      , (z+1)%2 );
+		case 2:	return CornerIndex( (x+1)%2 , (y+1)%2 ,  z      );
+	};
+	return -1;
+}
+int	Cube::EdgeReflectEdgeIndex( int edgeIndex )
+{
+	int o , i1 , i2;
+	FactorEdgeIndex( edgeIndex , o , i1 , i2 );
+	return Cube::EdgeIndex( o , (i1+1)%2 , (i2+1)%2 );
+}
+
+
+/////////////////////
+// MarchingSquares //
+/////////////////////
+#if NEW_ORDERING
+//#pragma message ( "[WARNING] Not clear if MarchingSquares::edgeMask and MarchingSquares::edges are set correctly" )
+const int MarchingSquares::cornerMap[] = { 0 , 1 , 3 , 2 };
+bool MarchingSquares::HasEdgeRoots( unsigned char mcIndex , int edgeIndex )
+{
+	int c1 , c2;
+	Square::EdgeCorners( edgeIndex , c1 , c2 );
+	return !(
+		( ( mcIndex&(1<<MarchingSquares::cornerMap[c1]) ) &&  ( mcIndex&(1<<MarchingSquares::cornerMap[c2])) )
+		||
+		(!( mcIndex&(1<<MarchingSquares::cornerMap[c1]) ) && !( mcIndex&(1<<MarchingSquares::cornerMap[c2])) )
+		);
+}
+#endif // NEW_ORDERING
+/*
+0} // (0,0) -> (1,0)
+1} // (1,0) -> (1,1)
+2} // (0,1) -> (1,1)
+3} // (0,0) -> (0,1)
+*/
+const int MarchingSquares::edgeMask[1<<Square::CORNERS]=
+{
+	    0, //  0 ->         ->                         ->
+	    9, //  1 -> 0       -> (0,0)                   -> 0,3     ->  9
+	    3, //  2 -> 1       -> (1,0)                   -> 0,1     ->  3
+	   10, //  3 -> 0,1     -> (0,0) (1,0)             -> 1,3     -> 10
+	   12, //  4 -> 2       -> (0,1)                   -> 2,3     -> 12
+	    5, //  5 -> 0,2     -> (0,0) (0,1)             -> 0,2     ->  5
+	   15, //  6 -> 1,2     -> (1,0) (0,1)             -> 0,1,2,3 -> 15
+	    6, //  7 -> 0,1,2   -> (0,0) (1,0) (0,1)       -> 1,2     ->  6
+	    6, //  8 -> 3       -> (1,1)                   -> 1,2     ->  6
+	   15, //  9 -> 0,3     -> (0,0) (1,1)             -> 0,1,2,3 -> 15
+	    5, // 10 -> 1,3     -> (1,0) (1,1)             -> 0,2     ->  5
+	   12, // 11 -> 0,1,3   -> (0,0) (1,0) (1,1)       -> 2,3     -> 12
+	   10, // 12 -> 2,3     -> (0,1) (1,1)             -> 1,3     -> 10
+	    3, // 13 -> 0,2,3   -> (0,0) (0,1) (1,1)       -> 0,1     ->  3
+	    9, // 14 -> 1,2,3   -> (1,0) (0,1) (1,1)       -> 0,3     ->  9
+	    0, // 15 -> 0,1,2,3 -> (0,0) (1,0) (0,1) (1,1) ->
+};
+#if NEW_ORDERING
+/*
+0} // (0,0) -> (1,0)
+1} // (1,0) -> (1,1)
+2} // (0,1) -> (1,1)
+3} // (0,0) -> (0,1)
+*/
+const int MarchingSquares::edges[1<<Square::CORNERS][MAX_EDGES*2+1] =
+{
+	// Positive to the right
+	/////////////////////////////////// (0,0) (1,0) (1,1) (0,1)
+	{ -1 ,  -1 ,  -1 ,  -1 ,  -1 } , //   -     -     -     -
+	{  3 ,   0 ,  -1 ,  -1 ,  -1 } , //   +     -     -     -
+	{  0 ,   1 ,  -1 ,  -1 ,  -1 } , //   -     +     -     -
+	{  3 ,   1 ,  -1 ,  -1 ,  -1 } , //   +     +     -     -
+	{  1 ,   2 ,  -1 ,  -1 ,  -1 } , //   -     -     +     -
+	{  3 ,   2 ,   1 ,   0 ,  -1 } , //   +     -     +     -
+	{  0 ,   2 ,  -1 ,  -1 ,  -1 } , //   -     +     +     -
+	{  3 ,   2 ,  -1 ,  -1 ,  -1 } , //   +     +     +     -
+	// Now flip the edges
+	{  2 ,   3 ,  -1 ,  -1 ,  -1 } , //   -     -     -     +
+	{  2 ,   0 ,  -1 ,  -1 ,  -1 } , //   +     -     -     +
+	{  2 ,   3 ,   0 ,   1 ,  -1 } , //   -     +     -     +
+	{  2 ,   1 ,  -1 ,  -1 ,  -1 } , //   +     +     -     +
+	{  1 ,   3 ,  -1 ,  -1 ,  -1 } , //   -     -     +     +
+	{  1 ,   0 ,  -1 ,  -1 ,  -1 } , //   +     -     +     +
+	{  0 ,   3 ,  -1 ,  -1 ,  -1 } , //   -     +     +     +
+	{ -1 ,  -1 ,  -1 ,  -1 ,  -1 } , //   +     +     +     +
+};
+#else // !NEW_ORDERING
+const int MarchingSquares::edges[1<<Square::CORNERS][MAX_EDGES*2+1] = {
+	{ -1,  -1,  -1,  -1,  -1}, //
+	{  3,   0,  -1,  -1,  -1}, // (0,0)
+	{  0,   1,  -1,  -1,  -1}, // (1,0)
+	{  3,   1,  -1,  -1,  -1}, // (0,0) (1,0)
+	{  2,   3,  -1,  -1,  -1}, // (0,1)
+	{  2,   0,  -1,  -1,  -1}, // (0,0) (0,1)
+	{  0,   1,   2,   3,  -1}, // (1,0) (0,1)
+	{  1,   2,  -1,  -1,  -1}, // (0,0) (1,0) (0,1)
+	{  2,   1,  -1,  -1,  -1}, // (1,1)
+	{  3,   0,   1,   2,  -1}, // (0,0) (1,1)
+	{  0,   2,  -1,  -1,  -1}, // (1,0) (1,1)
+	{  3,   2,  -1,  -1,  -1}, // (0,0) (1,0) (1,1)
+	{  1,   3,  -1,  -1,  -1}, // (0,1) (1,1)
+	{  1,   0,  -1,  -1,  -1}, // (0,0) (0,1) (1,1)
+	{  0,   3,  -1,  -1,  -1}, // (1,0) (0,1) (1,1)
+	{ -1,  -1,  -1,  -1,  -1}, // (0,0) (1,0) (0,1) (1,1)
+};
+#endif // NEW_ORDERING
+
+double MarchingSquares::vertexList[Square::EDGES][2];
+
+unsigned char MarchingSquares::GetIndex( const double v[Square::CORNERS] , double iso )
+{
+	unsigned char idx=0;
+#if NEW_ORDERING
+	if( v[ Square::CornerIndex(0,0) ]<iso ) idx |=   1;
+	if( v[ Square::CornerIndex(1,0) ]<iso ) idx |=   2;
+	if( v[ Square::CornerIndex(1,1) ]<iso ) idx |=   4;
+	if( v[ Square::CornerIndex(0,1) ]<iso ) idx |=   8;
+#else // !NEW_ORDERING
+	for( int i=0 ; i<Square::CORNERS ; i++ ) if( v[i]<iso ) idx|=(1<<i);
+#endif // NEW_ORDERING
+	return idx;
+}
+unsigned char MarchingSquares::GetIndex( const float v[Square::CORNERS] , float iso )
+{
+	unsigned char idx=0;
+#if NEW_ORDERING
+	if( v[ Square::CornerIndex(0,0) ]<iso ) idx |=   1;
+	if( v[ Square::CornerIndex(1,0) ]<iso ) idx |=   2;
+	if( v[ Square::CornerIndex(1,1) ]<iso ) idx |=   4;
+	if( v[ Square::CornerIndex(0,1) ]<iso ) idx |=   8;
+#else // !NEW_ORDERING
+	for( int i=0 ; i<Square::CORNERS ; i++ ) if( v[i]<iso ) idx|=(1<<i);
+#endif // NEW_ORDERING
+	return idx;
+}
+
+bool MarchingSquares::IsAmbiguous( const double v[Square::CORNERS] , double isoValue ){ return IsAmbiguous( GetIndex( v , isoValue ) ); }
+bool MarchingSquares::HasRoots( unsigned char idx ){ return !(idx==0 || idx==15); }
+#if NEW_ORDERING
+bool MarchingSquares::IsAmbiguous( unsigned char idx ){ return (idx==5) || (idx==10); }
+#else // !NEW_ORDERING
+bool MarchingSquares::IsAmbiguous( unsigned char idx ){ return (idx==6) || (idx==9); }
+#endif // NEW_ORDERING
+int MarchingSquares::AddEdges(const double v[Square::CORNERS],double iso,Edge* isoEdges)
+{
+	unsigned char idx;
+	int nEdges=0;
+	Edge e;
+
+	idx=GetIndex(v,iso);
+
+	/* Cube is entirely in/out of the surface */
+	if (!edgeMask[idx]) return 0;
+
+	/* Find the vertices where the surface intersects the cube */
+	int i,j,ii=1;
+	for(i=0;i<12;i++){
+		if(edgeMask[idx] & ii){SetVertex(i,v,iso);}
+		ii<<=1;
+	}
+	/* Create the triangle */
+	for (i=0;edges[idx][i]!=-1;i+=2) {
+		for(j=0;j<2;j++){
+			e.p[0][j]=vertexList[edges[idx][i+0]][j];
+			e.p[1][j]=vertexList[edges[idx][i+1]][j];
+		}
+		isoEdges[nEdges++]=e;
+	}
+	return nEdges;
+}
+
+int MarchingSquares::AddEdgeIndices( unsigned char mcIndex , int* isoIndices )
+{
+	int nEdges = 0;
+	/* Square is entirely in/out of the surface */
+	if( !edgeMask[mcIndex] ) return 0;
+
+	/* Create the edges */
+	for( int i=0 ; edges[mcIndex][i]!=-1 ; i+=2 )
+	{
+		for( int j=0 ; j<2 ; j++ ) isoIndices[i+j] = edges[mcIndex][i+j];
+		nEdges++;
+	}
+	return nEdges;
+}
+int MarchingSquares::AddEdgeIndices( const double v[Square::CORNERS] , double iso , int* isoIndices ){ return AddEdgeIndices( GetIndex( v , iso ) , isoIndices ); }
+void MarchingSquares::SetVertex(int e,const double values[Square::CORNERS],double iso){
+	int o,i,c1,c2;
+	Square::FactorEdgeIndex(e,o,i);
+	Square::EdgeCorners(e,c1,c2);
+	switch(o){
+		case 0:
+			vertexList[e][0]=Interpolate(values[c1]-iso,values[c2]-iso);
+			vertexList[e][1]=i;
+			break;
+		case 1:
+			vertexList[e][1]=Interpolate(values[c1]-iso,values[c2]-iso);
+			vertexList[e][0]=i;
+			break;
+	}
+}
+double MarchingSquares::Interpolate(double v1,double v2){return v1/(v1-v2);}
+
+
+///////////////////
+// MarchingCubes //
+///////////////////
+const int MarchingCubes::edgeMask[1<<Cube::CORNERS]={
+	    0,  273,  545,  816, 2082, 2355, 2563, 2834,
+	 1042, 1283, 1587, 1826, 3120, 3361, 3601, 3840,
+	  324,   85,  869,  628, 2406, 2167, 2887, 2646,
+	 1366, 1095, 1911, 1638, 3444, 3173, 3925, 3652,
+	  644,  917,  165,  436, 2726, 2999, 2183, 2454,
+	 1686, 1927, 1207, 1446, 3764, 4005, 3221, 3460,
+	  960,  721,  481,  240, 3042, 2803, 2499, 2258,
+	 2002, 1731, 1523, 1250, 4080, 3809, 3537, 3264,
+	 2184, 2457, 2729, 3000,  170,  443,  651,  922,
+	 3226, 3467, 3771, 4010, 1208, 1449, 1689, 1928,
+	 2508, 2269, 3053, 2812,  494,  255,  975,  734,
+	 3550, 3279, 4095, 3822, 1532, 1261, 2013, 1740,
+	 2572, 2845, 2093, 2364,  558,  831,   15,  286,
+	 3614, 3855, 3135, 3374, 1596, 1837, 1053, 1292,
+	 2888, 2649, 2409, 2168,  874,  635,  331,   90,
+	 3930, 3659, 3451, 3178, 1912, 1641, 1369, 1096,
+	 1096, 1369, 1641, 1912, 3178, 3451, 3659, 3930,
+	   90,  331,  635,  874, 2168, 2409, 2649, 2888,
+	 1292, 1053, 1837, 1596, 3374, 3135, 3855, 3614,
+	  286,   15,  831,  558, 2364, 2093, 2845, 2572,
+	 1740, 2013, 1261, 1532, 3822, 4095, 3279, 3550,
+	  734,  975,  255,  494, 2812, 3053, 2269, 2508,
+	 1928, 1689, 1449, 1208, 4010, 3771, 3467, 3226,
+	  922,  651,  443,  170, 3000, 2729, 2457, 2184,
+	 3264, 3537, 3809, 4080, 1250, 1523, 1731, 2002,
+	 2258, 2499, 2803, 3042,  240,  481,  721,  960,
+	 3460, 3221, 4005, 3764, 1446, 1207, 1927, 1686,
+	 2454, 2183, 2999, 2726,  436,  165,  917,  644,
+	 3652, 3925, 3173, 3444, 1638, 1911, 1095, 1366,
+	 2646, 2887, 2167, 2406,  628,  869,   85,  324,
+	 3840, 3601, 3361, 3120, 1826, 1587, 1283, 1042,
+	 2834, 2563, 2355, 2082,  816,  545,  273,    0
+};
+const int MarchingCubes::triangles[1<<Cube::CORNERS][MAX_TRIANGLES*3+1] = {
+	{  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,   5,   8,   5,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,  11,   1,   9,   1,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,  11,   8,  11,   1,   8,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   0,  10,   0,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   9,  10,   9,   5,  10,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,  10,   4,  11,   4,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,  10,   8,  11,   8,   0,  11,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,  11,  10,   9,  10,   4,   9,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,  11,   8,  11,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,   2,   8,   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   4,   6,   9,   5,   6,   2,   9,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   5,  11,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   5,  11,   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,   2,   8,   9,  11,   1,   9,   1,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,  11,   2,   2,  11,   1,   2,   1,   6,   6,   1,   4,  -1,  -1,  -1,  -1},
+	{   1,  10,   4,   2,   8,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   0,   1,   6,   2,   1,  10,   6,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   4,   1,  10,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   2,   9,   5,   6,   2,   5,   1,   6,   1,  10,   6,  -1,  -1,  -1,  -1},
+	{   2,   8,   6,   4,   5,  11,   4,  11,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   2,   0,   6,   2,   5,  11,   6,   5,  10,   6,  11,  -1,  -1,  -1,  -1},
+	{   9,  11,  10,   9,  10,   4,   9,   4,   0,   8,   6,   2,  -1,  -1,  -1,  -1},
+	{   9,  11,   2,   2,  11,   6,  10,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   9,   2,   4,   8,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   2,   7,   0,   7,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   5,   4,   2,   7,   4,   8,   2,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   9,   2,   5,  11,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   5,  11,   0,   4,   8,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   0,   2,   1,   2,   7,   1,   7,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   7,  11,   1,   2,   7,   1,   4,   2,   4,   8,   2,  -1,  -1,  -1,  -1},
+	{   4,   1,  10,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   9,   2,   0,   1,  10,   0,  10,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   1,  10,   2,   7,   5,   0,   2,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,  10,   8,   1,  10,   2,   7,   1,   2,   5,   1,   7,  -1,  -1,  -1,  -1},
+	{   7,   9,   2,  10,   4,   5,  11,  10,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,  10,   8,  11,   8,   0,  11,   0,   5,   9,   2,   7,  -1,  -1,  -1,  -1},
+	{  11,  10,   7,   7,  10,   4,   7,   4,   2,   2,   4,   0,  -1,  -1,  -1,  -1},
+	{  11,  10,   7,   7,  10,   2,   8,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   9,   8,   6,   7,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   6,   7,   0,   4,   7,   9,   0,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,   7,   5,   8,   6,   5,   0,   8,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   6,   7,   5,   4,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,  11,   1,   8,   6,   7,   9,   8,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   6,   7,   0,   4,   7,   9,   0,   7,  11,   1,   5,  -1,  -1,  -1,  -1},
+	{   8,   1,   0,  11,   1,   8,   6,  11,   8,   7,  11,   6,  -1,  -1,  -1,  -1},
+	{  11,   6,   7,   1,   6,  11,   6,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,  10,   4,   6,   7,   9,   6,   9,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   1,   9,   9,   1,  10,   9,  10,   7,   7,  10,   6,  -1,  -1,  -1,  -1},
+	{   6,   7,   5,   8,   6,   5,   0,   8,   5,   1,  10,   4,  -1,  -1,  -1,  -1},
+	{   1,   7,   5,  10,   7,   1,   7,  10,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,  10,   4,  11,   4,   5,   7,   9,   8,   6,   7,   8,  -1,  -1,  -1,  -1},
+	{   0,   6,   9,   9,   6,   7,   6,   0,   5,   5,  11,  10,   5,  10,   6,  -1},
+	{   8,   7,   0,   6,   7,   8,   4,   0,   7,  11,  10,   4,   7,  11,   4,  -1},
+	{  11,  10,   6,  11,   6,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   5,   0,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,   4,   8,   9,   5,   4,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   1,   5,   3,   5,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,   7,   3,   1,   5,   7,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   1,   0,   3,   0,   9,   3,   9,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   8,   9,   4,   8,   7,   3,   4,   7,   1,   4,   3,  -1,  -1,  -1,  -1},
+	{   1,  10,   4,   3,  11,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,  11,   7,   8,   0,   1,  10,   8,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   1,  10,   5,   0,   9,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   9,  10,   9,   5,  10,   5,   1,  11,   7,   3,  -1,  -1,  -1,  -1},
+	{   4,   5,   7,   4,   7,   3,   4,   3,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   3,   3,   8,   0,   3,   0,   7,   7,   0,   5,  -1,  -1,  -1,  -1},
+	{   4,   3,  10,   4,   7,   3,   4,   0,   7,   0,   9,   7,  -1,  -1,  -1,  -1},
+	{  10,   8,   3,   3,   8,   7,   9,   7,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,   2,   0,   4,   2,   4,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,   8,   6,   2,   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   4,   6,   9,   5,   6,   2,   9,   6,   3,  11,   7,  -1,  -1,  -1,  -1},
+	{   8,   6,   2,   3,   1,   5,   3,   5,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   1,   5,   3,   5,   7,   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1},
+	{   3,   1,   0,   3,   0,   9,   3,   9,   7,   2,   8,   6,  -1,  -1,  -1,  -1},
+	{   9,   4,   2,   2,   4,   6,   4,   9,   7,   7,   3,   1,   7,   1,   4,  -1},
+	{   8,   6,   2,  11,   7,   3,   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   0,   1,   6,   2,   1,  10,   6,   1,  11,   7,   3,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   4,   1,  10,   8,   6,   2,  11,   7,   3,  -1,  -1,  -1,  -1},
+	{  11,   7,   3,   5,   2,   9,   5,   6,   2,   5,   1,   6,   1,  10,   6,  -1},
+	{   4,   5,   7,   4,   7,   3,   4,   3,  10,   6,   2,   8,  -1,  -1,  -1,  -1},
+	{  10,   5,   3,   3,   5,   7,   5,  10,   6,   6,   2,   0,   6,   0,   5,  -1},
+	{   8,   6,   2,   4,   3,  10,   4,   7,   3,   4,   0,   7,   0,   9,   7,  -1},
+	{   9,   7,  10,  10,   7,   3,  10,   6,   9,   6,   2,   9,  -1,  -1,  -1,  -1},
+	{   3,  11,   9,   2,   3,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   8,   0,   2,   3,  11,   2,  11,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   2,   3,   0,   3,  11,   0,  11,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   3,   8,   8,   3,  11,   8,  11,   4,   4,  11,   5,  -1,  -1,  -1,  -1},
+	{   2,   3,   1,   2,   1,   5,   2,   5,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   3,   1,   2,   1,   5,   2,   5,   9,   0,   4,   8,  -1,  -1,  -1,  -1},
+	{   0,   2,   3,   0,   3,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   3,   8,   8,   3,   4,   1,   4,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,  10,   4,   9,   2,   3,  11,   9,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   0,  10,   0,   1,   3,  11,   9,   2,   3,   9,  -1,  -1,  -1,  -1},
+	{   0,   2,   3,   0,   3,  11,   0,  11,   5,   1,  10,   4,  -1,  -1,  -1,  -1},
+	{   5,   2,  11,  11,   2,   3,   2,   5,   1,   1,  10,   8,   1,   8,   2,  -1},
+	{  10,   2,   3,   9,   2,  10,   4,   9,  10,   5,   9,   4,  -1,  -1,  -1,  -1},
+	{   5,  10,   0,   0,  10,   8,  10,   5,   9,   9,   2,   3,   9,   3,  10,  -1},
+	{   0,   2,   4,   4,   2,  10,   3,  10,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   8,   2,  10,   2,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   9,   8,   3,  11,   8,   6,   3,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,  11,   9,   3,  11,   0,   4,   3,   0,   6,   3,   4,  -1,  -1,  -1,  -1},
+	{  11,   5,   3,   5,   0,   3,   0,   6,   3,   0,   8,   6,  -1,  -1,  -1,  -1},
+	{   3,   4,   6,  11,   4,   3,   4,  11,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   1,   6,   6,   1,   5,   6,   5,   8,   8,   5,   9,  -1,  -1,  -1,  -1},
+	{   0,   6,   9,   4,   6,   0,   5,   9,   6,   3,   1,   5,   6,   3,   5,  -1},
+	{   3,   1,   6,   6,   1,   8,   0,   8,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   1,   4,   3,   4,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   9,   8,   3,  11,   8,   6,   3,   8,   4,   1,  10,  -1,  -1,  -1,  -1},
+	{   3,   9,   6,  11,   9,   3,  10,   6,   9,   0,   1,  10,   9,   0,  10,  -1},
+	{   4,   1,  10,  11,   5,   3,   5,   0,   3,   0,   6,   3,   0,   8,   6,  -1},
+	{   5,  10,   6,   1,  10,   5,   6,  11,   5,   6,   3,  11,  -1,  -1,  -1,  -1},
+	{  10,   5,   3,   4,   5,  10,   6,   3,   5,   9,   8,   6,   5,   9,   6,  -1},
+	{   6,   3,  10,   9,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,  10,   0,   0,  10,   4,   0,   8,   3,   8,   6,   3,  -1,  -1,  -1,  -1},
+	{   6,   3,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   6,  10,   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   6,  10,   8,   9,   5,   8,   5,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   1,   5,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,   1,   5,  11,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   0,   9,  11,   1,   0,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,  11,   8,  11,   1,   8,   1,   4,  10,   3,   6,  -1,  -1,  -1,  -1},
+	{   4,   1,   3,   6,   4,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   1,   3,   8,   0,   3,   6,   8,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   3,   6,   4,   1,   3,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,   6,   6,   9,   5,   6,   5,   3,   3,   5,   1,  -1,  -1,  -1,  -1},
+	{   6,   4,   5,   6,   5,  11,   6,  11,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   6,   8,   0,   3,   6,   0,   5,   3,   5,  11,   3,  -1,  -1,  -1,  -1},
+	{   3,   9,  11,   0,   9,   3,   6,   0,   3,   4,   0,   6,  -1,  -1,  -1,  -1},
+	{   8,   9,   6,   6,   9,   3,  11,   3,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   2,   0,  10,   3,   0,   4,  10,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   8,  10,   3,   8,   3,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   3,   2,  10,   3,   9,   5,  10,   9,   4,  10,   5,  -1,  -1,  -1,  -1},
+	{  11,   1,   5,   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   2,   0,  10,   3,   0,   4,  10,   0,   5,  11,   1,  -1,  -1,  -1,  -1},
+	{   9,  11,   1,   9,   1,   0,   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1},
+	{  10,   2,   4,   3,   2,  10,   1,   4,   2,   9,  11,   1,   2,   9,   1,  -1},
+	{   1,   3,   2,   4,   1,   2,   8,   4,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   1,   3,   2,   0,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   3,   2,   4,   1,   2,   8,   4,   2,   9,   5,   0,  -1,  -1,  -1,  -1},
+	{   9,   3,   2,   5,   3,   9,   3,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   2,  11,  11,   2,   8,  11,   8,   5,   5,   8,   4,  -1,  -1,  -1,  -1},
+	{   5,   2,   0,  11,   2,   5,   2,  11,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   3,   8,   8,   3,   2,   3,   4,   0,   0,   9,  11,   0,  11,   3,  -1},
+	{   9,  11,   3,   9,   3,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   2,   7,  10,   3,   6,   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   7,   5,   0,   7,   0,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   5,   4,   2,   7,   4,   8,   2,   4,  10,   3,   6,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   9,   2,   7,   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   9,   2,   7,   1,   5,  11,   0,   4,   8,  -1,  -1,  -1,  -1},
+	{   1,   0,   2,   1,   2,   7,   1,   7,  11,   3,   6,  10,  -1,  -1,  -1,  -1},
+	{  10,   3,   6,   1,   7,  11,   1,   2,   7,   1,   4,   2,   4,   8,   2,  -1},
+	{   9,   2,   7,   6,   4,   1,   6,   1,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   1,   3,   8,   0,   3,   6,   8,   3,   7,   9,   2,  -1,  -1,  -1,  -1},
+	{   0,   2,   7,   0,   7,   5,   4,   1,   3,   6,   4,   3,  -1,  -1,  -1,  -1},
+	{   2,   5,   8,   7,   5,   2,   6,   8,   5,   1,   3,   6,   5,   1,   6,  -1},
+	{   6,   4,   5,   6,   5,  11,   6,  11,   3,   7,   9,   2,  -1,  -1,  -1,  -1},
+	{   9,   2,   7,   0,   6,   8,   0,   3,   6,   0,   5,   3,   5,  11,   3,  -1},
+	{   3,   4,  11,   6,   4,   3,   7,  11,   4,   0,   2,   7,   4,   0,   7,  -1},
+	{  11,   3,   8,   8,   3,   6,   8,   2,  11,   2,   7,  11,  -1,  -1,  -1,  -1},
+	{   9,   8,  10,   7,   9,  10,   3,   7,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   0,   7,   0,   4,   7,   4,   3,   7,   4,  10,   3,  -1,  -1,  -1,  -1},
+	{   8,  10,   0,   0,  10,   3,   0,   3,   5,   5,   3,   7,  -1,  -1,  -1,  -1},
+	{  10,   5,   4,   3,   5,  10,   5,   3,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   8,  10,   7,   9,  10,   3,   7,  10,   1,   5,  11,  -1,  -1,  -1,  -1},
+	{   1,   5,  11,   9,   0,   7,   0,   4,   7,   4,   3,   7,   4,  10,   3,  -1},
+	{  11,   0,   7,   1,   0,  11,   3,   7,   0,   8,  10,   3,   0,   8,   3,  -1},
+	{   7,   1,   4,  11,   1,   7,   4,   3,   7,   4,  10,   3,  -1,  -1,  -1,  -1},
+	{   4,   9,   8,   7,   9,   4,   1,   7,   4,   3,   7,   1,  -1,  -1,  -1,  -1},
+	{   7,   1,   3,   9,   1,   7,   1,   9,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   7,   0,   0,   7,   5,   7,   8,   4,   4,   1,   3,   4,   3,   7,  -1},
+	{   5,   1,   3,   7,   5,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   4,  11,  11,   4,   5,   4,   3,   7,   7,   9,   8,   7,   8,   4,  -1},
+	{   3,   9,   0,   7,   9,   3,   0,  11,   3,   0,   5,  11,  -1,  -1,  -1,  -1},
+	{   3,   7,  11,   8,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   3,   7,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,  10,  11,   7,  10,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   5,   0,   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,   5,   8,   5,   4,   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1},
+	{   5,   7,   6,   5,   6,  10,   5,  10,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   7,   6,   5,   6,  10,   5,  10,   1,   4,   8,   0,  -1,  -1,  -1,  -1},
+	{   1,   0,  10,  10,   0,   9,  10,   9,   6,   6,   9,   7,  -1,  -1,  -1,  -1},
+	{   1,   7,  10,  10,   7,   6,   7,   1,   4,   4,   8,   9,   4,   9,   7,  -1},
+	{   7,   6,   4,   7,   4,   1,   7,   1,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   0,   1,   8,   0,  11,   7,   8,  11,   6,   8,   7,  -1,  -1,  -1,  -1},
+	{   7,   6,   4,   7,   4,   1,   7,   1,  11,   5,   0,   9,  -1,  -1,  -1,  -1},
+	{  11,   6,   1,   7,   6,  11,   5,   1,   6,   8,   9,   5,   6,   8,   5,  -1},
+	{   4,   5,   7,   4,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   7,   0,   0,   7,   8,   6,   8,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   6,   9,   9,   6,   0,   4,   0,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   9,   7,   8,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,  10,  11,   2,   8,  11,   7,   2,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,  11,   4,   4,  11,   7,   4,   7,   0,   0,   7,   2,  -1,  -1,  -1,  -1},
+	{   8,  10,  11,   2,   8,  11,   7,   2,  11,   5,   0,   9,  -1,  -1,  -1,  -1},
+	{   9,   4,   2,   5,   4,   9,   7,   2,   4,  10,  11,   7,   4,  10,   7,  -1},
+	{   1,   8,  10,   2,   8,   1,   5,   2,   1,   7,   2,   5,  -1,  -1,  -1,  -1},
+	{   1,   7,  10,   5,   7,   1,   4,  10,   7,   2,   0,   4,   7,   2,   4,  -1},
+	{   7,   1,   9,   9,   1,   0,   1,   7,   2,   2,   8,  10,   2,  10,   1,  -1},
+	{   7,   2,   9,  10,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   4,   2,   4,   1,   2,   1,   7,   2,   1,  11,   7,  -1,  -1,  -1,  -1},
+	{  11,   0,   1,   7,   0,  11,   0,   7,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   0,   9,   8,   4,   2,   4,   1,   2,   1,   7,   2,   1,  11,   7,  -1},
+	{   2,   5,   1,   9,   5,   2,   1,   7,   2,   1,  11,   7,  -1,  -1,  -1,  -1},
+	{   4,   5,   8,   8,   5,   2,   7,   2,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   2,   0,   5,   7,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   7,   2,   4,   4,   2,   8,   4,   0,   7,   0,   9,   7,  -1,  -1,  -1,  -1},
+	{   7,   2,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,  11,   9,   6,  10,   9,   2,   6,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,  11,   9,   6,  10,   9,   2,   6,   9,   0,   4,   8,  -1,  -1,  -1,  -1},
+	{   5,  10,  11,   6,  10,   5,   0,   6,   5,   2,   6,   0,  -1,  -1,  -1,  -1},
+	{   2,   5,   8,   8,   5,   4,   5,   2,   6,   6,  10,  11,   6,  11,   5,  -1},
+	{  10,   1,   6,   1,   5,   6,   5,   2,   6,   5,   9,   2,  -1,  -1,  -1,  -1},
+	{   0,   4,   8,  10,   1,   6,   1,   5,   6,   5,   2,   6,   5,   9,   2,  -1},
+	{   1,   0,  10,  10,   0,   6,   2,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   6,   1,   1,   6,  10,   1,   4,   2,   4,   8,   2,  -1,  -1,  -1,  -1},
+	{  11,   9,   1,   1,   9,   2,   1,   2,   4,   4,   2,   6,  -1,  -1,  -1,  -1},
+	{   8,   1,   6,   0,   1,   8,   2,   6,   1,  11,   9,   2,   1,  11,   2,  -1},
+	{  11,   6,   1,   1,   6,   4,   6,  11,   5,   5,   0,   2,   5,   2,   6,  -1},
+	{   2,   6,   8,  11,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   6,   4,   2,   2,   4,   9,   5,   9,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   9,   6,   6,   9,   2,   6,   8,   5,   8,   0,   5,  -1,  -1,  -1,  -1},
+	{   0,   2,   6,   0,   6,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   2,   6,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,  10,  11,   9,   8,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   0,  11,   9,   4,  11,   0,  11,   4,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,  10,  11,   0,  10,   5,  10,   0,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,  10,  11,   5,   4,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,   8,  10,   5,   8,   1,   8,   5,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   4,  10,   0,   4,   9,  10,   5,   9,  10,   1,   5,  -1,  -1,  -1,  -1},
+	{   0,   8,  10,   1,   0,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  10,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   4,   9,   8,   1,   9,   4,   9,   1,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   1,  11,   9,   0,   1,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  11,   0,   8,   5,   0,  11,   8,   1,  11,   8,   4,   1,  -1,  -1,  -1,  -1},
+	{  11,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   5,   9,   8,   4,   5,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   9,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{   8,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
+	{  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1}
+};
+const int MarchingCubes::cornerMap[Cube::CORNERS]={0,1,3,2,4,5,7,6};
+double MarchingCubes::vertexList[Cube::EDGES][3];
+
+unsigned char MarchingCubes::GetIndex(const double v[Cube::CORNERS],double iso)
+{
+	unsigned char idx=0;
+	if (v[Cube::CornerIndex(0,0,0)] < iso) idx |=   1;
+	if (v[Cube::CornerIndex(1,0,0)] < iso) idx |=   2;
+	if (v[Cube::CornerIndex(1,1,0)] < iso) idx |=   4;
+	if (v[Cube::CornerIndex(0,1,0)] < iso) idx |=   8;
+	if (v[Cube::CornerIndex(0,0,1)] < iso) idx |=  16;
+	if (v[Cube::CornerIndex(1,0,1)] < iso) idx |=  32;
+	if (v[Cube::CornerIndex(1,1,1)] < iso) idx |=  64;
+	if (v[Cube::CornerIndex(0,1,1)] < iso) idx |= 128;
+	return idx;
+}
+unsigned char MarchingCubes::GetFaceIndex( const double values[Cube::CORNERS] , double iso , int faceIndex )
+{
+	int i,j,x,y,z;
+	unsigned char idx=0;
+	double v[2][2];
+	Cube::FactorFaceIndex(faceIndex,x,y,z);
+	if		(x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(0,i,j)];}}}
+	else if	(x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(1,i,j)];}}}
+	else if	(y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,0,j)];}}}
+	else if	(y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,1,j)];}}}
+	else if	(z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,0)];}}}
+	else if	(z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,1)];}}}
+	if (v[0][0] < iso) idx |=   1;
+	if (v[1][0] < iso) idx |=   2;
+	if (v[1][1] < iso) idx |=   4;
+	if (v[0][1] < iso) idx |=   8;
+	return idx;
+}
+bool MarchingCubes::IsAmbiguous( const double v[Cube::CORNERS] , double isoValue , int faceIndex ){ return MarchingSquares::IsAmbiguous( GetFaceIndex( v , isoValue , faceIndex ) ); }
+bool MarchingCubes::HasRoots( const double v[Cube::CORNERS] , double isoValue , int faceIndex ){ return MarchingSquares::HasRoots( GetFaceIndex( v , isoValue , faceIndex ) ); }
+bool MarchingCubes::HasRoots( const double v[Cube::CORNERS] , double isoValue ){ return HasRoots( GetIndex( v , isoValue ) ); }
+bool MarchingCubes::HasRoots( unsigned char mcIndex ){ return !(mcIndex==0 || mcIndex==255); }
+int MarchingCubes::AddTriangles( const double v[Cube::CORNERS] , double iso , Triangle* isoTriangles )
+{
+	unsigned char idx;
+	int ntriang=0;
+	Triangle tri;
+
+	idx=GetIndex(v,iso);
+
+	/* Cube is entirely in/out of the surface */
+	if (!edgeMask[idx]) return 0;
+
+	/* Find the vertices where the surface intersects the cube */
+	int i,j,ii=1;
+	for(i=0;i<12;i++){
+		if(edgeMask[idx] & ii){SetVertex(i,v,iso);}
+		ii<<=1;
+	}
+	/* Create the triangle */
+	for( i=0 ; triangles[idx][i]!=-1 ; i+=3 )
+	{
+		for(j=0;j<3;j++){
+			tri.p[0][j]=vertexList[triangles[idx][i+0]][j];
+			tri.p[1][j]=vertexList[triangles[idx][i+1]][j];
+			tri.p[2][j]=vertexList[triangles[idx][i+2]][j];
+		}
+		isoTriangles[ntriang++]=tri;
+	}
+	return ntriang;
+}
+
+int MarchingCubes::AddTriangleIndices(const double v[Cube::CORNERS],double iso,int* isoIndices){
+	unsigned char idx;
+	int ntriang=0;
+
+	idx=GetIndex(v,iso);
+
+	/* Cube is entirely in/out of the surface */
+	if (!edgeMask[idx]) return 0;
+
+	/* Create the triangle */
+	for(int i=0;triangles[idx][i]!=-1;i+=3){
+		for(int j=0;j<3;j++){isoIndices[i+j]=triangles[idx][i+j];}
+		ntriang++;
+	}
+	return ntriang;
+}
+
+void MarchingCubes::SetVertex( int e , const double values[Cube::CORNERS] , double iso )
+{
+	double t;
+	int o , i1 , i2;
+	Cube::FactorEdgeIndex( e , o , i1 , i2 );
+	switch( o )
+	{
+	case 0:
+		t = Interpolate( values[ Cube::CornerIndex( 0 , i1 , i2 ) ] - iso , values[ Cube::CornerIndex( 1 , i1 , i2 ) ] - iso );
+		vertexList[e][0] = t , vertexList[e][1] = i1  , vertexList[e][2] = i2;
+		break;
+	case 1:
+		t = Interpolate( values[ Cube::CornerIndex( i1 , 0 , i2 ) ] - iso , values[ Cube::CornerIndex( i1 , 1 , i2 ) ] - iso );
+		vertexList[e][0] = i1 , vertexList[e][1] = t  , vertexList[e][2] = i2;
+		break;
+	case 2:
+		t = Interpolate( values[ Cube::CornerIndex( i1 , i2 , 0 ) ] - iso , values[ Cube::CornerIndex( i1 , i2 , 1 ) ] - iso );
+		vertexList[e][0] = i1 , vertexList[e][1] = i2  , vertexList[e][2] = t;
+		break;
+	}
+}
+double MarchingCubes::Interpolate( double v1 , double v2 ) { return v1/(v1-v2); }
+
+
+///////////////////////////////////
+unsigned char MarchingCubes::GetIndex(const float v[Cube::CORNERS],float iso){
+	unsigned char idx=0;
+	if (v[Cube::CornerIndex(0,0,0)] < iso) idx |=   1;
+	if (v[Cube::CornerIndex(1,0,0)] < iso) idx |=   2;
+	if (v[Cube::CornerIndex(1,1,0)] < iso) idx |=   4;
+	if (v[Cube::CornerIndex(0,1,0)] < iso) idx |=   8;
+	if (v[Cube::CornerIndex(0,0,1)] < iso) idx |=  16;
+	if (v[Cube::CornerIndex(1,0,1)] < iso) idx |=  32;
+	if (v[Cube::CornerIndex(1,1,1)] < iso) idx |=  64;
+	if (v[Cube::CornerIndex(0,1,1)] < iso) idx |= 128;
+	return idx;
+}
+unsigned char MarchingCubes::GetFaceIndex( const float values[Cube::CORNERS] , float iso , int faceIndex )
+{
+	int i,j,x,y,z;
+	unsigned char idx=0;
+	double v[2][2];
+	Cube::FactorFaceIndex(faceIndex,x,y,z);
+	if		(x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(0,i,j)];}}}
+	else if	(x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(1,i,j)];}}}
+	else if	(y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,0,j)];}}}
+	else if	(y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,1,j)];}}}
+	else if	(z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,0)];}}}
+	else if	(z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,1)];}}}
+	if (v[0][0] < iso) idx |=   1;
+	if (v[1][0] < iso) idx |=   2;
+	if (v[1][1] < iso) idx |=   4;
+	if (v[0][1] < iso) idx |=   8;
+	return idx;
+}
+unsigned char MarchingCubes::GetFaceIndex( unsigned char mcIndex , int faceIndex )
+{
+	int i,j,x,y,z;
+	unsigned char idx=0;
+	int v[2][2];
+	Cube::FactorFaceIndex(faceIndex,x,y,z);
+	if		(x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(0,i,j)]);}}}
+	else if	(x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(1,i,j)]);}}}
+	else if	(y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(i,0,j)]);}}}
+	else if	(y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(i,1,j)]);}}}
+	else if	(z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(i,j,1)]);}}}
+	else if	(z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap[Cube::CornerIndex(i,j,1)]);}}}
+	if (v[0][0]) idx |=   1;
+	if (v[1][0]) idx |=   2;
+	if (v[1][1]) idx |=   4;
+	if (v[0][1]) idx |=   8;
+	return idx;
+}
+bool MarchingCubes::IsAmbiguous( const float v[Cube::CORNERS] , float isoValue , int faceIndex ){ return MarchingSquares::IsAmbiguous( GetFaceIndex( v , isoValue , faceIndex ) ); }
+bool MarchingCubes::IsAmbiguous( unsigned char mcIndex , int faceIndex ){ return MarchingSquares::IsAmbiguous( GetFaceIndex( mcIndex , faceIndex ) ); }
+bool MarchingCubes::HasRoots( const float v[Cube::CORNERS] , float isoValue ){ return HasRoots( GetIndex( v , isoValue ) ); }
+bool MarchingCubes::HasRoots( const float v[Cube::CORNERS] , float isoValue , int faceIndex){ return MarchingSquares::HasRoots( GetFaceIndex( v , isoValue , faceIndex ) ); }
+bool MarchingCubes::HasFaceRoots( unsigned char mcIndex , int faceIndex ){ return MarchingSquares::HasRoots( GetFaceIndex( mcIndex , faceIndex ) ); }
+bool MarchingCubes::HasEdgeRoots( unsigned char mcIndex , int edgeIndex )
+{
+	int c1 , c2;
+	Cube::EdgeCorners( edgeIndex , c1 , c2 );
+	return !(
+		( ( mcIndex&(1<<MarchingCubes::cornerMap[c1]) ) &&  ( mcIndex&(1<<MarchingCubes::cornerMap[c2])) )
+		||
+		(!( mcIndex&(1<<MarchingCubes::cornerMap[c1]) ) && !( mcIndex&(1<<MarchingCubes::cornerMap[c2])) )
+		);
+}
+int MarchingCubes::AddTriangles(const float v[Cube::CORNERS],float iso,Triangle* isoTriangles){
+	unsigned char idx;
+	int ntriang=0;
+	Triangle tri;
+
+	idx = GetIndex( v , iso );
+
+	/* Cube is entirely in/out of the surface */
+	if( !edgeMask[idx] ) return 0;
+
+	/* Find the vertices where the surface intersects the cube */
+	int i,j,ii=1;
+	for( i=0 ; i<12 ; i++ )
+	{
+		if( edgeMask[idx] & ii ) SetVertex( i , v , iso );
+		ii<<=1;
+	}
+	/* Create the triangle */
+	for (i=0;triangles[idx][i]!=-1;i+=3) {
+		for(j=0;j<3;j++){
+			tri.p[0][j]=vertexList[triangles[idx][i+0]][j];
+			tri.p[1][j]=vertexList[triangles[idx][i+1]][j];
+			tri.p[2][j]=vertexList[triangles[idx][i+2]][j];
+		}
+		isoTriangles[ntriang++]=tri;
+	}
+	return ntriang;
+}
+
+int MarchingCubes::AddTriangleIndices( const float v[Cube::CORNERS] , float iso , int* isoIndices ){ return AddTriangleIndices( GetIndex( v , iso ) , isoIndices ); }
+int MarchingCubes::AddTriangleIndices( int idx , int* isoIndices )
+{
+	int ntriang=0;
+
+	/* Cube is entirely in/out of the surface */
+	if (!edgeMask[idx]) return 0;
+
+	/* Create the triangle */
+	for(int i=0;triangles[idx][i]!=-1;i+=3){
+		for(int j=0;j<3;j++){isoIndices[i+j]=triangles[idx][i+j];}
+		ntriang++;
+	}
+	return ntriang;
+}
+
+void MarchingCubes::SetVertex( int e , const float values[Cube::CORNERS] , float iso )
+{
+	double t;
+	int o , i1 , i2;
+	Cube::FactorEdgeIndex( e , o , i1 , i2 );
+	switch( o )
+	{
+	case 0:
+		t = Interpolate( values[ Cube::CornerIndex( 0 , i1 , i2 ) ] - iso , values[ Cube::CornerIndex( 1 , i1 , i2 ) ] - iso );
+		vertexList[e][0] = t , vertexList[e][1] = i1  , vertexList[e][2] = i2;
+		break;
+	case 1:
+		t = Interpolate( values[ Cube::CornerIndex( i1 , 0 , i2 ) ] - iso , values[ Cube::CornerIndex( i1 , 1 , i2 ) ] - iso );
+		vertexList[e][0] = i1 , vertexList[e][1] = t  , vertexList[e][2] = i2;
+		break;
+	case 2:
+		t = Interpolate( values[ Cube::CornerIndex( i1 , i2 , 0 ) ] - iso , values[ Cube::CornerIndex( i1 , i2 , 1 ) ] - iso );
+		vertexList[e][0] = i1 , vertexList[e][1] = i2  , vertexList[e][2] = t;
+		break;
+	}
+}
+float MarchingCubes::Interpolate( float v1 , float v2 ){ return v1/(v1-v2); }
diff --git a/vendor/kazhdan/MarchingCubes.h b/vendor/kazhdan/MarchingCubes.h
new file mode 100644
index 0000000..56c6eb3
--- /dev/null
+++ b/vendor/kazhdan/MarchingCubes.h
@@ -0,0 +1,147 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef MARCHING_CUBES_INCLUDED
+#define MARCHING_CUBES_INCLUDED
+#include <vector>
+#include "Geometry.h"
+
+#define NEW_ORDERING 1
+
+class Square
+{
+public:
+	const static unsigned int CORNERS=4 , EDGES=4 , FACES=1;
+	static int  CornerIndex			(int x,int y);
+	static int  AntipodalCornerIndex(int idx);
+	static void FactorCornerIndex	(int idx,int& x,int& y);
+	static int  EdgeIndex			(int orientation,int i);
+	static void FactorEdgeIndex		(int idx,int& orientation,int& i);
+
+	static int  ReflectCornerIndex	(int idx,int edgeIndex);
+	static int  ReflectEdgeIndex	(int idx,int edgeIndex);
+
+	static void EdgeCorners(int idx,int& c1,int &c2);
+};
+
+class Cube{
+public:
+	const static unsigned int CORNERS=8 , EDGES=12 , FACES=6;
+
+	static int  CornerIndex			( int x , int y , int z );
+	static void FactorCornerIndex	( int idx , int& x , int& y , int& z );
+	static int  EdgeIndex			( int orientation , int i , int j );
+	static void FactorEdgeIndex		( int idx , int& orientation , int& i , int &j);
+	static int  FaceIndex			( int dir , int offSet );
+	static int  FaceIndex			( int x , int y , int z );
+	static void FactorFaceIndex		( int idx , int& x , int &y , int& z );
+	static void FactorFaceIndex		( int idx , int& dir , int& offSet );
+
+	static int  AntipodalCornerIndex	( int idx );
+	static int  FaceReflectCornerIndex	( int idx , int faceIndex );
+	static int  FaceReflectEdgeIndex	( int idx , int faceIndex );
+	static int	FaceReflectFaceIndex	( int idx , int faceIndex );
+	static int	EdgeReflectCornerIndex	( int idx , int edgeIndex );
+	static int	EdgeReflectEdgeIndex	( int edgeIndex );
+
+	static int  FaceAdjacentToEdges	( int eIndex1 , int eIndex2 );
+	static void FacesAdjacentToEdge	( int eIndex , int& f1Index , int& f2Index );
+
+	static void EdgeCorners( int idx , int& c1 , int &c2 );
+	static void FaceCorners( int idx , int& c1 , int &c2 , int& c3 , int& c4 );
+
+	static bool IsEdgeCorner( int cIndex , int e );
+	static bool IsFaceCorner( int cIndex , int f );
+};
+
+class MarchingSquares
+{
+	static double Interpolate(double v1,double v2);
+	static void SetVertex(int e,const double values[Square::CORNERS],double iso);
+public:
+	const static unsigned int MAX_EDGES=2;
+	static const int edgeMask[1<<Square::CORNERS];
+	static const int edges[1<<Square::CORNERS][2*MAX_EDGES+1];
+	static double vertexList[Square::EDGES][2];
+#if NEW_ORDERING
+	static const int cornerMap[Square::CORNERS];
+#endif // NEW_ORDERING
+
+	static unsigned char GetIndex( const float  values[Square::CORNERS] , float  iso );
+	static unsigned char GetIndex( const double values[Square::CORNERS] , double iso );
+	static bool IsAmbiguous( const double v[Square::CORNERS] , double isoValue );
+	static bool IsAmbiguous( unsigned char idx );
+	static bool HasRoots( unsigned char mcIndex );
+#if NEW_ORDERING
+	static bool HasEdgeRoots( unsigned char mcIndex , int edgeIndex );
+#endif // NEW_ORDERING
+	static int AddEdges( const double v[Square::CORNERS] , double isoValue , Edge* edges );
+	static int AddEdgeIndices( const double v[Square::CORNERS] , double isoValue , int* edges);
+	static int AddEdgeIndices( unsigned char mcIndex , int* edges);
+};
+
+class MarchingCubes
+{
+	static void SetVertex(int e,const double values[Cube::CORNERS],double iso);
+	static unsigned char GetFaceIndex( const double values[Cube::CORNERS] , double iso , int faceIndex );
+
+	static void SetVertex(int e,const float values[Cube::CORNERS],float iso);
+	static unsigned char GetFaceIndex( const float values[Cube::CORNERS] , float iso , int faceIndex );
+
+public:
+	static unsigned char GetFaceIndex( unsigned char mcIndex , int faceIndex );
+	static double Interpolate(double v1,double v2);
+	static float Interpolate(float v1,float v2);
+	const static unsigned int MAX_TRIANGLES=5;
+	static const int edgeMask[1<<Cube::CORNERS];
+	static const int triangles[1<<Cube::CORNERS][3*MAX_TRIANGLES+1];
+	static const int cornerMap[Cube::CORNERS];
+	static double vertexList[Cube::EDGES][3];
+
+	static int AddTriangleIndices(int mcIndex,int* triangles);
+
+	static unsigned char GetIndex( const double values[Cube::CORNERS] , double iso );
+	static bool IsAmbiguous( const double v[Cube::CORNERS] , double isoValue , int faceIndex );
+	static bool HasRoots( const double v[Cube::CORNERS] , double isoValue );
+	static bool HasRoots( const double v[Cube::CORNERS] , double isoValue , int faceIndex );
+	static int AddTriangles( const double v[Cube::CORNERS] , double isoValue , Triangle* triangles );
+	static int AddTriangleIndices( const double v[Cube::CORNERS] , double isoValue , int* triangles );
+
+	static unsigned char GetIndex( const float values[Cube::CORNERS] , float iso );
+	static bool IsAmbiguous( const float v[Cube::CORNERS] , float isoValue , int faceIndex );
+	static bool HasRoots( const float v[Cube::CORNERS] , float isoValue );
+	static bool HasRoots( const float v[Cube::CORNERS] , float isoValue , int faceIndex );
+	static int AddTriangles( const float v[Cube::CORNERS] , float isoValue , Triangle* triangles );
+	static int AddTriangleIndices( const float v[Cube::CORNERS] , float isoValue , int* triangles );
+
+	static bool IsAmbiguous( unsigned char mcIndex , int faceIndex );
+	static bool HasRoots( unsigned char mcIndex );
+	static bool HasFaceRoots( unsigned char mcIndex , int faceIndex );
+	static bool HasEdgeRoots( unsigned char mcIndex , int edgeIndex );
+};
+#endif //MARCHING_CUBES_INCLUDED
diff --git a/vendor/kazhdan/MemoryUsage.h b/vendor/kazhdan/MemoryUsage.h
new file mode 100644
index 0000000..e11973c
--- /dev/null
+++ b/vendor/kazhdan/MemoryUsage.h
@@ -0,0 +1,166 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef MEMORY_USAGE_INCLUDED
+#define MEMORY_USAGE_INCLUDED
+
+#if defined( _WIN32 ) || defined( _WIN64 )
+
+#include <Windows.h>
+#include <Psapi.h>
+struct MemoryInfo
+{
+	static size_t Usage( void )
+	{
+		HANDLE h = GetCurrentProcess();
+		PROCESS_MEMORY_COUNTERS pmc;
+		return GetProcessMemoryInfo( h , &pmc , sizeof(pmc) ) ? pmc.WorkingSetSize : 0;
+	}
+};
+
+#else // !_WIN32 && !_WIN64
+
+#ifndef __APPLE__               // Linux variants
+
+#include <sys/time.h>
+#include <sys/resource.h>
+
+class MemoryInfo
+{
+ public:
+  static size_t Usage(void)
+  {
+		FILE* f = fopen("/proc/self/stat","rb");
+
+		int d;
+		long ld;
+		unsigned long lu;
+		unsigned long long llu;
+		char s[1024];
+		char c;
+
+		int pid;
+		unsigned long vm;
+
+		int n = fscanf(f, "%d %s %c %d %d %d %d %d %lu %lu %lu %lu %lu %lu %lu %ld %ld %ld %ld %d %ld %llu %lu %ld %lu %lu %lu %lu %lu %lu %lu %lu %lu %lu %lu %lu %lu %d %d %lu %lu"
+			,&pid ,s ,&c ,&d ,&d ,&d ,&d ,&d ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&ld ,&ld ,&ld ,&ld ,&d ,&ld ,&llu ,&vm ,&ld ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&lu ,&d ,&d ,&lu ,&lu );
+
+		fclose(f);
+/*
+pid %d
+comm %s
+state %c
+ppid %d
+pgrp %d
+session %d
+tty_nr %d
+tpgid %d
+flags %lu
+minflt %lu
+cminflt %lu
+majflt %lu
+cmajflt %lu
+utime %lu
+stime %lu
+cutime %ld
+cstime %ld
+priority %ld
+nice %ld
+0 %ld
+itrealvalue %ld
+starttime %lu
+vsize %lu
+rss %ld
+rlim %lu
+startcode %lu
+endcode %lu
+startstack %lu
+kstkesp %lu
+kstkeip %lu
+signal %lu
+blocked %lu
+sigignore %lu
+sigcatch %lu
+wchan %lu
+nswap %lu
+cnswap %lu
+exit_signal %d
+processor %d
+rt_priority %lu (since kernel 2.5.19)
+policy %lu (since kernel 2.5.19)
+*/
+		return vm;
+	}
+
+};
+#else // __APPLE__: has no "/proc" pseudo-file system
+
+// Thanks to David O'Gwynn for providing this fix.
+// This comes from a post by Michael Knight:
+//
+// http://miknight.blogspot.com/2005/11/resident-set-size-in-mac-os-x.html
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/sysctl.h>
+#include <mach/task.h>
+#include <mach/mach_init.h>
+
+void getres(task_t task, unsigned long *rss, unsigned long *vs)
+{
+    struct task_basic_info t_info;
+    mach_msg_type_number_t t_info_count = TASK_BASIC_INFO_COUNT;
+
+    task_info(task, TASK_BASIC_INFO, (task_info_t)&t_info, &t_info_count);
+    *rss = t_info.resident_size;
+    *vs = t_info.virtual_size;
+}
+
+class MemoryInfo
+{
+ public:
+  static size_t Usage(void)
+  {
+    unsigned long rss, vs, psize;
+    task_t task = MACH_PORT_NULL;
+
+    if (task_for_pid(current_task(), getpid(), &task) != KERN_SUCCESS)
+        abort();
+    getres(task, &rss, &vs);
+    return rss;
+  }
+
+};
+
+#endif // !__APPLE__
+
+#endif // _WIN32 || _WIN64
+
+#endif // MEMORY_USAGE_INCLUDE
diff --git a/vendor/kazhdan/Mesh.h b/vendor/kazhdan/Mesh.h
new file mode 100644
index 0000000..361dd91
--- /dev/null
+++ b/vendor/kazhdan/Mesh.h
@@ -0,0 +1,82 @@
+/*
+Copyright (c) 2017, Andrew Bell
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include <array>
+#include <vector>
+
+namespace Kazhdan
+{
+
+struct Point
+{
+    std::array<double, 3> m_position;
+    std::array<uint8_t, 3> m_color;
+    double m_density;
+};
+
+using Polygon = std::vector<int>;
+
+class Mesh
+{
+public:
+    virtual int pointCount() const = 0;
+    virtual int polygonCount() const = 0;
+    virtual void newPolygon(std::vector<int>& poly) = 0;
+    virtual int newPoint(const std::array<double, 3>& position) = 0;
+    virtual int newPoint(const std::array<double, 3>& position,
+        const std::array<uint8_t, 3>& color)
+    {
+        throw std::runtime_error("Mesh doesn't support color data.");
+    }
+
+    virtual int newPoint(const std::array<double, 3>& position,
+        double density)
+    {
+        throw std::runtime_error("Mesh doesn't support density data.");
+    }
+
+    virtual int newPoint(const std::array<double, 3>& position,
+        const std::array<uint8_t, 3>& color, double density)
+    {
+        throw std::runtime_error("Mesh doesn't support color "
+            "and density data.");
+    }
+
+    virtual bool hasColor() const
+        { return false; }
+    virtual bool hasDensity() const
+        { return false; }
+
+    virtual void resetIterator() = 0;
+    virtual bool nextPolygon(Polygon& poly) = 0;
+    virtual bool nextPoint(Point& point) = 0;
+};
+
+} // namespace
diff --git a/vendor/kazhdan/MultiGridOctreeData.Evaluation.inl b/vendor/kazhdan/MultiGridOctreeData.Evaluation.inl
new file mode 100644
index 0000000..37bb989
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.Evaluation.inl
@@ -0,0 +1,1151 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType>
+void Octree< Real >::_Evaluator< FEMDegree , BType >::set( LocalDepth depth )
+{
+	static const int  LeftPointSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	BSplineEvaluationData< FEMDegree , BType >::SetEvaluator( evaluator , depth );
+	if( depth>0 ) BSplineEvaluationData< FEMDegree , BType >::SetChildEvaluator( childEvaluator , depth-1 );
+	int center = ( 1<<depth )>>1;
+
+	// First set the stencils for the current depth
+	for( int x=-LeftPointSupportRadius ; x<=RightPointSupportRadius ; x++ ) for( int y=-LeftPointSupportRadius ; y<=RightPointSupportRadius ; y++ ) for( int z=-LeftPointSupportRadius ; z<=RightPointSupportRadius ; z++ )
+	{
+		int fIdx[] = { center+x , center+y , center+z };
+
+		// The cell stencil
+		{
+			double vv[3] , dv[3];
+			for( int dd=0 ; dd<DIMENSION ; dd++ )
+			{
+				vv[dd] = evaluator.centerValue( fIdx[dd] , center , false );
+				dv[dd] = evaluator.centerValue( fIdx[dd] , center , true  );
+			}
+			cellStencil( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+			dCellStencil( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+		}
+
+		//// The face stencil
+		for( int f=0 ; f<(int)Cube::FACES ; f++ )
+		{
+			int dir , off;
+			Cube::FactorFaceIndex( f , dir , off );
+			double vv[3] , dv[3];
+			switch( dir )
+			{
+			case 0:
+				vv[0] = evaluator.cornerValue( fIdx[0] , center+off , false );
+				vv[1] = evaluator.centerValue( fIdx[1] , center     , false );
+				vv[2] = evaluator.centerValue( fIdx[2] , center     , false );
+				dv[0] = evaluator.cornerValue( fIdx[0] , center+off , true  );
+				dv[1] = evaluator.centerValue( fIdx[1] , center     , true  );
+				dv[2] = evaluator.centerValue( fIdx[2] , center     , true  );
+				break;
+			case 1:
+				vv[0] = evaluator.centerValue( fIdx[0] , center     , false );
+				vv[1] = evaluator.cornerValue( fIdx[1] , center+off , false );
+				vv[2] = evaluator.centerValue( fIdx[2] , center     , false );
+				dv[0] = evaluator.centerValue( fIdx[0] , center     , true  );
+				dv[1] = evaluator.cornerValue( fIdx[1] , center+off , true  );
+				dv[2] = evaluator.centerValue( fIdx[2] , center     , true  );
+				break;
+			case 2:
+				vv[0] = evaluator.centerValue( fIdx[0] , center     , false );
+				vv[1] = evaluator.centerValue( fIdx[1] , center     , false );
+				vv[2] = evaluator.cornerValue( fIdx[2] , center+off , false );
+				dv[0] = evaluator.centerValue( fIdx[0] , center     , true  );
+				dv[1] = evaluator.centerValue( fIdx[1] , center     , true  );
+				dv[2] = evaluator.cornerValue( fIdx[2] , center+off , true  );
+				break;
+			}
+			faceStencil[f]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+			dFaceStencil[f]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+		}
+
+		//// The edge stencil
+		for( int e=0 ; e<(int)Cube::EDGES ; e++ )
+		{
+			int orientation , i1 , i2;
+			Cube::FactorEdgeIndex( e , orientation , i1 , i2 );
+			double vv[3] , dv[3];
+			switch( orientation )
+			{
+			case 0:
+				vv[0] = evaluator.centerValue( fIdx[0] , center    , false );
+				vv[1] = evaluator.cornerValue( fIdx[1] , center+i1 , false );
+				vv[2] = evaluator.cornerValue( fIdx[2] , center+i2 , false );
+				dv[0] = evaluator.centerValue( fIdx[0] , center    , true  );
+				dv[1] = evaluator.cornerValue( fIdx[1] , center+i1 , true  );
+				dv[2] = evaluator.cornerValue( fIdx[2] , center+i2 , true  );
+				break;
+			case 1:
+				vv[0] = evaluator.cornerValue( fIdx[0] , center+i1 , false );
+				vv[1] = evaluator.centerValue( fIdx[1] , center    , false );
+				vv[2] = evaluator.cornerValue( fIdx[2] , center+i2 , false );
+				dv[0] = evaluator.cornerValue( fIdx[0] , center+i1 , true  );
+				dv[1] = evaluator.centerValue( fIdx[1] , center    , true  );
+				dv[2] = evaluator.cornerValue( fIdx[2] , center+i2 , true  );
+				break;
+			case 2:
+				vv[0] = evaluator.cornerValue( fIdx[0] , center+i1 , false );
+				vv[1] = evaluator.cornerValue( fIdx[1] , center+i2 , false );
+				vv[2] = evaluator.centerValue( fIdx[2] , center    , false );
+				dv[0] = evaluator.cornerValue( fIdx[0] , center+i1 , true  );
+				dv[1] = evaluator.cornerValue( fIdx[1] , center+i2 , true  );
+				dv[2] = evaluator.centerValue( fIdx[2] , center    , true  );
+				break;
+			}
+			edgeStencil[e]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+			dEdgeStencil[e]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+		}
+
+		//// The corner stencil
+		for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+		{
+			int cx , cy  ,cz;
+			Cube::FactorCornerIndex( c , cx , cy , cz );
+			double vv[3] , dv[3];
+			vv[0] = evaluator.cornerValue( fIdx[0] , center+cx , false );
+			vv[1] = evaluator.cornerValue( fIdx[1] , center+cy , false );
+			vv[2] = evaluator.cornerValue( fIdx[2] , center+cz , false );
+			dv[0] = evaluator.cornerValue( fIdx[0] , center+cx , true  );
+			dv[1] = evaluator.cornerValue( fIdx[1] , center+cy , true  );
+			dv[2] = evaluator.cornerValue( fIdx[2] , center+cz , true  );
+			cornerStencil[c]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+			dCornerStencil[c]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+		}
+	}
+
+	// Now set the stencils for the parents
+	for( int child=0 ; child<CHILDREN ; child++ )
+	{
+		int childX , childY , childZ;
+		Cube::FactorCornerIndex( child , childX , childY , childZ );
+		for( int x=-LeftPointSupportRadius ; x<=RightPointSupportRadius ; x++ ) for( int y=-LeftPointSupportRadius ; y<=RightPointSupportRadius ; y++ ) for( int z=-LeftPointSupportRadius ; z<=RightPointSupportRadius ; z++ )
+		{
+			int fIdx[] = { center/2+x , center/2+y , center/2+z };
+
+			//// The cell stencil
+			{
+				double vv[3] , dv[3];
+				vv[0] = childEvaluator.centerValue( fIdx[0] , center+childX , false );
+				vv[1] = childEvaluator.centerValue( fIdx[1] , center+childY , false );
+				vv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ , false );
+				dv[0] = childEvaluator.centerValue( fIdx[0] , center+childX , true  );
+				dv[1] = childEvaluator.centerValue( fIdx[1] , center+childY , true  );
+				dv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ , true  );
+				cellStencils[child]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+				dCellStencils[child]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+			}
+
+			//// The face stencil
+			for( int f=0 ; f<(int)Cube::FACES ; f++ )
+			{
+				int dir , off;
+				Cube::FactorFaceIndex( f , dir , off );
+				double vv[3] , dv[3];
+				switch( dir )
+				{
+				case 0:
+					vv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+off , false );
+					vv[1] = childEvaluator.centerValue( fIdx[1] , center+childY     , false );
+					vv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ     , false );
+					dv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+off , true  );
+					dv[1] = childEvaluator.centerValue( fIdx[1] , center+childY     , true  );
+					dv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ     , true  );
+					break;
+				case 1:
+					vv[0] = childEvaluator.centerValue( fIdx[0] , center+childX     , false );
+					vv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+off , false );
+					vv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ     , false );
+					dv[0] = childEvaluator.centerValue( fIdx[0] , center+childX     , true  );
+					dv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+off , true  );
+					dv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ     , true  );
+					break;
+				case 2:
+					vv[0] = childEvaluator.centerValue( fIdx[0] , center+childX     , false );
+					vv[1] = childEvaluator.centerValue( fIdx[1] , center+childY     , false );
+					vv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+off , false );
+					dv[0] = childEvaluator.centerValue( fIdx[0] , center+childX     , true  );
+					dv[1] = childEvaluator.centerValue( fIdx[1] , center+childY     , true  );
+					dv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+off , true  );
+					break;
+				}
+				faceStencils[child][f]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+				dFaceStencils[child][f]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+			}
+
+			//// The edge stencil
+			for( int e=0 ; e<(int)Cube::EDGES ; e++ )
+			{
+				int orientation , i1 , i2;
+				Cube::FactorEdgeIndex( e , orientation , i1 , i2 );
+				double vv[3] , dv[3];
+				switch( orientation )
+				{
+				case 0:
+					vv[0] = childEvaluator.centerValue( fIdx[0] , center+childX    , false );
+					vv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+i1 , false );
+					vv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+i2 , false );
+					dv[0] = childEvaluator.centerValue( fIdx[0] , center+childX    , true  );
+					dv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+i1 , true  );
+					dv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+i2 , true  );
+					break;
+				case 1:
+					vv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+i1 , false );
+					vv[1] = childEvaluator.centerValue( fIdx[1] , center+childY    , false );
+					vv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+i2 , false );
+					dv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+i1 , true  );
+					dv[1] = childEvaluator.centerValue( fIdx[1] , center+childY    , true  );
+					dv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+i2 , true  );
+					break;
+				case 2:
+					vv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+i1 , false );
+					vv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+i2 , false );
+					vv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ    , false );
+					dv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+i1 , true  );
+					dv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+i2 , true  );
+					dv[2] = childEvaluator.centerValue( fIdx[2] , center+childZ    , true  );
+					break;
+				}
+				edgeStencils[child][e]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+				dEdgeStencils[child][e]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+			}
+
+			//// The corner stencil
+			for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+			{
+				int cx , cy  ,cz;
+				Cube::FactorCornerIndex( c , cx , cy , cz );
+				double vv[3] , dv[3];
+				vv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+cx , false );
+				vv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+cy , false );
+				vv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+cz , false );
+				dv[0] = childEvaluator.cornerValue( fIdx[0] , center+childX+cx , true  );
+				dv[1] = childEvaluator.cornerValue( fIdx[1] , center+childY+cy , true  );
+				dv[2] = childEvaluator.cornerValue( fIdx[2] , center+childZ+cz , true  );
+				cornerStencils[child][c]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = vv[0] * vv[1] * vv[2];
+				dCornerStencils[child][c]( x+LeftPointSupportRadius , y+LeftPointSupportRadius , z+LeftPointSupportRadius ) = Point3D< double >( dv[0] * vv[1] * vv[2] , vv[0] * dv[1] * vv[2] , vv[0] * vv[1] * dv[2] );
+			}
+		}
+	}
+	if( _bsData ) delete _bsData;
+	_bsData = new BSplineData< FEMDegree , BType >( depth );
+}
+template< class Real >
+template< class V , int FEMDegree , BoundaryType BType >
+V Octree< Real >::_getValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , Point3D< Real > p , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	if( IsActiveNode( node->children ) ) fprintf( stderr , "[WARNING] getValue assumes leaf node\n" );
+	V value(0);
+
+	while( GetGhostFlag( node ) )
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+
+			if( _isValidFEMNode( _n ) )
+			{
+				int _pIdx[3];
+				Point3D< Real > _s ; Real _w;
+				_startAndWidth( _n , _s , _w );
+				int _fIdx[3];
+				functionIndex< FEMDegree , BType >( _n , _fIdx );
+				for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+				value +=
+					solution[ _n->nodeData.nodeIndex ] *
+					(Real)
+					(
+						evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) *
+						evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) *
+						evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+						);
+			}
+		}
+		node = node->parent;
+	}
+
+	LocalDepth d = _localDepth( node );
+
+	for( int dd=0 ; dd<3 ; dd++ )
+		if     ( p[dd]==0 ) p[dd] = (Real)(0.+1e-6);
+		else if( p[dd]==1 ) p[dd] = (Real)(1.-1e-6);
+
+		{
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+				if( _isValidFEMNode( _n ) )
+				{
+					int _pIdx[3];
+					Point3D< Real > _s ; Real _w;
+					_startAndWidth( _n , _s , _w );
+					int _fIdx[3];
+					functionIndex< FEMDegree , BType >( _n , _fIdx );
+					for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+					value +=
+						solution[ _n->nodeData.nodeIndex ] *
+						(Real)
+						(
+							evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) *
+							evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) *
+							evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+							);
+				}
+			}
+			if( d>0 )
+			{
+				const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+				for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+				{
+					const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+					if( _isValidFEMNode( _n ) )
+					{
+						int _pIdx[3];
+						Point3D< Real > _s ; Real _w;
+						_startAndWidth( _n , _s , _w );
+						int _fIdx[3];
+						functionIndex< FEMDegree , BType >( _n , _fIdx );
+						for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+						value +=
+							coarseSolution[ _n->nodeData.nodeIndex ] *
+							(Real)
+							(
+								evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) *
+								evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) *
+								evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+								);
+					}
+				}
+			}
+		}
+		return value;
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+std::pair< Real , Point3D< Real > > Octree< Real >::_getValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , Point3D< Real > p , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	if( IsActiveNode( node->children ) ) fprintf( stderr , "[WARNING] _getValueAndGradient assumes leaf node\n" );
+	Real value(0);
+	Point3D< Real > gradient;
+
+	while( GetGhostFlag( node ) )
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+
+			if( _isValidFEMNode( _n ) )
+			{
+				int _pIdx[3];
+				Point3D< Real > _s; Real _w;
+				_startAndWidth( _n , _s , _w );
+				int _fIdx[3];
+				functionIndex< FEMDegree , BType >( _n , _fIdx );
+				for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+				value +=
+					solution[ _n->nodeData.nodeIndex ] *
+					(Real)
+					(
+						evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+					);
+				gradient +=
+					Point3D< Real >
+					(
+						evaluator._bsData->dBaseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+						evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->dBaseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+						evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->dBaseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+					) * solution[ _n->nodeData.nodeIndex ];
+			}
+		}
+		node = node->parent;
+	}
+
+
+	LocalDepth d = _localDepth( node );
+
+	for( int dd=0 ; dd<3 ; dd++ )
+		if     ( p[dd]==0 ) p[dd] = (Real)(0.+1e-6);
+		else if( p[dd]==1 ) p[dd] = (Real)(1.-1e-6);
+
+		{
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+
+				if( _isValidFEMNode( _n ) )
+				{
+					int _pIdx[3];
+					Point3D< Real > _s ; Real _w;
+					_startAndWidth( _n , _s , _w );
+					int _fIdx[3];
+					functionIndex< FEMDegree , BType >( _n , _fIdx );
+					for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+					value +=
+						solution[ _n->nodeData.nodeIndex ] *
+						(Real)
+						(
+							evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+						);
+					gradient +=
+						Point3D< Real >
+						(
+							evaluator._bsData->dBaseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+							evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->dBaseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+							evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->dBaseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+						) * solution[ _n->nodeData.nodeIndex ];
+				}
+			}
+			if( d>0 )
+			{
+				const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+				for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+				{
+					const TreeOctNode* _n = neighbors.neighbors[i][j][k];
+
+					if( _isValidFEMNode( _n ) )
+					{
+						int _pIdx[3];
+						Point3D< Real > _s ; Real _w;
+						_startAndWidth( _n , _s , _w );
+						int _fIdx[3];
+						functionIndex< FEMDegree , BType >( _n , _fIdx );
+						for( int dd=0 ; dd<3 ; dd++ ) _pIdx[dd] = std::max< int >( 0 , std::min< int >( SupportSize-1 , LeftSupportRadius + (int)floor( ( p[dd]-_s[dd] ) / _w ) ) );
+						value +=
+							coarseSolution[ _n->nodeData.nodeIndex ] *
+							(Real)
+							(
+								evaluator._bsData->baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+							);
+						gradient +=
+							Point3D< Real >
+							(
+								evaluator._bsData->dBaseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+								evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData->dBaseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData-> baseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] ) ,
+								evaluator._bsData-> baseBSplines[ _fIdx[0] ][ _pIdx[0] ]( p[0] ) * evaluator._bsData-> baseBSplines[ _fIdx[1] ][ _pIdx[1] ]( p[1] ) * evaluator._bsData->dBaseBSplines[ _fIdx[2] ][ _pIdx[2] ]( p[2] )
+							) * coarseSolution[ _n->nodeData.nodeIndex ];
+					}
+				}
+			}
+		}
+		return std::pair< Real , Point3D< Real > >( value , gradient );
+}
+template< class Real >
+template< class V , int FEMDegree , BoundaryType BType >
+V Octree< Real >::_getCenterValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineEvaluationData< FEMDegree , BType >::SupportSize;
+	static const int  LeftPointSupportRadius =   BSplineEvaluationData< FEMDegree , BType >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineEvaluationData< FEMDegree , BType >::SupportStart;
+
+	if( IsActiveNode( node->children ) ) fprintf( stderr , "[WARNING] getCenterValue assumes leaf node\n" );
+	V value(0);
+	LocalDepth d = _localDepth( node );
+
+	if( isInterior )
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* n = neighbors.neighbors[i][j][k];
+			if( IsActiveNode( n ) ) value += solution[ n->nodeData.nodeIndex ] * Real( evaluator.cellStencil( i , j , k ) );
+		}
+		if( d>0 )
+		{
+			int _corner = int( node - node->parent->children );
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* n = neighbors.neighbors[i][j][k];
+				if( IsActiveNode( n ) ) value += coarseSolution[n->nodeData.nodeIndex] * Real( evaluator.cellStencils[_corner]( i , j , k ) );
+			}
+		}
+	}
+	else
+	{
+		LocalOffset cIdx;
+		_localDepthAndOffset( node , d , cIdx );
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* n = neighbors.neighbors[i][j][k];
+
+			if( _isValidFEMNode( n ) )
+			{
+				LocalDepth _d ; LocalOffset fIdx;
+				_localDepthAndOffset( n , _d , fIdx );
+				value +=
+					solution[ n->nodeData.nodeIndex ] *
+					Real(
+						evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false ) *
+						evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false ) *
+						evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false )
+					);
+			}
+		}
+		if( d>0 )
+		{
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* n = neighbors.neighbors[i][j][k];
+				if( _isValidFEMNode( n ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( n , _d , fIdx );
+					value +=
+						coarseSolution[ n->nodeData.nodeIndex ] *
+						Real(
+							evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false ) *
+							evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false ) *
+							evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false )
+						);
+				}
+			}
+		}
+	}
+	return value;
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+std::pair< Real , Point3D< Real > > Octree< Real >::_getCenterValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineEvaluationData< FEMDegree , BType >::SupportSize;
+	static const int  LeftPointSupportRadius =   BSplineEvaluationData< FEMDegree , BType >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineEvaluationData< FEMDegree , BType >::SupportStart;
+
+	if( IsActiveNode( node->children ) ) fprintf( stderr , "[WARNING] getCenterValueAndGradient assumes leaf node\n" );
+	Real value(0);
+	Point3D< Real > gradient;
+	LocalDepth d = _localDepth( node );
+
+	if( isInterior )
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* n = neighbors.neighbors[i][j][k];
+			if( IsActiveNode( n ) )
+			{
+				value    +=          Real  ( evaluator. cellStencil( i , j , k ) ) * solution[ n->nodeData.nodeIndex ];
+				gradient += Point3D< Real >( evaluator.dCellStencil( i , j , k ) ) * solution[ n->nodeData.nodeIndex ];
+			}
+		}
+		if( d>0 )
+		{
+			int _corner = int( node - node->parent->children );
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* n = neighbors.neighbors[i][j][k];
+				if( IsActiveNode( n ) )
+				{
+					value    +=          Real  ( evaluator. cellStencils[_corner]( i , j , k ) ) * coarseSolution[n->nodeData.nodeIndex];
+					gradient += Point3D< Real >( evaluator.dCellStencils[_corner]( i , j , k ) ) * coarseSolution[n->nodeData.nodeIndex];
+				}
+			}
+		}
+	}
+	else
+	{
+		LocalOffset cIdx;
+		_localDepthAndOffset( node , d , cIdx );
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+
+		for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			const TreeOctNode* n = neighbors.neighbors[i][j][k];
+
+			if( _isValidFEMNode( n ) )
+			{
+				LocalDepth _d ; LocalOffset fIdx;
+				_localDepthAndOffset( n , _d , fIdx );
+				value +=
+					Real
+					(
+						evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false )
+					) * solution[ n->nodeData.nodeIndex ];
+				gradient +=
+					Point3D< Real >
+					(
+						evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , true  ) * evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false ) ,
+						evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , true  ) * evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false ) ,
+						evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , true  )
+						) * solution[ n->nodeData.nodeIndex ];
+			}
+		}
+		if( d>0 )
+		{
+			const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+			for( int i=0 ; i<SupportSize ; i++ ) for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+			{
+				const TreeOctNode* n = neighbors.neighbors[i][j][k];
+				if( _isValidFEMNode( n ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( n , _d , fIdx );
+					value +=
+						Real
+						(
+							evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false )
+						) * coarseSolution[ n->nodeData.nodeIndex ];
+					gradient +=
+						Point3D< Real >
+						(
+							evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , true  ) * evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false ) ,
+							evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , true  ) * evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false ) ,
+							evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false ) * evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false ) * evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , true  )
+						) * coarseSolution[ n->nodeData.nodeIndex ];
+				}
+			}
+		}
+	}
+	return std::pair< Real , Point3D< Real > >( value , gradient );
+}
+template< class Real >
+template< class V , int FEMDegree , BoundaryType BType >
+V Octree< Real >::_getEdgeValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int edge , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineEvaluationData< FEMDegree , BType >::SupportSize;
+	static const int  LeftPointSupportRadius =  BSplineEvaluationData< FEMDegree , BType >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineEvaluationData< FEMDegree , BType >::SupportStart;
+	V value(0);
+	LocalDepth d ; LocalOffset cIdx;
+	_localDepthAndOffset( node , d , cIdx );
+	int startX = 0 , endX = SupportSize , startY = 0 , endY = SupportSize , startZ = 0 , endZ = SupportSize;
+	int orientation , i1 , i2;
+	Cube::FactorEdgeIndex( edge , orientation , i1 , i2 );
+	switch( orientation )
+	{
+	case 0:
+		cIdx[1] += i1 , cIdx[2] += i2;
+		if( i1 ) startY++ ; else endY--;
+		if( i2 ) startZ++ ; else endZ--;
+		break;
+	case 1:
+		cIdx[0] += i1 , cIdx[2] += i2;
+		if( i1 ) startX++ ; else endX--;
+		if( i2 ) startZ++ ; else endZ--;
+		break;
+	case 2:
+		cIdx[0] += i1 , cIdx[1] += i2;
+		if( i1 ) startX++ ; else endX--;
+		if( i2 ) startY++ ; else endY--;
+		break;
+	}
+
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , d );
+		for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+		{
+			const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+			if( _isValidFEMNode( _node ) )
+			{
+				if( isInterior ) value += solution[ _node->nodeData.nodeIndex ] * evaluator.edgeStencil[edge]( x , y , z );
+				else
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					switch( orientation )
+					{
+					case 0:
+						value +=
+							solution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					case 1:
+						value +=
+							solution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					case 2:
+						value +=
+							solution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					}
+				}
+			}
+		}
+	}
+	if( d>0 )
+	{
+		int _corner = int( node - node->parent->children );
+		int _cx , _cy , _cz;
+		Cube::FactorCornerIndex( _corner , _cx , _cy , _cz );
+		// If the corner/child indices don't match, then the sample position is in the interior of the
+		// coarser cell and so the full support resolution should be used.
+		switch( orientation )
+		{
+		case 0:
+			if( _cy!=i1 ) startY = 0 , endY = SupportSize;
+			if( _cz!=i2 ) startZ = 0 , endZ = SupportSize;
+			break;
+		case 1:
+			if( _cx!=i1 ) startX = 0 , endX = SupportSize;
+			if( _cz!=i2 ) startZ = 0 , endZ = SupportSize;
+			break;
+		case 2:
+			if( _cx!=i1 ) startX = 0 , endX = SupportSize;
+			if( _cy!=i2 ) startY = 0 , endY = SupportSize;
+			break;
+		}
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+		for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+		{
+			const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+			if( _isValidFEMNode( _node ) )
+			{
+				if( isInterior ) value += coarseSolution[ _node->nodeData.nodeIndex ] * evaluator.edgeStencils[_corner][edge]( x , y , z );
+				else
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					switch( orientation )
+					{
+					case 0:
+						value +=
+							coarseSolution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					case 1:
+						value +=
+							coarseSolution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					case 2:
+						value +=
+							coarseSolution[ _node->nodeData.nodeIndex ] *
+							Real(
+								evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+								evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+								evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false )
+							);
+						break;
+					}
+				}
+			}
+		}
+	}
+	return Real( value );
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+std::pair< Real , Point3D< Real > > Octree< Real >::_getEdgeValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int edge , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineEvaluationData< FEMDegree , BType >::SupportSize;
+	static const int  LeftPointSupportRadius =  BSplineEvaluationData< FEMDegree , BType >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineEvaluationData< FEMDegree , BType >::SupportStart;
+	double value = 0;
+	Point3D< double > gradient;
+	LocalDepth d ; LocalOffset cIdx;
+	_localDepthAndOffset( node , d , cIdx );
+
+	int startX = 0 , endX = SupportSize , startY = 0 , endY = SupportSize , startZ = 0 , endZ = SupportSize;
+	int orientation , i1 , i2;
+	Cube::FactorEdgeIndex( edge , orientation , i1 , i2 );
+	switch( orientation )
+	{
+	case 0:
+		cIdx[1] += i1 , cIdx[2] += i2;
+		if( i1 ) startY++ ; else endY--;
+		if( i2 ) startZ++ ; else endZ--;
+		break;
+	case 1:
+		cIdx[0] += i1 , cIdx[2] += i2;
+		if( i1 ) startX++ ; else endX--;
+		if( i2 ) startZ++ ; else endZ--;
+		break;
+	case 2:
+		cIdx[0] += i1 , cIdx[1] += i2;
+		if( i1 ) startX++ ; else endX--;
+		if( i2 ) startY++ ; else endY--;
+		break;
+	}
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+		for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+		{
+			const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+			if( _isValidFEMNode( _node ) )
+			{
+				if( isInterior )
+				{
+					value    += evaluator. edgeStencil[edge]( x , y , z ) * solution[ _node->nodeData.nodeIndex ];
+					gradient += evaluator.dEdgeStencil[edge]( x , y , z ) * solution[ _node->nodeData.nodeIndex ];
+				}
+				else
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+
+					double vv[3] , dv[3];
+					switch( orientation )
+					{
+					case 0:
+						vv[0] = evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.evaluator.centerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					case 1:
+						vv[0] = evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.evaluator.centerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					case 2:
+						vv[0] = evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.evaluator.centerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					}
+					value += solution[ _node->nodeData.nodeIndex ] * vv[0] * vv[1] * vv[2];
+					gradient += Point3D< double >( dv[0]*vv[1]*vv[2] , vv[0]*dv[1]*vv[2] , vv[0]*vv[1]*dv[2] ) * solution[ _node->nodeData.nodeIndex ];
+				}
+			}
+		}
+	}
+	if( d>0 )
+	{
+		int _corner = int( node - node->parent->children );
+		int _cx , _cy , _cz;
+		Cube::FactorCornerIndex( _corner , _cx , _cy , _cz );
+		// If the corner/child indices don't match, then the sample position is in the interior of the
+		// coarser cell and so the full support resolution should be used.
+		switch( orientation )
+		{
+		case 0:
+			if( _cy!=i1 ) startY = 0 , endY = SupportSize;
+			if( _cz!=i2 ) startZ = 0 , endZ = SupportSize;
+			break;
+		case 1:
+			if( _cx!=i1 ) startX = 0 , endX = SupportSize;
+			if( _cz!=i2 ) startZ = 0 , endZ = SupportSize;
+			break;
+		case 2:
+			if( _cx!=i1 ) startX = 0 , endX = SupportSize;
+			if( _cy!=i2 ) startY = 0 , endY = SupportSize;
+			break;
+		}
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+		for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+		{
+			const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+			if( _isValidFEMNode( _node ) )
+			{
+				if( isInterior )
+				{
+					value    += evaluator. edgeStencils[_corner][edge]( x , y , z ) * coarseSolution[ _node->nodeData.nodeIndex ];
+					gradient += evaluator.dEdgeStencils[_corner][edge]( x , y , z ) * coarseSolution[ _node->nodeData.nodeIndex ];
+				}
+				else
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					double vv[3] , dv[3];
+					switch( orientation )
+					{
+					case 0:
+						vv[0] = evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.childEvaluator.centerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					case 1:
+						vv[0] = evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.childEvaluator.centerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					case 2:
+						vv[0] = evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false );
+						vv[1] = evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false );
+						vv[2] = evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , false );
+						dv[0] = evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , true  );
+						dv[1] = evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , true  );
+						dv[2] = evaluator.childEvaluator.centerValue( fIdx[2] , cIdx[2] , true  );
+						break;
+					}
+					value += coarseSolution[ _node->nodeData.nodeIndex ] * vv[0] * vv[1] * vv[2];
+					gradient += Point3D< double >( dv[0]*vv[1]*vv[2] , vv[0]*dv[1]*vv[2] , vv[0]*vv[1]*dv[2] ) * coarseSolution[ _node->nodeData.nodeIndex ];
+				}
+			}
+		}
+	}
+	return std::pair< Real , Point3D< Real > >( Real( value ) , Point3D< Real >( gradient ) );
+}
+
+template< class Real >
+template< class V , int FEMDegree , BoundaryType BType >
+V Octree< Real >::_getCornerValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int corner , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	V value(0);
+	LocalDepth d ; LocalOffset cIdx;
+	_localDepthAndOffset( node , d , cIdx );
+
+	int cx , cy , cz;
+	int startX = 0 , endX = SupportSize , startY = 0 , endY = SupportSize , startZ = 0 , endZ = SupportSize;
+	Cube::FactorCornerIndex( corner , cx , cy , cz );
+	cIdx[0] += cx , cIdx[1] += cy , cIdx[2] += cz;
+	{
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+		if( cx==0 ) endX--;
+		else      startX++;
+		if( cy==0 ) endY--;
+		else      startY++;
+		if( cz==0 ) endZ--;
+		else      startZ++;
+		if( isInterior )
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node=neighbors.neighbors[x][y][z];
+				if( IsActiveNode( _node ) ) value += solution[ _node->nodeData.nodeIndex ] * Real( evaluator.cornerStencil[corner]( x , y , z ) );
+			}
+		else
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+				if( _isValidFEMNode( _node ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					value +=
+						solution[ _node->nodeData.nodeIndex ] *
+						Real(
+							evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+							evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+							evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+						);
+				}
+			}
+	}
+	if( d>0 )
+	{
+		int _corner = int( node - node->parent->children );
+		int _cx , _cy , _cz;
+		Cube::FactorCornerIndex( _corner , _cx , _cy , _cz );
+		// If the corner/child indices don't match, then the sample position is in the interior of the
+		// coarser cell and so the full support resolution should be used.
+		if( cx!=_cx ) startX = 0 , endX = SupportSize;
+		if( cy!=_cy ) startY = 0 , endY = SupportSize;
+		if( cz!=_cz ) startZ = 0 , endZ = SupportSize;
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+		if( isInterior )
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node=neighbors.neighbors[x][y][z];
+				if( IsActiveNode( _node ) ) value += coarseSolution[ _node->nodeData.nodeIndex ] * Real( evaluator.cornerStencils[_corner][corner]( x , y , z ) );
+			}
+		else
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+				if( _isValidFEMNode( _node ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					value +=
+						coarseSolution[ _node->nodeData.nodeIndex ] *
+						Real(
+							evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false ) *
+							evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false ) *
+							evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false )
+						);
+				}
+			}
+	}
+	return Real( value );
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+std::pair< Real , Point3D< Real > > Octree< Real >::_getCornerValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int corner , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	double value = 0;
+	Point3D< double > gradient;
+	LocalDepth d ; LocalOffset cIdx;
+	_localDepthAndOffset( node , d , cIdx );
+
+	int cx , cy , cz;
+	int startX = 0 , endX = SupportSize , startY = 0 , endY = SupportSize , startZ = 0 , endZ = SupportSize;
+	Cube::FactorCornerIndex( corner , cx , cy , cz );
+	cIdx[0] += cx , cIdx[1] += cy , cIdx[2] += cz;
+	{
+		if( cx==0 ) endX--;
+		else      startX++;
+		if( cy==0 ) endY--;
+		else      startY++;
+		if( cz==0 ) endZ--;
+		else      startZ++;
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node );
+		if( isInterior )
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node=neighbors.neighbors[x][y][z];
+				if( IsActiveNode( _node ) ) value += solution[ _node->nodeData.nodeIndex ] * evaluator.cornerStencil[corner]( x , y , z ) , gradient += evaluator.dCornerStencil[corner]( x , y , z ) * solution[ _node->nodeData.nodeIndex ];
+			}
+		else
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+				if( _isValidFEMNode( _node ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					double v [] = { evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , false ) , evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , false ) , evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , false ) };
+					double dv[] = { evaluator.evaluator.cornerValue( fIdx[0] , cIdx[0] , true  ) , evaluator.evaluator.cornerValue( fIdx[1] , cIdx[1] , true  ) , evaluator.evaluator.cornerValue( fIdx[2] , cIdx[2] , true  ) };
+					value += solution[ _node->nodeData.nodeIndex ] * v[0] * v[1] * v[2];
+					gradient += Point3D< double >( dv[0]*v[1]*v[2] , v[0]*dv[1]*v[2] , v[0]*v[1]*dv[2] ) * solution[ _node->nodeData.nodeIndex ];
+				}
+			}
+	}
+	if( d>0 )
+	{
+		int _corner = int( node - node->parent->children );
+		int _cx , _cy , _cz;
+		Cube::FactorCornerIndex( _corner , _cx , _cy , _cz );
+		if( cx!=_cx ) startX = 0 , endX = SupportSize;
+		if( cy!=_cy ) startY = 0 , endY = SupportSize;
+		if( cz!=_cz ) startZ = 0 , endZ = SupportSize;
+		const typename TreeOctNode::ConstNeighbors< SupportSize >& neighbors = _neighbors< LeftPointSupportRadius , RightPointSupportRadius >( neighborKey , node->parent );
+		if( isInterior )
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node=neighbors.neighbors[x][y][z];
+				if( IsActiveNode( _node ) ) value += coarseSolution[ _node->nodeData.nodeIndex ] * evaluator.cornerStencils[_corner][corner]( x , y , z ) , gradient += evaluator.dCornerStencils[_corner][corner]( x , y , z ) * coarseSolution[ _node->nodeData.nodeIndex ];
+			}
+		else
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+				if( _isValidFEMNode( _node ) )
+				{
+					LocalDepth _d ; LocalOffset fIdx;
+					_localDepthAndOffset( _node , _d , fIdx );
+					double v [] = { evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , false ) , evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , false ) , evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , false ) };
+					double dv[] = { evaluator.childEvaluator.cornerValue( fIdx[0] , cIdx[0] , true  ) , evaluator.childEvaluator.cornerValue( fIdx[1] , cIdx[1] , true  ) , evaluator.childEvaluator.cornerValue( fIdx[2] , cIdx[2] , true  ) };
+					value += coarseSolution[ _node->nodeData.nodeIndex ] * v[0] * v[1] * v[2];
+					gradient += Point3D< double >( dv[0]*v[1]*v[2] , v[0]*dv[1]*v[2] , v[0]*v[1]*dv[2] ) * coarseSolution[ _node->nodeData.nodeIndex ];
+				}
+			}
+	}
+	return std::pair< Real , Point3D< Real > >( Real( value ) , Point3D< Real >( gradient ) );
+}
+template< class Real >
+template< int Degree , BoundaryType BType >
+Octree< Real >::MultiThreadedEvaluator< Degree , BType >::MultiThreadedEvaluator( const Octree< Real >* tree , const DenseNodeData< Real >& coefficients , int threads ) : _tree(tree), _coefficients( coefficients )
+{
+	_threads = std::max< int >( 1 , threads );
+	_neighborKeys.resize( _threads );
+	_coarseCoefficients = _tree->template coarseCoefficients< Real , Degree , BType >( _coefficients );
+	_evaluator.set( _tree->_maxDepth );
+	for( int t=0 ; t<_threads ; t++ ) _neighborKeys[t].set( tree->_localToGlobal( _tree->_maxDepth ) );
+}
+template< class Real >
+template< int Degree , BoundaryType BType >
+Real Octree< Real >::MultiThreadedEvaluator< Degree , BType >::value( Point3D< Real > p , int thread , const TreeOctNode* node )
+{
+	if( !node ) node = _tree->leaf( p );
+	ConstPointSupportKey< Degree >& nKey = _neighborKeys[thread];
+	nKey.getNeighbors( node );
+	return _tree->template _getValue< Real , Degree >( nKey , node , p , _coefficients , _coarseCoefficients , _evaluator );
+}
+template< class Real >
+template< int Degree , BoundaryType BType >
+std::pair< Real , Point3D< Real > > Octree< Real >::MultiThreadedEvaluator< Degree , BType >::valueAndGradient( Point3D< Real > p , int thread , const TreeOctNode* node )
+{
+	if( !node ) node = _tree->leaf( p );
+	ConstPointSupportKey< Degree >& nKey = _neighborKeys[thread];
+	nKey.getNeighbors( node );
+	return _tree->template _getValueAndGradient< Degree >( nKey , node , p , _coefficients , _coarseCoefficients , _evaluator );
+}
diff --git a/vendor/kazhdan/MultiGridOctreeData.IsoSurface.inl b/vendor/kazhdan/MultiGridOctreeData.IsoSurface.inl
new file mode 100644
index 0000000..81b32b8
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.IsoSurface.inl
@@ -0,0 +1,1141 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <array>
+
+#include "Octree.h"
+#include "MyTime.h"
+#include "MemoryUsage.h"
+#include "MAT.h"
+#include "Mesh.h"
+#include "Ply.h"
+
+template< class Real >
+template< class Vertex >
+Octree< Real >::_SliceValues< Vertex >::_SliceValues( void )
+{
+	_oldCCount = _oldECount = _oldFCount = _oldNCount = 0;
+	cornerValues = NullPointer( Real ) ; cornerGradients = NullPointer( Point3D< Real > ) ; cornerSet = NullPointer( char );
+	edgeKeys = NullPointer( long long ) ; edgeSet = NullPointer( char );
+	faceEdges = NullPointer( _FaceEdges ) ; faceSet = NullPointer( char );
+	mcIndices = NullPointer( char );
+}
+template< class Real >
+template< class Vertex >
+Octree< Real >::_SliceValues< Vertex >::~_SliceValues( void )
+{
+	_oldCCount = _oldECount = _oldFCount = _oldNCount = 0;
+	FreePointer( cornerValues ) ; FreePointer( cornerGradients ) ; FreePointer( cornerSet );
+	FreePointer( edgeKeys ) ; FreePointer( edgeSet );
+	FreePointer( faceEdges ) ; FreePointer( faceSet );
+	FreePointer( mcIndices );
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_SliceValues< Vertex >::reset( bool nonLinearFit )
+{
+	faceEdgeMap.clear() , edgeVertexMap.clear() , vertexPairMap.clear();
+
+	if( _oldNCount<sliceData.nodeCount )
+	{
+		_oldNCount = sliceData.nodeCount;
+		FreePointer( mcIndices );
+		if( sliceData.nodeCount>0 ) mcIndices = AllocPointer< char >( _oldNCount );
+	}
+	if( _oldCCount<sliceData.cCount )
+	{
+		_oldCCount = sliceData.cCount;
+		FreePointer( cornerValues ) ; FreePointer( cornerGradients ) ; FreePointer( cornerSet );
+		if( sliceData.cCount>0 )
+		{
+			cornerValues = AllocPointer< Real >( _oldCCount );
+			if( nonLinearFit ) cornerGradients = AllocPointer< Point3D< Real > >( _oldCCount );
+			cornerSet = AllocPointer< char >( _oldCCount );
+		}
+	}
+	if( _oldECount<sliceData.eCount )
+	{
+		_oldECount = sliceData.eCount;
+		FreePointer( edgeKeys ) ; FreePointer( edgeSet );
+		edgeKeys = AllocPointer< long long >( _oldECount );
+		edgeSet = AllocPointer< char >( _oldECount );
+	}
+	if( _oldFCount<sliceData.fCount )
+	{
+		_oldFCount = sliceData.fCount;
+		FreePointer( faceEdges ) ; FreePointer( faceSet );
+		faceEdges = AllocPointer< _FaceEdges >( _oldFCount );
+		faceSet = AllocPointer< char >( _oldFCount );
+	}
+
+	if( sliceData.cCount>0 ) memset( cornerSet , 0 , sizeof( char ) * sliceData.cCount );
+	if( sliceData.eCount>0 ) memset(   edgeSet , 0 , sizeof( char ) * sliceData.eCount );
+	if( sliceData.fCount>0 ) memset(   faceSet , 0 , sizeof( char ) * sliceData.fCount );
+}
+template< class Real >
+template< class Vertex >
+Octree< Real >::_XSliceValues< Vertex >::_XSliceValues( void )
+{
+	_oldECount = _oldFCount = 0;
+	edgeKeys = NullPointer( long long ) ; edgeSet = NullPointer( char );
+	faceEdges = NullPointer( _FaceEdges ) ; faceSet = NullPointer( char );
+}
+template< class Real >
+template< class Vertex >
+Octree< Real >::_XSliceValues< Vertex >::~_XSliceValues( void )
+{
+	_oldECount = _oldFCount = 0;
+	FreePointer( edgeKeys ) ; FreePointer( edgeSet );
+	FreePointer( faceEdges ) ; FreePointer( faceSet );
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_XSliceValues< Vertex >::reset( void )
+{
+	faceEdgeMap.clear() , edgeVertexMap.clear() , vertexPairMap.clear();
+
+	if( _oldECount<xSliceData.eCount )
+	{
+		_oldECount = xSliceData.eCount;
+		FreePointer( edgeKeys ) ; FreePointer( edgeSet );
+		edgeKeys = AllocPointer< long long >( _oldECount );
+		edgeSet = AllocPointer< char >( _oldECount );
+	}
+	if( _oldFCount<xSliceData.fCount )
+	{
+		_oldFCount = xSliceData.fCount;
+		FreePointer( faceEdges ) ; FreePointer( faceSet );
+		faceEdges = AllocPointer< _FaceEdges >( _oldFCount );
+		faceSet = AllocPointer< char >( _oldFCount );
+	}
+	if( xSliceData.eCount>0 ) memset( edgeSet , 0 , sizeof( char ) * xSliceData.eCount );
+	if( xSliceData.fCount>0 ) memset( faceSet , 0 , sizeof( char ) * xSliceData.fCount );
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , int WeightDegree , int ColorDegree , class Vertex >
+void Octree< Real >::getMCIsoSurface( const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , const DenseNodeData< Real >& solution , Real isoValue , Kazhdan::Mesh& mesh , bool nonLinearFit , bool addBarycenter , bool polygonMesh )
+{
+	if( FEMDegree==1 && nonLinearFit ) fprintf( stderr , "[WARNING] First order B-Splines do not support non-linear interpolation\n" ) , nonLinearFit = false;
+
+	BSplineData< ColorDegree , BOUNDARY_NEUMANN >* colorBSData = NULL;
+	if( colorData ) colorBSData = new BSplineData< ColorDegree , BOUNDARY_NEUMANN >( _maxDepth );
+	DenseNodeData< Real > coarseSolution( _sNodesEnd(_maxDepth-1) );
+	memset( &coarseSolution[0] , 0 , sizeof(Real)*_sNodesEnd( _maxDepth-1) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(0) ; i<_sNodesEnd(_maxDepth-1) ; i++ ) coarseSolution[i] = solution[i];
+	for( LocalDepth d=1 ; d<_maxDepth ; d++ ) _upSample< Real , FEMDegree , BType >( d , coarseSolution );
+	memoryUsage();
+
+	std::vector< _Evaluator< FEMDegree , BType > > evaluators( _maxDepth+1 );
+	for( LocalDepth d=0 ; d<=_maxDepth ; d++ ) evaluators[d].set( d );
+
+	int vertexOffset = 0;
+
+	std::vector< _SlabValues< Vertex > > slabValues( _maxDepth+1 );
+
+	// Initialize the back slice
+	for( LocalDepth d=_maxDepth ; d>=0 ; d-- )
+	{
+		_sNodes.setSliceTableData ( slabValues[d]. sliceValues(0). sliceData , _localToGlobal( d ) , 0 + _localInset( d ) , threads );
+		_sNodes.setSliceTableData ( slabValues[d]. sliceValues(1). sliceData , _localToGlobal( d ) , 1 + _localInset( d ) , threads );
+		_sNodes.setXSliceTableData( slabValues[d].xSliceValues(0).xSliceData , _localToGlobal( d ) , 0 + _localInset( d ) , threads );
+		slabValues[d].sliceValues (0).reset( nonLinearFit );
+		slabValues[d].sliceValues (1).reset( nonLinearFit );
+		slabValues[d].xSliceValues(0).reset( );
+	}
+	for( LocalDepth d=_maxDepth ; d>=0 ; d-- )
+	{
+		// Copy edges from finer
+		if( d<_maxDepth ) _copyFinerSliceIsoEdgeKeys( d , 0 , slabValues , threads );
+		_setSliceIsoCorners( solution , coarseSolution , isoValue , d , 0 , slabValues , evaluators[d] , threads );
+		_setSliceIsoVertices< WeightDegree , ColorDegree >( colorBSData , densityWeights , colorData , isoValue , d , 0 , vertexOffset , mesh , slabValues , threads );
+		_setSliceIsoEdges( d , 0 , slabValues , threads );
+	}
+
+	// Iterate over the slices at the finest level
+	for( int slice=0 ; slice<( 1<<_maxDepth ) ; slice++ )
+	{
+		// Process at all depths that contain this slice
+		LocalDepth d ; int o;
+		for( d=_maxDepth , o=slice+1 ; d>=0 ; d-- , o>>=1 )
+		{
+			// Copy edges from finer (required to ensure we correctly track edge cancellations)
+			if( d<_maxDepth )
+			{
+				_copyFinerSliceIsoEdgeKeys( d , o , slabValues , threads );
+				_copyFinerXSliceIsoEdgeKeys( d , o-1 , slabValues , threads );
+			}
+
+			// Set the slice values/vertices
+			_setSliceIsoCorners( solution , coarseSolution , isoValue , d , o , slabValues , evaluators[d] , threads );
+			_setSliceIsoVertices< WeightDegree , ColorDegree >( colorBSData , densityWeights , colorData , isoValue , d , o , vertexOffset , mesh , slabValues , threads );
+			_setSliceIsoEdges( d , o , slabValues , threads );
+
+			// Set the cross-slice edges
+			_setXSliceIsoVertices< WeightDegree , ColorDegree >( colorBSData , densityWeights , colorData , isoValue , d , o-1 , vertexOffset , mesh , slabValues , threads );
+			_setXSliceIsoEdges( d , o-1 , slabValues , threads );
+
+			// Add the triangles
+			_setIsoSurface( d , o-1 , slabValues[d].sliceValues(o-1) , slabValues[d].sliceValues(o) , slabValues[d].xSliceValues(o-1) , mesh , polygonMesh , addBarycenter , vertexOffset , threads );
+
+			if( o&1 ) break;
+		}
+
+		for( d=_maxDepth , o=slice+1 ; d>=0 ; d-- , o>>=1 )
+		{
+			// Initialize for the next pass
+			if( o<(1<<(d+1)) )
+			{
+				_sNodes.setSliceTableData( slabValues[d].sliceValues(o+1).sliceData , _localToGlobal( d ) , o+1 + _localInset( d ) , threads );
+				_sNodes.setXSliceTableData( slabValues[d].xSliceValues(o).xSliceData , _localToGlobal( d ) , o + _localInset( d ) , threads );
+				slabValues[d].sliceValues(o+1).reset( nonLinearFit );
+				slabValues[d].xSliceValues(o).reset();
+			}
+			if( o&1 ) break;
+		}
+	}
+	memoryUsage();
+	if( colorBSData ) delete colorBSData;
+}
+
+
+template< class Real >
+template< class Vertex , int FEMDegree , BoundaryType BType >
+void Octree< Real >::_setSliceIsoCorners( const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , Real isoValue , LocalDepth depth , int slice , std::vector< _SlabValues< Vertex > >& slabValues , const _Evaluator< FEMDegree , BType >& evaluator , int threads )
+{
+	if( slice>0          ) _setSliceIsoCorners( solution , coarseSolution , isoValue , depth , slice , 1 , slabValues , evaluator , threads );
+	if( slice<(1<<depth) ) _setSliceIsoCorners( solution , coarseSolution , isoValue , depth , slice , 0 , slabValues , evaluator , threads );
+}
+template< class Real >
+template< class Vertex , int FEMDegree , BoundaryType BType >
+void Octree< Real >::_setSliceIsoCorners( const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , Real isoValue , LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& slabValues , const struct _Evaluator< FEMDegree , BType >& evaluator , int threads )
+{
+	typename Octree::template _SliceValues< Vertex >& sValues = slabValues[depth].sliceValues( slice );
+	std::vector< ConstPointSupportKey< FEMDegree > > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slice-z) ; i<_sNodesEnd(depth,slice-z) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		Real squareValues[ Square::CORNERS ];
+		ConstPointSupportKey< FEMDegree >& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		if( !IsActiveNode( leaf->children ) )
+		{
+			const typename SortedTreeNodes::SquareCornerIndices& cIndices = sValues.sliceData.cornerIndices( leaf );
+
+			bool isInterior = _isInteriorlySupported< FEMDegree >( leaf->parent );
+			neighborKey.getNeighbors( leaf );
+
+			for( int x=0 ; x<2 ; x++ ) for( int y=0 ; y<2 ; y++ )
+			{
+				int cc = Cube::CornerIndex( x , y , z );
+				int fc = Square::CornerIndex( x , y );
+				int vIndex = cIndices[fc];
+				if( !sValues.cornerSet[vIndex] )
+				{
+					if( sValues.cornerGradients )
+					{
+						std::pair< Real , Point3D< Real > > p = _getCornerValueAndGradient( neighborKey , leaf , cc , solution , coarseSolution , evaluator , isInterior );
+						sValues.cornerValues[vIndex] = p.first , sValues.cornerGradients[vIndex] = p.second;
+					}
+					else sValues.cornerValues[vIndex] = _getCornerValue( neighborKey , leaf , cc , solution , coarseSolution , evaluator , isInterior );
+					sValues.cornerSet[vIndex] = 1;
+				}
+				squareValues[fc] = sValues.cornerValues[ vIndex ];
+				TreeOctNode* node = leaf;
+				LocalDepth _depth = depth;
+				int _slice = slice;
+				while( _isValidSpaceNode( node->parent ) && (node-node->parent->children)==cc )
+				{
+					node = node->parent , _depth-- , _slice >>= 1;
+					typename Octree::template _SliceValues< Vertex >& _sValues = slabValues[_depth].sliceValues( _slice );
+					const typename SortedTreeNodes::SquareCornerIndices& _cIndices = _sValues.sliceData.cornerIndices( node );
+					int _vIndex = _cIndices[fc];
+					_sValues.cornerValues[_vIndex] = sValues.cornerValues[vIndex];
+					if( _sValues.cornerGradients ) _sValues.cornerGradients[_vIndex] = sValues.cornerGradients[vIndex];
+					_sValues.cornerSet[_vIndex] = 1;
+				}
+			}
+			sValues.mcIndices[ i - sValues.sliceData.nodeOffset ] = MarchingSquares::GetIndex( squareValues , isoValue );
+		}
+	}
+}
+
+inline int addPoint(Kazhdan::Mesh& mesh, const PlyVertex<float>& v)
+{
+    std::array<double, 3> p {{v.point.coords[0], v.point.coords[1],
+        v.point.coords[2]}};
+    return mesh.newPoint(p);
+}
+
+inline int addPoint(Kazhdan::Mesh& mesh, const PlyValueVertex<float>& v)
+{
+    std::array<double, 3> p {{v.point.coords[0], v.point.coords[1],
+        v.point.coords[2]}};
+    return mesh.newPoint(p, (double)v.value);
+}
+
+inline int addPoint(Kazhdan::Mesh& mesh, const PlyColorVertex<float>& v)
+{
+    return mesh.newPoint(
+        {{v.point.coords[0], v.point.coords[1], v.point.coords[2]}},
+        {{v.color[0], v.color[1], v.color[2]}});
+}
+
+inline int addPoint(Kazhdan::Mesh& mesh, const PlyColorAndValueVertex<float>& v)
+{
+    return mesh.newPoint(
+        {{v.point.coords[0], v.point.coords[1], v.point.coords[2]}},
+        {{v.color[0], v.color[1], v.color[2]}},
+        (double)v.value);
+}
+
+template< class Real >
+template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+void Octree< Real >::_setSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slice , int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	if( slice>0          ) _setSliceIsoVertices< WeightDegree , ColorDegree >( colorBSData , densityWeights , colorData , isoValue , depth , slice , 1 , vOffset , mesh , slabValues , threads );
+	if( slice<(1<<depth) ) _setSliceIsoVertices< WeightDegree , ColorDegree >( colorBSData , densityWeights , colorData , isoValue , depth , slice , 0 , vOffset , mesh , slabValues , threads );
+}
+template< class Real >
+template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+void Octree< Real >::_setSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slice , int z , int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	typename Octree::template _SliceValues< Vertex >& sValues = slabValues[depth].sliceValues( slice );
+	// [WARNING] In the case Degree=2, these two keys are the same, so we don't have to maintain them separately.
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	std::vector< ConstPointSupportKey< WeightDegree > > weightKeys( std::max< int >( 1 , threads ) );
+	std::vector< ConstPointSupportKey< ColorDegree > > colorKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) ) , weightKeys[i].set( _localToGlobal( depth ) ) , colorKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slice-z) ; i<_sNodesEnd(depth,slice-z) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		ConstAdjacenctNodeKey& neighborKey =  neighborKeys[ omp_get_thread_num() ];
+		ConstPointSupportKey< WeightDegree >& weightKey = weightKeys[ omp_get_thread_num() ];
+		ConstPointSupportKey< ColorDegree >& colorKey = colorKeys[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		if( !IsActiveNode( leaf->children ) )
+		{
+			int idx = i - sValues.sliceData.nodeOffset;
+			const typename SortedTreeNodes::SquareEdgeIndices& eIndices = sValues.sliceData.edgeIndices( leaf );
+			if( MarchingSquares::HasRoots( sValues.mcIndices[idx] ) )
+			{
+				neighborKey.getNeighbors( leaf );
+				if( densityWeights ) weightKey.getNeighbors( leaf );
+				if( colorData ) colorKey.getNeighbors( leaf );
+				for( int e=0 ; e<(int)Square::EDGES ; e++ )
+					if( MarchingSquares::HasEdgeRoots( sValues.mcIndices[idx] , e ) )
+					{
+						int vIndex = eIndices[e];
+						if( !sValues.edgeSet[vIndex] )
+						{
+							Vertex vertex;
+							int o , y;
+							Square::FactorEdgeIndex( e , o , y );
+							long long key = VertexData::EdgeIndex( leaf , Cube::EdgeIndex( o , y , z ) , _localToGlobal(_maxDepth) );
+							_getIsoVertex( colorBSData , densityWeights , colorData , isoValue , weightKey , colorKey , leaf , e , z , sValues , vertex );
+							bool stillOwner = false;
+							std::pair< int , Vertex > hashed_vertex;
+#pragma omp critical (add_point_access)
+							{
+								if( !sValues.edgeSet[vIndex] )
+								{
+//									mesh.addOutOfCorePoint( vertex );
+                                    addPoint(mesh, vertex);
+									sValues.edgeSet[ vIndex ] = 1;
+									sValues.edgeKeys[ vIndex ] = key;
+									sValues.edgeVertexMap[key] = hashed_vertex = std::pair< int , Vertex >( vOffset , vertex );
+									vOffset++;
+									stillOwner = true;
+								}
+							}
+							if( stillOwner )
+							{
+								// We only need to pass the iso-vertex down if the edge it lies on is adjacent to a coarser leaf
+								bool isNeeded;
+								switch( o )
+								{
+								case 0: isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][2*y][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][2*y][2*z] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][1][2*z] ) ) ; break;
+								case 1: isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[2*y][1][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[2*y][1][2*z] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][1][2*z] ) ) ; break;
+								}
+								if( isNeeded )
+								{
+									int f[2];
+									Cube::FacesAdjacentToEdge( Cube::EdgeIndex( o , y , z ) , f[0] , f[1] );
+									for( int k=0 ; k<2 ; k++ )
+									{
+										TreeOctNode* node = leaf;
+										LocalDepth _depth = depth;
+										int _slice = slice;
+										bool _isNeeded = isNeeded;
+										while( _isNeeded && _isValidSpaceNode( node->parent ) && Cube::IsFaceCorner( (int)(node-node->parent->children) , f[k] ) )
+										{
+											node = node->parent , _depth-- , _slice >>= 1;
+											typename Octree::template _SliceValues< Vertex >& _sValues = slabValues[_depth].sliceValues( _slice );
+#pragma omp critical (add_coarser_point_access)
+											_sValues.edgeVertexMap[key] = hashed_vertex;
+											switch( o )
+											{
+												case 0: _isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][2*y][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][2*y][2*z] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][1][2*z] ) ) ; break;
+												case 1: _isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[2*y][1][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[2*y][1][2*z] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][1][2*z] ) ) ; break;
+											}
+										}
+									}
+								}
+							}
+						}
+					}
+			}
+		}
+	}
+}
+template< class Real >
+template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+void Octree< Real >::_setXSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slab , int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	typename Octree::template  _SliceValues< Vertex >& bValues = slabValues[depth].sliceValues ( slab   );
+	typename Octree::template  _SliceValues< Vertex >& fValues = slabValues[depth].sliceValues ( slab+1 );
+	typename Octree::template _XSliceValues< Vertex >& xValues = slabValues[depth].xSliceValues( slab   );
+
+	// [WARNING] In the case Degree=2, these two keys are the same, so we don't have to maintain them separately.
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	std::vector< ConstPointSupportKey< WeightDegree > > weightKeys( std::max< int >( 1 , threads ) );
+	std::vector< ConstPointSupportKey< ColorDegree > > colorKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) ) , weightKeys[i].set( _localToGlobal( depth ) ) , colorKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slab) ; i<_sNodesEnd(depth,slab) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		ConstAdjacenctNodeKey& neighborKey =  neighborKeys[ omp_get_thread_num() ];
+		ConstPointSupportKey< WeightDegree >& weightKey = weightKeys[ omp_get_thread_num() ];
+		ConstPointSupportKey< ColorDegree >& colorKey = colorKeys[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		if( !IsActiveNode( leaf->children ) )
+		{
+			unsigned char mcIndex = ( bValues.mcIndices[ i - bValues.sliceData.nodeOffset ] ) | ( fValues.mcIndices[ i - fValues.sliceData.nodeOffset ] )<<4;
+			const typename SortedTreeNodes::SquareCornerIndices& eIndices = xValues.xSliceData.edgeIndices( leaf );
+			if( MarchingCubes::HasRoots( mcIndex ) )
+			{
+				neighborKey.getNeighbors( leaf );
+				if( densityWeights ) weightKey.getNeighbors( leaf );
+				if( colorData ) colorKey.getNeighbors( leaf );
+				for( int x=0 ; x<2 ; x++ ) for( int y=0 ; y<2 ; y++ )
+				{
+					int c = Square::CornerIndex( x , y );
+					int e = Cube::EdgeIndex( 2 , x , y );
+					if( MarchingCubes::HasEdgeRoots( mcIndex , e ) )
+					{
+						int vIndex = eIndices[c];
+						if( !xValues.edgeSet[vIndex] )
+						{
+							Vertex vertex;
+							long long key = VertexData::EdgeIndex( leaf , e , _localToGlobal(_maxDepth) );
+							_getIsoVertex( colorBSData , densityWeights , colorData , isoValue , weightKey , colorKey , leaf , c , bValues , fValues , vertex );
+							bool stillOwner = false;
+							std::pair< int , Vertex > hashed_vertex;
+#pragma omp critical (add_x_point_access)
+							{
+								if( !xValues.edgeSet[vIndex] )
+								{
+//									mesh.addOutOfCorePoint( vertex );
+                                    addPoint(mesh, vertex);
+									xValues.edgeSet[ vIndex ] = 1;
+									xValues.edgeKeys[ vIndex ] = key;
+									xValues.edgeVertexMap[key] = hashed_vertex = std::pair< int , Vertex >( vOffset , vertex );
+									stillOwner = true;
+									vOffset++;
+								}
+							}
+							if( stillOwner )
+							{
+								// We only need to pass the iso-vertex down if the edge it lies on is adjacent to a coarser leaf
+								bool isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[2*x][1][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[2*x][2*y][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][2*y][1] ) );
+								if( isNeeded )
+								{
+									int f[2];
+									Cube::FacesAdjacentToEdge( e , f[0] , f[1] );
+									for( int k=0 ; k<2 ; k++ )
+									{
+										TreeOctNode* node = leaf;
+										LocalDepth _depth = depth;
+										int _slab = slab;
+										bool _isNeeded = isNeeded;
+										while( _isNeeded && _isValidSpaceNode( node->parent ) && Cube::IsFaceCorner( (int)(node-node->parent->children) , f[k] ) )
+										{
+											node = node->parent , _depth-- , _slab >>= 1;
+											typename Octree::template _XSliceValues< Vertex >& _xValues = slabValues[_depth].xSliceValues( _slab );
+#pragma omp critical (add_x_coarser_point_access)
+											_xValues.edgeVertexMap[key] = hashed_vertex;
+											_isNeeded = ( !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[2*x][1][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[2*x][2*y][1] ) || !_isValidSpaceNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][2*y][1] ) );
+										}
+									}
+								}
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_copyFinerSliceIsoEdgeKeys( LocalDepth depth , int slice , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	if( slice>0          ) _copyFinerSliceIsoEdgeKeys( depth , slice , 1 , slabValues , threads );
+	if( slice<(1<<depth) ) _copyFinerSliceIsoEdgeKeys( depth , slice , 0 , slabValues , threads );
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_copyFinerSliceIsoEdgeKeys( LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	_SliceValues< Vertex >& pSliceValues = slabValues[depth  ].sliceValues(slice   );
+	_SliceValues< Vertex >& cSliceValues = slabValues[depth+1].sliceValues(slice<<1);
+	typename SortedTreeNodes::SliceTableData& pSliceData = pSliceValues.sliceData;
+	typename SortedTreeNodes::SliceTableData& cSliceData = cSliceValues.sliceData;
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slice-z) ; i<_sNodesEnd(depth,slice-z) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+		if( IsActiveNode( _sNodes.treeNodes[i]->children ) )
+		{
+			typename SortedTreeNodes::SquareEdgeIndices& pIndices = pSliceData.edgeIndices( i );
+			// Copy the edges that overlap the coarser edges
+			for( int orientation=0 ; orientation<2 ; orientation++ ) for( int y=0 ; y<2 ; y++ )
+			{
+				int fe = Square::EdgeIndex( orientation , y );
+				int pIndex = pIndices[fe];
+				if( !pSliceValues.edgeSet[ pIndex ] )
+				{
+					int ce = Cube::EdgeIndex( orientation , y , z );
+					int c1 , c2;
+					switch( orientation )
+					{
+					case 0: c1 = Cube::CornerIndex( 0 , y , z ) , c2 = Cube::CornerIndex( 1 , y , z ) ; break;
+					case 1: c1 = Cube::CornerIndex( y , 0 , z ) , c2 = Cube::CornerIndex( y , 1 , z ) ; break;
+					}
+					// [SANITY CHECK]
+//					if( _isValidSpaceNode( _sNodes.treeNodes[i]->children + c1 )!=_isValidSpaceNode( _sNodes.treeNodes[i]->children + c2 ) ) fprintf( stderr , "[WARNING] Finer edges should both be valid or invalid\n" ) , exit( 0 );
+					if( !_isValidSpaceNode( _sNodes.treeNodes[i]->children + c1 ) || !_isValidSpaceNode( _sNodes.treeNodes[i]->children + c2 ) ) continue;
+
+					int cIndex1 = cSliceData.edgeIndices( _sNodes.treeNodes[i]->children + c1 )[fe];
+					int cIndex2 = cSliceData.edgeIndices( _sNodes.treeNodes[i]->children + c2 )[fe];
+					if( cSliceValues.edgeSet[cIndex1] != cSliceValues.edgeSet[cIndex2] )
+					{
+						long long key;
+						if( cSliceValues.edgeSet[cIndex1] ) key = cSliceValues.edgeKeys[cIndex1];
+						else                                key = cSliceValues.edgeKeys[cIndex2];
+						std::pair< int , Vertex > vPair = cSliceValues.edgeVertexMap.find( key )->second;
+#pragma omp critical ( copy_finer_edge_keys )
+						pSliceValues.edgeVertexMap[key] = vPair;
+						pSliceValues.edgeKeys[pIndex] = key;
+						pSliceValues.edgeSet[pIndex] = 1;
+					}
+					else if( cSliceValues.edgeSet[cIndex1] && cSliceValues.edgeSet[cIndex2] )
+					{
+						long long key1 = cSliceValues.edgeKeys[cIndex1] , key2 = cSliceValues.edgeKeys[cIndex2];
+#pragma omp critical ( set_edge_pairs )
+						pSliceValues.vertexPairMap[ key1 ] = key2 ,	pSliceValues.vertexPairMap[ key2 ] = key1;
+
+						const TreeOctNode* node = _sNodes.treeNodes[i];
+						LocalDepth _depth = depth;
+						int _slice = slice;
+						while( _isValidSpaceNode( node->parent ) && Cube::IsEdgeCorner( (int)( node - node->parent->children ) , ce ) )
+						{
+							node = node->parent , _depth-- , _slice >>= 1;
+							_SliceValues< Vertex >& _pSliceValues = slabValues[_depth].sliceValues(_slice);
+#pragma omp critical ( set_edge_pairs )
+							_pSliceValues.vertexPairMap[ key1 ] = key2 , _pSliceValues.vertexPairMap[ key2 ] = key1;
+						}
+					}
+				}
+			}
+		}
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_copyFinerXSliceIsoEdgeKeys( LocalDepth depth , int slab , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	_XSliceValues< Vertex >& pSliceValues  = slabValues[depth  ].xSliceValues(slab);
+	_XSliceValues< Vertex >& cSliceValues0 = slabValues[depth+1].xSliceValues( (slab<<1)|0 );
+	_XSliceValues< Vertex >& cSliceValues1 = slabValues[depth+1].xSliceValues( (slab<<1)|1 );
+	typename SortedTreeNodes::XSliceTableData& pSliceData  = pSliceValues.xSliceData;
+	typename SortedTreeNodes::XSliceTableData& cSliceData0 = cSliceValues0.xSliceData;
+	typename SortedTreeNodes::XSliceTableData& cSliceData1 = cSliceValues1.xSliceData;
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slab) ; i<_sNodesEnd(depth,slab) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+		if( IsActiveNode( _sNodes.treeNodes[i]->children ) )
+		{
+			typename SortedTreeNodes::SquareCornerIndices& pIndices = pSliceData.edgeIndices( i );
+			for( int x=0 ; x<2 ; x++ ) for( int y=0 ; y<2 ; y++ )
+			{
+				int fc = Square::CornerIndex( x , y );
+				int pIndex = pIndices[fc];
+				if( !pSliceValues.edgeSet[pIndex] )
+				{
+					int c0 = Cube::CornerIndex( x , y , 0 ) , c1 = Cube::CornerIndex( x , y , 1 );
+
+					// [SANITY CHECK]
+//					if( _isValidSpaceNode( _sNodes.treeNodes[i]->children + c0 )!=_isValidSpaceNode( _sNodes.treeNodes[i]->children + c1 ) ) fprintf( stderr , "[ERROR] Finer edges should both be valid or invalid\n" ) , exit( 0 );
+					if( !_isValidSpaceNode( _sNodes.treeNodes[i]->children + c0 ) || !_isValidSpaceNode( _sNodes.treeNodes[i]->children + c1 ) ) continue;
+
+					int cIndex0 = cSliceData0.edgeIndices( _sNodes.treeNodes[i]->children + c0 )[fc];
+					int cIndex1 = cSliceData1.edgeIndices( _sNodes.treeNodes[i]->children + c1 )[fc];
+					if( cSliceValues0.edgeSet[cIndex0] != cSliceValues1.edgeSet[cIndex1] )
+					{
+						long long key;
+						std::pair< int , Vertex > vPair;
+						if( cSliceValues0.edgeSet[cIndex0] ) key = cSliceValues0.edgeKeys[cIndex0] , vPair = cSliceValues0.edgeVertexMap.find( key )->second;
+						else                                 key = cSliceValues1.edgeKeys[cIndex1] , vPair = cSliceValues1.edgeVertexMap.find( key )->second;
+#pragma omp critical ( copy_finer_x_edge_keys )
+						pSliceValues.edgeVertexMap[key] = vPair;
+						pSliceValues.edgeKeys[ pIndex ] = key;
+						pSliceValues.edgeSet[ pIndex ] = 1;
+					}
+					else if( cSliceValues0.edgeSet[cIndex0] && cSliceValues1.edgeSet[cIndex1] )
+					{
+						long long key0 = cSliceValues0.edgeKeys[cIndex0] , key1 = cSliceValues1.edgeKeys[cIndex1];
+#pragma omp critical ( set_x_edge_pairs )
+						pSliceValues.vertexPairMap[ key0 ] = key1 , pSliceValues.vertexPairMap[ key1 ] = key0;
+						const TreeOctNode* node = _sNodes.treeNodes[i];
+						LocalDepth _depth = depth;
+						int _slab = slab , ce = Cube::CornerIndex( 2 , x , y );
+						while( _isValidSpaceNode( node->parent ) && Cube::IsEdgeCorner( (int)( node - node->parent->children ) , ce ) )
+						{
+							node = node->parent , _depth-- , _slab>>= 1;
+							_SliceValues< Vertex >& _pSliceValues = slabValues[_depth].sliceValues(_slab);
+#pragma omp critical ( set_x_edge_pairs )
+							_pSliceValues.vertexPairMap[ key0 ] = key1 , _pSliceValues.vertexPairMap[ key1 ] = key0;
+						}
+					}
+				}
+			}
+		}
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_setSliceIsoEdges( LocalDepth depth , int slice , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	if( slice>0          ) _setSliceIsoEdges( depth , slice , 1 , slabValues , threads );
+	if( slice<(1<<depth) ) _setSliceIsoEdges( depth , slice , 0 , slabValues , threads );
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_setSliceIsoEdges( LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	typename Octree::template _SliceValues< Vertex >& sValues = slabValues[depth].sliceValues( slice );
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth, slice-z) ; i<_sNodesEnd(depth,slice-z) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		int isoEdges[ 2 * MarchingSquares::MAX_EDGES ];
+		ConstAdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		if( !IsActiveNode( leaf->children ) )
+		{
+			int idx = i - sValues.sliceData.nodeOffset;
+			const typename SortedTreeNodes::SquareEdgeIndices& eIndices = sValues.sliceData.edgeIndices( leaf );
+			const typename SortedTreeNodes::SquareFaceIndices& fIndices = sValues.sliceData.faceIndices( leaf );
+			unsigned char mcIndex = sValues.mcIndices[idx];
+			if( !sValues.faceSet[ fIndices[0] ] )
+			{
+				neighborKey.getNeighbors( leaf );
+				if( !IsActiveNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][1][2*z] ) || !IsActiveNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[1][1][2*z]->children ) )
+				{
+					_FaceEdges fe;
+					fe.count = MarchingSquares::AddEdgeIndices( mcIndex , isoEdges );
+					for( int j=0 ; j<fe.count ; j++ ) for( int k=0 ; k<2 ; k++ )
+					{
+						if( !sValues.edgeSet[ eIndices[ isoEdges[2*j+k] ] ] ) fprintf( stderr , "[ERROR] Edge not set 1: %d / %d\n" , slice , 1<<depth ) , exit( 0 );
+						fe.edges[j][k] = sValues.edgeKeys[ eIndices[ isoEdges[2*j+k] ] ];
+					}
+					sValues.faceSet[ fIndices[0] ] = 1;
+					sValues.faceEdges[ fIndices[0] ] = fe;
+
+					TreeOctNode* node = leaf;
+					LocalDepth _depth = depth;
+					int _slice = slice , f = Cube::FaceIndex( 2 , z );
+					std::vector< _IsoEdge > edges;
+					edges.resize( fe.count );
+					for( int j=0 ; j<fe.count ; j++ ) edges[j] = fe.edges[j];
+					while( _isValidSpaceNode( node->parent ) && Cube::IsFaceCorner( (int)(node-node->parent->children) , f ) )
+					{
+						node = node->parent , _depth-- , _slice >>= 1;
+						if( IsActiveNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][1][2*z] ) && IsActiveNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[1][1][2*z]->children ) ) break;
+						long long key = VertexData::FaceIndex( node , f , _localToGlobal(_maxDepth) );
+#pragma omp critical( add_iso_edge_access )
+						{
+							typename Octree::template _SliceValues< Vertex >& _sValues = slabValues[_depth].sliceValues( _slice );
+							typename std::unordered_map< long long, std::vector< _IsoEdge > >::iterator iter = _sValues.faceEdgeMap.find(key);
+							if( iter==_sValues.faceEdgeMap.end() ) _sValues.faceEdgeMap[key] = edges;
+							else for( int j=0 ; j<fe.count ; j++ ) iter->second.push_back( fe.edges[j] );
+						}
+					}
+				}
+			}
+		}
+	}
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_setXSliceIsoEdges( LocalDepth depth , int slab , std::vector< _SlabValues< Vertex > >& slabValues , int threads )
+{
+	typename Octree::template  _SliceValues< Vertex >& bValues = slabValues[depth].sliceValues ( slab   );
+	typename Octree::template  _SliceValues< Vertex >& fValues = slabValues[depth].sliceValues ( slab+1 );
+	typename Octree::template _XSliceValues< Vertex >& xValues = slabValues[depth].xSliceValues( slab   );
+
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,slab) ; i<_sNodesEnd(depth,slab) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		int isoEdges[ 2 * MarchingSquares::MAX_EDGES ];
+		ConstAdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		if( !IsActiveNode( leaf->children ) )
+		{
+			const typename SortedTreeNodes::SquareCornerIndices& cIndices = xValues.xSliceData.edgeIndices( leaf );
+			const typename SortedTreeNodes::SquareEdgeIndices& eIndices = xValues.xSliceData.faceIndices( leaf );
+			unsigned char mcIndex = ( bValues.mcIndices[ i - bValues.sliceData.nodeOffset ] ) | ( fValues.mcIndices[ i - fValues.sliceData.nodeOffset ]<<4 );
+			{
+				neighborKey.getNeighbors( leaf );
+				for( int o=0 ; o<2 ; o++ ) for( int x=0 ; x<2 ; x++ )
+				{
+					int e = Square::EdgeIndex( o , x );
+					int f = Cube::FaceIndex( 1-o , x );
+					unsigned char _mcIndex = MarchingCubes::GetFaceIndex( mcIndex , f );
+					int xx = o==1 ? 2*x : 1 , yy = o==0 ? 2*x : 1 , zz = 1;
+					if(	!xValues.faceSet[ eIndices[e] ] && ( !IsActiveNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[xx][yy][zz] ) || !IsActiveNode( neighborKey.neighbors[ _localToGlobal( depth ) ].neighbors[xx][yy][zz]->children ) ) )
+					{
+						_FaceEdges fe;
+						fe.count = MarchingSquares::AddEdgeIndices( _mcIndex , isoEdges );
+						for( int j=0 ; j<fe.count ; j++ ) for( int k=0 ; k<2 ; k++ )
+						{
+							int _o , _x;
+							Square::FactorEdgeIndex( isoEdges[2*j+k] , _o , _x );
+							if( _o==1 ) // Cross-edge
+							{
+								int idx = o==0 ? cIndices[ Square::CornerIndex(_x,x) ] : cIndices[ Square::CornerIndex(x,_x) ];
+								if( !xValues.edgeSet[ idx ] ) fprintf( stderr , "[ERROR] Edge not set 3: %d / %d\n" , slab , 1<<depth ) , exit( 0 );
+								fe.edges[j][k] = xValues.edgeKeys[ idx ];
+							}
+							else
+							{
+								const typename Octree::template _SliceValues< Vertex >& sValues = (_x==0) ? bValues : fValues;
+								int idx = sValues.sliceData.edgeIndices(i)[ Square::EdgeIndex(o,x) ];
+								if( !sValues.edgeSet[ idx ] ) fprintf( stderr , "[ERROR] Edge not set 5: %d / %d\n" , slab , 1<<depth ) , exit( 0 );
+								fe.edges[j][k] = sValues.edgeKeys[ idx ];
+							}
+						}
+						xValues.faceSet[ eIndices[e] ] = 1;
+						xValues.faceEdges[ eIndices[e] ] = fe;
+
+						TreeOctNode* node = leaf;
+						LocalDepth _depth = depth;
+						int _slab = slab;
+						std::vector< _IsoEdge > edges;
+						edges.resize( fe.count );
+						for( int j=0 ; j<fe.count ; j++ ) edges[j] = fe.edges[j];
+						while( _isValidSpaceNode( node->parent ) && Cube::IsFaceCorner( (int)(node-node->parent->children) , f ) )
+						{
+							node = node->parent , _depth-- , _slab >>= 1;
+							if( IsActiveNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[xx][yy][zz] ) && IsActiveNode( neighborKey.neighbors[ _localToGlobal( _depth ) ].neighbors[xx][yy][zz]->children ) ) break;
+							long long key = VertexData::FaceIndex( node , f , _localToGlobal(_maxDepth) );
+#pragma omp critical( add_x_iso_edge_access )
+							{
+								typename Octree::template _XSliceValues< Vertex >& _xValues = slabValues[_depth].xSliceValues( _slab );
+								typename std::unordered_map< long long, std::vector< _IsoEdge > >::iterator iter = _xValues.faceEdgeMap.find(key);
+								if( iter==_xValues.faceEdgeMap.end() ) _xValues.faceEdgeMap[key] = edges;
+								else for( int j=0 ; j<fe.count ; j++ ) iter->second.push_back( fe.edges[j] );
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+}
+template< class Real >
+template< class Vertex >
+void Octree< Real >::_setIsoSurface( LocalDepth depth , int offset , const _SliceValues< Vertex >& bValues , const _SliceValues< Vertex >& fValues , const _XSliceValues< Vertex >& xValues , Kazhdan::Mesh& mesh , bool polygonMesh , bool addBarycenter , int& vOffset , int threads )
+{
+	std::vector< std::pair< int , Vertex > > polygon;
+	std::vector< std::vector< _IsoEdge > > edgess( std::max< int >( 1 , threads ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth,offset) ; i<_sNodesEnd(depth,offset) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		std::vector< _IsoEdge >& edges = edgess[ omp_get_thread_num() ];
+		TreeOctNode* leaf = _sNodes.treeNodes[i];
+		int res = 1<<depth;
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( leaf , d , off );
+		bool inBounds = off[0]>=0 && off[0]<res && off[1]>=0 && off[1]<res && off[2]>=0 && off[2]<res;
+		if( inBounds && !IsActiveNode( leaf->children ) )
+		{
+			edges.clear();
+			unsigned char mcIndex = ( bValues.mcIndices[ i - bValues.sliceData.nodeOffset ] ) | ( fValues.mcIndices[ i - fValues.sliceData.nodeOffset ]<<4 );
+			// [WARNING] Just because the node looks empty doesn't mean it doesn't get eges from finer neighbors
+			{
+				// Gather the edges from the faces (with the correct orientation)
+				for( int f=0 ; f<(int)Cube::FACES ; f++ )
+				{
+					int d , o;
+					Cube::FactorFaceIndex( f , d , o );
+					int flip = d==1 ? 1 : 0; // To account for the fact that the section in y flips the orientation
+					if( o ) flip = 1-flip;
+					flip = 1-flip; // To get the right orientation
+					if( d==2 )
+					{
+						const _SliceValues< Vertex >& sValues = (o==0) ? bValues : fValues;
+						int fIdx = sValues.sliceData.faceIndices(i)[0];
+						if( sValues.faceSet[fIdx] )
+						{
+							const _FaceEdges& fe = sValues.faceEdges[ fIdx ];
+							for( int j=0 ; j<fe.count ; j++ ) edges.push_back( _IsoEdge( fe.edges[j][flip] , fe.edges[j][1-flip] ) );
+						}
+						else
+						{
+							long long key = VertexData::FaceIndex( leaf , f , _localToGlobal(_maxDepth) );
+							typename std::unordered_map< long long, std::vector< _IsoEdge > >::const_iterator iter = sValues.faceEdgeMap.find(key);
+							if( iter!=sValues.faceEdgeMap.end() )
+							{
+								const std::vector< _IsoEdge >& _edges = iter->second;
+								for( size_t j=0 ; j<_edges.size() ; j++ ) edges.push_back( _IsoEdge( _edges[j][flip] , _edges[j][1-flip] ) );
+							}
+							else fprintf( stderr , "[ERROR] Invalid faces: %d  %d %d\n" , i , d , o ) , exit( 0 );
+						}
+					}
+					else
+					{
+						int fIdx = xValues.xSliceData.faceIndices(i)[ Square::EdgeIndex( 1-d , o ) ];
+						if( xValues.faceSet[fIdx] )
+						{
+							const _FaceEdges& fe = xValues.faceEdges[ fIdx ];
+							for( int j=0 ; j<fe.count ; j++ ) edges.push_back( _IsoEdge( fe.edges[j][flip] , fe.edges[j][1-flip] ) );
+						}
+						else
+						{
+							long long key = VertexData::FaceIndex( leaf , f , _localToGlobal(_maxDepth) );
+							typename std::unordered_map< long long , std::vector< _IsoEdge > >::const_iterator iter = xValues.faceEdgeMap.find(key);
+							if( iter!=xValues.faceEdgeMap.end() )
+							{
+								const std::vector< _IsoEdge >& _edges = iter->second;
+								for( size_t j=0 ; j<_edges.size() ; j++ ) edges.push_back( _IsoEdge( _edges[j][flip] , _edges[j][1-flip] ) );
+							}
+							else fprintf( stderr , "[ERROR] Invalid faces: %d  %d %d\n" , i , d , o ) , exit( 0 );
+						}
+					}
+				}
+				// Get the edge loops
+				std::vector< std::vector< long long  > > loops;
+				while( edges.size() )
+				{
+					loops.resize( loops.size()+1 );
+					_IsoEdge edge = edges.back();
+					edges.pop_back();
+					long long start = edge[0] , current = edge[1];
+					while( current!=start )
+					{
+						int idx;
+						for( idx=0 ; idx<(int)edges.size() ; idx++ ) if( edges[idx][0]==current ) break;
+						if( idx==(int)edges.size() )
+						{
+							typename std::unordered_map< long long, long long >::const_iterator iter;
+							if     ( (iter=bValues.vertexPairMap.find(current))!=bValues.vertexPairMap.end() ) loops.back().push_back( current ) , current = iter->second;
+							else if( (iter=fValues.vertexPairMap.find(current))!=fValues.vertexPairMap.end() ) loops.back().push_back( current ) , current = iter->second;
+							else if( (iter=xValues.vertexPairMap.find(current))!=xValues.vertexPairMap.end() ) loops.back().push_back( current ) , current = iter->second;
+							else
+							{
+								LocalDepth d ; LocalOffset off;
+								_localDepthAndOffset( leaf , d , off );
+								fprintf( stderr , "[ERROR] Failed to close loop [%d: %d %d %d] | (%d): %lld\n" , d-1 , off[0] , off[1] , off[2] , i , current );
+								exit( 0 );
+							}
+						}
+						else
+						{
+							loops.back().push_back( current );
+							current = edges[idx][1];
+							edges[idx] = edges.back() , edges.pop_back();
+						}
+					}
+					loops.back().push_back( start );
+				}
+				// Add the loops to the mesh
+				for( size_t j=0 ; j<loops.size() ; j++ )
+				{
+					std::vector< std::pair< int , Vertex > > polygon( loops[j].size() );
+					for( size_t k=0 ; k<loops[j].size() ; k++ )
+					{
+						long long key = loops[j][k];
+						typename std::unordered_map< long long, std::pair< int, Vertex > >::const_iterator iter;
+						if     ( ( iter=bValues.edgeVertexMap.find( key ) )!=bValues.edgeVertexMap.end() ) polygon[k] = iter->second;
+						else if( ( iter=fValues.edgeVertexMap.find( key ) )!=fValues.edgeVertexMap.end() ) polygon[k] = iter->second;
+						else if( ( iter=xValues.edgeVertexMap.find( key ) )!=xValues.edgeVertexMap.end() ) polygon[k] = iter->second;
+						else fprintf( stderr , "[ERROR] Couldn't find vertex in edge map\n" ) , exit( 0 );
+					}
+					_addIsoPolygons( mesh , polygon , polygonMesh , addBarycenter , vOffset );
+				}
+			}
+		}
+	}
+}
+template< class Real > void SetColor( Point3D< Real >& color , unsigned char c[3] ){ for( int i=0 ; i<3 ; i++ ) c[i] = (unsigned char)std::max< int >( 0 , std::min< int >( 255 , (int)( color[i]+0.5 ) ) ); }
+
+template< class Real > void SetIsoVertex(              PlyVertex< float  >& vertex , Point3D< Real > color , Real value ){ ; }
+template< class Real > void SetIsoVertex(         PlyColorVertex< float  >& vertex , Point3D< Real > color , Real value ){ SetColor( color , vertex.color ); }
+template< class Real > void SetIsoVertex(         PlyValueVertex< float  >& vertex , Point3D< Real > color , Real value ){                                    vertex.value = float(value); }
+template< class Real > void SetIsoVertex( PlyColorAndValueVertex< float  >& vertex , Point3D< Real > color , Real value ){ SetColor( color , vertex.color ) , vertex.value = float(value); }
+template< class Real > void SetIsoVertex(              PlyVertex< double >& vertex , Point3D< Real > color , Real value ){ ; }
+template< class Real > void SetIsoVertex(         PlyColorVertex< double >& vertex , Point3D< Real > color , Real value ){ SetColor( color , vertex.color ); }
+template< class Real > void SetIsoVertex(         PlyValueVertex< double >& vertex , Point3D< Real > color , Real value ){                                    vertex.value = double(value); }
+template< class Real > void SetIsoVertex( PlyColorAndValueVertex< double >& vertex , Point3D< Real > color , Real value ){ SetColor( color , vertex.color ) , vertex.value = double(value); }
+
+template< class Real >
+template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+bool Octree< Real >::_getIsoVertex( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , ConstPointSupportKey< WeightDegree >& weightKey , ConstPointSupportKey< ColorDegree >& colorKey , const TreeOctNode* node , int edgeIndex , int z , const _SliceValues< Vertex >& sValues , Vertex& vertex )
+{
+	Point3D< Real > position;
+	int c0 , c1;
+	Square::EdgeCorners( edgeIndex , c0 , c1 );
+
+	bool nonLinearFit = sValues.cornerGradients!=NullPointer( Point3D< Real > );
+	const typename SortedTreeNodes::SquareCornerIndices& idx = sValues.sliceData.cornerIndices( node );
+	Real x0 = sValues.cornerValues[idx[c0]] , x1 = sValues.cornerValues[idx[c1]];
+	Point3D< Real > s;
+	Real start , width;
+	_startAndWidth( node , s , width );
+	int o , y;
+	Square::FactorEdgeIndex( edgeIndex , o , y );
+	start = s[o];
+	switch( o )
+	{
+	case 0:
+		position[1] = s[1] + width*y;
+		position[2] = s[2] + width*z;
+		break;
+	case 1:
+		position[0] = s[0] + width*y;
+		position[2] = s[2] + width*z;
+		break;
+	}
+
+	double averageRoot;
+	bool rootFound = false;
+	if( nonLinearFit )
+	{
+		double dx0 = sValues.cornerGradients[idx[c0]][o] * width , dx1 = sValues.cornerGradients[idx[c1]][o] * width;
+
+		// The scaling will turn the Hermite Spline into a quadratic
+		double scl = (x1-x0) / ( (dx1+dx0 ) / 2 );
+		dx0 *= scl , dx1 *= scl;
+
+		// Hermite Spline
+		Polynomial< 2 > P;
+		P.coefficients[0] = x0;
+		P.coefficients[1] = dx0;
+		P.coefficients[2] = 3*(x1-x0)-dx1-2*dx0;
+
+		double roots[2];
+		int rCount = 0 , rootCount = P.getSolutions( isoValue , roots , 0 );
+		averageRoot = 0;
+		for( int i=0 ; i<rootCount ; i++ ) if( roots[i]>=0 && roots[i]<=1 ) averageRoot += roots[i] , rCount++;
+		if( rCount ) rootFound = true;
+		averageRoot /= rCount;
+	}
+	if( !rootFound )
+	{
+		// We have a linear function L, with L(0) = x0 and L(1) = x1
+		// => L(t) = x0 + t * (x1-x0)
+		// => L(t) = isoValue <=> t = ( isoValue - x0 ) / ( x1 - x0 )
+		if( x0==x1 ) fprintf( stderr , "[ERROR] Not a zero-crossing root: %g %g\n" , x0 , x1 ) , exit( 0 );
+		averageRoot = ( isoValue - x0 ) / ( x1 - x0 );
+	}
+	if( averageRoot<0 || averageRoot>1 )
+	{
+		fprintf( stderr , "[WARNING] Bad average root: %f\n" , averageRoot );
+		fprintf( stderr , "\t(%f %f) (%f)\n" , x0 , x1 , isoValue );
+		if( averageRoot<0 ) averageRoot = 0;
+		if( averageRoot>1 ) averageRoot = 1;
+	}
+	position[o] = Real( start + width*averageRoot );
+	vertex.point = position;
+	Point3D< Real > color;
+	Real depth(0);
+	if( densityWeights )
+	{
+		Real weight;
+		_getSampleDepthAndWeight<WeightDegree>( *densityWeights , node , position , weightKey , depth , weight );
+	}
+	if( colorData ) color = Point3D< Real >( _evaluate< ProjectiveData< Point3D< Real > , Real > >( *colorData , position , *colorBSData , colorKey ) );
+	SetIsoVertex( vertex , color , depth );
+	return true;
+}
+template< class Real >
+template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+bool Octree< Real >::_getIsoVertex( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , ConstPointSupportKey< WeightDegree >& weightKey , ConstPointSupportKey< ColorDegree >& colorKey , const TreeOctNode* node , int cornerIndex , const _SliceValues< Vertex >& bValues , const _SliceValues< Vertex >& fValues , Vertex& vertex )
+{
+	Point3D< Real > position;
+
+	bool nonLinearFit = bValues.cornerGradients!=NullPointer( Point3D< Real > ) && fValues.cornerGradients!=NullPointer( Point3D< Real > );
+	const typename SortedTreeNodes::SquareCornerIndices& idx0 = bValues.sliceData.cornerIndices( node );
+	const typename SortedTreeNodes::SquareCornerIndices& idx1 = fValues.sliceData.cornerIndices( node );
+	Real x0 = bValues.cornerValues[ idx0[cornerIndex] ] , x1 = fValues.cornerValues[ idx1[cornerIndex] ];
+	Point3D< Real > s;
+	Real start , width;
+	_startAndWidth( node , s , width );
+	start = s[2];
+	int x , y;
+	Square::FactorCornerIndex( cornerIndex , x , y );
+
+
+	position[0] = s[0] + width*x;
+	position[1] = s[1] + width*y;
+
+	double averageRoot;
+
+	bool rootFound = false;
+	if( nonLinearFit )
+	{
+		double dx0 = bValues.cornerGradients[ idx0[cornerIndex] ][2] * width , dx1 = fValues.cornerGradients[ idx1[cornerIndex] ][2] * width;
+		// The scaling will turn the Hermite Spline into a quadratic
+		double scl = (x1-x0) / ( (dx1+dx0 ) / 2 );
+		dx0 *= scl , dx1 *= scl;
+
+		// Hermite Spline
+		Polynomial< 2 > P;
+		P.coefficients[0] = x0;
+		P.coefficients[1] = dx0;
+		P.coefficients[2] = 3*(x1-x0)-dx1-2*dx0;
+
+		double roots[2];
+		int rCount = 0 , rootCount = P.getSolutions( isoValue , roots , 0 );
+		averageRoot = 0;
+		for( int i=0 ; i<rootCount ; i++ ) if( roots[i]>=0 && roots[i]<=1 ) averageRoot += roots[i] , rCount++;
+		if( rCount ) rootFound = true;
+		averageRoot /= rCount;
+	}
+	if( !rootFound )
+	{
+		// We have a linear function L, with L(0) = x0 and L(1) = x1
+		// => L(t) = x0 + t * (x1-x0)
+		// => L(t) = isoValue <=> t = ( isoValue - x0 ) / ( x1 - x0 )
+		if( x0==x1 ) fprintf( stderr , "[ERROR] Not a zero-crossing root: %g %g\n" , x0 , x1 ) , exit( 0 );
+		averageRoot = ( isoValue - x0 ) / ( x1 - x0 );
+	}
+	if( averageRoot<0 || averageRoot>1 )
+	{
+		fprintf( stderr , "[WARNING] Bad average root: %f\n" , averageRoot );
+		fprintf( stderr , "\t(%f %f) (%f)\n" , x0 , x1 , isoValue );
+		if( averageRoot<0 ) averageRoot = 0;
+		if( averageRoot>1 ) averageRoot = 1;
+	}
+	position[2] = Real( start + width*averageRoot );
+	vertex.point = position;
+	Point3D< Real > color;
+	Real depth(0);
+	if( densityWeights )
+	{
+		Real weight;
+		_getSampleDepthAndWeight<WeightDegree>( *densityWeights , node , position , weightKey , depth , weight );
+	}
+	if( colorData ) color = Point3D< Real >( _evaluate< ProjectiveData< Point3D< Real > , Real > >( *colorData , position , *colorBSData , colorKey ) );
+	SetIsoVertex( vertex , color , depth );
+	return true;
+}
+
+template< class Real >
+template< class Vertex >
+int Octree< Real >::_addIsoPolygons( Kazhdan::Mesh& mesh , std::vector< std::pair< int , Vertex > >& polygon , bool polygonMesh , bool addBarycenter , int& vOffset )
+{
+	if( polygonMesh )
+	{
+		std::vector< int > vertices( polygon.size() );
+		for( int i=0 ; i<(int)polygon.size() ; i++ ) vertices[i] = polygon[polygon.size()-1-i].first;
+		mesh.newPolygon(vertices);
+		return 1;
+	}
+	if( polygon.size()>3 )
+	{
+		bool isCoplanar = false;
+		std::vector< int > triangle( 3 );
+
+		if( addBarycenter )
+			for( int i=0 ; i<(int)polygon.size() ; i++ )
+				for( int j=0 ; j<i ; j++ )
+					if( (i+1)%(int)polygon.size()!=j && (j+1)%(int)polygon.size()!=i )
+					{
+						Vertex v1 = polygon[i].second , v2 = polygon[j].second;
+						for( int k=0 ; k<3 ; k++ ) if( v1.point[k]==v2.point[k] ) isCoplanar = true;
+					}
+		if( isCoplanar )
+		{
+			Vertex c;
+			typename Vertex::Wrapper _c;
+			_c *= 0;
+			for( int i=0 ; i<(int)polygon.size() ; i++ ) _c += typename Vertex::Wrapper( polygon[i].second );
+			_c /= Real( polygon.size() );
+			c = Vertex( _c );
+			int cIdx;
+#pragma omp critical (add_barycenter_point_access)
+			{
+				cIdx = addPoint(mesh, c);
+				vOffset++;
+			}
+			for( int i=0 ; i<(int)polygon.size() ; i++ )
+			{
+				triangle[0] = polygon[ i                  ].first;
+				triangle[1] = cIdx;
+				triangle[2] = polygon[(i+1)%polygon.size()].first;
+				mesh.newPolygon( triangle );
+			}
+			return (int)polygon.size();
+		}
+		else
+		{
+			MinimalAreaTriangulation< Real > MAT;
+			std::vector< Point3D< Real > > vertices;
+			std::vector< TriangleIndex > triangles;
+			vertices.resize( polygon.size() );
+			// Add the points
+			for( int i=0 ; i<(int)polygon.size() ; i++ ) vertices[i] = polygon[i].second.point;
+			MAT.GetTriangulation( vertices , triangles );
+			for( int i=0 ; i<(int)triangles.size() ; i++ )
+			{
+				for( int j=0 ; j<3 ; j++ ) triangle[2-j] = polygon[ triangles[i].idx[j] ].first;
+				mesh.newPolygon( triangle );
+			}
+		}
+	}
+	else if( polygon.size()==3 )
+	{
+		std::vector< int > vertices( 3 );
+		for( int i=0 ; i<3 ; i++ ) vertices[2-i] = polygon[i].first;
+		mesh.newPolygon( vertices );
+	}
+	return (int)polygon.size()-2;
+}
diff --git a/vendor/kazhdan/MultiGridOctreeData.SortedTreeNodes.inl b/vendor/kazhdan/MultiGridOctreeData.SortedTreeNodes.inl
new file mode 100644
index 0000000..a3f3981
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.SortedTreeNodes.inl
@@ -0,0 +1,357 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+/////////////////////
+// SortedTreeNodes //
+/////////////////////
+SortedTreeNodes::SortedTreeNodes( void )
+{
+	_sliceStart = NullPointer( Pointer( int ) );
+	treeNodes = NullPointer( TreeOctNode* );
+	_levels = 0;
+}
+SortedTreeNodes::~SortedTreeNodes( void )
+{
+	if( _sliceStart ) for( int d=0 ; d<_levels ; d++ ) FreePointer( _sliceStart[d] );
+	FreePointer( _sliceStart );
+	DeletePointer( treeNodes );
+}
+void SortedTreeNodes::set( TreeOctNode& root , std::vector< int >* map )
+{
+	set( root );
+
+	if( map )
+	{
+		map->resize( _sliceStart[_levels-1][(size_t)1<<(_levels-1)] );
+		for( int i=0 ; i<_sliceStart[_levels-1][(size_t)1<<(_levels-1)] ; i++ ) (*map)[i] = treeNodes[i]->nodeData.nodeIndex;
+	}
+	for( int i=0 ; i<_sliceStart[_levels-1][(size_t)1<<(_levels-1)] ; i++ ) treeNodes[i]->nodeData.nodeIndex = i;
+}
+void SortedTreeNodes::set( TreeOctNode& root )
+{
+	_levels = root.maxDepth()+1;
+
+	if( _sliceStart ) for( int d=0 ; d<_levels ; d++ ) FreePointer( _sliceStart[d] );
+	FreePointer( _sliceStart );
+	DeletePointer( treeNodes );
+
+	_sliceStart = AllocPointer< Pointer( int ) >( _levels );
+	for( int l=0 ; l<_levels ; l++ )
+	{
+		_sliceStart[l] = AllocPointer< int >( ((size_t)1<<l)+1 );
+		memset( _sliceStart[l] , 0 , sizeof(int)*( ((size_t)1<<l)+1 ) );
+	}
+
+	// Count the number of nodes in each slice
+	for( TreeOctNode* node = root.nextNode() ; node ; node = root.nextNode( node ) ) if( !GetGhostFlag( node ) )
+	{
+		int d , off[3];
+		node->depthAndOffset( d , off );
+		_sliceStart[d][ off[2]+1 ]++;
+	}
+
+	// Get the start index for each slice
+	{
+		int levelOffset = 0;
+		for( int l=0 ; l<_levels ; l++ )
+		{
+			_sliceStart[l][0] = levelOffset;
+			for( int s=0 ; s<(int)((size_t)1<<l); s++ ) _sliceStart[l][s+1] += _sliceStart[l][s];
+			levelOffset = _sliceStart[l][(size_t)1<<l];
+		}
+	}
+	// Allocate memory for the tree nodes
+	treeNodes = NewPointer< TreeOctNode* >( _sliceStart[_levels-1][(size_t)1<<(_levels-1)] );
+
+	// Add the tree nodes
+	for( TreeOctNode* node=root.nextNode() ; node ; node=root.nextNode( node ) ) if( !GetGhostFlag( node ) )
+	{
+		int d , off[3];
+		node->depthAndOffset( d , off );
+		treeNodes[ _sliceStart[d][ off[2] ]++ ] = node;
+	}
+
+	// Shift the slice offsets up since we incremented as we added
+	for( int l=0 ; l<_levels ; l++ )
+	{
+		for( int s=(1<<l) ; s>0 ; s-- ) _sliceStart[l][s] = _sliceStart[l][s-1];
+		_sliceStart[l][0] = l>0 ? _sliceStart[l-1][(size_t)1<<(l-1)] : 0;
+	}
+}
+SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::SliceTableData::cornerIndices( const TreeOctNode* node ) { return cTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::SliceTableData::cornerIndices( int idx ) { return cTable[ idx - nodeOffset ]; }
+const SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::SliceTableData::cornerIndices( const TreeOctNode* node ) const { return cTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+const SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::SliceTableData::cornerIndices( int idx ) const { return cTable[ idx - nodeOffset ]; }
+SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::SliceTableData::edgeIndices( const TreeOctNode* node ) { return eTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::SliceTableData::edgeIndices( int idx ) { return eTable[ idx - nodeOffset ]; }
+const SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::SliceTableData::edgeIndices( const TreeOctNode* node ) const { return eTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+const SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::SliceTableData::edgeIndices( int idx ) const { return eTable[ idx - nodeOffset ]; }
+SortedTreeNodes::SquareFaceIndices& SortedTreeNodes::SliceTableData::faceIndices( const TreeOctNode* node ) { return fTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+SortedTreeNodes::SquareFaceIndices& SortedTreeNodes::SliceTableData::faceIndices( int idx ) { return fTable[ idx - nodeOffset ]; }
+const SortedTreeNodes::SquareFaceIndices& SortedTreeNodes::SliceTableData::faceIndices( const TreeOctNode* node ) const { return fTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+const SortedTreeNodes::SquareFaceIndices& SortedTreeNodes::SliceTableData::faceIndices( int idx ) const { return fTable[ idx - nodeOffset ]; }
+SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::XSliceTableData::edgeIndices( const TreeOctNode* node ) { return eTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::XSliceTableData::edgeIndices( int idx ) { return eTable[ idx - nodeOffset ]; }
+const SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::XSliceTableData::edgeIndices( const TreeOctNode* node ) const { return eTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+const SortedTreeNodes::SquareCornerIndices& SortedTreeNodes::XSliceTableData::edgeIndices( int idx ) const { return eTable[ idx - nodeOffset ]; }
+SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::XSliceTableData::faceIndices( const TreeOctNode* node ) { return fTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::XSliceTableData::faceIndices( int idx ) { return fTable[ idx - nodeOffset ]; }
+const SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::XSliceTableData::faceIndices( const TreeOctNode* node ) const { return fTable[ node->nodeData.nodeIndex - nodeOffset ]; }
+const SortedTreeNodes::SquareEdgeIndices& SortedTreeNodes::XSliceTableData::faceIndices( int idx ) const { return fTable[ idx - nodeOffset ]; }
+
+void SortedTreeNodes::setSliceTableData( SliceTableData& sData , int depth , int offset , int threads ) const
+{
+	// [NOTE] This is structure is purely for determining adjacency and is independent of the FEM degree
+	typedef OctNode< TreeNodeData >::template ConstNeighborKey< 1 , 1 > ConstAdjacenctNodeKey;
+	if( offset<0 || offset>(int)((size_t)1<<depth) ) return;
+	if( threads<=0 ) threads = 1;
+	// The vector of per-depth node spans
+	std::pair< int , int > span( _sliceStart[depth][ std::max< int >( 0 , offset-1 ) ] , _sliceStart[depth][ std::min< int >( (size_t)1<<depth , offset+1 ) ] );
+	sData.nodeOffset = span.first;
+	sData.nodeCount = span.second - span.first;
+
+	DeletePointer( sData._cMap ) ; DeletePointer( sData._eMap ) ; DeletePointer( sData._fMap );
+	DeletePointer( sData.cTable ) ; DeletePointer( sData.eTable ) ; DeletePointer( sData.fTable );
+	if( sData.nodeCount )
+	{
+		sData._cMap = NewPointer< int >( sData.nodeCount * Square::CORNERS );
+		sData._eMap = NewPointer< int >( sData.nodeCount * Square::EDGES );
+		sData._fMap = NewPointer< int >( sData.nodeCount * Square::FACES );
+		sData.cTable = NewPointer< typename SortedTreeNodes::SquareCornerIndices >( sData.nodeCount );
+		sData.eTable = NewPointer< typename SortedTreeNodes::SquareCornerIndices >( sData.nodeCount );
+		sData.fTable = NewPointer< typename SortedTreeNodes::SquareFaceIndices >( sData.nodeCount );
+		memset( sData._cMap , 0 , sizeof(int) * sData.nodeCount * Square::CORNERS );
+		memset( sData._eMap , 0 , sizeof(int) * sData.nodeCount * Square::EDGES );
+		memset( sData._fMap , 0 , sizeof(int) * sData.nodeCount * Square::FACES );
+	}
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( depth );
+#pragma omp parallel for num_threads( threads )
+	for( int i=span.first ; i<span.second ; i++ )
+	{
+		ConstAdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* node = treeNodes[i];
+		const TreeOctNode::ConstNeighbors< 3 >& neighbors = neighborKey.getNeighbors( node );
+		int d , off[3];
+		node->depthAndOffset( d , off );
+		int z;
+		if     ( off[2]==offset-1 ) z = 1;
+		else if( off[2]==offset   ) z = 0;
+		else fprintf( stderr , "[ERROR] Node out of bounds: %d %d\n" , offset , off[2] ) , exit( 0 );
+		// Process the corners
+		for( int x=0 ; x<2 ; x++ ) for( int y=0 ; y<2 ; y++ )
+		{
+			int c = Cube::CornerIndex( x , y , z );
+			int fc = Square::CornerIndex( x , y );
+			bool cornerOwner = true;
+			int ac = Cube::AntipodalCornerIndex(c); // The index of the node relative to the corner
+			for( int cc=0 ; cc<(int)Cube::CORNERS ; cc++ ) // Iterate over the corner's cells
+			{
+				int xx , yy , zz;
+				Cube::FactorCornerIndex( cc , xx , yy , zz );
+				xx += x , yy += y , zz += z;
+				if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) && cc<ac ){ cornerOwner = false ; break; }
+			}
+			if( cornerOwner )
+			{
+				int myCount = (i - sData.nodeOffset) * Square::CORNERS + fc;
+				sData._cMap[ myCount ] = 1;
+				for( int cc=0 ; cc<(int)Cube::CORNERS ; cc++ )
+				{
+					int xx , yy , zz;
+					Cube::FactorCornerIndex( cc , xx , yy , zz );
+					int ac = Square::CornerIndex( 1-xx , 1-yy );
+					xx += x , yy += y , zz += z;
+					if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) ) sData.cornerIndices( neighbors.neighbors[xx][yy][zz] )[ac] = myCount;
+				}
+			}
+		}
+		// Process the edges
+		for( int o=0 ; o<2 ; o++ ) for( int y=0 ; y<2 ; y++ )
+		{
+			int fe = Square::EdgeIndex( o , y );
+			bool edgeOwner = true;
+
+			int ac = Square::AntipodalCornerIndex( Square::CornerIndex( y , z ) );
+			for( int cc=0 ; cc<(int)Square::CORNERS ; cc++ )
+			{
+				int ii , jj , xx , yy , zz;
+				Square::FactorCornerIndex( cc , ii , jj );
+				ii += y , jj += z;
+				switch( o )
+				{
+				case 0: yy = ii , zz = jj , xx = 1 ; break;
+				case 1: xx = ii , zz = jj , yy = 1 ; break;
+				}
+				if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) && cc<ac ){ edgeOwner = false ; break; }
+			}
+			if( edgeOwner )
+			{
+				int myCount = ( i - sData.nodeOffset ) * Square::EDGES + fe;
+				sData._eMap[ myCount ] = 1;
+				// Set all edge indices
+				for( int cc=0 ; cc<(int)Square::CORNERS ; cc++ )
+				{
+					int ii , jj , aii , ajj , xx , yy , zz;
+					Square::FactorCornerIndex( cc , ii , jj );
+					Square::FactorCornerIndex( Square::AntipodalCornerIndex( cc ) , aii , ajj );
+					ii += y , jj += z;
+					switch( o )
+					{
+					case 0: yy = ii , zz = jj , xx = 1 ; break;
+					case 1: xx = ii , zz = jj , yy = 1 ; break;
+					}
+					if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) ) sData.edgeIndices( neighbors.neighbors[xx][yy][zz] )[ Square::EdgeIndex( o , aii ) ] = myCount;
+				}
+			}
+		}
+		// Process the Faces
+		{
+			bool faceOwner = !( IsActiveNode( neighbors.neighbors[1][1][2*z] ) && !z );
+			if( faceOwner )
+			{
+				int myCount = ( i - sData.nodeOffset ) * Square::FACES;
+				sData._fMap[ myCount ] = 1;
+				// Set the face indices
+				sData.faceIndices( node )[0] = myCount;
+				if( IsActiveNode( neighbors.neighbors[1][1][2*z] ) ) sData.faceIndices( neighbors.neighbors[1][1][2*z] )[0] = myCount;
+			}
+		}
+	}
+	int cCount = 0 , eCount = 0 , fCount = 0;
+
+	for( size_t i=0 ; i<sData.nodeCount * Square::CORNERS ; i++ ) if( sData._cMap[i] ) sData._cMap[i] = cCount++;
+	for( size_t i=0 ; i<sData.nodeCount * Square::EDGES   ; i++ ) if( sData._eMap[i] ) sData._eMap[i] = eCount++;
+	for( size_t i=0 ; i<sData.nodeCount * Square::FACES   ; i++ ) if( sData._fMap[i] ) sData._fMap[i] = fCount++;
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<sData.nodeCount ; i++ )
+	{
+		for( int j=0 ; j<(int)Square::CORNERS ; j++ ) sData.cTable[i][j] = sData._cMap[ sData.cTable[i][j] ];
+		for( int j=0 ; j<(int)Square::EDGES   ; j++ ) sData.eTable[i][j] = sData._eMap[ sData.eTable[i][j] ];
+		for( int j=0 ; j<(int)Square::FACES   ; j++ ) sData.fTable[i][j] = sData._fMap[ sData.fTable[i][j] ];
+	}
+
+	sData.cCount = cCount , sData.eCount = eCount , sData.fCount = fCount;
+}
+void SortedTreeNodes::setXSliceTableData( XSliceTableData& sData , int depth , int offset , int threads ) const
+{
+	typedef OctNode< TreeNodeData >::template ConstNeighborKey< 1 , 1 > ConstAdjacenctNodeKey;
+	if( offset<0 || offset>=(int)((size_t)1<<depth) ) return;
+	if( threads<=0 ) threads = 1;
+	// The vector of per-depth node spans
+	std::pair< int , int > span( _sliceStart[depth][offset] , _sliceStart[depth][offset+1] );
+	sData.nodeOffset = span.first;
+	sData.nodeCount = span.second - span.first;
+
+	DeletePointer( sData._eMap ) ; DeletePointer( sData._fMap );
+	DeletePointer( sData.eTable ) ; DeletePointer( sData.fTable );
+	if( sData.nodeCount )
+	{
+		sData._eMap = NewPointer< int >( sData.nodeCount * Square::CORNERS );
+		sData._fMap = NewPointer< int >( sData.nodeCount * Square::EDGES );
+		sData.eTable = NewPointer< typename SortedTreeNodes::SquareCornerIndices >( sData.nodeCount );
+		sData.fTable = NewPointer< typename SortedTreeNodes::SquareEdgeIndices >( sData.nodeCount );
+		memset( sData._eMap , 0 , sizeof(int) * sData.nodeCount * Square::CORNERS );
+		memset( sData._fMap , 0 , sizeof(int) * sData.nodeCount * Square::EDGES );
+	}
+
+	std::vector< ConstAdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( depth );
+#pragma omp parallel for num_threads( threads )
+	for( int i=span.first ; i<span.second ; i++ )
+	{
+		ConstAdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* node = treeNodes[i];
+		const TreeOctNode::ConstNeighbors<3>& neighbors = neighborKey.getNeighbors( node );
+		int d , off[3];
+		node->depthAndOffset( d , off );
+		// Process the edges
+		int o=2;
+		for( int x=0 ; x<2 ; x++ ) for( int y=0 ; y<2 ; y++ )
+		{
+			int fc = Square::CornerIndex( x , y );
+			bool edgeOwner = true;
+
+			int ac = Square::AntipodalCornerIndex( Square::CornerIndex( x , y ) );
+			for( int cc=0 ; cc<(int)Square::CORNERS ; cc++ )
+			{
+				int ii , jj , xx , yy , zz;
+				Square::FactorCornerIndex( cc , ii , jj );
+				ii += x , jj += y;
+				xx = ii , yy = jj , zz = 1;
+				if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) && cc<ac ){ edgeOwner = false ; break; }
+			}
+			if( edgeOwner )
+			{
+				int myCount = ( i - sData.nodeOffset ) * Square::CORNERS + fc;
+				sData._eMap[ myCount ] = 1;
+
+				// Set all edge indices
+				for( int cc=0 ; cc<(int)Square::CORNERS ; cc++ )
+				{
+					int ii , jj , aii , ajj , xx , yy , zz;
+					Square::FactorCornerIndex( cc , ii , jj );
+					Square::FactorCornerIndex( Square::AntipodalCornerIndex( cc ) , aii , ajj );
+					ii += x , jj += y;
+					xx = ii , yy = jj , zz = 1;
+					if( IsActiveNode( neighbors.neighbors[xx][yy][zz] ) ) sData.edgeIndices( neighbors.neighbors[xx][yy][zz] )[ Square::CornerIndex( aii , ajj ) ] = myCount;
+				}
+			}
+		}
+		// Process the faces
+		for( int o=0 ; o<2 ; o++ ) for( int y=0 ; y<2 ; y++ )
+		{
+			bool faceOwner;
+			if( o==0 ) faceOwner = !( IsActiveNode( neighbors.neighbors[1][2*y][1] ) && !y );
+			else       faceOwner = !( IsActiveNode( neighbors.neighbors[2*y][1][1] ) && !y );
+			if( faceOwner )
+			{
+				int fe = Square::EdgeIndex( o , y );
+				int ae = Square::EdgeIndex( o , 1-y );
+				int myCount = ( i - sData.nodeOffset ) * Square::EDGES + fe;
+				sData._fMap[ myCount ] = 1;
+				// Set the face indices
+				sData.faceIndices( node )[fe] = myCount;
+				if( o==0 && IsActiveNode( neighbors.neighbors[1][2*y][1] ) ) sData.faceIndices( neighbors.neighbors[1][2*y][1] )[ae] = myCount;
+				if( o==1 && IsActiveNode( neighbors.neighbors[2*y][1][1] ) ) sData.faceIndices( neighbors.neighbors[2*y][1][1] )[ae] = myCount;
+			}
+		}
+	}
+	int eCount = 0 , fCount = 0;
+
+	for( size_t i=0 ; i<sData.nodeCount * Square::CORNERS ; i++ ) if( sData._eMap[i] ) sData._eMap[i] = eCount++;
+	for( size_t i=0 ; i<sData.nodeCount * Square::EDGES   ; i++ ) if( sData._fMap[i] ) sData._fMap[i] = fCount++;
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<sData.nodeCount ; i++ )
+	{
+		for( int j=0 ; j<(int)Square::CORNERS ; j++ ) sData.eTable[i][j] = sData._eMap[ sData.eTable[i][j] ];
+		for( int j=0 ; j<(int)Square::EDGES   ; j++ ) sData.fTable[i][j] = sData._fMap[ sData.fTable[i][j] ];
+	}
+
+	sData.eCount = eCount , sData.fCount = fCount;
+}
diff --git a/vendor/kazhdan/MultiGridOctreeData.System.inl b/vendor/kazhdan/MultiGridOctreeData.System.inl
new file mode 100644
index 0000000..c6680f5
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.System.inl
@@ -0,0 +1,2279 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+template< class Real , int Degree , bool HasGradients >
+struct _ConstraintCalculator_
+{
+	static inline Real _CalculateConstraint_( const PointData< Real , HasGradients >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz , Real valueWeight , Real gradientWeight );
+	static inline Real _CalculateConstraint_( const PointData< Real , HasGradients >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz );
+#if POINT_DATA_RES
+	static inline void _CalculateCoarser_( int c , PointData< Real , HasGradients >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight );
+#else // !POINT_DATA_RES
+	static inline void _CalculateCoarser_( PointData< Real , HasGradients >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight );
+#endif // POINT_DATA_RES
+
+};
+template< class Real , int Degree >
+struct _ConstraintCalculator_< Real , Degree , false >
+{
+	static inline Real _CalculateConstraint_( const PointData< Real , false >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz , Real valueWeight , Real gradientWeight )
+	{
+#if POINT_DATA_RES
+		Real constraint = 0;
+		for( int c=0 ; c<PointData< Real , false >::SAMPLES ; c++ ) if( p[c].weight )
+		{
+			const Point3D< Real > q = p[c].position;
+			constraint += (Real)( px( q[0] ) * py( q[1] ) * pz( q[2] ) * p[c].weight * p[c].value );
+		}
+		return constraint * valueWeight;
+#else // !POINT_DATA_RES
+		const Point3D< Real > q = p.position;
+		return (Real)( px( q[0] ) * py( q[1] ) * pz( q[2] ) * p.weight * p.value ) * valueWeight;
+#endif // POINT_DATA_RES
+	}
+	static inline Real _CalculateConstraint_( const PointData< Real , false >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz )
+	{
+#if POINT_DATA_RES
+		Real constraint = 0;
+		for( int c=0 ; c<PointData< Real , false >::SAMPLES ; c++ ) if( p[c].weight )
+		{
+			const Point3D< Real > q = p[c].position;
+			constraint += (Real)( px( q[0] ) * py( q[1] ) * pz( q[2] ) * p[c]._value );
+		}
+		return constraint;
+#else // !POINT_DATA_RES
+		const Point3D< Real > q = p.position;
+		return (Real)( px( q[0] ) * py( q[1] ) * pz( q[2] ) * p._value );
+#endif // POINT_DATA_RES
+	}
+#if POINT_DATA_RES
+	static inline void _CalculateCoarser_( int c , PointData< Real , false >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight ){ p[c]._value = value * valueWeight * p[c].weight; }
+#else // !POINT_DATA_RES
+	static inline void _CalculateCoarser_( PointData< Real , false >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight ){ p._value = value * valueWeight * p.weight; }
+#endif // POINT_DATA_RES
+};
+template< class Real , int Degree >
+struct _ConstraintCalculator_< Real , Degree , true >
+{
+	static inline Real _CalculateConstraint_( const PointData< Real , true >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz , Real valueWeight , Real gradientWeight )
+	{
+#if POINT_DATA_RES
+		Real constraint = 0;
+		for( int c=0 ; c<PointData< Real , true >::SAMPLES ; c++ ) if( p[c].weight )
+		{
+			const Point3D< Real > q = p[c].position;
+			double _px = px( q[0] ) , _py = py( q[1] ) , _pz = pz( q[2] );
+			constraint +=
+				(
+					(Real)( _px * _py * _pz * p[c].value ) * valueWeight +
+					Point3D< Real >::Dot( Point3D< Real >( dpx( q[0] ) * _py * _pz , _px * dpy( q[1] ) * _pz , _px * _py * dpz( q[2] ) ) , p[c].gradient ) * gradientWeight
+				) * p[c].weight;
+		}
+		return constraint;
+#else // !POINT_DATA_RES
+		const Point3D< Real > q = p.position;
+		double _px = px( q[0] ) , _py = py( q[1] ) , _pz = pz( q[2] );
+		return
+			(
+			(Real)( _px * _py * _pz * p.value ) * valueWeight +
+				Point3D< Real >::Dot( Point3D< Real >( dpx( q[0] ) * _py * _pz , _px * dpy( q[1] ) * _pz , _px * _py * dpz( q[2] ) ) , p.gradient ) * gradientWeight
+			) * p.weight;
+#endif // POINT_DATA_RES
+	}
+	static inline Real _CalculateConstraint_( const PointData< Real , true >& p , const Polynomial< Degree >& px , const Polynomial< Degree >& py , const Polynomial< Degree >& pz , const Polynomial< Degree >& dpx , const Polynomial< Degree >& dpy , const Polynomial< Degree >& dpz )
+	{
+#if POINT_DATA_RES
+		Real constraint = 0;
+		for( int c=0 ; c<PointData< Real , true >::SAMPLES ; c++ ) if( p[c].weight )
+		{
+			const Point3D< Real > q = p[c].position;
+			double _px = px( q[0] ) , _py = py( q[1] ) , _pz = pz( q[2] );
+			constraint +=
+				(Real)( _px * _py * _pz * p[c]._value ) +
+				Point3D< Real >::Dot( Point3D< Real >( dpx( q[0] ) * _py * _pz , _px * dpy( q[1] ) * _pz , _px * _py * dpz( q[2] ) ) , p[c]._gradient );
+		}
+		return constraint;
+#else // !POINT_DATA_RES
+		const Point3D< Real > q = p.position;
+		double _px = px( q[0] ) , _py = py( q[1] ) , _pz = pz( q[2] );
+		return
+		(Real)( _px * _py * _pz * p._value ) +
+			Point3D< Real >::Dot( Point3D< Real >( dpx( q[0] ) * _py * _pz , _px * dpy( q[1] ) * _pz , _px * _py * dpz( q[2] ) ) , p._gradient );
+#endif // POINT_DATA_RES
+	}
+#if POINT_DATA_RES
+	static inline void _CalculateCoarser_( int c , PointData< Real , true >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight ){ p[c]._value = value * valueWeight * p[c].weight ; p[c]._gradient = gradient * gradientWeight * p[c].weight; }
+#else // !POINT_DATA_RES
+	static inline void _CalculateCoarser_( PointData< Real , true >& p , Real value , Point3D< Real > gradient , Real valueWeight , Real gradientWeight ){ p._value = value * valueWeight * p.weight ; p._gradient = gradient * gradientWeight * p.weight; }
+#endif // POINT_DATA_RES
+};
+
+template< >
+template< class I >
+double FEMSystemFunctor< 0 , BOUNDARY_FREE >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight;
+#undef D_DOT
+}
+template< >
+template< class I >
+double FEMSystemFunctor< 0 , BOUNDARY_NEUMANN >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight;
+#undef D_DOT
+}
+template< >
+template< class I >
+double FEMSystemFunctor< 0 , BOUNDARY_DIRICHLET >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight;
+#undef D_DOT
+}
+template< >
+template< class I >
+double FEMSystemFunctor< 1 , BOUNDARY_FREE >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 ) , d11[] = D_DOT( 1 , 1 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight
+		+
+		(
+			d11[0] * d00[1] * d00[2] +
+			d11[1] * d00[2] * d00[0] +
+			d11[2] * d00[0] * d00[1]
+			) * lapWeight;
+#undef D_DOT
+}
+template< >
+template< class I >
+double FEMSystemFunctor< 1 , BOUNDARY_NEUMANN >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 ) , d11[] = D_DOT( 1 , 1 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight
+		+
+		(
+			d11[0] * d00[1] * d00[2] +
+			d11[1] * d00[2] * d00[0] +
+			d11[2] * d00[0] * d00[1]
+			) * lapWeight;
+#undef D_DOT
+}
+template< >
+template< class I >
+double FEMSystemFunctor< 1 , BOUNDARY_DIRICHLET >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 ) , d11[] = D_DOT( 1 , 1 );
+	return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight
+		+
+		(
+			d11[0] * d00[1] * d00[2] +
+			d11[1] * d00[2] * d00[0] +
+			d11[2] * d00[0] * d00[1]
+			) * lapWeight;
+#undef D_DOT
+}
+
+template< int FEMDegree , BoundaryType BType >
+template< class I >
+double FEMSystemFunctor< FEMDegree , BType >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , D1 , D2 ) , integrator.dot( off1[1] , off2[1] , D1 , D2 ) , integrator.dot( off1[2] , off2[2] , D1 , D2 ) }
+	double d00[] = D_DOT( 0 , 0 ) , d02[] = D_DOT( 0 , 2 ) , d20[] = D_DOT( 2 , 0 ) , d22[] = D_DOT( 2 , 2 ) , d11[] = D_DOT( 1 , 1 );
+	return
+		(
+		d00[0] * d00[1] * d00[2]
+		) * massWeight
+		+
+		(
+		d11[0] * d00[1] * d00[2] +
+		d11[1] * d00[2] * d00[0] +
+		d11[2] * d00[0] * d00[1]
+		) * lapWeight
+		+
+		(
+		d22[0] * d00[1] * d00[2] +							// Unmixed
+		d22[1] * d00[2] * d00[0] +							// Unmixed
+		d22[2] * d00[0] * d00[1] +							// Unmixed
+		d00[0] * ( d02[1] * d20[2] + d20[1] * d02[2] ) +	//   Mixed
+		d00[1] * ( d02[2] * d20[0] + d20[2] * d02[0] ) +	//   Mixed
+		d00[2] * ( d02[0] * d20[1] + d20[0] * d02[1] )		//   Mixed
+		) * biLapWeight;
+#undef D_DOT
+}
+template< int SFDegree , BoundaryType SFBType , int FEMDegree , BoundaryType FEMBType >
+template< bool Reverse , class I >
+double FEMSFConstraintFunctor< SFDegree , SFBType , FEMDegree , FEMBType >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) , integrator.dot( off1[1] , off2[1] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) , integrator.dot( off1[2] , off2[2] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) }
+	double d00[] = D_DOT( 0 , 0 ) , d02[] = D_DOT( 0 , 2 ) , d20[] = D_DOT( 2 , 0 ) , d22[] = D_DOT( 2 , 2 ) , d11[] = D_DOT( 1 , 1 );
+	if( SFDegree==0 || FEMDegree==0 )
+		return d00[0] * d00[1] * d00[2] * massWeight;
+	else if( SFDegree<=1 || FEMDegree<=1 )
+		return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight
+		+
+		(
+			d11[0] * d00[1] * d00[2] +
+			d11[1] * d00[2] * d00[0] +
+			d11[2] * d00[0] * d00[1]
+			) * lapWeight;
+	else
+		return
+		(
+			d00[0] * d00[1] * d00[2]
+			) * massWeight
+		+
+		(
+			d11[0] * d00[1] * d00[2] +
+			d11[1] * d00[2] * d00[0] +
+			d11[2] * d00[0] * d00[1]
+			) * lapWeight
+		+
+		(
+			d22[0] * d00[1] * d00[2] +							// Unmixed
+			d22[1] * d00[2] * d00[0] +							// Unmixed
+			d22[2] * d00[0] * d00[1] +							// Unmixed
+			d00[0] * ( d02[1] * d20[2] + d20[1] * d02[2] ) +	//   Mixed
+			d00[1] * ( d02[2] * d20[0] + d20[2] * d02[0] ) +	//   Mixed
+			d00[2] * ( d02[0] * d20[1] + d20[0] * d02[1] )		//   Mixed
+			) * biLapWeight;
+#undef D_DOT
+}
+template< int VFDegree , BoundaryType VFBType , int FEMDegree , BoundaryType FEMBType >
+template< bool Reverse , class I >
+Point3D< double > FEMVFConstraintFunctor< VFDegree , VFBType , FEMDegree , FEMBType >::_integrate( const I& integrator , const int off1[] , const int off2[] ) const
+{
+#define D_DOT( D1 , D2 ) { integrator.dot( off1[0] , off2[0] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) , integrator.dot( off1[1] , off2[1] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) , integrator.dot( off1[2] , off2[2] , Reverse ? D2 : D1 , Reverse ? D1 : D2 ) }
+	if( FEMDegree==0 ) fprintf( stderr , "[ERROR] FEMDegree does not support differentiation: %d\n" , FEMDegree  ) , exit( 0 );
+	if( VFDegree==0 || FEMDegree==1 )
+	{
+		double d00[] = D_DOT( 0 , 0 ) , d01[] = D_DOT( 0 , 1 );
+		return
+			Point3D< double >
+			(
+				d01[0] * d00[1] * d00[2] ,
+				d01[1] * d00[2] * d00[0] ,
+				d01[2] * d00[0] * d00[1]
+			) * lapWeight;
+	}
+	else
+	{
+		double d00[] = D_DOT( 0 , 0 ) , d10[] = D_DOT( 1 , 0 ) , d01[] = D_DOT( 0 , 1 ) , d02[] = D_DOT( 0 , 2 ) , d12[] = D_DOT( 1 , 2 );
+		return
+			Point3D< double >
+			(
+				d01[0] * d00[1] * d00[2] ,
+				d01[1] * d00[2] * d00[0] ,
+				d01[2] * d00[0] * d00[1]
+			) * lapWeight
+			+
+			Point3D< double >
+			(
+				d12[0] * d00[1] * d00[2] + d10[0] * ( d00[1] * d02[2] + d02[1] * d00[2] ) ,
+				d12[1] * d00[2] * d00[0] + d10[1] * ( d00[2] * d02[0] + d02[2] * d00[0] ) ,
+				d12[2] * d00[0] * d00[1] + d10[2] * ( d00[0] * d02[1] + d02[0] * d00[1] )
+			) * biLapWeight;
+	}
+#undef D_DOT
+}
+
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< bool Reverse , class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralConstraintStencil( const _FEMSystemFunctor& F , const Integrator& integrator , Stencil< double , OverlapSize >& stencil  )
+{
+	int center = ( 1<<integrator.depth() )>>1;
+	int offset[] = { center , center , center };
+	for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+	{
+		int _offset[] = { x+center-OverlapEnd , y+center-OverlapEnd , z+center-OverlapEnd };
+		stencil( x , y , z ) = F.template integrate< Reverse >( integrator , _offset , offset );
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< bool Reverse , class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralConstraintStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil< double , OverlapSize > stencils[2][2][2] )
+{
+	int center = ( 1<<integrator.childDepth() )>>1;
+	// [NOTE] We want the center to be at the first node of the brood
+	// Which is not the case when childDepth is 1.
+	center = ( center>>1 )<<1;
+	for( int i=0 ; i<2 ; i++ ) for( int j=0 ; j<2 ; j++ ) for( int k=0 ; k<2 ; k++ )
+	{
+		int offset[] = { center+i , center+j , center+k };
+		for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+		{
+			int _offset[] = { x+center/2-OverlapEnd , y+center/2-OverlapEnd , z+center/2-OverlapEnd };
+			stencils[i][j][k]( x , y , z ) = F.template integrate< Reverse >( integrator , _offset , offset );
+		}
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< bool Reverse , class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralConstraintStencil( const _FEMSystemFunctor& F , const Integrator& integrator , Stencil< Point3D< double > , OverlapSize >& stencil  )
+{
+	int center = ( 1<<integrator.depth() )>>1;
+	int offset[] = { center , center , center };
+	for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+	{
+		int _offset[] = { x+center-OverlapEnd , y+center-OverlapEnd , z+center-OverlapEnd };
+		stencil( x , y , z ) = F.template integrate< Reverse >( integrator , _offset , offset );
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< bool Reverse , class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralConstraintStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil< Point3D< double > , OverlapSize > stencils[2][2][2] )
+{
+	int center = ( 1<<integrator.childDepth() )>>1;
+	// [NOTE] We want the center to be at the first node of the brood
+	// Which is not the case when childDepth is 1.
+	center = ( center>>1 )<<1;
+	for( int i=0 ; i<2 ; i++ ) for( int j=0 ; j<2 ; j++ ) for( int k=0 ; k<2 ; k++ )
+	{
+		int offset[] = { center+i , center+j , center+k };
+		for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+		{
+			int _offset[] = { x+center/2-OverlapEnd , y+center/2-OverlapEnd , z+center/2-OverlapEnd };
+			stencils[i][j][k]( x , y , z ) = F.template integrate< Reverse >( integrator , _offset , offset );
+		}
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralSystemStencil( const _FEMSystemFunctor& F , const Integrator& integrator , Stencil< double , OverlapSize >& stencil )
+{
+	int center = ( 1<<integrator.depth() )>>1;
+	int offset[] = { center , center , center };
+	for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+	{
+		int _offset[] = { x+center-OverlapEnd , y+center-OverlapEnd , z+center-OverlapEnd };
+		stencil( x , y , z ) = F.integrate( integrator , _offset , offset );
+	}
+}
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+template< class _FEMSystemFunctor >
+void SystemCoefficients< Degree1 , BType1 , Degree2 , BType2 >::SetCentralSystemStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil< double , OverlapSize > stencils[2][2][2] )
+{
+	int center = ( 1<<integrator.childDepth() )>>1;
+	// [NOTE] We want the center to be at the first node of the brood
+	// Which is not the case when childDepth is 1.
+	center = ( center>>1 )<<1;
+	for( int i=0 ; i<2 ; i++ ) for( int j=0 ; j<2 ; j++ ) for( int k=0 ; k<2 ; k++ )
+	{
+		int offset[] = { center+i , center+j , center+k };
+		for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+		{
+			int _offset[] = { x+center/2-OverlapEnd , y+center/2-OverlapEnd , z+center/2-OverlapEnd };
+			stencils[i][j][k]( x , y , z ) = F.integrate( integrator , _offset , offset );
+		}
+	}
+}
+
+template< class Real >
+template< int FEMDegree >
+void Octree< Real >::_setMultiColorIndices( int start , int end , std::vector< std::vector< int > >& indices ) const
+{
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+
+	const int modulus = OverlapRadius+1;
+	indices.resize( modulus*modulus*modulus );
+	int count[modulus*modulus*modulus];
+	memset( count , 0 , sizeof(int)*modulus*modulus*modulus );
+#pragma omp parallel for num_threads( threads )
+	for( int i=start ; i<end ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		// [NOTE] We have to use the global offset so that it's positive
+		int d , off[3];
+		_sNodes.treeNodes[i]->depthAndOffset( d , off );
+		int idx = (modulus*modulus) * ( off[2]%modulus ) + modulus * ( off[1]%modulus ) + ( off[0]%modulus );
+#pragma omp atomic
+		count[idx]++;
+	}
+
+	for( int i=0 ; i<modulus*modulus*modulus ; i++ ) indices[i].reserve( count[i] ) , count[i]=0;
+	for( int i=start ; i<end ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		int d , off[3];
+		_sNodes.treeNodes[i]->depthAndOffset( d , off );
+		int idx = (modulus*modulus) * ( off[2]%modulus ) + modulus * ( off[1]%modulus ) + ( off[0]%modulus );
+		indices[idx].push_back( i - start );
+	}
+}
+
+template< class Real >
+template< class C , int FEMDegree , BoundaryType BType >
+void Octree< Real >::_downSample( LocalDepth highDepth , DenseNodeData< C >& constraints ) const
+{
+	typedef typename TreeOctNode::NeighborKey< -BSplineSupportSizes< FEMDegree >::UpSampleStart , BSplineSupportSizes< FEMDegree >::UpSampleEnd > UpSampleKey;
+
+	LocalDepth lowDepth = highDepth-1;
+	if( lowDepth<0 ) return;
+
+	typename BSplineEvaluationData< FEMDegree , BType >::UpSampleEvaluator upSampleEvaluator;
+	BSplineEvaluationData< FEMDegree , BType >::SetUpSampleEvaluator( upSampleEvaluator , lowDepth );
+	std::vector< UpSampleKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( lowDepth ) );
+
+	Stencil< double , BSplineSupportSizes< FEMDegree >::UpSampleSize > upSampleStencil;
+	int lowCenter = ( 1<<lowDepth )>>1;
+	for( int i=0 ; i<BSplineSupportSizes< FEMDegree >::UpSampleSize ; i++ ) for( int j=0 ; j<BSplineSupportSizes< FEMDegree >::UpSampleSize ; j++ ) for( int k=0 ; k<BSplineSupportSizes< FEMDegree >::UpSampleSize ; k++ )
+		upSampleStencil( i , j , k ) =
+		upSampleEvaluator.value( lowCenter , 2*lowCenter + i + BSplineSupportSizes< FEMDegree >::UpSampleStart ) *
+		upSampleEvaluator.value( lowCenter , 2*lowCenter + j + BSplineSupportSizes< FEMDegree >::UpSampleStart ) *
+		upSampleEvaluator.value( lowCenter , 2*lowCenter + k + BSplineSupportSizes< FEMDegree >::UpSampleStart );
+
+	// Iterate over all (valid) parent nodes
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(lowDepth) ; i<_sNodesEnd(lowDepth) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		TreeOctNode* pNode = _sNodes.treeNodes[i];
+
+		UpSampleKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( pNode , d , off );
+
+		neighborKey.template getNeighbors< false >( pNode );
+
+		// Get the child neighbors
+		typename TreeOctNode::Neighbors< BSplineSupportSizes< FEMDegree >::UpSampleSize > neighbors;
+		neighborKey.template getChildNeighbors< false >( 0 , _localToGlobal( d ) , neighbors );
+
+		C& coarseConstraint = constraints[i];
+
+		// Want to make sure test if contained children are interior.
+		// This is more conservative because we are test that overlapping children are interior
+		bool isInterior = _isInteriorlyOverlapped< FEMDegree , FEMDegree >( pNode );
+		if( isInterior )
+		{
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::UpSampleSize ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::UpSampleSize ; jj++ ) for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::UpSampleSize ; kk++ )
+			{
+				const TreeOctNode* cNode = neighbors.neighbors[ii][jj][kk];
+				if( IsActiveNode( cNode ) ) coarseConstraint += (C)( constraints[ cNode->nodeData.nodeIndex ] * upSampleStencil( ii , jj , kk ) );
+			}
+		}
+		else
+		{
+			double upSampleValues[3][ BSplineSupportSizes< FEMDegree >::UpSampleSize ];
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::UpSampleSize ; ii++ )
+			{
+				upSampleValues[0][ii] = upSampleEvaluator.value( off[0] , 2*off[0] + ii + BSplineSupportSizes< FEMDegree >::UpSampleStart );
+				upSampleValues[1][ii] = upSampleEvaluator.value( off[1] , 2*off[1] + ii + BSplineSupportSizes< FEMDegree >::UpSampleStart );
+				upSampleValues[2][ii] = upSampleEvaluator.value( off[2] , 2*off[2] + ii + BSplineSupportSizes< FEMDegree >::UpSampleStart );
+			}
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::UpSampleSize ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::UpSampleSize ; jj++ )
+			{
+				double dxy = upSampleValues[0][ii] * upSampleValues[1][jj];
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::UpSampleSize ; kk++ )
+				{
+					const TreeOctNode* cNode = neighbors.neighbors[ii][jj][kk];
+					if( _isValidFEMNode( cNode ) ) coarseConstraint += (C)( constraints[ cNode->nodeData.nodeIndex ] * dxy * upSampleValues[2][kk] );
+				}
+			}
+		}
+	}
+}
+template< class Real >
+template< class C , int FEMDegree , BoundaryType BType >
+void Octree< Real >::_upSample( LocalDepth highDepth , DenseNodeData< C >& coefficients ) const
+{
+	static const int  LeftDownSampleRadius = -( ( BSplineSupportSizes< FEMDegree >::DownSample0Start < BSplineSupportSizes< FEMDegree >::DownSample1Start ) ? BSplineSupportSizes< FEMDegree >::DownSample0Start : BSplineSupportSizes< FEMDegree >::DownSample1Start );
+	static const int RightDownSampleRadius =  ( ( BSplineSupportSizes< FEMDegree >::DownSample0End   > BSplineSupportSizes< FEMDegree >::DownSample1End   ) ? BSplineSupportSizes< FEMDegree >::DownSample0End   : BSplineSupportSizes< FEMDegree >::DownSample1End   );
+	typedef TreeOctNode::NeighborKey< LeftDownSampleRadius , RightDownSampleRadius > DownSampleKey;
+
+	LocalDepth lowDepth = highDepth-1;
+	if( lowDepth<0 ) return;
+
+	typename BSplineEvaluationData< FEMDegree , BType >::UpSampleEvaluator upSampleEvaluator;
+	BSplineEvaluationData< FEMDegree , BType >::SetUpSampleEvaluator( upSampleEvaluator , lowDepth );
+	std::vector< DownSampleKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( lowDepth ) );
+
+	static const int DownSampleSize = BSplineSupportSizes< FEMDegree >::DownSample0Size > BSplineSupportSizes< FEMDegree >::DownSample1Size ? BSplineSupportSizes< FEMDegree >::DownSample0Size : BSplineSupportSizes< FEMDegree >::DownSample1Size;
+	Stencil< double , DownSampleSize > downSampleStencils[ Cube::CORNERS ];
+	int lowCenter = ( 1<<lowDepth )>>1;
+	for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+	{
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( c , cx , cy , cz );
+		for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ )
+			for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+					downSampleStencils[c]( ii , jj , kk ) =
+					upSampleEvaluator.value( lowCenter + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] , 2*lowCenter + cx ) *
+					upSampleEvaluator.value( lowCenter + jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] , 2*lowCenter + cy ) *
+					upSampleEvaluator.value( lowCenter + kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] , 2*lowCenter + cz ) ;
+	}
+
+	// For Dirichlet constraints, can't get to all children from parents because boundary nodes are invalid
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(highDepth) ; i<_sNodesEnd(highDepth) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		TreeOctNode *cNode = _sNodes.treeNodes[i] , *pNode = cNode->parent;
+		int c = (int)( cNode-pNode->children );
+
+		DownSampleKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( pNode , d , off );
+		typename TreeOctNode::Neighbors< LeftDownSampleRadius + RightDownSampleRadius + 1 >& neighbors = neighborKey.template getNeighbors< false >( pNode );
+
+		// Want to make sure test if contained children are interior.
+		// This is more conservative because we are test that overlapping children are interior
+		bool isInterior = _isInteriorlyOverlapped< FEMDegree , FEMDegree >( pNode );
+
+		C& fineCoefficient = coefficients[ cNode->nodeData.nodeIndex ];
+
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( c , cx , cy , cz );
+
+		if( isInterior )
+		{
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+			{
+				int _ii = ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] + LeftDownSampleRadius;
+				int _jj = jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] + LeftDownSampleRadius;
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+				{
+					int _kk = kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] + LeftDownSampleRadius;
+					const TreeOctNode* _pNode = neighbors.neighbors[_ii][_jj][_kk];
+					if( _pNode ) fineCoefficient += (C)( coefficients[ _pNode->nodeData.nodeIndex ] * downSampleStencils[c]( ii , jj , kk ) );
+				}
+			}
+		}
+		else
+		{
+			double downSampleValues[3][ BSplineSupportSizes< FEMDegree >::DownSample0Size > BSplineSupportSizes< FEMDegree >::DownSample1Size ? BSplineSupportSizes< FEMDegree >::DownSample0Size : BSplineSupportSizes< FEMDegree >::DownSample1Size ];
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) downSampleValues[0][ii] = upSampleEvaluator.value( off[0] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] , 2*off[0] + cx );
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; ii++ ) downSampleValues[1][ii] = upSampleEvaluator.value( off[1] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] , 2*off[1] + cy );
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; ii++ ) downSampleValues[2][ii] = upSampleEvaluator.value( off[2] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] , 2*off[2] + cz );
+
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+			{
+				double dxy = downSampleValues[0][ii] * downSampleValues[1][jj];
+				int _ii = ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] + LeftDownSampleRadius;
+				int _jj = jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] + LeftDownSampleRadius;
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+				{
+					int _kk = kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] + LeftDownSampleRadius;
+					const TreeOctNode* _pNode = neighbors.neighbors[_ii][_jj][_kk];
+					if( _isValidFEMNode( _pNode ) ) fineCoefficient += (C)( coefficients[ _pNode->nodeData.nodeIndex ] * dxy * downSampleValues[2][kk] );
+				}
+			}
+		}
+	}
+}
+
+template< class Real >
+template< class C , int FEMDegree , BoundaryType BType >
+void Octree< Real >::_UpSample( LocalDepth highDepth , ConstPointer( C ) lowCoefficients , Pointer( C ) highCoefficients , int threads )
+{
+	static const int  LeftDownSampleRadius = -( ( BSplineSupportSizes< FEMDegree >::DownSample0Start < BSplineSupportSizes< FEMDegree >::DownSample1Start ) ? BSplineSupportSizes< FEMDegree >::DownSample0Start : BSplineSupportSizes< FEMDegree >::DownSample1Start );
+	static const int RightDownSampleRadius =  ( ( BSplineSupportSizes< FEMDegree >::DownSample0End   > BSplineSupportSizes< FEMDegree >::DownSample1End   ) ? BSplineSupportSizes< FEMDegree >::DownSample0End   : BSplineSupportSizes< FEMDegree >::DownSample1End   );
+	typedef TreeOctNode::NeighborKey< LeftDownSampleRadius , RightDownSampleRadius > DownSampleKey;
+
+	LocalDepth lowDepth = highDepth - 1;
+	if( lowDepth<0 ) return;
+
+	typename BSplineEvaluationData< FEMDegree , BType >::UpSampleEvaluator upSampleEvaluator;
+	BSplineEvaluationData< FEMDegree , BType >::SetUpSampleEvaluator( upSampleEvaluator , lowDepth );
+	std::vector< DownSampleKey > neighborKeys( std::max< int >( 1 , threads ) );
+
+	static const int DownSampleSize = BSplineSupportSizes< FEMDegree >::DownSample0Size > BSplineSupportSizes< FEMDegree >::DownSample1Size ? BSplineSupportSizes< FEMDegree >::DownSample0Size : BSplineSupportSizes< FEMDegree >::DownSample1Size;
+	Stencil< double , DownSampleSize > downSampleStencils[ Cube::CORNERS ];
+	int lowCenter = ( 1<<lowDepth )>>1;
+	for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+	{
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( c , cx , cy , cz );
+		static const int DownSampleSize = BSplineSupportSizes< FEMDegree >::DownSample0Size > BSplineSupportSizes< FEMDegree >::DownSample1Size ? BSplineSupportSizes< FEMDegree >::DownSample0Size : BSplineSupportSizes< FEMDegree >::DownSample1Size;
+		for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ )
+			for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+					downSampleStencils[c]( ii , jj , kk ) =
+					upSampleEvaluator.value( lowCenter + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] , 2*lowCenter + cx ) *
+					upSampleEvaluator.value( lowCenter + jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] , 2*lowCenter + cy ) *
+					upSampleEvaluator.value( lowCenter + kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] , 2*lowCenter + cz ) ;
+	}
+	int  lowBegin = _BSplineBegin< FEMDegree , BType >(  lowDepth ) ,  lowEnd = _BSplineEnd< FEMDegree , BType >(  lowDepth );
+	int highBegin = _BSplineBegin< FEMDegree , BType >( highDepth ) , highEnd = _BSplineEnd< FEMDegree , BType >( highDepth );
+	int lowDim = lowEnd - lowBegin , highDim = highEnd - highBegin;
+	// Iterate over all child nodes. (This is required since there can be child nodes whose parent is inactive.)
+#pragma omp parallel for num_threads( threads )
+	for( int k=0 ; k<highDim ; k++ ) for( int j=0 ; j<highDim ; j++ ) for( int i=0 ; i<highDim ; i++ )
+	{
+		DownSampleKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		LocalOffset off , _off;
+		off[0] = i + highBegin , off[1] = j + highBegin , off[2] = k + highBegin;
+		int highIdx = i + j * highDim  + k * highDim * highDim;
+		_off[0] = off[0]>>1 , _off[1] = off[1]>>1 , _off[2] = off[2]>>1;
+
+		// Want to make sure test if contained children are interior.
+		// This is more conservative because we are test that overlapping children are interior
+		bool isInterior = _IsInteriorlyOverlapped< FEMDegree , FEMDegree >( lowDepth , _off );
+		int cx = off[0]&1 , cy = off[1]&1 , cz = off[2]&1;
+		int c = Cube::CornerIndex( cx , cy , cz );
+
+		C& highCoefficient = highCoefficients[ highIdx ];
+
+		if( isInterior )
+		{
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+			{
+				int _i = _off[0] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] - lowBegin;
+				int _j = _off[1] + jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] - lowBegin;
+				for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+				{
+					int _k = _off[2] + kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] - lowBegin;
+					highCoefficient += (C)( lowCoefficients[ _i + _j*lowDim  + _k*lowDim*lowDim ] * downSampleStencils[c]( ii , jj , kk ) );
+				}
+			}
+		}
+		else
+		{
+			double downSampleValues[3][ BSplineSupportSizes< FEMDegree >::DownSample0Size > BSplineSupportSizes< FEMDegree >::DownSample1Size ? BSplineSupportSizes< FEMDegree >::DownSample0Size : BSplineSupportSizes< FEMDegree >::DownSample1Size ];
+
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) downSampleValues[0][ii] = upSampleEvaluator.value( _off[0] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] , off[0] );
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; ii++ ) downSampleValues[1][ii] = upSampleEvaluator.value( _off[1] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] , off[1] );
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; ii++ ) downSampleValues[2][ii] = upSampleEvaluator.value( _off[2] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] , off[2] );
+
+			for( int ii=0 ; ii<BSplineSupportSizes< FEMDegree >::DownSampleSize[cx] ; ii++ ) for( int jj=0 ; jj<BSplineSupportSizes< FEMDegree >::DownSampleSize[cy] ; jj++ )
+			{
+				double dxy = downSampleValues[0][ii] * downSampleValues[1][jj];
+				int _i = _off[0] + ii + BSplineSupportSizes< FEMDegree >::DownSampleStart[cx] - lowBegin;
+				int _j = _off[1] + jj + BSplineSupportSizes< FEMDegree >::DownSampleStart[cy] - lowBegin;
+				if( _i>=0 && _i<lowDim && _j>=0 && _j<lowDim )
+					for( int kk=0 ; kk<BSplineSupportSizes< FEMDegree >::DownSampleSize[cz] ; kk++ )
+					{
+						int _k = _off[2] + kk + BSplineSupportSizes< FEMDegree >::DownSampleStart[cz] - lowBegin;
+						if( _k>=0 && _k<lowDim ) highCoefficient += (C)( lowCoefficients[ _i + _j*lowDim  + _k*lowDim*lowDim ] * dxy * downSampleValues[2][kk] );
+					}
+			}
+		}
+	}
+}
+
+template< class Real >
+template< class C , int FEMDegree , BoundaryType BType >
+DenseNodeData< C > Octree< Real >::coarseCoefficients( const DenseNodeData< C >& coefficients ) const
+{
+	DenseNodeData< Real > coarseCoefficients( _sNodesEnd(_maxDepth-1) );
+	memset( &coarseCoefficients[0] , 0 , sizeof(Real)*_sNodesEnd(_maxDepth-1) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(0) ; i<_sNodesEnd(_maxDepth-1) ; i++ ) coarseCoefficients[i] = coefficients[i];
+	for( LocalDepth d=1 ; d<_maxDepth ; d++ ) _upSample< C , FEMDegree , BType >( d , coarseCoefficients );
+	return coarseCoefficients;
+}
+template< class Real >
+template< class C , int FEMDegree , BoundaryType BType >
+DenseNodeData< C > Octree< Real >::coarseCoefficients( const SparseNodeData< C >& coefficients ) const
+{
+	DenseNodeData< Real > coarseCoefficients( _sNodesEnd(_maxDepth-1) );
+	memset( &coarseCoefficients[0] , 0 , sizeof(Real)*_sNodesEnd(_maxDepth-1) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(0) ; i<_sNodesEnd(_maxDepth-1) ; i++ )
+	{
+		const C* c = coefficients( _sNodes.treeNodes[i] );
+		if( c ) coarseCoefficients[i] = *c;
+	}
+	for( LocalDepth d=1 ; d<_maxDepth ; d++ ) _upSample< C , FEMDegree , BType >( d , coarseCoefficients );
+	return coarseCoefficients;
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+Real Octree< Real >::_coarserFunctionValue( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* pointNode , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	double pointValue = 0;
+	LocalDepth depth = _localDepth( pointNode );
+	if( depth<0 ) return (Real)0.;
+
+	// Iterate over all basis functions that overlap the point at the coarser resolution
+	{
+		const typename TreeOctNode::Neighbors< SupportSize >& neighbors = neighborKey.neighbors[ _localToGlobal( depth-1 ) ];
+		LocalDepth _d ; LocalOffset _off;
+		_localDepthAndOffset( pointNode->parent , _d , _off );
+		int fStart , fEnd;
+		BSplineData< FEMDegree , BType >::FunctionSpan( _d , fStart , fEnd );
+
+		double pointValues[ DIMENSION ][SupportSize];
+		memset( pointValues , 0 , sizeof(double) * DIMENSION * SupportSize );
+
+		for( int dd=0 ; dd<DIMENSION ; dd++ ) for( int i=-LeftPointSupportRadius ; i<=RightPointSupportRadius ; i++ )
+		{
+			int fIdx = BSplineData< FEMDegree , BType >::FunctionIndex( _d , _off[dd]+i );
+			if( fIdx>=fStart && fIdx<fEnd ) pointValues[dd][i+LeftPointSupportRadius] = bsData.baseBSplines[ fIdx ][LeftSupportRadius-i]( p[dd] );
+		}
+
+		for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			double xyValue = pointValues[0][j] * pointValues[1][k];
+			double _pointValue = 0;
+			for( int l=0 ; l<SupportSize ; l++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[j][k][l];
+				if( _isValidFEMNode( _node ) ) _pointValue += pointValues[2][l] * double( upSampledCoefficients[_node->nodeData.nodeIndex] );
+			}
+			pointValue += _pointValue * xyValue;
+		}
+	}
+	return Real( pointValue );
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+Point3D< Real > Octree< Real >::_coarserFunctionGradient( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* pointNode , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int  LeftPointSupportRadius =   BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = - BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	Point3D< double > pointGradient;
+	LocalDepth depth = _localDepth( pointNode );
+	if( depth<=0 ) return Real(0.);
+
+	// Iterate over all basis functions that overlap the point at the coarser resolution
+	{
+		const typename TreeOctNode::Neighbors< SupportSize >& neighbors = neighborKey.neighbors[ _localToGlobal( depth-1 ) ];
+		LocalDepth _d ; LocalOffset _off;
+		_localDepthAndOffset( pointNode->parent , _d , _off );
+		int fStart , fEnd;
+		BSplineData< FEMDegree , BType >::FunctionSpan( _d , fStart , fEnd );
+
+		double _pointValues[ DIMENSION ][SupportSize] , dPointValues[ DIMENSION ][SupportSize];
+		memset( _pointValues , 0 , sizeof(double) * DIMENSION * SupportSize );
+		memset( dPointValues , 0 , sizeof(double) * DIMENSION * SupportSize );
+
+		for( int dd=0 ; dd<DIMENSION ; dd++ ) for( int i=-LeftPointSupportRadius ; i<=RightPointSupportRadius ; i++ )
+		{
+			int fIdx = BSplineData< FEMDegree , BType >::FunctionIndex( _d , _off[dd]+i );
+			if( fIdx>=fStart && fIdx<fEnd )
+			{
+				_pointValues[dd][i+LeftPointSupportRadius] = bsData.baseBSplines[ fIdx ][LeftSupportRadius-i]( p[dd] );
+				dPointValues[dd][i+LeftPointSupportRadius] = bsData.dBaseBSplines[ fIdx ][LeftSupportRadius-i]( p[dd] );
+			}
+		}
+
+		for( int j=0 ; j<SupportSize ; j++ ) for( int k=0 ; k<SupportSize ; k++ )
+		{
+			double _x_yValue = _pointValues[0][j] * _pointValues[1][k];
+			double dx_yValue = dPointValues[0][j] * _pointValues[1][k];
+			double _xdyValue = _pointValues[0][j] * dPointValues[1][k];
+			double __pointValue = 0 , _dPointValue = 0;
+			for( int l=0 ; l<SupportSize ; l++ )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[j][k][l];
+				if( _isValidFEMNode( _node ) )
+				{
+					__pointValue += _pointValues[2][l] * double( upSampledCoefficients[_node->nodeData.nodeIndex] );
+					_dPointValue += dPointValues[2][l] * double( upSampledCoefficients[_node->nodeData.nodeIndex] );
+				}
+			}
+
+			pointGradient += Point3D< double >( __pointValue * dx_yValue , __pointValue * _xdyValue , _dPointValue * _x_yValue );
+		}
+	}
+	return Point3D< Real >( pointGradient );
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+Real Octree< Real >::_finerFunctionValue( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* pointNode , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& finerCoefficients ) const
+{
+	typename TreeOctNode::Neighbors< BSplineSupportSizes< FEMDegree >::SupportSize > childNeighbors;
+	static const int  LeftPointSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int  LeftSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+
+	double pointValue = 0;
+	LocalDepth depth = _localDepth( pointNode );
+	neighborKey.template getChildNeighbors< false >( _childIndex( pointNode , p ) , _localToGlobal( depth ) , childNeighbors );
+	for( int j=-LeftPointSupportRadius ; j<=RightPointSupportRadius ; j++ )
+		for( int k=-LeftPointSupportRadius ; k<=RightPointSupportRadius ; k++ )
+			for( int l=-LeftPointSupportRadius ; l<=RightPointSupportRadius ; l++ )
+			{
+				const TreeOctNode* _node = childNeighbors.neighbors[j+LeftPointSupportRadius][k+LeftPointSupportRadius][l+LeftPointSupportRadius];
+				if( _isValidFEMNode( _node ) )
+				{
+					int fIdx[3];
+					functionIndex< FEMDegree , BType >( _node , fIdx );
+					pointValue +=
+						bsData.baseBSplines[ fIdx[0] ][LeftSupportRadius-j]( p[0] ) *
+						bsData.baseBSplines[ fIdx[1] ][LeftSupportRadius-k]( p[1] ) *
+						bsData.baseBSplines[ fIdx[2] ][LeftSupportRadius-l]( p[2] ) *
+						double( finerCoefficients[ _node->nodeData.nodeIndex ] );
+				}
+			}
+	return Real( pointValue );
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+Point3D< Real > Octree< Real >::_finerFunctionGradient( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* pointNode , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& finerCoefficients ) const
+{
+	typename TreeOctNode::Neighbors< BSplineSupportSizes< FEMDegree >::SupportSize > childNeighbors;
+	static const int  LeftPointSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int  LeftSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+
+	Point3D< double > pointGradient = 0;
+	LocalDepth depth = _localDepth( pointNode );
+	neighborKey.template getChildNeighbors< false >( _childIndex( pointNode , p ) , _localToGlobal( depth ) , childNeighbors );
+	for( int j=-LeftPointSupportRadius ; j<=RightPointSupportRadius ; j++ )
+		for( int k=-LeftPointSupportRadius ; k<=RightPointSupportRadius ; k++ )
+			for( int l=-LeftPointSupportRadius ; l<=RightPointSupportRadius ; l++ )
+			{
+				const TreeOctNode* _node = childNeighbors.neighbors[j+LeftPointSupportRadius][k+LeftPointSupportRadius][l+LeftPointSupportRadius];
+				if( _isValidFEMNode( _node ) )
+				{
+					int fIdx[3];
+					functionIndex< FEMDegree , BType >( _node , fIdx );
+					double  x = bsData. baseBSplines[ fIdx[0] ][LeftSupportRadius-j]( p[0] ) ,  y = bsData. baseBSplines[ fIdx[1] ][LeftSupportRadius-k]( p[1] ) ,  z = bsData. baseBSplines[ fIdx[2] ][LeftSupportRadius-l]( p[2] );
+					double dx = bsData.dBaseBSplines[ fIdx[0] ][LeftSupportRadius-j]( p[0] ) , dy = bsData.dBaseBSplines[ fIdx[1] ][LeftSupportRadius-k]( p[1] ) , dz = bsData.dBaseBSplines[ fIdx[2] ][LeftSupportRadius-l]( p[2] );
+					pointGradient += Point3D< double >( dx * y * z , x * dy * z , x * y * dz ) * (double)( finerCoefficients[ _node->nodeData.nodeIndex ] );
+				}
+			}
+	return Point3D< Real >( pointGradient );
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , bool HasGradients >
+void Octree< Real >::_setPointValuesFromCoarser( InterpolationInfo< HasGradients >& interpolationInfo , LocalDepth highDepth , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients )
+{
+	LocalDepth lowDepth = highDepth-1;
+	if( lowDepth<0 ) return;
+	std::vector< PointSupportKey< FEMDegree > > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( lowDepth ) );
+
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(highDepth) ; i<_sNodesEnd(highDepth) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		PointSupportKey< FEMDegree >& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		PointData< Real , HasGradients >* pData = interpolationInfo( _sNodes.treeNodes[i] );
+		if( pData )
+		{
+			neighborKey.template getNeighbors< false >( _sNodes.treeNodes[i]->parent );
+#if POINT_DATA_RES
+			for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ ) if( (*pData)[c].weight )
+				_ConstraintCalculator_< Real , FEMDegree , HasGradients >::_CalculateCoarser_
+				(
+					c , *pData ,
+					_coarserFunctionValue( (*pData)[c].position , neighborKey , _sNodes.treeNodes[i] , bsData , upSampledCoefficients ) ,
+					HasGradients ? _coarserFunctionGradient( (*pData)[c].position , neighborKey , _sNodes.treeNodes[i] , bsData , upSampledCoefficients ) : Point3D< Real >() ,
+					interpolationInfo.valueWeight , interpolationInfo.gradientWeight
+				);
+#else // !POINT_DATA_RES
+			_ConstraintCalculator_< Real , FEMDegree , HasGradients >::_CalculateCoarser_
+			(
+				*pData ,
+				_coarserFunctionValue( pData->position , neighborKey , _sNodes.treeNodes[i] , bsData , upSampledCoefficients ) ,
+				HasGradients ? _coarserFunctionGradient( pData->position , neighborKey , _sNodes.treeNodes[i] , bsData , upSampledCoefficients ) : Point3D< Real >() ,
+				interpolationInfo.valueWeight , interpolationInfo.gradientWeight
+			);
+#endif // POINT_DATA_RES
+		}
+	}
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , bool HasGradients >
+void Octree< Real >::_updateCumulativeInterpolationConstraintsFromFiner( const InterpolationInfo< HasGradients >& interpolationInfo , const BSplineData< FEMDegree , BType >& bsData , LocalDepth highDepth , const DenseNodeData< Real >& finerCoefficients , DenseNodeData< Real >& coarserConstraints ) const
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int  LeftPointSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int  LeftSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+
+	// Note: We can't iterate over the finer point nodes as the point weights might be
+	// scaled incorrectly, due to the adaptive exponent. So instead, we will iterate
+	// over the coarser nodes and evaluate the finer solution at the associated points.
+	LocalDepth  lowDepth = highDepth-1;
+	if( lowDepth<0 ) return;
+	size_t start = _sNodesBegin(lowDepth) , end = _sNodesEnd(lowDepth);
+	std::vector< PointSupportKey< FEMDegree > > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( lowDepth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(lowDepth) ; i<_sNodesEnd(lowDepth) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+	{
+		PointSupportKey< FEMDegree >& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		const PointData< Real , HasGradients >* pData = interpolationInfo( _sNodes.treeNodes[i] );
+		if( pData )
+		{
+			typename TreeOctNode::Neighbors< SupportSize >& neighbors = neighborKey.template getNeighbors< false >( _sNodes.treeNodes[i] );
+			// evaluate the solution @( depth ) at the current point @( depth-1 )
+#if POINT_DATA_RES
+			for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ ) if( (*pData)[c].weight )
+#endif // POINT_DATA_RES
+			{
+#if POINT_DATA_RES
+				Real finerPointDValue = _finerFunctionValue( (*pData)[c].position , neighborKey , _sNodes.treeNodes[i] , bsData , finerCoefficients ) * interpolationInfo.valueWeight * (*pData)[c].weight;
+				Point3D< Real > finerPointDGradient = HasGradients ? _finerFunctionGradient( (*pData)[c].position , neighborKey , _sNodes.treeNodes[i] , bsData , finerCoefficients ) * interpolationInfo.gradientWeight * (*pData)[c].weight : Point3D< Real >();
+				Point3D< Real > p = (*pData)[c].position;
+#else // !POINT_DATA_RES
+				Real finerPointDValue = _finerFunctionValue( pData->position , neighborKey , _sNodes.treeNodes[i] , bsData , finerCoefficients ) * interpolationInfo.valueWeight * pData->weight;
+				Point3D< Real > finerPointDGradient = HasGradients ? _finerFunctionGradient( pData->position , neighborKey , _sNodes.treeNodes[i] , bsData , finerCoefficients ) * interpolationInfo.gradientWeight * pData->weight : Point3D< Real >();
+				Point3D< Real > p = pData->position;
+#endif // POINT_DATA_RES
+				// Update constraints for all nodes @( depth-1 ) that overlap the point
+				int idx[3];
+				functionIndex< FEMDegree , BType >( _sNodes.treeNodes[i] , idx );
+				for( int x=-LeftPointSupportRadius ; x<=RightPointSupportRadius ; x++ ) for( int y=-LeftPointSupportRadius ; y<=RightPointSupportRadius ; y++ ) for( int z=-LeftPointSupportRadius ; z<=RightPointSupportRadius ; z++ )
+				{
+					const TreeOctNode* _node = neighbors.neighbors[x+LeftPointSupportRadius][y+LeftPointSupportRadius][z+LeftPointSupportRadius];
+					if( _isValidFEMNode( _node ) )
+					{
+						double px = bsData.baseBSplines[idx[0]+x][LeftSupportRadius-x]( p[0] ) , py = bsData.baseBSplines[idx[1]+y][LeftSupportRadius-y]( p[1] ) , pz = bsData.baseBSplines[idx[2]+z][LeftSupportRadius-z]( p[2] );
+#pragma omp atomic
+						coarserConstraints[ _node->nodeData.nodeIndex ] += (Real)( px * py * pz * finerPointDValue );
+						if( HasGradients )
+						{
+							double dpx = bsData.dBaseBSplines[idx[0]+x][LeftSupportRadius-x]( p[0] ) , dpy = bsData.dBaseBSplines[idx[1]+y][LeftSupportRadius-y]( p[1] ) , dpz = bsData.dBaseBSplines[idx[2]+z][LeftSupportRadius-z]( p[2] );
+#pragma omp atomic
+							coarserConstraints[ _node->nodeData.nodeIndex ] += Point3D< Real >::Dot( finerPointDGradient , Point3D< Real >( dpx * py * pz , px * dpy * pz , px * py * dpz ) );
+						}
+					}
+				}
+			}
+		}
+	}
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+int Octree< Real >::_setMatrixRow( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors , Pointer( MatrixEntry< Real > ) row , int offset , const typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , const Stencil< do [...]
+{
+	static const int SupportSize = BSplineSupportSizes< FEMDegree >::SupportSize;
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+	static const int OverlapSize   =   BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+	static const int LeftSupportRadius  = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int LeftPointSupportRadius  = BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int RightPointSupportRadius = -BSplineSupportSizes< FEMDegree >::SupportStart;
+
+	bool hasYZPoints[SupportSize] , hasZPoints[SupportSize][SupportSize];
+	Real diagonal = 0;
+	// Given a node:
+	// -- for each node in its support:
+	// ---- if the supporting node contains a point:
+	// ------ evaluate the x, y, and z B-splines of the nodes supporting the point
+	// splineValues \in [-LeftSupportRadius,RightSupportRadius] x [-LeftSupportRadius,RightSupportRadius] x [-LeftSupportRadius,RightSupportRadius] x [0,Dimension) x [-LeftPointSupportRadius,RightPointSupportRadius]
+#if POINT_DATA_RES
+	Real _splineValues[PointData< Real , HasGradients >::SAMPLES][SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	Real wSplineValues[PointData< Real , HasGradients >::SAMPLES][SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	Real dSplineValues[PointData< Real , HasGradients >::SAMPLES][SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	memset( _splineValues , 0 , sizeof( Real ) * PointData< Real , HasGradients >::SAMPLES * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+	memset( wSplineValues , 0 , sizeof( Real ) * PointData< Real , HasGradients >::SAMPLES * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+	memset( dSplineValues , 0 , sizeof( Real ) * PointData< Real , HasGradients >::SAMPLES * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+#else // !POINT_DATA_RES
+	Real _splineValues[SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	Real wSplineValues[SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	Real dSplineValues[SupportSize][SupportSize][SupportSize][DIMENSION][SupportSize];
+	memset( _splineValues , 0 , sizeof( Real ) * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+	memset( wSplineValues , 0 , sizeof( Real ) * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+	memset( dSplineValues , 0 , sizeof( Real ) * SupportSize * SupportSize * SupportSize * DIMENSION *SupportSize );
+#endif // NEW_POINT_DATA
+
+	int count = 0;
+	const TreeOctNode* node = neighbors.neighbors[OverlapRadius][OverlapRadius][OverlapRadius];
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+	int fStart , fEnd;
+	BSplineData< FEMDegree , BType >::FunctionSpan( d , fStart , fEnd );
+	bool isInterior = _isInteriorlyOverlapped< FEMDegree , FEMDegree >( node );
+
+	if( interpolationInfo )
+	{
+		// Iterate over all neighboring nodes that may have a constraining point
+		// -- For each one, compute the values of the spline functions supported on the point
+		for( int j=0 ; j<SupportSize ; j++ )
+		{
+			hasYZPoints[j] = false;
+			for( int k=0 ; k<SupportSize ; k++ ) hasZPoints[j][k] = false;
+		}
+		for( int j=-LeftSupportRadius , jj=0 ; j<=RightSupportRadius ; j++ , jj++ )
+			for( int k=-LeftSupportRadius , kk=0 ; k<=RightSupportRadius ; k++ , kk++ )
+				for( int l=-LeftSupportRadius , ll=0 ; l<=RightSupportRadius ; l++ , ll++ )
+				{
+					const TreeOctNode* _node = neighbors.neighbors[OverlapRadius+j][OverlapRadius+k][OverlapRadius+l];
+					if( _isValidSpaceNode( _node ) && (*interpolationInfo)( _node ) )
+					{
+						int pOff[] = { off[0]+j , off[1]+k , off[2]+l };
+						hasYZPoints[jj] = hasZPoints[jj][kk] = true;
+						const PointData< Real , HasGradients >& pData = *( (*interpolationInfo)( _node ) );
+
+#if POINT_DATA_RES
+						for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ ) if( pData[c].weight )
+#endif // POINT_DATA_RES
+						{
+#if POINT_DATA_RES
+							Real (*__splineValues)[SupportSize] = _splineValues[c][jj][kk][ll];
+							Real (*_wSplineValues)[SupportSize] = wSplineValues[c][jj][kk][ll];
+							Real (*_dSplineValues)[SupportSize] = dSplineValues[c][jj][kk][ll];
+							Real weight = pData[c].weight;
+							Point3D< Real > p = pData[c].position;
+#else // !POINT_DATA_RES
+							Real (*__splineValues)[SupportSize] = _splineValues[jj][kk][ll];
+							Real (*_wSplineValues)[SupportSize] = wSplineValues[jj][kk][ll];
+							Real (*_dSplineValues)[SupportSize] = dSplineValues[jj][kk][ll];
+							Real weight = pData.weight;
+							Point3D< Real > p = pData.position;
+#endif // POINT_DATA_RES
+
+							// evaluate the point p at all the nodes whose functions have it in their support
+							for( int s=-LeftPointSupportRadius ; s<=RightPointSupportRadius ; s++ ) for( int dd=0 ; dd<DIMENSION ; dd++ )
+							{
+								int fIdx = BSplineData< FEMDegree , BType >::FunctionIndex( d , pOff[dd]+s );
+								if( fIdx>=fStart && fIdx<fEnd )
+								{
+									_wSplineValues[dd][ s+LeftPointSupportRadius ] = __splineValues[dd][ s+LeftPointSupportRadius ] = Real( bsData.baseBSplines[ fIdx ][ -s+LeftSupportRadius ]( p[dd] ) );
+									if( HasGradients ) _dSplineValues[dd][ s+LeftPointSupportRadius ] = Real( bsData.dBaseBSplines[ fIdx ][ -s+LeftSupportRadius ]( p[dd] ) );
+								}
+							}
+							// The value of the function of the node that we started with
+							Real value = __splineValues[0][-j+LeftPointSupportRadius] * __splineValues[1][-k+LeftPointSupportRadius] * __splineValues[2][-l+LeftPointSupportRadius];
+							Real weightedValue = value * interpolationInfo->valueWeight * weight;
+							Point3D< Real > weightedGradient;
+							if( HasGradients )
+							{
+								Point3D< Real > gradient
+									(
+									_dSplineValues[0][-j+LeftPointSupportRadius] * __splineValues[1][-k+LeftPointSupportRadius] * __splineValues[2][-l+LeftPointSupportRadius] ,
+									__splineValues[0][-j+LeftPointSupportRadius] * _dSplineValues[1][-k+LeftPointSupportRadius] * __splineValues[2][-l+LeftPointSupportRadius] ,
+									__splineValues[0][-j+LeftPointSupportRadius] * __splineValues[1][-k+LeftPointSupportRadius] * _dSplineValues[2][-l+LeftPointSupportRadius]
+									);
+								weightedGradient = gradient * interpolationInfo->gradientWeight * weight;
+								diagonal += value * weightedValue + Point3D< Real >::Dot( gradient , weightedGradient );
+							}
+							else diagonal += value * weightedValue;
+
+							// Pre-multiply the x-coordinate values so that when we evaluate at one of the neighboring basis functions
+							// we get the product of the values of the center base function and the base function of the neighboring node
+							if( HasGradients ) for( int s=0 ; s<SupportSize ; s++ ) _wSplineValues[0][s] *= weightedValue , _dSplineValues[0][s] *= weightedGradient[0] , _dSplineValues[1][s] *= weightedGradient[1] , _dSplineValues[2][s] *= weightedGradient[2];
+							else               for( int s=0 ; s<SupportSize ; s++ ) _wSplineValues[0][s] *= weightedValue;
+						}
+					}
+				}
+	}
+
+	Real pointValues[OverlapSize][OverlapSize][OverlapSize];
+	if( interpolationInfo )
+	{
+		memset( pointValues , 0 , sizeof(Real) * OverlapSize * OverlapSize * OverlapSize );
+		// Iterate over all supported neighbors that could have a point constraint
+		for( int i=-LeftSupportRadius ; i<=RightSupportRadius ; i++ ) if( hasYZPoints[i+LeftSupportRadius] )
+			for( int j=-LeftSupportRadius ; j<=RightSupportRadius ; j++ ) if( hasZPoints[i+LeftSupportRadius][j+LeftSupportRadius] )
+				for( int k=-LeftSupportRadius ; k<=RightSupportRadius ; k++ )
+				{
+					const TreeOctNode* _node = neighbors.neighbors[i+OverlapRadius][j+OverlapRadius][k+OverlapRadius];
+					if( _isValidSpaceNode( _node ) && (*interpolationInfo)( _node ) )
+					{
+						const PointData< Real , HasGradients >& pData = *( (*interpolationInfo)( _node ) );
+#if POINT_DATA_RES
+						for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ ) if( pData[c].weight )
+#endif // POINT_DATA_RES
+						{
+#if POINT_DATA_RES
+							Real (*__splineValues)[SupportSize] = _splineValues[c][i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+							Real (*_wSplineValues)[SupportSize] = wSplineValues[c][i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+							Real (*_dSplineValues)[SupportSize] = dSplineValues[c][i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+#else // !POINT_DATA_RES
+							Real (*__splineValues)[SupportSize] = _splineValues[i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+							Real (*_wSplineValues)[SupportSize] = wSplineValues[i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+							Real (*_dSplineValues)[SupportSize] = dSplineValues[i+LeftSupportRadius][j+LeftSupportRadius][k+LeftSupportRadius];
+#endif // POINT_DATA_RES
+							// Iterate over all neighbors whose support contains the point and accumulate the mutual integral
+							for( int ii=-LeftPointSupportRadius ; ii<=RightPointSupportRadius ; ii++ )
+								for( int jj=-LeftPointSupportRadius ; jj<=RightPointSupportRadius ; jj++ )
+									if( HasGradients )
+									{
+										Real partialW_SplineValue = _wSplineValues[0][ii+LeftPointSupportRadius ] * __splineValues[1][jj+LeftPointSupportRadius ];
+										Real partial__SplineValue = __splineValues[0][ii+LeftPointSupportRadius ] * __splineValues[1][jj+LeftPointSupportRadius ];
+										Real partialD0SplineValue = _dSplineValues[0][ii+LeftPointSupportRadius ] * __splineValues[1][jj+LeftPointSupportRadius ];
+										Real partialD1SplineValue = __splineValues[0][ii+LeftPointSupportRadius ] * _dSplineValues[1][jj+LeftPointSupportRadius ];
+										Real* _pointValues = pointValues[i+ii+OverlapRadius][j+jj+OverlapRadius] + k + OverlapRadius;
+										Real* ___splineValues = __splineValues[2] + LeftPointSupportRadius;
+										Real* __dSplineValues = _dSplineValues[2] + LeftPointSupportRadius;
+										TreeOctNode* const * _neighbors = neighbors.neighbors[i+ii+OverlapRadius][j+jj+OverlapRadius] + k + OverlapRadius;
+										for( int kk=-LeftPointSupportRadius ; kk<=RightPointSupportRadius ; kk++ ) if( _isValidFEMNode( _neighbors[kk] ) )
+											_pointValues[kk] +=
+												partialW_SplineValue * ___splineValues[kk] + partialD0SplineValue * ___splineValues[kk] + partialD1SplineValue * ___splineValues[kk] + partial__SplineValue * __dSplineValues[kk];
+									}
+									else
+									{
+										Real partialWSplineValue = _wSplineValues[0][ii+LeftPointSupportRadius ] * __splineValues[1][jj+LeftPointSupportRadius ];
+										Real* _pointValues = pointValues[i+ii+OverlapRadius][j+jj+OverlapRadius] + k + OverlapRadius;
+										Real* ___splineValues = __splineValues[2] + LeftPointSupportRadius;
+										TreeOctNode* const * _neighbors = neighbors.neighbors[i+ii+OverlapRadius][j+jj+OverlapRadius] + k + OverlapRadius;
+										for( int kk=-LeftPointSupportRadius ; kk<=RightPointSupportRadius ; kk++ ) if( _isValidFEMNode( _neighbors[kk] ) )
+											_pointValues[kk] += partialWSplineValue * ___splineValues[kk];
+									}
+						}
+					}
+				}
+	}
+	pointValues[OverlapRadius][OverlapRadius][OverlapRadius] = diagonal;
+	int nodeIndex = neighbors.neighbors[OverlapRadius][OverlapRadius][OverlapRadius]->nodeData.nodeIndex;
+	if( isInterior ) // General case, so try to make fast
+	{
+		const TreeOctNode* const * _nodes = &neighbors.neighbors[0][0][0];
+		const double* _stencil = &stencil( 0 , 0 , 0 );
+		Real* _values = &pointValues[0][0][0];
+		const static int CenterIndex = OverlapSize*OverlapSize*OverlapRadius + OverlapSize*OverlapRadius + OverlapRadius;
+		if( interpolationInfo ) for( int i=0 ; i<OverlapSize*OverlapSize*OverlapSize ; i++ ) _values[i] = Real( _stencil[i] + _values[i] );
+		else                    for( int i=0 ; i<OverlapSize*OverlapSize*OverlapSize ; i++ ) _values[i] = Real( _stencil[i] );
+
+		row[count++] = MatrixEntry< Real >( nodeIndex-offset , _values[CenterIndex] );
+		for( int i=0 ; i<OverlapSize*OverlapSize*OverlapSize ; i++ ) if( i!=CenterIndex && _isValidFEMNode( _nodes[i] ) )
+			row[count++] = MatrixEntry< Real >( _nodes[i]->nodeData.nodeIndex-offset , _values[i] );
+	}
+	else
+	{
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		Real temp = (Real)F.integrate( integrator , off , off );
+		if( interpolationInfo ) temp += pointValues[OverlapRadius][OverlapRadius][OverlapRadius];
+		row[count++] = MatrixEntry< Real >( nodeIndex-offset , temp );
+		for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+			if( (x!=OverlapRadius || y!=OverlapRadius || z!=OverlapRadius) && _isValidFEMNode( neighbors.neighbors[x][y][z] ) )
+			{
+				const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+				LocalDepth _d ; LocalOffset _off;
+				_localDepthAndOffset( _node , _d , _off );
+				Real temp = (Real)F.integrate( integrator , _off , off );
+				if( interpolationInfo ) temp += pointValues[x][y][z];
+				row[count++] = MatrixEntry< Real >( _node->nodeData.nodeIndex-offset , temp );
+			}
+	}
+	return count;
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+int Octree< Real >::_getMatrixAndUpdateConstraints( const FEMSystemFunctor& F , const InterpolationInfo<  HasGradients >* interpolationInfo , SparseMatrix< Real >& matrix , DenseNodeData< Real >& constraints , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::templ [...]
+{
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+	static const int OverlapSize   =   BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+
+	size_t start = _sNodesBegin(depth) , end = _sNodesEnd(depth) , range = end-start;
+	Stencil< double , OverlapSize > stencil , stencils[2][2][2];
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencil ( F ,      integrator , stencil  );
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencils( F , childIntegrator , stencils );
+	matrix.Resize( (int)range );
+	std::vector< AdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<(int)range ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i+start] ) )
+	{
+		AdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* node = _sNodes.treeNodes[i+start];
+		// Get the matrix row size
+		typename TreeOctNode::Neighbors< OverlapSize > neighbors;
+		neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( node , neighbors );
+		int count = _getMatrixRowSize< FEMDegree , BType >( neighbors );
+		// Allocate memory for the row
+		matrix.SetRowSize( i , count );
+
+		// Set the row entries
+		matrix.rowSizes[i] = _setMatrixRow( F , interpolationInfo , neighbors , matrix[i] , (int)start , integrator , stencil , bsData );
+		if( coarseToFine && depth>0 )
+		{
+			// Offset the constraints using the solution from lower resolutions.
+			int x , y , z;
+			Cube::FactorCornerIndex( (int)( node - node->parent->children ) , x , y , z );
+			typename TreeOctNode::Neighbors< OverlapSize > pNeighbors;
+			neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( node->parent , pNeighbors );
+			_updateConstraintsFromCoarser( F , interpolationInfo , neighbors , pNeighbors , node , constraints , metSolution , childIntegrator , stencils[x][y][z] , bsData );
+		}
+	}
+	memoryUsage();
+	return 1;
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+int Octree< Real >::_getSliceMatrixAndUpdateConstraints( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , SparseMatrix< Real >& matrix , DenseNodeData< Real >& constraints , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::t [...]
+{
+	static const int OverlapSize   =  BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+	static const int OverlapRadius = -BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+
+	int nStart = _sNodesBegin( depth , slice ) , nEnd = _sNodesEnd( depth , slice );
+	size_t range = nEnd - nStart;
+	Stencil< double , OverlapSize > stencil , stencils[2][2][2];
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencil ( F ,      integrator , stencil  );
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencils( F , childIntegrator , stencils );
+
+	matrix.Resize( (int)range );
+	std::vector< AdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<(int)range ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i+nStart] ) )
+	{
+		AdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* node = _sNodes.treeNodes[i+nStart];
+		// Get the matrix row size
+		typename TreeOctNode::Neighbors< OverlapSize > neighbors;
+		neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( node , neighbors );
+		int count = _getMatrixRowSize< FEMDegree , BType >( neighbors );
+
+		// Allocate memory for the row
+		matrix.SetRowSize( i , count );
+
+		// Set the row entries
+		matrix.rowSizes[i] = _setMatrixRow( F , interpolationInfo , neighbors , matrix[i] , _sNodesBegin( depth , slice ) , integrator , stencil , bsData );
+
+		if( coarseToFine && depth>0 )
+		{
+			// Offset the constraints using the solution from lower resolutions.
+			int x , y , z;
+			Cube::FactorCornerIndex( (int)( node - node->parent->children ) , x , y , z );
+			typename TreeOctNode::Neighbors< OverlapSize > pNeighbors;
+			neighborKey.template getNeighbors< false, OverlapRadius , OverlapRadius >( node->parent , pNeighbors );
+			_updateConstraintsFromCoarser( F , interpolationInfo , neighbors , pNeighbors , node , constraints , metSolution , childIntegrator , stencils[x][y][z] , bsData );
+		}
+	}
+/**
+#if !defined( _WIN32 ) && !defined( _WIN64 )
+#pragma message( "[WARNING] I'm not sure how expensive this system call is on non-Windows system. (You may want to comment this out.)" )
+#endif // !_WIN32 && !_WIN64
+	memoryUsage();
+**/
+	return 1;
+}
+
+#ifndef MOD
+#define MOD( a , b ) ( (a)>0 ? (a) % (b) : ( (b) - ( -(a) % (b) ) ) % (b) )
+#endif // MOD
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+int Octree< Real >::_solveSystemGS( const FEMSystemFunctor& F , const BSplineData< FEMDegree , BType >& bsData , InterpolationInfo< HasGradients >* interpolationInfo , LocalDepth depth , DenseNodeData< Real >& solution , DenseNodeData< Real >& constraints , DenseNodeData< Real >& metSolutionConstraints , int iters , bool coarseToFine , _SolverStats& stats , bool computeNorms )
+{
+	const int OverlapRadius = -BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template      Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >      integrator;
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template ChildIntegrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) > childIntegrator;
+	BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetIntegrator( integrator , depth );
+	if( depth>0 ) BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetChildIntegrator( childIntegrator , depth-1 );
+
+	DenseNodeData< Real >& metSolution    = metSolutionConstraints;	// This stores the up-sampled solution up to depth-2
+	DenseNodeData< Real >& metConstraints = metSolutionConstraints; // This stores the down-sampled constraints up to depth
+
+	int sliceBegin = _BSplineBegin< FEMDegree , BType >( depth ) , sliceEnd = _BSplineEnd< FEMDegree , BType >( depth );
+	double&   systemTime = stats.  systemTime;
+	double&    solveTime = stats.   solveTime;
+	double& evaluateTime = stats.evaluateTime;
+	systemTime = solveTime = evaluateTime = 0.;
+
+	if( coarseToFine )
+	{
+		if( depth>0 )
+		{
+			// Up-sample the cumulative change in solution @(depth-2) into the cumulative change in solution @(depth-1)
+			if( depth-2>=0 ) _upSample< Real , FEMDegree , BType >( depth-1 , metSolution );
+			// Add in the change in solution @(depth-1)
+#pragma omp parallel for num_threads( threads )
+			for( int i=_sNodesBegin(depth-1) ; i<_sNodesEnd(depth-1) ; i++ ) metSolution[i] += solution[i];
+			// evaluate the points @(depth) using the cumulative change in solution @(depth-1)
+			if( interpolationInfo )
+			{
+				evaluateTime = Time();
+				_setPointValuesFromCoarser( *interpolationInfo , depth , bsData , metSolution );
+				evaluateTime = Time() - evaluateTime;
+			}
+		}
+	}
+	else if( depth<_maxDepth ) for( int i=_sNodesBegin(depth) ; i<_sNodesEnd(depth) ; i++ ) constraints[i] -= metConstraints[i];
+	double bNorm = 0 , inRNorm = 0 , outRNorm = 0;
+	if( depth>=0 )
+	{
+		// Add padding space if we are computing residuals
+		int frontOffset = computeNorms ? OverlapRadius : 0 , backOffset = computeNorms ? OverlapRadius : 0;
+		// Set the number of in-memory slices required for a temporally blocked solver
+		int solveSlices = std::max< int >( 0 , std::min< int >( OverlapRadius*iters - (OverlapRadius-1) , sliceEnd-sliceBegin ) ) , matrixSlices = std::max< int >( 1 , std::min< int >( solveSlices+frontOffset+backOffset , sliceEnd-sliceBegin ) );
+		// The list of matrices for each in-memory slices
+		std::vector< SparseMatrix< Real > > _M( matrixSlices );
+		// The list of multi-colored indices  for each in-memory slice
+		std::vector< std::vector< std::vector< int > > > __mcIndices( solveSlices );
+
+		int dir = coarseToFine ? -1 : 1 , start = coarseToFine ? sliceEnd-1 : sliceBegin , end = coarseToFine ? sliceBegin-1 : sliceEnd;
+		for( int frontSlice=start-frontOffset*dir , backSlice = frontSlice-OverlapRadius*(iters-1)*dir ; backSlice!=end+backOffset*dir ; frontSlice+=dir , backSlice+=dir )
+		{
+			double t;
+			if( frontSlice+frontOffset*dir>=sliceBegin && frontSlice+frontOffset*dir<sliceEnd )
+			{
+				int s = frontSlice+frontOffset*dir , _s = MOD( s , matrixSlices );
+				t = Time();
+				// Compute the system matrix
+				_getSliceMatrixAndUpdateConstraints( F , interpolationInfo , _M[_s] , constraints , integrator , childIntegrator , bsData , depth , s , metSolution , coarseToFine );
+				systemTime += Time()-t;
+				// Compute residuals
+				if( computeNorms )
+				{
+					ConstPointer( Real ) B = GetPointer( &constraints[0] + _sNodesBegin( depth ) , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+					Pointer( Real ) X = GetPointer( &solution[0] + _sNodesBegin( depth ) , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+#pragma omp parallel for num_threads( threads ) reduction( + : bNorm , inRNorm )
+					for( int j=0 ; j<_M[_s].rows ; j++ )
+					{
+						Real temp = Real(0);
+						ConstPointer( MatrixEntry< Real > ) start = _M[_s][j];
+						ConstPointer( MatrixEntry< Real > ) end = start + _M[_s].rowSizes[j];
+						ConstPointer( MatrixEntry< Real > ) e;
+						for( e=start ; e!=end ; e++ ) temp += X[ e->N ] * e->Value;
+						bNorm += B[j]*B[j];
+						inRNorm += (temp-B[j]) * (temp-B[j]);
+					}
+				}
+			}
+			t = Time();
+			// Compute the multicolor indices
+			if( iters && frontSlice>=sliceBegin && frontSlice<sliceEnd )
+			{
+				int s = frontSlice , _s = MOD( s , matrixSlices ) , __s = MOD( s , solveSlices );
+				for( int i=0 ; i<int( __mcIndices[__s].size() ) ; i++ ) __mcIndices[__s][i].clear();
+				_setMultiColorIndices< FEMDegree >( _sNodesBegin( depth , s ) , _sNodesEnd( depth , s ) , __mcIndices[__s] );
+			}
+			// Advance through the in-memory slices, taking an appropriately sized stride
+			for( int slice=frontSlice ; slice*dir>=backSlice*dir ; slice-=OverlapRadius*dir )
+				if( slice>=sliceBegin && slice<sliceEnd )
+				{
+					int s = slice , _s = MOD( s , matrixSlices ) , __s = MOD( s , solveSlices );
+					// Do the GS solver
+					ConstPointer( Real ) B = GetPointer( &constraints[0] + _sNodesBegin( depth)  , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+					Pointer( Real ) X = GetPointer( &solution[0] + _sNodesBegin( depth ) , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+					SparseMatrix< Real >::SolveGS( __mcIndices[__s] , _M[_s] , B , X , !coarseToFine , threads );
+				}
+			solveTime += Time() - t;
+			// Compute residuals
+			if( computeNorms && backSlice-backOffset*dir>=sliceBegin && backSlice-backOffset*dir<sliceEnd )
+			{
+				int s = backSlice-backOffset*dir , _s = MOD( s , matrixSlices );
+				ConstPointer( Real ) B = GetPointer( &constraints[0] + _sNodesBegin( depth ) , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+				Pointer( Real ) X = GetPointer( &solution[0] + _sNodesBegin( depth ) , _sNodesSize( depth ) ) + ( _sNodesBegin( depth , s ) - _sNodesBegin( depth ) );
+#pragma omp parallel for num_threads( threads ) reduction( + : outRNorm )
+				for( int j=0 ; j<_M[_s].rows ; j++ )
+				{
+					Real temp = Real(0);
+					ConstPointer( MatrixEntry< Real > ) start = _M[_s][j];
+					ConstPointer( MatrixEntry< Real > ) end = start + _M[_s].rowSizes[j];
+					ConstPointer( MatrixEntry< Real > ) e;
+					for( e=start ; e!=end ; e++ ) temp += X[ e->N ] * e->Value;
+					outRNorm += (temp-B[j]) * (temp-B[j]);
+				}
+			}
+		}
+	}
+	if( computeNorms ) stats.bNorm2 = bNorm , stats.inRNorm2 = inRNorm , stats.outRNorm2 = outRNorm;
+
+	if( !coarseToFine && depth>0 )
+	{
+		// Explicitly compute the restriction of the met solution onto the coarser nodes
+		// and down-sample the previous accumulation
+		{
+			_updateCumulativeIntegralConstraintsFromFiner( F , bsData , depth , solution , metConstraints );
+			if( interpolationInfo ) _updateCumulativeInterpolationConstraintsFromFiner( *interpolationInfo , bsData , depth , solution , metConstraints );
+			if( depth<_maxDepth ) _downSample< Real , FEMDegree , BType >( depth , metConstraints );
+		}
+	}
+	memoryUsage();
+
+	return iters;
+}
+#undef MOD
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+int Octree< Real >::_solveSystemCG( const FEMSystemFunctor& F , const BSplineData< FEMDegree , BType >& bsData , InterpolationInfo< HasGradients >* interpolationInfo , LocalDepth depth , DenseNodeData< Real >& solution , DenseNodeData< Real >& constraints , DenseNodeData< Real >& metSolutionConstraints , int iters , bool coarseToFine , _SolverStats& stats , bool computeNorms , double accuracy )
+{
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template      Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >      integrator;
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template ChildIntegrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) > childIntegrator;
+	BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetIntegrator( integrator , depth );
+	if( depth>0 ) BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetChildIntegrator( childIntegrator , depth-1 );
+
+	DenseNodeData< Real >& metSolution    = metSolutionConstraints;	// This stores the up-sampled solution up to depth-2
+	DenseNodeData< Real >& metConstraints = metSolutionConstraints; // This stores the down-sampled constraints up to depth
+
+	int iter = 0;
+	Pointer( Real ) X = GetPointer( &   solution[0] + _sNodesBegin(depth) , _sNodesSize(depth) );
+	Pointer( Real ) B = GetPointer( &constraints[0] + _sNodesBegin(depth) , _sNodesSize(depth) );
+	SparseMatrix< Real > M;
+	double&   systemTime = stats.  systemTime;
+	double&    solveTime = stats.   solveTime;
+	double& evaluateTime = stats.evaluateTime;
+	systemTime = solveTime = evaluateTime = 0.;
+
+	if( coarseToFine )
+	{
+		if( depth>0 )
+		{
+			// Up-sample the cumulative change in solution @(depth-2) into the cumulative change in solution @(depth-1)
+			if( depth-2>=0 ) _upSample< Real , FEMDegree , BType >( depth-1 , metSolution );
+			// Add in the change in solution @(depth-1)
+#pragma omp parallel for num_threads( threads )
+			for( int i=_sNodesBegin(depth-1) ; i<_sNodesEnd(depth-1) ; i++ ) metSolution[i] += solution[i];
+			// evaluate the points @(depth) using the cumulative change in solution @(depth-1)
+			if( interpolationInfo )
+			{
+				evaluateTime = Time();
+				_setPointValuesFromCoarser( *interpolationInfo , depth , bsData , metSolution );
+				evaluateTime = Time() - evaluateTime;
+			}
+		}
+	}
+	else if( depth<_maxDepth ) for( int i=_sNodesBegin(depth) ; i<_sNodesEnd(depth) ; i++ ) constraints[i] -= metConstraints[i];
+
+	// Get the system matrix (and adjust the right-hand-side based on the coarser solution if prolonging)
+	systemTime = Time();
+	_getMatrixAndUpdateConstraints( F , interpolationInfo , M , constraints , integrator , childIntegrator , bsData , depth , metSolution , coarseToFine );
+	systemTime = Time()-systemTime;
+
+	solveTime = Time();
+	// Solve the linear system
+	accuracy = Real( accuracy / 100000 ) * M.rows;
+	int dim = _BSplineEnd< FEMDegree , BType >( depth ) - _BSplineBegin< FEMDegree , BType >( depth );
+	int nonZeroRows = 0;
+	for( int i=0 ; i<M.rows ; i++ ) if( M.rowSizes[i] ) nonZeroRows++;
+	bool addDCTerm = ( nonZeroRows==dim*dim*dim && ( !interpolationInfo || !interpolationInfo->valueWeight ) && HasPartitionOfUnity< BType >() && F.vanishesOnConstants() );
+	double bNorm = 0 , inRNorm = 0 , outRNorm = 0;
+	if( computeNorms )
+	{
+#pragma omp parallel for num_threads( threads ) reduction( + : bNorm , inRNorm )
+		for( int j=0 ; j<M.rows ; j++ )
+		{
+			Real temp = Real(0);
+			ConstPointer( MatrixEntry< Real > ) start = M[j];
+			ConstPointer( MatrixEntry< Real > ) end = start + M.rowSizes[j];
+			ConstPointer( MatrixEntry< Real > ) e;
+			for( e=start ; e!=end ; e++ ) temp += X[ e->N ] * e->Value;
+			bNorm += B[j] * B[j];
+			inRNorm += ( temp-B[j] ) * ( temp-B[j] );
+		}
+	}
+
+	iters = std::min< int >( nonZeroRows , iters );
+	if( iters ) iter += SparseMatrix< Real >::SolveCG( M , ( ConstPointer( Real ) )B , iters , X , Real( accuracy ) , 0 , addDCTerm , false , threads );
+
+	solveTime = Time()-solveTime;
+	if( computeNorms )
+	{
+#pragma omp parallel for num_threads( threads ) reduction( + : outRNorm )
+		for( int j=0 ; j<M.rows ; j++ )
+		{
+			Real temp = Real(0);
+			ConstPointer( MatrixEntry< Real > ) start = M[j];
+			ConstPointer( MatrixEntry< Real > ) end = start + M.rowSizes[j];
+			ConstPointer( MatrixEntry< Real > ) e;
+			for( e=start ; e!=end ; e++ ) temp += X[ e->N ] * e->Value;
+			outRNorm += ( temp-B[j] ) * ( temp-B[j] );
+		}
+		stats.bNorm2 = bNorm , stats.inRNorm2 = inRNorm , stats.outRNorm2 = outRNorm;
+	}
+
+	// Copy the old solution into the buffer, write in the new solution, compute the change, and update the met solution
+	if( !coarseToFine && depth>0 )
+	{
+		// Explicitly compute the restriction of the met solution onto the coarser nodes
+		// and down-sample the previous accumulation
+		{
+			_updateCumulativeIntegralConstraintsFromFiner( F , bsData , depth , solution , metConstraints );
+			if( interpolationInfo ) _updateCumulativeInterpolationConstraintsFromFiner( *interpolationInfo , bsData , depth , solution , metConstraints );
+			if( depth>_maxDepth ) _downSample< Real , FEMDegree , BType >( depth , metConstraints );
+		}
+	}
+	memoryUsage();
+	return iter;
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+int Octree< Real >::_getMatrixRowSize( const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors ) const
+{
+	static const int OverlapSize   =   BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+
+	int count = 0;
+	int nodeIndex = neighbors.neighbors[OverlapRadius][OverlapRadius][OverlapRadius]->nodeData.nodeIndex;
+	const TreeOctNode* const * _nodes = &neighbors.neighbors[0][0][0];
+	for( int i=0 ; i<OverlapSize*OverlapSize*OverlapSize ; i++ ) if( _isValidFEMNode( _nodes[i] ) ) count++;
+	return count;
+}
+
+
+template< class Real >
+template< int FEMDegree1 , int FEMDegree2 >
+void Octree< Real >::_SetParentOverlapBounds( const TreeOctNode* node , int& startX , int& endX , int& startY , int& endY , int& startZ , int& endZ )
+{
+	const int OverlapStart = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapStart;
+
+	if( node->parent )
+	{
+		int x , y , z , c = (int)( node - node->parent->children );
+		Cube::FactorCornerIndex( c , x , y , z );
+		startX = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapStart[x]-OverlapStart , endX = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapEnd[x]-OverlapStart+1;
+		startY = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapStart[y]-OverlapStart , endY = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapEnd[y]-OverlapStart+1;
+		startZ = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapStart[z]-OverlapStart , endZ = BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::ParentOverlapEnd[z]-OverlapStart+1;
+	}
+}
+
+// It is assumed that at this point, the evaluationg of the current depth's points, using the coarser resolution solution
+// has already happened
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+void Octree< Real >::_updateConstraintsFromCoarser( const FEMSystemFunctor& F , const InterpolationInfo<  HasGradients >* interpolationInfo , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& pNeighbors , TreeOctNode* node , DenseNodeData< Real >& constraints , const DenseNodeData< Real >& metSolution , const typename BSplineInt [...]
+{
+	static const int LeftSupportRadius  = -BSplineSupportSizes< FEMDegree >::SupportStart;
+	static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+
+	if( _localDepth( node )<=0 ) return;
+	// This is a conservative estimate as we only need to make sure that the parent nodes don't overlap the child (not the parent itself)
+	bool isInterior = _isInteriorlyOverlapped< FEMDegree , FEMDegree >( node->parent );
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+
+	// Offset the constraints using the solution from lower resolutions.
+	int startX , endX , startY , endY , startZ , endZ;
+	_SetParentOverlapBounds< FEMDegree , FEMDegree >( node , startX , endX , startY , endY , startZ , endZ );
+
+	for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+		if( _isValidFEMNode( pNeighbors.neighbors[x][y][z] ) )
+		{
+			const TreeOctNode* _node = pNeighbors.neighbors[x][y][z];
+			Real _solution = metSolution[ _node->nodeData.nodeIndex ];
+			{
+				if( isInterior ) constraints[ node->nodeData.nodeIndex ] -= Real( lapStencil( x , y , z ) * _solution );
+				else
+				{
+					LocalDepth _d ; LocalOffset _off;
+					_localDepthAndOffset( _node , _d , _off );
+					constraints[ node->nodeData.nodeIndex ] -= (Real)F.integrate( childIntegrator , _off , off ) * _solution;
+				}
+			}
+		}
+
+	if( interpolationInfo )
+	{
+		double constraint = 0;
+		int fIdx[3];
+		functionIndex< FEMDegree , BType >( node , fIdx );
+		// evaluate the current node's basis function at adjacent points
+		for( int x=-LeftSupportRadius ; x<=RightSupportRadius ; x++ ) for( int y=-LeftSupportRadius ; y<=RightSupportRadius ; y++ ) for( int z=-LeftSupportRadius ; z<=RightSupportRadius ; z++ )
+		{
+			const TreeOctNode* _node = neighbors.neighbors[x+OverlapRadius][y+OverlapRadius][z+OverlapRadius];
+			if( _isValidSpaceNode( _node ) && (*interpolationInfo)( _node ) )
+			{
+				const PointData< Real , HasGradients >& pData = *( (*interpolationInfo)( _node ) );
+				constraint += _ConstraintCalculator_< Real , FEMDegree , HasGradients >::_CalculateConstraint_
+					(
+						pData ,
+						bsData. baseBSplines[ fIdx[0] ][x+LeftSupportRadius] ,
+						bsData. baseBSplines[ fIdx[1] ][y+LeftSupportRadius] ,
+						bsData. baseBSplines[ fIdx[2] ][z+LeftSupportRadius] ,
+						bsData.dBaseBSplines[ fIdx[0] ][x+LeftSupportRadius] ,
+						bsData.dBaseBSplines[ fIdx[1] ][y+LeftSupportRadius] ,
+						bsData.dBaseBSplines[ fIdx[2] ][z+LeftSupportRadius]
+					);
+			}
+		}
+		constraints[ node->nodeData.nodeIndex ] -= Real( constraint );
+	}
+}
+
+// Given the solution @( depth ) add to the met constraints @( depth-1 )
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor >
+void Octree< Real >::_updateCumulativeIntegralConstraintsFromFiner( const FEMSystemFunctor& F , const BSplineData< FEMDegree , BType >& bsData , LocalDepth highDepth , const DenseNodeData< Real >& fineSolution , DenseNodeData< Real >& coarseConstraints ) const
+{
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template ChildIntegrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) > childIntegrator;
+	BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetChildIntegrator( childIntegrator , highDepth-1 );
+
+	static const int OverlapSize   =   BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+	typedef typename TreeOctNode::NeighborKey< -BSplineSupportSizes< FEMDegree >::SupportStart , BSplineSupportSizes< FEMDegree >::SupportEnd >SupportKey;
+
+	if( highDepth<=0 ) return;
+	// Get the stencil describing the Laplacian relating coefficients @(depth) with coefficients @(depth-1)
+	Stencil< double , OverlapSize > stencils[2][2][2];
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencils( F , childIntegrator , stencils );
+	size_t start = _sNodesBegin( highDepth) , end = _sNodesEnd(highDepth) , range = end-start;
+	int lStart = _sNodesBegin(highDepth-1);
+
+	// Iterate over the nodes @( depth )
+	std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( highDepth )-1 );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(highDepth) ; i<_sNodesEnd(highDepth) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+		TreeOctNode* node = _sNodes.treeNodes[i];
+
+		// Offset the coarser constraints using the solution from the current resolutions.
+		int x , y , z , c;
+		c = int( node - node->parent->children );
+		Cube::FactorCornerIndex( c , x , y , z );
+		{
+			typename TreeOctNode::Neighbors< OverlapSize > pNeighbors;
+			neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( node->parent , pNeighbors );
+			const Stencil< double , OverlapSize >& stencil = stencils[x][y][z];
+
+			bool isInterior = _isInteriorlyOverlapped< FEMDegree , FEMDegree >( node->parent );
+			LocalDepth d ; LocalOffset off;
+			_localDepthAndOffset( node , d , off );
+
+			// Offset the constraints using the solution from finer resolutions.
+			int startX , endX , startY , endY , startZ , endZ;
+			_SetParentOverlapBounds< FEMDegree , FEMDegree >( node , startX , endX , startY  , endY , startZ , endZ );
+
+			Real solution = fineSolution[ node->nodeData.nodeIndex ];
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+				if( _isValidFEMNode( pNeighbors.neighbors[x][y][z] ) )
+				{
+					const TreeOctNode* _node = pNeighbors.neighbors[x][y][z];
+					if( isInterior )
+#pragma omp atomic
+						coarseConstraints[ _node->nodeData.nodeIndex ] += Real( stencil( x , y , z ) * solution );
+					else
+					{
+						LocalDepth _d ; LocalOffset _off;
+						_localDepthAndOffset( _node , _d , _off );
+#pragma omp atomic
+						coarseConstraints[ _node->nodeData.nodeIndex ] += Real( F.integrate( childIntegrator , _off , off ) * solution );
+					}
+				}
+		}
+	}
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+void Octree< Real >::setSystemMatrix( const FEMSystemFunctor& F , const InterpolationInfo<  HasGradients >* interpolationInfo , LocalDepth depth , SparseMatrix< Real >& matrix ) const
+{
+	if( depth<0 || depth>_maxDepth ) fprintf( stderr , "[ERROR] System depth out of bounds: %d <= %d <= %d\n" , 0 , depth , _maxDepth ) , exit( 0 );
+	typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) > integrator;
+	BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::SetIntegrator( integrator , depth );
+	BSplineData< FEMDegree , BType > bsData( depth );
+
+	static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+	static const int OverlapSize   =   BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+
+	Stencil< double , OverlapSize > stencil;
+	SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::SetCentralSystemStencil ( F , integrator , stencil );
+
+	matrix.Resize( _sNodesSize(depth) );
+	std::vector< AdjacenctNodeKey > neighborKeys( std::max< int >( 1 , threads ) );
+	for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( depth ) );
+#pragma omp parallel for num_threads( threads )
+	for( int i=_sNodesBegin(depth) ; i<_sNodesEnd( depth ) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+	{
+		int ii = i - _sNodesBegin(depth);
+		AdjacenctNodeKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+
+		typename TreeOctNode::Neighbors< OverlapSize > neighbors;
+		neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( _sNodes.treeNodes[i] , neighbors );
+
+		matrix.SetRowSize( ii , _getMatrixRowSize< FEMDegree , BType >( neighbors ) );
+		matrix.rowSizes[ii] = _setMatrixRow( F , interpolationInfo , neighbors , matrix[ii] , _sNodesBegin(depth) , integrator , stencil , bsData );
+	}
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+DenseNodeData< Real > Octree< Real >::solveSystem( const FEMSystemFunctor& F , InterpolationInfo< HasGradients >* interpolationInfo , DenseNodeData< Real >& constraints , LocalDepth maxSolveDepth , const typename Octree< Real >::SolverInfo& solverInfo )
+{
+	BSplineData< FEMDegree , BType > bsData( maxSolveDepth );
+
+	maxSolveDepth = std::min< LocalDepth >( maxSolveDepth , _maxDepth );
+	const int _iters = std::max< int >( 0 , solverInfo.iters );
+
+	DenseNodeData< Real > solution( _sNodesEnd( _maxDepth ) );
+	memset( &solution[0] , 0 , sizeof(Real) * _sNodesEnd( _maxDepth ) );
+
+	DenseNodeData< Real > metSolution( _sNodesEnd( _maxDepth-1 ) );
+	memset( &metSolution[0] , 0 , sizeof(Real)*_sNodesEnd( _maxDepth-1 ) );
+	for( LocalDepth d=0 ; d<=maxSolveDepth ; d++ )
+	{
+		int iters = (int)ceil( _iters * pow( solverInfo.lowResIterMultiplier , maxSolveDepth-d ) );
+		_SolverStats sStats;
+		if( !d ) _solveSystemCG( F , bsData , interpolationInfo , d , solution , constraints , metSolution , _sNodesSize(d) , true , sStats , solverInfo.showResidual , 0 );
+		else
+		{
+			if( d>solverInfo.cgDepth ) _solveSystemGS( F , bsData , interpolationInfo , d , solution , constraints , metSolution , iters , true , sStats , solverInfo.showResidual );
+			else                       _solveSystemCG( F , bsData , interpolationInfo , d , solution , constraints , metSolution , iters , true , sStats , solverInfo.showResidual , solverInfo.cgAccuracy );
+		}
+		int femNodes = 0;
+#pragma omp parallel for reduction( + : femNodes )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) ) femNodes++;
+		if( solverInfo.verbose )
+		{
+			if( maxSolveDepth<10 ) printf( "Depth[%d/%d]:\t" , d , maxSolveDepth );
+			else                   printf( "Depth[%2d/%d]:\t" , d , maxSolveDepth );
+			printf( "Evaluated / Got / Solved in: %6.3f / %6.3f / %6.3f\t(%.3f MB)\tNodes: %d\n" , sStats.evaluateTime , sStats.systemTime , sStats.solveTime , _localMemoryUsage , femNodes );
+		}
+		if( solverInfo.showResidual && iters )
+		{
+			for( LocalDepth dd=0 ; dd<d ; dd++ ) printf( "  " );
+			printf( "%s: %.4e -> %.4e -> %.4e (%.2e) [%d]\n" , d<=solverInfo.cgDepth ? "CG" : "GS" , sqrt( sStats.bNorm2 ) , sqrt( sStats.inRNorm2 ) , sqrt( sStats.outRNorm2 ) , sqrt( sStats.outRNorm2  / sStats.bNorm2 ) , iters );
+		}
+	}
+	memoryUsage();
+	return solution;
+}
+
+template< class Real >
+DenseNodeData< Real > Octree< Real >::initDenseNodeData( void )
+{
+	DenseNodeData< Real > constraints( _sNodes.size() );
+	memset( &constraints[0] , 0 , sizeof(Real)*_sNodes.size() );
+	return constraints;
+}
+template< > template< > float  Octree< float  >::_Dot( const float & r1 , const float & r2 ){ return r1*r2; }
+template< > template< > double Octree< double >::_Dot( const double& r1 , const double& r2 ){ return r1*r2; }
+template< > template< > float  Octree< float  >::_Dot( const Point3D< float  >& p1 , const Point3D< float  >& p2 ){ return Point3D< float  >::Dot( p1 , p2 ); }
+template< > template< > double Octree< double >::_Dot( const Point3D< double >& p1 , const Point3D< double >& p2 ){ return Point3D< double >::Dot( p1 , p2 ); }
+template< > template< > bool Octree< float  >::_IsZero( const float & r ){ return r==0; }
+template< > template< > bool Octree< double >::_IsZero( const double& r ){ return r==0; }
+template< > template< > bool Octree< float  >::_IsZero( const Point3D< float  >& p ){ return p[0]==0 && p[1]==0 && p[2]==0; }
+template< > template< > bool Octree< double >::_IsZero( const Point3D< double >& p ){ return p[0]==0 && p[1]==0 && p[2]==0; }
+template< class Real >
+template< int FEMDegree , BoundaryType FEMBType , int CDegree , BoundaryType CBType , class FEMConstraintFunctor , class Coefficients , class D , class _D >
+void Octree< Real >::_addFEMConstraints( const FEMConstraintFunctor& F , const Coefficients& coefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+{
+	typedef typename TreeOctNode::NeighborKey< -BSplineSupportSizes< FEMDegree >::SupportStart , BSplineSupportSizes< FEMDegree >::SupportEnd > SupportKey;
+	const int      CFEMOverlapSize   =  BSplineOverlapSizes< CDegree , FEMDegree >::OverlapSize;
+	const int  LeftCFEMOverlapRadius = -BSplineOverlapSizes< CDegree , FEMDegree >::OverlapStart;
+	const int RightCFEMOverlapRadius =  BSplineOverlapSizes< CDegree , FEMDegree >::OverlapEnd;
+	const int  LeftFEMCOverlapRadius = -BSplineOverlapSizes< FEMDegree , CDegree >::OverlapStart;
+	const int RightFEMCOverlapRadius =  BSplineOverlapSizes< FEMDegree , CDegree >::OverlapEnd;
+
+	// To set the constraints, we iterate over the
+	// splatted normals and compute the dot-product of the
+	// divergence of the normal field with all the basis functions.
+	// Within the same depth: set directly as a gather
+	// Coarser depths
+	maxDepth = std::min< LocalDepth >( maxDepth , _maxDepth );
+	DenseNodeData< Real >* __constraints = new DenseNodeData< Real >( _sNodesEnd(maxDepth-1) );
+	DenseNodeData< Real >& _constraints = *__constraints;
+	memset( &_constraints[0] , 0 , sizeof(Real)*( _sNodesEnd(maxDepth-1) ) );
+	memoryUsage();
+
+	for( LocalDepth d=maxDepth ; d>=0 ; d-- )
+	{
+		Stencil< _D , CFEMOverlapSize > stencil , stencils[2][2][2];
+		typename SystemCoefficients< CDegree , CBType , FEMDegree , FEMBType >::     Integrator      integrator;
+		typename SystemCoefficients< FEMDegree , FEMBType , CDegree , CBType >::ChildIntegrator childIntegrator;
+		BSplineIntegrationData< CDegree , CBType , FEMDegree , FEMBType >::SetIntegrator( integrator , d );
+		if( d>0 ) BSplineIntegrationData< FEMDegree , FEMBType , CDegree , CBType >::SetChildIntegrator( childIntegrator , d-1 );
+		SystemCoefficients< CDegree , CBType , FEMDegree , FEMBType >::template SetCentralConstraintStencil < false >( F,      integrator , stencil  );
+		SystemCoefficients< FEMDegree , FEMBType , CDegree , CBType >::template SetCentralConstraintStencils< true  >( F, childIntegrator , stencils );
+
+		std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+		for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d ) );
+
+#pragma omp parallel for num_threads( threads )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ )
+		{
+			SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+			TreeOctNode* node = _sNodes.treeNodes[i];
+			int startX=0 , endX=CFEMOverlapSize , startY=0 , endY=CFEMOverlapSize , startZ=0 , endZ=CFEMOverlapSize;
+			typename TreeOctNode::Neighbors< CFEMOverlapSize > neighbors;
+			neighborKey.template getNeighbors< false , LeftFEMCOverlapRadius , RightFEMCOverlapRadius >( node , neighbors );
+			bool isInterior = _isInteriorlyOverlapped< FEMDegree , CDegree >( node ) , isInterior2 = _isInteriorlyOverlapped< CDegree , FEMDegree >( node->parent );
+
+			LocalDepth d ; LocalOffset off;
+			_localDepthAndOffset( node , d , off );
+			// Set constraints from current depth
+			// Gather the constraints from the vector-field at _node into the constraint stored with node
+			if( _isValidFEMNode( node ) )
+			{
+				for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+				{
+					const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+					if( isValidFEMNode< CDegree , CBType >( _node ) )
+					{
+						const D* d = coefficients( _node );
+						if( d )
+                        {
+							if( isInterior )
+                                constraints[i] += _Dot( (D)stencil( x , y , z ) , *d );
+							else
+							{
+								LocalDepth _d ; LocalOffset _off;
+								_localDepthAndOffset( _node , _d , _off );
+								constraints[i] += _Dot( *d , (D)F.template integrate< false >( integrator , _off , off ) );
+							}
+                        }
+					}
+				}
+				_SetParentOverlapBounds< CDegree , FEMDegree >( node , startX , endX , startY , endY , startZ , endZ );
+			}
+			if( !isValidFEMNode< CDegree , CBType >( node ) ) continue;
+			const D* _data = coefficients( node );
+			if( !_data ) continue;
+			const D& data = *_data;
+			if( _IsZero( data ) ) continue;
+
+			// Set the _constraints for the parents
+			if( d>0 )
+			{
+				int cx , cy , cz;
+				Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy ,cz );
+				const Stencil< _D , CFEMOverlapSize >& _stencil = stencils[cx][cy][cz];
+
+				neighborKey.template getNeighbors< false , LeftCFEMOverlapRadius , RightCFEMOverlapRadius >( node->parent , neighbors );
+
+				for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+				{
+					TreeOctNode* _node = neighbors.neighbors[x][y][z];
+					if( _node && ( isInterior2 || _isValidFEMNode( _node ) ) )
+					{
+						TreeOctNode* _node = neighbors.neighbors[x][y][z];
+						Real c;
+						if( isInterior2 ) c = _Dot( (D)_stencil( x , y , z ) , data );
+						else
+						{
+							LocalDepth _d ; LocalOffset _off;
+							_localDepthAndOffset( _node , _d , _off );
+							c = _Dot( data , (D)F.template integrate< true >( childIntegrator , _off , off ) );
+						}
+#pragma omp atomic
+						_constraints[ _node->nodeData.nodeIndex ] += c;
+					}
+				}
+			}
+		}
+		memoryUsage();
+	}
+
+	// Fine-to-coarse down-sampling of constraints
+	for( LocalDepth d=maxDepth-1 ; d>0 ; d-- ) _downSample< Real , FEMDegree , FEMBType >( d , _constraints );
+
+	// Add the accumulated constraints from all finer depths
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<_sNodesEnd(maxDepth-1) ; i++ ) constraints[i] += _constraints[i];
+
+	delete __constraints;
+
+	DenseNodeData< D > _coefficients( _sNodesEnd(maxDepth-1) );
+	memset( &_coefficients[0] , 0 , sizeof(D) * _sNodesEnd(maxDepth-1) );
+	for( LocalDepth d=maxDepth-1 ; d>=0 ; d-- )
+	{
+#pragma omp parallel for num_threads( threads )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( isValidFEMNode< CDegree , CBType >( _sNodes.treeNodes[i] ) )
+		{
+			const D* d = coefficients( _sNodes.treeNodes[i] );
+			if( d )	_coefficients[i] += *d;
+		}
+	}
+
+	// Coarse-to-fine up-sampling of coefficients
+	for( LocalDepth d=1 ; d<maxDepth ; d++ ) _upSample< D , CDegree , CBType >( d , _coefficients );
+
+	// Compute the contribution from all coarser depths
+	for( LocalDepth d=1 ; d<=maxDepth ; d++ )
+	{
+		size_t start = _sNodesBegin( d ) , end = _sNodesEnd( d ) , range = end - start;
+		Stencil< _D , CFEMOverlapSize > stencils[2][2][2];
+		typename SystemCoefficients< CDegree , CBType , FEMDegree , FEMBType >::ChildIntegrator childIntegrator;
+		BSplineIntegrationData< CDegree , CBType , FEMDegree , FEMBType >::SetChildIntegrator( childIntegrator , d-1 );
+		SystemCoefficients< CDegree , CBType , FEMDegree , FEMBType >::template SetCentralConstraintStencils< false >( F , childIntegrator , stencils );
+		std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+		for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d-1 ) );
+#pragma omp parallel for num_threads( threads )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+		{
+			SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+			TreeOctNode* node = _sNodes.treeNodes[i];
+			int startX , endX , startY , endY , startZ , endZ;
+			_SetParentOverlapBounds< FEMDegree , CDegree >( node , startX , endX , startY , endY , startZ , endZ );
+			typename TreeOctNode::Neighbors< CFEMOverlapSize > pNeighbors;
+			neighborKey.template getNeighbors< false , LeftFEMCOverlapRadius , RightFEMCOverlapRadius >( node->parent , pNeighbors );
+
+			bool isInterior = _isInteriorlyOverlapped< FEMDegree , CDegree >( node->parent );
+			int cx , cy , cz;
+			if( d>0 )
+			{
+				int c = int( node - node->parent->children );
+				Cube::FactorCornerIndex( c , cx , cy , cz );
+			}
+			else cx = cy = cz = 0;
+			Stencil< _D , CFEMOverlapSize >& _stencil = stencils[cx][cy][cz];
+
+			Real constraint = Real(0);
+			LocalDepth d ; LocalOffset off;
+			_localDepthAndOffset( node , d , off );
+			for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+			{
+				TreeOctNode* _node = pNeighbors.neighbors[x][y][z];
+				if( isValidFEMNode< CDegree , CBType >( _node ) )
+				{
+					if( isInterior ) constraint += _Dot( _coefficients[ _node->nodeData.nodeIndex ] , (D)_stencil( x , y , z ) );
+					else
+					{
+						LocalDepth _d ; LocalOffset _off;
+						_localDepthAndOffset ( _node , _d , _off );
+						constraint += _Dot( _coefficients[ _node->nodeData.nodeIndex ] , (D)F.template integrate< false >( childIntegrator , _off , off ) );
+					}
+				}
+			}
+			constraints[i] += constraint;
+		}
+	}
+	memoryUsage();
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType , bool HasGradients >
+void Octree< Real >::addInterpolationConstraints( const InterpolationInfo< HasGradients >& interpolationInfo , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+{
+	typedef typename TreeOctNode::NeighborKey< -BSplineSupportSizes< FEMDegree >::SupportStart , BSplineSupportSizes< FEMDegree >::SupportEnd > SupportKey;
+	maxDepth = std::min< LocalDepth >( maxDepth , _maxDepth );
+	{
+		static const int OverlapSize = BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize;
+		static const int LeftSupportRadius  = -BSplineSupportSizes< FEMDegree >::SupportStart;
+		static const int RightSupportRadius =  BSplineSupportSizes< FEMDegree >::SupportEnd;
+		static const int OverlapRadius = - BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapStart;
+		BSplineData< FEMDegree , BType > bsData( _maxDepth );
+		for( int d=0 ; d<=maxDepth ; d++ )
+		{
+			std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+			for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( maxDepth ) );
+
+#pragma omp parallel for num_threads( threads )
+			for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( _isValidFEMNode( _sNodes.treeNodes[i] ) )
+			{
+				TreeOctNode* node = _sNodes.treeNodes[i];
+				SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+				typename TreeOctNode::Neighbors< OverlapSize > neighbors;
+				neighborKey.template getNeighbors< false , OverlapRadius , OverlapRadius >( node , neighbors );
+
+				double constraint = 0;
+				int fIdx[3];
+				functionIndex< FEMDegree , BType >( node , fIdx );
+				// evaluate the current node's basis function at adjacent points
+				for( int x=-LeftSupportRadius ; x<=RightSupportRadius ; x++ ) for( int y=-LeftSupportRadius ; y<=RightSupportRadius ; y++ ) for( int z=-LeftSupportRadius ; z<=RightSupportRadius ; z++ )
+				{
+					const TreeOctNode* _node = neighbors.neighbors[x+OverlapRadius][y+OverlapRadius][z+OverlapRadius];
+					if( _isValidSpaceNode( _node ) && interpolationInfo( _node ) )
+					{
+						const PointData< Real , HasGradients >& pData = *( interpolationInfo( _node ) );
+						constraint += _ConstraintCalculator_< Real , FEMDegree , HasGradients >::_CalculateConstraint_
+							(
+								pData ,
+								bsData. baseBSplines[ fIdx[0] ][x+LeftSupportRadius] ,
+								bsData. baseBSplines[ fIdx[1] ][y+LeftSupportRadius] ,
+								bsData. baseBSplines[ fIdx[2] ][z+LeftSupportRadius] ,
+								bsData.dBaseBSplines[ fIdx[0] ][x+LeftSupportRadius] ,
+								bsData.dBaseBSplines[ fIdx[1] ][y+LeftSupportRadius] ,
+								bsData.dBaseBSplines[ fIdx[2] ][z+LeftSupportRadius] ,
+								interpolationInfo.valueWeight , interpolationInfo.gradientWeight
+							);
+					}
+				}
+				constraints[ node->nodeData.nodeIndex ] += (Real)constraint;
+			}
+		}
+		memoryUsage();
+	}
+}
+template< class Real >
+template< int FEMDegree1 , BoundaryType FEMBType1 , int FEMDegree2 , BoundaryType FEMBType2 , class DotFunctor , bool HasGradients , class Coefficients1 , class Coefficients2 >
+double Octree< Real >::_dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const Coefficients1& coefficients1 , const Coefficients2& coefficients2 ) const
+{
+	double dot = 0;
+
+	// Calculate the contribution from @(depth,depth)
+	{
+		typedef typename TreeOctNode::ConstNeighborKey< -BSplineSupportSizes< FEMDegree1 >::SupportStart , BSplineSupportSizes< FEMDegree1 >::SupportEnd > SupportKey;
+		const int      OverlapSize   =  BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapSize;
+		const int  LeftOverlapRadius = -BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapStart;
+		const int RightOverlapRadius =  BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapEnd;
+
+		for( LocalDepth d=0 ; d<=_maxDepth ; d++ )
+		{
+			Stencil< double , OverlapSize > stencil;
+			typename SystemCoefficients< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::Integrator integrator;
+			BSplineIntegrationData< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::SetIntegrator( integrator , d );
+			SystemCoefficients< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::template SetCentralConstraintStencil< false , DotFunctor >( F , integrator , stencil );
+
+			std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+			for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d ) );
+
+#pragma omp parallel for num_threads( threads ) reduction( + : dot )
+			for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ )
+			{
+				const TreeOctNode* node = _sNodes.treeNodes[i];
+				const Real* _data1;
+				if( isValidFEMNode< FEMDegree1 , FEMBType1 >( node ) && ( _data1=coefficients1(node) ) )
+				{
+					SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+					typename TreeOctNode::ConstNeighbors< OverlapSize > neighbors;
+					neighborKey.template getNeighbors< LeftOverlapRadius , RightOverlapRadius >( node , neighbors );
+					bool isInterior = _isInteriorlyOverlapped< FEMDegree1 , FEMDegree2 >( node );
+
+					LocalDepth d ; LocalOffset off;
+					_localDepthAndOffset( node , d , off );
+
+					for( int x=0 ; x<OverlapSize ; x++ ) for( int y=0 ; y<OverlapSize ; y++ ) for( int z=0 ; z<OverlapSize ; z++ )
+					{
+						const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+						const Real* _data2;
+						if( isValidFEMNode< FEMDegree2 , FEMBType2 >( _node ) && ( _data2=coefficients2( _node ) ) )
+                        {
+							if( isInterior ) dot += (*_data1) * (*_data2 ) * stencil( x , y , z );
+							else
+							{
+								LocalDepth _d ; LocalOffset _off;
+								_localDepthAndOffset( _node , _d , _off );
+								dot += (*_data1) * (*_data2) * F.template integrate< false >( integrator , off , _off );
+							}
+                        }
+					}
+				}
+			}
+		}
+	}
+	// Calculate the contribution from @(<depth,depth)
+	{
+		typedef typename TreeOctNode::ConstNeighborKey< -BSplineSupportSizes< FEMDegree1 >::SupportStart , BSplineSupportSizes< FEMDegree1 >::SupportEnd > SupportKey;
+		const int      OverlapSize   =  BSplineOverlapSizes< FEMDegree2 , FEMDegree1 >::OverlapSize;
+		const int  LeftOverlapRadius = -BSplineOverlapSizes< FEMDegree2 , FEMDegree1 >::OverlapStart;
+		const int RightOverlapRadius =  BSplineOverlapSizes< FEMDegree2 , FEMDegree1 >::OverlapEnd;
+
+		DenseNodeData< Real > cumulative1( _sNodesEnd( _maxDepth-1 ) );
+		if( _maxDepth>0 ) memset( &cumulative1[0] , 0 , sizeof(Real) * _sNodesEnd( _maxDepth-1 ) );
+
+		for( LocalDepth d=1 ; d<=_maxDepth ; d++ )
+		{
+			// Update the cumulative coefficients with the coefficients @(depth-1)
+#pragma omp parallel for
+			for( int i=_sNodesBegin(d-1) ; i<_sNodesEnd(d-1) ; i++ )
+			{
+				const Real* _data1 = coefficients1( _sNodes.treeNodes[i] );
+				if( _data1 ) cumulative1[i] += *_data1;
+			}
+
+			Stencil< double , OverlapSize > stencils[2][2][2];
+			typename SystemCoefficients< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::ChildIntegrator childIntegrator;
+			BSplineIntegrationData< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::SetChildIntegrator( childIntegrator , d-1 );
+			SystemCoefficients< FEMDegree1 , FEMBType1 , FEMDegree2 , FEMBType2 >::template SetCentralConstraintStencils< false >( F, childIntegrator , stencils );
+
+			std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+			for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d-1 ) );
+
+#pragma omp parallel for num_threads( threads ) reduction( + : dot )
+			for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ )
+			{
+				const TreeOctNode* node = _sNodes.treeNodes[i];
+				const Real* _data2;
+				if( isValidFEMNode< FEMDegree2 , FEMBType2 >( node ) && ( _data2=coefficients2( node ) ) )
+				{
+					SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+					bool isInterior = _isInteriorlyOverlapped< FEMDegree1 , FEMDegree2 >( node->parent );
+
+					LocalDepth d ; LocalOffset off;
+					_localDepthAndOffset( node , d , off );
+
+					int cx , cy , cz;
+					Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy ,cz );
+					const Stencil< double , OverlapSize >& _stencil = stencils[cx][cy][cz];
+					typename TreeOctNode::ConstNeighbors< OverlapSize > neighbors;
+					neighborKey.template getNeighbors< LeftOverlapRadius , RightOverlapRadius >( node->parent , neighbors );
+
+					int startX , endX , startY , endY , startZ , endZ;
+					_SetParentOverlapBounds< FEMDegree2 , FEMDegree1 >( node , startX , endX , startY , endY , startZ , endZ );
+					for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+					{
+						const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+						const Real* _data1;
+						if( isValidFEMNode< FEMDegree1 , FEMBType1 >( _node ) && ( _data1=cumulative1(_node) ) )
+						{
+							if( isInterior ) dot += (*_data1) * (*_data2) * _stencil( x , y , z );
+							else
+							{
+								LocalDepth _d ; LocalOffset _off;
+								_localDepthAndOffset( _node , _d , _off );
+								dot += (*_data1) * (*_data2) * F.template integrate< false >( childIntegrator , _off , off );
+							}
+						}
+					}
+				}
+			}
+			// Up sample the cumulative coefficients for the next level
+			if( d<_maxDepth ) _upSample< Real , FEMDegree1 , FEMBType1 >( d , cumulative1 );
+		}
+	}
+
+	// Calculate the contribution from @(>depth,depth)
+	{
+		typedef typename TreeOctNode::ConstNeighborKey< -BSplineSupportSizes< FEMDegree2 >::SupportStart , BSplineSupportSizes< FEMDegree2 >::SupportEnd > SupportKey;
+		const int      OverlapSize   =  BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapSize;
+		const int  LeftOverlapRadius = -BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapStart;
+		const int RightOverlapRadius =  BSplineOverlapSizes< FEMDegree1 , FEMDegree2 >::OverlapEnd;
+
+		DenseNodeData< Real > cumulative2( _sNodesEnd( _maxDepth-1 ) );
+		if( _maxDepth>0 ) memset( &cumulative2[0] , 0 , sizeof(Real) * _sNodesEnd( _maxDepth-1 ) );
+
+		for( LocalDepth d=_maxDepth ; d>0 ; d-- )
+		{
+			Stencil< double , OverlapSize > stencils[2][2][2];
+			typename SystemCoefficients< FEMDegree2 , FEMBType2 , FEMDegree1 , FEMBType1 >::ChildIntegrator childIntegrator;
+			BSplineIntegrationData< FEMDegree2 , FEMBType2 , FEMDegree1 , FEMBType1 >::SetChildIntegrator( childIntegrator , d-1 );
+			SystemCoefficients< FEMDegree2 , FEMBType2 , FEMDegree1 , FEMBType1 >::template SetCentralConstraintStencils< true >( F , childIntegrator , stencils );
+
+			std::vector< SupportKey > neighborKeys( std::max< int >( 1 , threads ) );
+			for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d-1 ) );
+
+			// Update the cumulative constraints @(depth-1) from @(depth)
+#pragma omp parallel for num_threads( threads )
+			for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ )
+			{
+				const TreeOctNode* node = _sNodes.treeNodes[i];
+				const Real* _data1;
+				if( isValidFEMNode< FEMDegree1 , FEMBType1 >( node ) && ( _data1=coefficients1( node ) ) )
+				{
+					SupportKey& neighborKey = neighborKeys[ omp_get_thread_num() ];
+					bool isInterior = _isInteriorlyOverlapped< FEMDegree2 , FEMDegree1 >( node->parent );
+
+					LocalDepth d ; LocalOffset off;
+					_localDepthAndOffset( node , d , off );
+
+					int cx , cy , cz;
+					Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy ,cz );
+					const Stencil< double , OverlapSize >& _stencil = stencils[cx][cy][cz];
+					typename TreeOctNode::ConstNeighbors< OverlapSize > neighbors;
+					neighborKey.template getNeighbors< LeftOverlapRadius , RightOverlapRadius >( node->parent , neighbors );
+
+					int startX , endX , startY , endY , startZ , endZ;
+					_SetParentOverlapBounds< FEMDegree1 , FEMDegree2 >( node , startX , endX , startY , endY , startZ , endZ );
+
+					for( int x=startX ; x<endX ; x++ ) for( int y=startY ; y<endY ; y++ ) for( int z=startZ ; z<endZ ; z++ )
+					{
+						const TreeOctNode* _node = neighbors.neighbors[x][y][z];
+						if( isValidFEMNode< FEMDegree2 , FEMBType2 >( _node ) )
+						{
+							Real _dot;
+							if( isInterior ) _dot = (*_data1) * _stencil( x , y , z );
+							else
+							{
+								LocalDepth _d ; LocalOffset _off;
+								_localDepthAndOffset( _node , _d , _off );
+								_dot = (*_data1) * F.template integrate< true >( childIntegrator , _off , off );
+							}
+#pragma omp atomic
+							cumulative2[ _node->nodeData.nodeIndex ] += _dot;
+						}
+					}
+				}
+			}
+			// Update the dot-product using the cumulative constraints @(depth-1)
+#pragma omp parallel for num_threads( threads ) reduction( + : dot )
+			for( int i=_sNodesBegin(d-1) ; i<_sNodesEnd(d-1) ; i++ )
+			{
+				const TreeOctNode* node = _sNodes.treeNodes[i];
+				const Real* _data2;
+				if( isValidFEMNode< FEMDegree2 , FEMBType2 >( node ) && ( _data2=coefficients2( node ) ) ) dot += cumulative2[ node->nodeData.nodeIndex ] * (*_data2);
+			}
+
+			// Down-sample the cumulative constraints from @(depth-1) to @(depth-2) for the next pass
+			if( d-1>0 ) _downSample< Real , FEMDegree2 , FEMBType2 >( d-1 , cumulative2 );
+		}
+	}
+
+	if( iInfo )
+	{
+		MultiThreadedEvaluator< FEMDegree1 , FEMBType1 > mt1( this , coefficients1 , threads );
+		MultiThreadedEvaluator< FEMDegree2 , FEMBType2 > mt2( this , coefficients2 , threads );
+
+#pragma omp parallel for num_threads( threads ) reduction( + : dot )
+		for( int i=_sNodesBegin(0) ; i<_sNodesEnd(_maxDepth) ; i++ )
+		{
+			if( _isValidSpaceNode( _sNodes.treeNodes[i] ) && !_isValidSpaceNode( _sNodes.treeNodes[i]->children ) && (*iInfo)( _sNodes.treeNodes[i] ) )
+			{
+
+				const PointData< Real , HasGradients >& pData = *( (*iInfo)( _sNodes.treeNodes[i] ) );
+#if POINT_DATA_RES
+				for( int c=0 ; c<PointData< Real , false >::SAMPLES ; c++ ) if( pData[c].weight )
+				{
+					Point3D< Real > p = pData[c].position;
+					Real w = pData[c].weight;
+					if( HasGradients )
+					{
+						std::pair< Real , Point3D< Real > > v1 = mt1.valueAndGradient( p , omp_get_thread_num() );
+						std::pair< Real , Point3D< Real > > v2 = mt2.valueAndGradient( p , omp_get_thread_num() );
+						dot += v1.first * v2.first * w * iInfo->valueWeight + Point3D< Real >::Dot( v1.second , v2.second ) * w * iInfo->gradientWeight;
+					}
+					else dot += mt1.value( p , omp_get_thread_num() ) * mt2.value( p , omp_get_thread_num() ) * w * iInfo->valueWeight;
+				}
+#else // !POINT_DATA_RES
+				Point3D< Real > p = pData.position;
+				Real w = pData.weight;
+				if( HasGradients )
+				{
+					std::pair< Real , Point3D< Real > > v1 = mt1.valueAndGradient( p , omp_get_thread_num() );
+					std::pair< Real , Point3D< Real > > v2 = mt2.valueAndGradient( p , omp_get_thread_num() );
+					dot += v1.first * v2.first * w * iInfo->valueWeight + Point3D< Real >::Dot( v1.second , v2.second ) * w * iInfo->gradientWeight;
+				}
+				else dot += mt1.value( p , omp_get_thread_num() ) * mt2.value( p , omp_get_thread_num() ) * w * iInfo->valueWeight;
+#endif // POINT_DATA_RES
+			}
+		}
+	}
+
+	return dot;
+}
diff --git a/vendor/kazhdan/MultiGridOctreeData.WeightedSamples.inl b/vendor/kazhdan/MultiGridOctreeData.WeightedSamples.inl
new file mode 100644
index 0000000..f84e4ff
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.WeightedSamples.inl
@@ -0,0 +1,444 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+// evaluate the result of splatting along a plane and then evaluating at a point on the plane.
+template< int Degree > double GetScaleValue( void )
+{
+	double centerValues[Degree+1];
+	Polynomial< Degree >::BSplineComponentValues( 0.5 , centerValues );
+	double scaleValue = 0;
+	for( int i=0 ; i<=Degree ; i++ ) scaleValue += centerValues[i] * centerValues[i];
+	return 1./ scaleValue;
+}
+template< class Real >
+template< int WeightDegree >
+void Octree< Real >::_addWeightContribution( DensityEstimator& densityWeights , TreeOctNode* node , Point3D< Real > position , PointSupportKey< WeightDegree >& weightKey , Real weight )
+{
+	static const double ScaleValue = GetScaleValue< WeightDegree >();
+	double dx[ DIMENSION ][ PointSupportKey< WeightDegree >::Size ];
+	typename TreeOctNode::Neighbors< PointSupportKey< WeightDegree >::Size >& neighbors = weightKey.template getNeighbors< true >( node , _NodeInitializer );
+	densityWeights.reserve( NodeCount() );
+	Point3D< Real > start;
+	Real w;
+	_startAndWidth( node , start , w );
+	for( int dim=0 ; dim<DIMENSION ; dim++ ) Polynomial< WeightDegree >::BSplineComponentValues( ( position[dim]-start[dim] ) / w , dx[dim] );
+
+	weight *= (Real)ScaleValue;
+
+	for( int i=0 ; i<PointSupportKey< WeightDegree >::Size ; i++ ) for( int j=0 ; j<PointSupportKey< WeightDegree >::Size ; j++ )
+	{
+		double dxdy = dx[0][i] * dx[1][j] * weight;
+		TreeOctNode** _neighbors = neighbors.neighbors[i][j];
+		for( int k=0 ; k<PointSupportKey< WeightDegree >::Size ; k++ ) if( _neighbors[k] ) densityWeights[ _neighbors[k] ] += Real( dxdy * dx[2][k] );
+	}
+}
+
+template< class Real >
+template< int WeightDegree , class PointSupportKey >
+Real Octree< Real >::_getSamplesPerNode( const DensityEstimator& densityWeights , const TreeOctNode* node , Point3D< Real > position , PointSupportKey& weightKey ) const
+{
+	Real weight = 0;
+	double dx[ DIMENSION ][ PointSupportKey::Size ];
+	const typename PointSupportKey::template Neighbors< PointSupportKey::Size >& neighbors = weightKey.getNeighbors( node );
+
+	Point3D< Real > start;
+	Real w;
+	_startAndWidth( node , start , w );
+
+	for( int dim=0 ; dim<DIMENSION ; dim++ ) Polynomial< WeightDegree >::BSplineComponentValues( ( position[dim]-start[dim] ) / w , dx[dim] );
+
+	for( int i=0 ; i<PointSupportKey::Size ; i++ ) for( int j=0 ; j<PointSupportKey::Size ; j++ )
+	{
+		double dxdy = dx[0][i] * dx[1][j];
+		for( int k=0 ; k<PointSupportKey::Size ; k++ ) if( neighbors.neighbors[i][j][k] )
+		{
+			const Real* w = densityWeights( neighbors.neighbors[i][j][k] );
+			if( w ) weight += Real( dxdy * dx[2][k] * (*w) );
+		}
+	}
+	return weight;
+}
+template< class Real >
+template< int WeightDegree, class PointSupportKey >
+void Octree< Real >::_getSampleDepthAndWeight( const DensityEstimator& densityWeights , const TreeOctNode* node , Point3D< Real > position , PointSupportKey& weightKey , Real& depth , Real& weight ) const
+{
+	const TreeOctNode* temp = node;
+	while( _localDepth( temp )>densityWeights.kernelDepth() ) temp = temp->parent;
+	weight = _getSamplesPerNode<WeightDegree>( densityWeights , temp , position , weightKey );
+	if( weight>=(Real)1. ) depth = Real( _localDepth( temp ) + log( weight ) / log(double(1<<(DIMENSION-1))) );
+	else
+	{
+		Real oldWeight , newWeight;
+		oldWeight = newWeight = weight;
+		while( newWeight<(Real)1. && temp->parent )
+		{
+			temp=temp->parent;
+			oldWeight = newWeight;
+			newWeight = _getSamplesPerNode<WeightDegree>( densityWeights , temp , position , weightKey );
+		}
+		depth = Real( _localDepth( temp ) + log( newWeight ) / log( newWeight / oldWeight ) );
+	}
+	weight = Real( pow( double(1<<(DIMENSION-1)) , -double(depth) ) );
+}
+template< class Real >
+template< int WeightDegree, class PointSupportKey >
+void Octree< Real >::_getSampleDepthAndWeight( const DensityEstimator& densityWeights , Point3D< Real > position , PointSupportKey& weightKey , Real& depth , Real& weight ) const
+{
+	TreeOctNode* temp;
+	Point3D< Real > myCenter( (Real)0.5 , (Real)0.5 , (Real)0.5 );
+	Real myWidth = Real( 1. );
+
+	// Get the finest node with depth less than or equal to the splat depth that contains the point
+	temp = _spaceRoot;
+	while( _localDepth( temp )<densityWeights.kernelDepth() )
+	{
+		if( !IsActiveNode( temp->children ) ) break;// fprintf( stderr , "[ERROR] Octree::GetSampleDepthAndWeight\n" ) , exit( 0 );
+		int cIndex = TreeOctNode::CornerIndex( myCenter , position );
+		temp = temp->children + cIndex;
+		myWidth /= 2;
+		if( cIndex&1 ) myCenter[0] += myWidth/2;
+		else		   myCenter[0] -= myWidth/2;
+		if( cIndex&2 ) myCenter[1] += myWidth/2;
+		else		   myCenter[1] -= myWidth/2;
+		if( cIndex&4 ) myCenter[2] += myWidth/2;
+		else		   myCenter[2] -= myWidth/2;
+	}
+	return _getSampleDepthAndWeight<WeightDegree>( densityWeights , temp , position , weightKey , depth , weight );
+}
+
+template< class Real >
+template< bool CreateNodes , int DataDegree , class V >
+void Octree< Real >::_splatPointData( TreeOctNode* node , Point3D< Real > position , V v , SparseNodeData< V >& dataInfo , PointSupportKey< DataDegree >& dataKey )
+{
+	double dx[ DIMENSION ][ PointSupportKey< DataDegree >::Size ];
+	typename TreeOctNode::Neighbors< PointSupportKey< DataDegree >::Size >& neighbors = dataKey.template getNeighbors< CreateNodes >( node , _NodeInitializer );
+	Point3D< Real > start;
+	Real w;
+	_startAndWidth( node , start , w );
+
+	for( int dd=0 ; dd<DIMENSION ; dd++ ) Polynomial< DataDegree >::BSplineComponentValues( ( position[dd]-start[dd] ) / w , dx[dd] );
+
+	for( int i=0 ; i<PointSupportKey< DataDegree >::Size ; i++ ) for( int j=0 ; j<PointSupportKey< DataDegree >::Size ; j++ )
+	{
+		double dxdy = dx[0][i] * dx[1][j];
+		for( int k=0 ; k<PointSupportKey< DataDegree >::Size ; k++ )
+			if( IsActiveNode( neighbors.neighbors[i][j][k] ) )
+			{
+				TreeOctNode* _node = neighbors.neighbors[i][j][k];
+
+				double dxdydz = dxdy * dx[2][k];
+				dataInfo[ _node ] += v * (Real)dxdydz;
+			}
+	}
+}
+template< class Real >
+template< bool CreateNodes , int WeightDegree , int DataDegree , class V >
+Real Octree< Real >::_splatPointData( const DensityEstimator& densityWeights , Point3D< Real > position , V v , SparseNodeData< V >& dataInfo , PointSupportKey< WeightDegree >& weightKey , PointSupportKey< DataDegree >& dataKey , LocalDepth minDepth , LocalDepth maxDepth , int dim )
+{
+	double dx;
+	V _v;
+	TreeOctNode* temp;
+	int cnt=0;
+	double width;
+	Point3D< Real > myCenter( (Real)0.5 , (Real)0.5 , (Real)0.5 );
+	Real myWidth = (Real)1.;
+
+	temp = _spaceRoot;
+	while( _localDepth( temp )<densityWeights.kernelDepth() )
+	{
+		if( !IsActiveNode( temp->children ) ) break;
+		int cIndex = TreeOctNode::CornerIndex( myCenter , position );
+		temp = temp->children + cIndex;
+		myWidth /= 2;
+		if( cIndex&1 ) myCenter[0] += myWidth/2;
+		else		   myCenter[0] -= myWidth/2;
+		if( cIndex&2 ) myCenter[1] += myWidth/2;
+		else 	  	   myCenter[1] -= myWidth/2;
+		if( cIndex&4 ) myCenter[2] += myWidth/2;
+		else 		   myCenter[2] -= myWidth/2;
+	}
+	Real weight , depth;
+	_getSampleDepthAndWeight<WeightDegree>( densityWeights , temp , position , weightKey , depth , weight );
+
+	if( depth<minDepth ) depth = Real(minDepth);
+	if( depth>maxDepth ) depth = Real(maxDepth);
+	int topDepth = int(ceil(depth));
+
+	dx = 1.0-(topDepth-depth);
+	if     ( topDepth<=minDepth ) topDepth = minDepth , dx = 1;
+	else if( topDepth> maxDepth ) topDepth = maxDepth , dx = 1;
+
+	while( _localDepth( temp )>topDepth ) temp=temp->parent;
+	while( _localDepth( temp )<topDepth )
+	{
+		if( !temp->children ) temp->initChildren( _NodeInitializer );
+		int cIndex = TreeOctNode::CornerIndex( myCenter , position );
+		temp = &temp->children[cIndex];
+		myWidth/=2;
+		if( cIndex&1 ) myCenter[0] += myWidth/2;
+		else		   myCenter[0] -= myWidth/2;
+		if( cIndex&2 ) myCenter[1] += myWidth/2;
+		else		   myCenter[1] -= myWidth/2;
+		if( cIndex&4 ) myCenter[2] += myWidth/2;
+		else		   myCenter[2] -= myWidth/2;
+	}
+	width = 1.0 / ( 1<<_localDepth( temp ) );
+	_v = v * weight / Real( pow( width , dim ) ) * Real( dx );
+	_splatPointData< CreateNodes >( temp , position , _v , dataInfo , dataKey );
+	if( fabs(1.0-dx) > EPSILON )
+	{
+		dx = Real(1.0-dx);
+		temp = temp->parent;
+		width = 1.0 / ( 1<<_localDepth( temp ) );
+
+		_v = v * weight / Real( pow( width , dim ) ) * Real( dx );
+		_splatPointData< CreateNodes >( temp , position , _v , dataInfo , dataKey );
+	}
+	return weight;
+}
+template< class Real >
+template< bool CreateNodes , int WeightDegree , int DataDegree , class V >
+Real Octree< Real >::_multiSplatPointData( const DensityEstimator* densityWeights , TreeOctNode* node , Point3D< Real > position , V v , SparseNodeData< V >& dataInfo , PointSupportKey< WeightDegree >& weightKey , PointSupportKey< DataDegree >& dataKey , int dim )
+{
+	Real _depth , weight;
+	if( densityWeights )
+            _getSampleDepthAndWeight<WeightDegree>( *densityWeights , position , weightKey , _depth , weight );
+	else weight = (Real)1.;
+	V _v = v * weight;
+
+	double dx[ DIMENSION ][ PointSupportKey< DataDegree >::Size ];
+	dataKey.template getNeighbors< CreateNodes >( node , _NodeInitializer );
+
+	for( TreeOctNode* _node=node ; _localDepth( _node )>=0 ; _node=_node->parent )
+	{
+		V __v = _v * (Real)pow( 1<<_localDepth( _node ) , dim );
+		Point3D< Real > start;
+		Real w;
+		_startAndWidth( _node , start , w );
+		for( int dd=0 ; dd<DIMENSION ; dd++ ) Polynomial< DataDegree >::BSplineComponentValues( ( position[dd]-start[dd] ) / w , dx[dd] );
+		typename TreeOctNode::Neighbors< PointSupportKey< DataDegree >::Size >& neighbors = dataKey.neighbors[ _localToGlobal( _localDepth( _node ) ) ];
+		for( int i=0 ; i<PointSupportKey< DataDegree >::Size ; i++ ) for( int j=0 ; j<PointSupportKey< DataDegree >::Size ; j++ )
+		{
+			double dxdy = dx[0][i] * dx[1][j];
+			for( int k=0 ; k<PointSupportKey< DataDegree >::Size ; k++ )
+				if( IsActiveNode( neighbors.neighbors[i][j][k] ) )
+				{
+					TreeOctNode* _node = neighbors.neighbors[i][j][k];
+					double dxdydz = dxdy * dx[2][k];
+					dataInfo[ _node ] += __v * (Real)dxdydz;
+				}
+		}
+	}
+	return weight;
+}
+
+template< class Real >
+template< class V , int DataDegree , BoundaryType BType , class Coefficients >
+V Octree< Real >::_evaluate( const Coefficients& coefficients , Point3D< Real > p , const BSplineData< DataDegree , BType >& bsData , const ConstPointSupportKey< DataDegree >& dataKey ) const
+{
+	V value = V(0);
+
+	for( int d=_localToGlobal( 0 ) ; d<=dataKey.depth() ; d++ )
+	{
+		double dx[ DIMENSION ][ PointSupportKey< DataDegree >::Size ];
+		memset( dx , 0 , sizeof( double ) * DIMENSION * PointSupportKey< DataDegree >::Size );
+		{
+			const TreeOctNode* n = dataKey.neighbors[d].neighbors[ PointSupportKey< DataDegree >::LeftRadius ][ PointSupportKey< DataDegree >::LeftRadius ][ PointSupportKey< DataDegree >::LeftRadius ];
+			if( !n ) fprintf( stderr , "[ERROR] Point is not centered on a node\n" ) , exit( 0 );
+			int fIdx[3];
+			functionIndex< DataDegree , BType >( n , fIdx );
+			int fStart , fEnd;
+			BSplineData< DataDegree , BType >::FunctionSpan( _localDepth( n ) , fStart , fEnd );
+			for( int dd=0 ; dd<DIMENSION ; dd++ ) for( int i=-PointSupportKey< DataDegree >::LeftRadius ; i<=PointSupportKey< DataDegree >::RightRadius ; i++ )
+				if( fIdx[dd]+i>=fStart && fIdx[dd]+i<fEnd ) dx[dd][i] = bsData.baseBSplines[ fIdx[dd]+i ][ -i+PointSupportKey< DataDegree >::RightRadius ]( p[dd] );
+		}
+		for( int i=0 ; i<PointSupportKey< DataDegree >::Size ; i++ ) for( int j=0 ; j<PointSupportKey< DataDegree >::Size ; j++ ) for( int k=0 ; k<PointSupportKey< DataDegree >::Size ; k++ )
+		{
+			const TreeOctNode* n = dataKey.neighbors[d].neighbors[i][j][k];
+			if( isValidFEMNode< DataDegree , BType >( n ) )
+			{
+				const V* v = coefficients( n );
+				if( v ) value += (*v) * (Real) ( dx[0][i] * dx[1][j] * dx[2][k] );
+			}
+		}
+	}
+
+	return value;
+}
+
+template< class Real >
+template< class V , int DataDegree , BoundaryType BType >
+Pointer( V ) Octree< Real >::voxelEvaluate( const DenseNodeData< V >& coefficients , int& res , Real isoValue , LocalDepth depth , bool primal )
+{
+	int begin , end , dim;
+	if( depth<=0 || depth>_maxDepth ) depth = _maxDepth;
+
+	// Initialize the coefficients at the coarsest level
+	Pointer( V ) _coefficients = NullPointer( V );
+	{
+		LocalDepth d = 0;
+		begin = _BSplineBegin< DataDegree , BType >( d ) , end = _BSplineEnd< DataDegree , BType >( d ) , dim = end - begin;
+		_coefficients = NewPointer< V >( dim * dim * dim );
+		memset( _coefficients , 0 , sizeof( V ) * dim  * dim * dim );
+#pragma omp parallel for num_threads( threads )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( !_outOfBounds< DataDegree , BType >( _sNodes.treeNodes[i] ) )
+		{
+			LocalDepth _d ; LocalOffset _off;
+			_localDepthAndOffset( _sNodes.treeNodes[i] , _d , _off );
+			_off[0] -= begin , _off[1] -= begin , _off[2] -= begin;
+			_coefficients[ _off[0] + _off[1]*dim + _off[2]*dim*dim ] = coefficients[i];
+		}
+	}
+
+	// Up-sample and add in the existing coefficients
+	for( LocalDepth d=1 ; d<=depth ; d++ )
+	{
+		begin = _BSplineBegin< DataDegree , BType >( d ) , end = _BSplineEnd< DataDegree , BType >( d ) , dim = end - begin;
+		Pointer( V ) __coefficients = NewPointer< V >( dim * dim *dim );
+		memset( __coefficients , 0 , sizeof( V ) * dim  * dim * dim );
+#pragma omp parallel for num_threads( threads )
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( !_outOfBounds< DataDegree , BType >( _sNodes.treeNodes[i] ) )
+		{
+			LocalDepth _d ; LocalOffset _off;
+			_localDepthAndOffset( _sNodes.treeNodes[i] , _d , _off );
+			_off[0] -= begin , _off[1] -= begin , _off[2] -= begin;
+			__coefficients[ _off[0] + _off[1]*dim + _off[2]*dim*dim ] = coefficients[i];
+		}
+		_UpSample< V , DataDegree , BType >( d , ( ConstPointer(V) )_coefficients , __coefficients , threads );
+		DeletePointer( _coefficients );
+		_coefficients = __coefficients;
+	}
+
+	res = 1<<depth;
+	if( primal ) res++;
+	Pointer( V ) values = NewPointer< V >( res*res*res );
+	memset( values , 0 , sizeof(V)*res*res*res );
+
+	if( primal )
+	{
+		// evaluate at the cell corners
+		typename BSplineEvaluationData< DataDegree , BType >::CornerEvaluator::Evaluator evaluator;
+		BSplineEvaluationData< DataDegree , BType >::SetCornerEvaluator( evaluator , depth );
+#pragma omp parallel for num_threads( threads )
+		for( int k=0 ; k<res ; k++ ) for( int j=0 ; j<res ; j++ ) for( int i=0 ; i<res ; i++ )
+		{
+			V value = values[ i + j*res + k*res*res ];
+			for( int kk=-BSplineSupportSizes< DataDegree >::CornerEnd ; kk<=-BSplineSupportSizes< DataDegree >::CornerStart ; kk++ ) if( k+kk>=begin && k+kk<end )
+				for( int jj=-BSplineSupportSizes< DataDegree >::CornerEnd ; jj<=-BSplineSupportSizes< DataDegree >::CornerStart ; jj++ ) if( j+jj>=begin && j+jj<end )
+				{
+					double weight = evaluator.value( k+kk , k , false ) * evaluator.value( j+jj , j , false );
+					int idx = (j+jj-begin)*dim + (k+kk-begin)*dim*dim;
+					for( int ii=-BSplineSupportSizes< DataDegree >::CornerEnd ; ii<=-BSplineSupportSizes< DataDegree >::CornerStart ; ii++ ) if( i+ii>=begin && i+ii<end )
+						value += _coefficients[ i + ii - begin + idx ] * Real( weight * evaluator.value( i + ii , i , false ) );
+				}
+			values[ i + j*res + k*res*res ] = value;
+		}
+	}
+	else
+	{
+		// evaluate at the cell centers
+		typename BSplineEvaluationData< DataDegree , BType >::CenterEvaluator::Evaluator evaluator;
+		BSplineEvaluationData< DataDegree , BType >::SetCenterEvaluator( evaluator , depth );
+#pragma omp parallel for num_threads( threads )
+		for( int k=0 ; k<res ; k++ ) for( int j=0 ; j<res ; j++ ) for( int i=0 ; i<res ; i++ )
+		{
+			V& value = values[ i + j*res + k*res*res ];
+			for( int kk=-BSplineSupportSizes< DataDegree >::SupportEnd ; kk<=-BSplineSupportSizes< DataDegree >::SupportStart ; kk++ ) if( k+kk>=begin && k+kk<end )
+				for( int jj=-BSplineSupportSizes< DataDegree >::SupportEnd ; jj<=-BSplineSupportSizes< DataDegree >::SupportStart ; jj++ ) if( j+jj>=begin && j+jj<end )
+				{
+					double weight = evaluator.value( k+kk , k , false ) * evaluator.value( j+jj , j , false );
+					int idx = (j+jj-begin)*dim + (k+kk-begin)*dim*dim;
+					for( int ii=-BSplineSupportSizes< DataDegree >::SupportEnd ; ii<=-BSplineSupportSizes< DataDegree >::SupportStart ; ii++ ) if( i+ii>=begin && i+ii<end )
+						value += _coefficients[ i + ii - begin + idx ] * Real( weight * evaluator.value( i+ii , i , false ) );
+				}
+		}
+	}
+	memoryUsage();
+	DeletePointer( _coefficients );
+	for( int i=0 ; i<res*res*res ; i++ ) values[i] -= isoValue;
+
+	return values;
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+SparseNodeData< Real > Octree< Real >::leafValues( const DenseNodeData< Real >& coefficients ) const
+{
+	SparseNodeData< Real > values;
+	DenseNodeData< Real > _coefficients( _sNodesEnd(_maxDepth-1) );
+	memset( &_coefficients[0] , 0 , sizeof(Real)*_sNodesEnd(_maxDepth-1) );
+	for( int i=_sNodes.begin( _localToGlobal( 0 ) ) ; i<_sNodesEnd(_maxDepth-1) ; i++ ) _coefficients[i] = coefficients[i];
+	for( LocalDepth d=1 ; d<_maxDepth ; d++ ) _upSample( d , _coefficients );
+	for( LocalDepth d=_maxDepth ; d>=0 ; d-- )
+	{
+		_Evaluator< FEMDegree , BType > evaluator;
+		evaluator.set( d );
+		std::vector< ConstPointSupportKey< FEMDegree > > neighborKeys( std::max< int >( 1 , threads ) );
+		for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d ) );
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+		{
+			ConstPointSupportKey< FEMDegree >& neighborKey = neighborKeys[ omp_get_thread_num() ];
+			TreeOctNode* node = _sNodes.treeNodes[i];
+			if( !IsActiveNode( node->children ) )
+			{
+				neighborKey.getNeighbors( node );
+				bool isInterior = _IsInteriorlySupported< FEMDegree >( node->parent );
+				values[ node ] = _getCenterValue( neighborKey , node , coefficients , _coefficients , evaluator , isInterior );
+			}
+		}
+	}
+	return values;
+}
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+SparseNodeData< Point3D< Real > > Octree< Real >::leafGradients( const DenseNodeData< Real >& coefficients ) const
+{
+	SparseNodeData< Point3D< Real > > gradients;
+	DenseNodeData< Real > _coefficients( _sNodesEnd(_maxDepth-1 ) );
+	memset( &_coefficients[0] , 0 , sizeof(Real)*_sNodesEnd(_maxDepth-1) );
+	for( int i=_sNodesBegin(0) ; i<_sNodesEnd(_maxDepth-1) ; i++ ) _coefficients[i] = coefficients[i];
+	for( LocalDepth d=1 ; d<_maxDepth ; d++ ) _upSample( d , _coefficients );
+	for( LocalDepth d=_maxDepth ; d>=0 ; d-- )
+	{
+		_Evaluator< FEMDegree , BType > evaluator;
+		evaluator.set( d );
+		std::vector< ConstPointSupportKey< FEMDegree > > neighborKeys( std::max< int >( 1 , threads ) );
+		for( size_t i=0 ; i<neighborKeys.size() ; i++ ) neighborKeys[i].set( _localToGlobal( d ) );
+		for( int i=_sNodesBegin(d) ; i<_sNodesEnd(d) ; i++ ) if( _isValidSpaceNode( _sNodes.treeNodes[i] ) )
+		{
+			ConstPointSupportKey< FEMDegree >& neighborKey = neighborKeys[ omp_get_thread_num() ];
+			TreeOctNode* node = _sNodes.treeNodes[i];
+			if( !IsActiveNode( node->children ) )
+			{
+				neighborKey.getNeighbors( node );
+				bool isInterior = _IsInteriorlySupported< FEMDegree >( node->parent );
+				gradients[ node ] = _getCenterValueAndGradient( neighborKey , node , coefficients , _coefficients , evaluator , isInterior ).second;
+			}
+		}
+	}
+	return gradients;
+}
diff --git a/vendor/kazhdan/MultiGridOctreeData.h b/vendor/kazhdan/MultiGridOctreeData.h
new file mode 100644
index 0000000..29de8c2
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.h
@@ -0,0 +1,994 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+// [COMMENTS]
+// -- Throughout the code, should make a distinction between indices and offsets
+// -- Make an instance of _evaluate that samples the finite-elements correctly (specifically, to handle the boundaries)
+// -- Make functions like depthAndOffset parity dependent (ideally all "depth"s should be relative to the B-Slpline resolution
+// -- Make all points relative to the unit-cube, regardless of degree parity
+// -- It's possible that for odd degrees, the iso-surfacing will fail because the leaves in the SortedTreeNodes do not form a partition of space
+// -- [MAYBE] Treat normal field as a sum of delta functions, rather than a smoothed signal (again, so that high degrees aren't forced to generate smooth reconstructions)
+// -- [MAYBE] Make the degree of the B-Spline with which the normals are splatted independent of the degree of the FEM system. (This way, higher degree systems aren't forced to generate smoother normal fields.)
+// -- [MAYBE] Remove the isValidFEM/isValidSpace functions since the octree supports all degrees/boundary types (up to the max degree for which finalizedBrooded... was called)
+
+// [TODO]
+// -- Currently, the implementation assumes that the boundary constraints are the same for vector fields and scalar fields
+// -- Modify the setting of the flags so that only the subset of the broods that are needed
+
+#ifndef MULTI_GRID_OCTREE_DATA_INCLUDED
+#define MULTI_GRID_OCTREE_DATA_INCLUDED
+
+#define NEW_CODE
+#define FAST_SET_UP				// If enabled, kernel density estimation is done aglomeratively
+
+#define POINT_DATA_RES 0		// Specifies the resolution of the subgrid storing points with each voxel (0==1 but is faster)
+
+#define DATA_DEGREE 1			// The order of the B-Spline used to splat in data for color interpolation
+#define WEIGHT_DEGREE 2			// The order of the B-Spline used to splat in the weights for density estimation
+#define NORMAL_DEGREE 2			// The order of the B-Spline used to splat int the normals for constructing the Laplacian constraints
+//#define MAX_MEMORY_GB 15		// The maximum memory the application is allowed to use
+#define MAX_MEMORY_GB 0
+
+#include <unordered_map>
+#ifdef _OPENMP // Assume that we have the header file if we're compiling with the openmp option.
+#include <omp.h>
+#endif
+#include "BSplineData.h"
+#include "Mesh.h"
+#include "Geometry.h"
+#include "Octree.h"
+#include "SparseMatrix.h"
+#include "point_source/PointSource.h"
+
+#ifndef _OPENMP
+int omp_get_num_procs( void ){ return 1; }
+int omp_get_thread_num( void ){ return 0; }
+#endif // _OPENMP
+
+#define DERIVATIVES( Degree ) ( ( Degree>1 ) ? 2 : ( Degree==1 ? 1 : 0 ) )
+
+class TreeNodeData
+{
+public:
+	enum
+	{
+		SPACE_FLAG = 1 ,
+		FEM_FLAG = 2 ,
+		GHOST_FLAG = 1<<7
+	};
+	int nodeIndex;
+	char flags;
+
+	void setGhostFlag( bool f ){ if( f ) flags |= GHOST_FLAG ; else flags &= ~GHOST_FLAG; }
+	bool getGhostFlag( void ) const { return ( flags & GHOST_FLAG )!=0; }
+	TreeNodeData( void );
+	~TreeNodeData( void );
+};
+
+class VertexData
+{
+	typedef OctNode< TreeNodeData > TreeOctNode;
+public:
+	static const int VERTEX_COORDINATE_SHIFT = ( sizeof( long long ) * 8 ) / 3;
+	static long long   EdgeIndex( const TreeOctNode* node , int eIndex , int maxDepth , int index[DIMENSION] );
+	static long long   EdgeIndex( const TreeOctNode* node , int eIndex , int maxDepth );
+	static long long   FaceIndex( const TreeOctNode* node , int fIndex , int maxDepth,int index[DIMENSION] );
+	static long long   FaceIndex( const TreeOctNode* node , int fIndex , int maxDepth );
+	static long long CornerIndex( const TreeOctNode* node , int cIndex , int maxDepth , int index[DIMENSION] );
+	static long long CornerIndex( const TreeOctNode* node , int cIndex , int maxDepth );
+	static long long CenterIndex( const TreeOctNode* node , int maxDepth , int index[DIMENSION] );
+	static long long CenterIndex( const TreeOctNode* node , int maxDepth );
+	static long long CornerIndex( int depth , const int offSet[DIMENSION] , int cIndex , int maxDepth , int index[DIMENSION] );
+	static long long CenterIndex( int depth , const int offSet[DIMENSION] , int maxDepth , int index[DIMENSION] );
+	static long long CornerIndexKey( const int index[DIMENSION] );
+};
+
+// This class stores the octree nodes, sorted by depth and then by z-slice.
+// To support primal representations, the initializer takes a function that
+// determines if a node should be included/indexed in the sorted list.
+// [NOTE] Indexing of nodes is _GLOBAL_
+class SortedTreeNodes
+{
+	typedef OctNode< TreeNodeData > TreeOctNode;
+protected:
+	Pointer( Pointer( int ) ) _sliceStart;
+	int _levels;
+public:
+	Pointer( TreeOctNode* ) treeNodes;
+	int begin( int depth ) const{ return _sliceStart[depth][0]; }
+	int   end( int depth ) const{ return _sliceStart[depth][(size_t)1<<depth]; }
+	int begin( int depth , int slice ) const{ return _sliceStart[depth][slice  ]  ; }
+	int   end( int depth , int slice ) const{ if(depth<0||depth>=_levels||slice<0||slice>=(1<<depth)) printf( "uh oh\n" ) ; return _sliceStart[depth][slice+1]; }
+	int size( void ) const { return _sliceStart[_levels-1][(size_t)1<<(_levels-1)]; }
+	int size( int depth ) const { if(depth<0||depth>=_levels) printf( "uhoh\n" ); return _sliceStart[depth][(size_t)1<<depth] - _sliceStart[depth][0]; }
+	int size( int depth , int slice ) const { return _sliceStart[depth][slice+1] - _sliceStart[depth][slice]; }
+	int levels( void ) const { return _levels; }
+
+	SortedTreeNodes( void );
+	~SortedTreeNodes( void );
+	void set( TreeOctNode& root , std::vector< int >* map );
+	void set( TreeOctNode& root );
+
+	template< int Indices >
+	struct  _Indices
+	{
+		int idx[Indices];
+		_Indices( void ){ memset( idx , -1 , sizeof( int ) * Indices ); }
+		int& operator[] ( int i ) { return idx[i]; }
+		const int& operator[] ( int i ) const { return idx[i]; }
+	};
+	typedef _Indices< Square::CORNERS > SquareCornerIndices;
+	typedef _Indices< Square::EDGES > SquareEdgeIndices;
+	typedef _Indices< Square::FACES > SquareFaceIndices;
+
+	struct SliceTableData
+	{
+		Pointer( SquareCornerIndices ) cTable;
+		Pointer( SquareEdgeIndices   ) eTable;
+		Pointer( SquareFaceIndices   ) fTable;
+		int cCount , eCount , fCount , nodeOffset , nodeCount;
+		SliceTableData( void ){ fCount = eCount = cCount = 0 , cTable = NullPointer( SquareCornerIndices ) , eTable = NullPointer( SquareEdgeIndices ) , fTable = NullPointer( SquareFaceIndices ) , _cMap = _eMap = _fMap = NullPointer( int ); }
+		~SliceTableData( void ){ clear(); }
+#ifdef BRUNO_LEVY_FIX
+		void clear( void ){ DeletePointer( cTable ) ; DeletePointer( eTable ) ; DeletePointer( fTable ) ; DeletePointer( _cMap ) ; DeletePointer( _eMap ) ; DeletePointer( _fMap ) ; fCount = eCount = cCount = 0; }
+#else // !BRUNO_LEVY_FIX
+		void clear( void ){ DeletePointer( cTable ) ; DeletePointer( eTable ) ; DeletePointer( fTable ) ; fCount = eCount = cCount = 0; }
+#endif // BRUNO_LEVY_FIX
+		SquareCornerIndices& cornerIndices( const TreeOctNode* node );
+		SquareCornerIndices& cornerIndices( int idx );
+		const SquareCornerIndices& cornerIndices( const TreeOctNode* node ) const;
+		const SquareCornerIndices& cornerIndices( int idx ) const;
+		SquareEdgeIndices& edgeIndices( const TreeOctNode* node );
+		SquareEdgeIndices& edgeIndices( int idx );
+		const SquareEdgeIndices& edgeIndices( const TreeOctNode* node ) const;
+		const SquareEdgeIndices& edgeIndices( int idx ) const;
+		SquareFaceIndices& faceIndices( const TreeOctNode* node );
+		SquareFaceIndices& faceIndices( int idx );
+		const SquareFaceIndices& faceIndices( const TreeOctNode* node ) const;
+		const SquareFaceIndices& faceIndices( int idx ) const;
+	protected:
+		Pointer( int ) _cMap;
+		Pointer( int ) _eMap;
+		Pointer( int ) _fMap;
+		friend class SortedTreeNodes;
+	};
+	struct XSliceTableData
+	{
+		Pointer( SquareCornerIndices ) eTable;
+		Pointer( SquareEdgeIndices ) fTable;
+		int fCount , eCount , nodeOffset , nodeCount;
+		XSliceTableData( void ){ fCount = eCount = 0 , eTable = NullPointer( SquareCornerIndices ) , fTable = NullPointer( SquareEdgeIndices ) , _eMap = _fMap = NullPointer( int ); }
+		~XSliceTableData( void ){ clear(); }
+#ifdef BRUNO_LEVY_FIX
+		void clear( void ) { DeletePointer( fTable ) ; DeletePointer( eTable ) ; DeletePointer( _eMap ) ; DeletePointer( _fMap ) ; fCount = eCount = 0; }
+#else // !BRUNO_LEVY_FIX
+		void clear( void ) { DeletePointer( fTable ) ; DeletePointer( eTable ) ; fCount = eCount = 0; }
+#endif // BRUNO_LEVY_FIX
+		SquareCornerIndices& edgeIndices( const TreeOctNode* node );
+		SquareCornerIndices& edgeIndices( int idx );
+		const SquareCornerIndices& edgeIndices( const TreeOctNode* node ) const;
+		const SquareCornerIndices& edgeIndices( int idx ) const;
+		SquareEdgeIndices& faceIndices( const TreeOctNode* node );
+		SquareEdgeIndices& faceIndices( int idx );
+		const SquareEdgeIndices& faceIndices( const TreeOctNode* node ) const;
+		const SquareEdgeIndices& faceIndices( int idx ) const;
+	protected:
+		Pointer( int ) _eMap;
+		Pointer( int ) _fMap;
+		friend class SortedTreeNodes;
+	};
+	void setSliceTableData (  SliceTableData& sData , int depth , int offset , int threads ) const;
+	void setXSliceTableData( XSliceTableData& sData , int depth , int offset , int threads ) const;
+};
+
+template< int Degree >
+struct PointSupportKey : public OctNode< TreeNodeData >::NeighborKey< BSplineSupportSizes< Degree >::SupportEnd , -BSplineSupportSizes< Degree >::SupportStart >
+{
+	static const int LeftRadius  =  BSplineSupportSizes< Degree >::SupportEnd;
+	static const int RightRadius = -BSplineSupportSizes< Degree >::SupportStart;
+	static const int Size = LeftRadius + RightRadius + 1;
+};
+template< int Degree >
+struct ConstPointSupportKey : public OctNode< TreeNodeData >::ConstNeighborKey< BSplineSupportSizes< Degree >::SupportEnd , -BSplineSupportSizes< Degree >::SupportStart >
+{
+	static const int LeftRadius  =  BSplineSupportSizes< Degree >::SupportEnd;
+	static const int RightRadius = -BSplineSupportSizes< Degree >::SupportStart;
+	static const int Size = LeftRadius + RightRadius + 1;
+};
+
+template< class Real , bool HasGradients >
+struct SinglePointData
+{
+	Point3D< Real > position;
+	Real weight;
+	Real value , _value;
+	SinglePointData  operator +  ( const SinglePointData& p ) const { return SinglePointData( position + p.position , value + p.value , weight + p.weight ); }
+	SinglePointData& operator += ( const SinglePointData& p ){ position += p.position ; weight += p.weight , value += p.value ; return *this; }
+	SinglePointData  operator *  ( Real s ) const { return SinglePointData( position*s , weight*s , value*s ); }
+	SinglePointData& operator *= ( Real s ){ position *= s , weight *= s , value *= s ; return *this; }
+	SinglePointData  operator /  ( Real s ) const { return SinglePointData( position/s , weight/s , value/s ); }
+	SinglePointData& operator /= ( Real s ){ position /= s , weight /= s , value /= s ; return *this; }
+	SinglePointData( void ) : position( Point3D< Real >() ) , weight(0) , value(0) , _value(0) { ; }
+	SinglePointData( Point3D< Real > p , Real v , Real w ) { position = p , value = v , weight = w , _value = (Real)0; }
+};
+template< class Real >
+struct SinglePointData< Real , true > : public SinglePointData< Real , false >
+{
+	using SinglePointData< Real , false >::position;
+	using SinglePointData< Real , false >::weight;
+	using SinglePointData< Real , false >::value;
+	using SinglePointData< Real , false >::_value;
+	Point3D< Real > gradient , _gradient;
+	SinglePointData  operator +  ( const SinglePointData& p ) const { return SinglePointData( position + p.position , weight + p.weight , value + p.value , gradient + p.gradient ); }
+	SinglePointData& operator += ( const SinglePointData& p ){ position += p.position , weight += p.weight , value += p.value , gradient += p.gradient ; return *this; }
+	SinglePointData  operator *  ( Real s ) const { return SinglePointData( position*s , weight*s , value*s , gradient*s ); }
+	SinglePointData& operator *= ( Real s ){ position *= s , weight *= s , value *= s , gradient *= s ; return *this; }
+	SinglePointData  operator /  ( Real s ) const { return SinglePointData( position/s , weight/s , value/s , gradient/s ); }
+	SinglePointData& operator /= ( Real s ){ position /= s , weight /= s , value /= s , gradient /= s ; return *this; }
+	SinglePointData( void ) : SinglePointData< Real , false >() , gradient( Point3D< Real >() ) , _gradient( Point3D< Real >() ) { ; }
+	SinglePointData( Point3D< Real > p , Real v , Point3D< Real > g , Real w ) : SinglePointData< Real , false >( p , v , w ) { gradient = g , _gradient = Point3D< Real >(); }
+};
+
+#if POINT_DATA_RES
+template< class Real , bool HasGradients >
+struct PointData
+{
+	static const int RES = POINT_DATA_RES;
+	static const int SAMPLES = RES * RES * RES;
+
+	SinglePointData< Real , HasGradients > points[SAMPLES];
+	SinglePointData< Real , HasGradients >& operator[] ( int idx ) { return points[idx]; }
+	const SinglePointData< Real , HasGradients >& operator[] ( int idx ) const { return points[idx]; }
+
+	static void SetIndices( Point3D< Real > p , Point3D< Real > c , Real w , int x[3] )
+	{
+		for( int d=0 ; d<3 ; d++ ) x[d] = std::max< int >( 0 , std::min< int >( RES-1 , int( floor( ( p[d]-( c[d]-w/2 ) ) / w * RES ) ) ) );
+	}
+
+	void addPoint( SinglePointData< Real , HasGradients > p , Point3D< Real > center , Real width  )
+	{
+		int x[3];
+		SetIndices( p.position , center , width , x );
+		points[ x[0]+x[1]*RES+x[2]*RES*RES ] += p;
+	}
+
+	PointData  operator +  ( const PointData& p ) const { PointData _p ; for( int c=0 ; c<SAMPLES ;  c++ ) _p.points[c] = points[c] + _p.points[c] ; return _p; }
+	PointData& operator += ( const PointData& p ){ for( int c=0 ; c<SAMPLES ; c++ ) points[c] += p.points[c] ; return *this; }
+	PointData  operator *  ( Real s ) const { PointData _p ; for( int c=0 ; c<SAMPLES ;  c++ ) _p.points[c] = points[c] * s ; return _p; }
+	PointData& operator *= ( Real s ){ for( int c=0 ; c<SAMPLES ; c++ ) points[c] *= s ; return *this; }
+	PointData  operator /  ( Real s ) const { PointData _p ; for( int c=0 ; c<SAMPLES ;  c++ ) _p.points[c] = points[c] / s ; return _p; }
+	PointData& operator /= ( Real s ){ for( int c=0 ; c<SAMPLES ; c++ ) points[c] /= s ; return *this; }
+};
+#else // !POINT_DATA_RES
+template< class Real , bool HasGradients > using PointData = SinglePointData< Real , HasGradients >;
+#endif // POINT_DATA_RES
+
+template< class Data>
+struct SparseNodeData
+{
+	size_t size( void ) const { return _data.size(); }
+	const Data& operator[] ( int idx ) const { return _data[idx]; }
+	Data& operator[] ( int idx ) { return _data[idx]; }
+	void reserve( size_t sz ){ if( sz>_indices.size() ) _indices.resize( sz , -1 ); }
+	Data* operator()( const OctNode< TreeNodeData >* node ){ return ( node->nodeData.nodeIndex<0 || node->nodeData.nodeIndex>=(int)_indices.size() || _indices[ node->nodeData.nodeIndex ]<0 ) ? NULL : &_data[ _indices[ node->nodeData.nodeIndex ] ]; }
+	const Data* operator()( const OctNode< TreeNodeData >* node ) const { return ( node->nodeData.nodeIndex<0 || node->nodeData.nodeIndex>=(int)_indices.size() || _indices[ node->nodeData.nodeIndex ]<0 ) ? NULL : &_data[ _indices[ node->nodeData.nodeIndex ] ]; }
+	Data& operator[]( const OctNode< TreeNodeData >* node )
+	{
+		if( node->nodeData.nodeIndex>=(int)_indices.size() ) _indices.resize( node->nodeData.nodeIndex+1 , -1 );
+		if( _indices[ node->nodeData.nodeIndex ]==-1 )
+		{
+			_indices[ node->nodeData.nodeIndex ] = (int)_data.size();
+			_data.push_back( Data() );
+		}
+		return _data[ _indices[ node->nodeData.nodeIndex ] ];
+	}
+	void remapIndices( const std::vector< int >& map )
+	{
+		std::vector< int > temp = _indices;
+		_indices.resize( map.size() );
+		for( size_t i=0 ; i<map.size() ; i++ )
+			if( map[i]<(int)temp.size() ) _indices[i] = temp[ map[i] ];
+			else                          _indices[i] = -1;
+	}
+	template< class _Data> friend struct SparseNodeData;
+	template< class _Data>
+	void init( const SparseNodeData< _Data>& snd ){ _indices = snd._indices , _data.resize( snd._data.size() ); }
+	void remove( const OctNode< TreeNodeData >* node ){ if( node->nodeData.nodeIndex<(int)_indices.size() && node->nodeData.nodeIndex>=0 ) _indices[ node->nodeData.nodeIndex ] = -1; }
+protected:
+	std::vector< int > _indices;
+	std::vector< Data > _data;
+};
+template< class Data >
+struct DenseNodeData
+{
+	DenseNodeData( void ){ _data = NullPointer( Data ) ; _sz = 0; }
+	DenseNodeData( size_t sz ){ _sz = sz ; if( sz ) _data = NewPointer< Data >( sz ) ; else _data = NullPointer( Data ); }
+	DenseNodeData( const DenseNodeData&  d ) : DenseNodeData() { _resize( d._sz ) ; if( _sz ) memcpy( _data , d._data , sizeof(Data) * _sz ); }
+	DenseNodeData(       DenseNodeData&& d ){ _data = d._data , _sz = d._sz ; d._data = NullPointer( Data ) , d._sz = 0; }
+	DenseNodeData& operator = ( const DenseNodeData&  d ){ _resize( d._sz ) ; if( _sz ) memcpy( _data , d._data , sizeof(Data) * _sz ) ; return *this; }
+	DenseNodeData& operator = (       DenseNodeData&& d ){ size_t __sz = _sz ; Pointer( Data ) __data = _data ; _data = d._data , _sz = d._sz ; d._data = __data , d._sz = __sz ; return *this; }
+	~DenseNodeData( void ){ DeletePointer( _data ) ; _sz = 0; }
+
+	Data& operator[] ( int idx ) { return _data[idx]; }
+	const Data& operator[] ( int idx ) const { return _data[idx]; }
+	size_t size( void ) const { return _sz; }
+	Data& operator[]( const OctNode< TreeNodeData >* node ) { return _data[ node->nodeData.nodeIndex ]; }
+	Data* operator()( const OctNode< TreeNodeData >* node ) { return ( node==NULL || node->nodeData.nodeIndex>=(int)_sz ) ? NULL : &_data[ node->nodeData.nodeIndex ]; }
+	const Data* operator()( const OctNode< TreeNodeData >* node ) const { return ( node==NULL || node->nodeData.nodeIndex>=(int)_sz ) ? NULL : &_data[ node->nodeData.nodeIndex ]; }
+	int index( const OctNode< TreeNodeData >* node ) const { return ( !node || node->nodeData.nodeIndex<0 || node->nodeData.nodeIndex>=_sz ) ? -1 : node->nodeData.nodeIndex; }
+protected:
+	size_t _sz;
+	void _resize( size_t sz ){ DeletePointer( _data ) ; if( sz ) _data = NewPointer< Data >( sz ) ; else _data = NullPointer( Data ) ; _sz = sz; }
+	Pointer( Data ) _data;
+};
+
+// This is may be necessary in case the memory usage is larger than what fits on the stack
+template< class C , int N > struct Stencil
+{
+	Stencil( void ){ _values = NewPointer< C >( N * N * N ); }
+	~Stencil( void ){ DeletePointer( _values ); }
+	C& operator()( int i , int j , int k ){ return _values[ i*N*N + j*N + k ]; }
+	const C& operator()( int i , int j , int k ) const { return _values[ i*N*N + j*N + k ]; }
+protected:
+	Pointer( C ) _values;
+};
+
+template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 >
+class SystemCoefficients
+{
+	typedef typename BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::FunctionIntegrator FunctionIntegrator;
+	static const int OverlapSize  = BSplineOverlapSizes< Degree1 , Degree2 >::OverlapSize;
+	static const int OverlapStart = BSplineOverlapSizes< Degree1 , Degree2 >::OverlapStart;
+	static const int OverlapEnd   = BSplineOverlapSizes< Degree1 , Degree2 >::OverlapEnd;
+public:
+	typedef typename BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::FunctionIntegrator::template      Integrator< DERIVATIVES( Degree1 ) , DERIVATIVES( Degree2 ) >      Integrator;
+	typedef typename BSplineIntegrationData< Degree1 , BType1 , Degree2 , BType2 >::FunctionIntegrator::template ChildIntegrator< DERIVATIVES( Degree1 ) , DERIVATIVES( Degree2 ) > ChildIntegrator;
+
+	// The FEMSystemFunctor is a class that takes an object of type Integrator/ChildIntegrator, as well as a pair of indices of octree nodes
+	// and returns the corresponding system coefficient.
+	template< class _FEMSystemFunctor > static void SetCentralSystemStencil ( const _FEMSystemFunctor& F , const      Integrator& integrator , Stencil< double , OverlapSize >& stencil           );
+	template< class _FEMSystemFunctor > static void SetCentralSystemStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil< double , OverlapSize >  stencils[2][2][2] );
+	template< bool Reverse , class _FEMSystemFunctor > static void SetCentralConstraintStencil ( const _FEMSystemFunctor& F , const      Integrator& integrator , Stencil<          double   , OverlapSize >& stencil           );
+	template< bool Reverse , class _FEMSystemFunctor > static void SetCentralConstraintStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil<          double   , OverlapSize >  stencils[2][2][2] );
+	template< bool Reverse , class _FEMSystemFunctor > static void SetCentralConstraintStencil ( const _FEMSystemFunctor& F , const      Integrator& integrator , Stencil< Point3D< double > , OverlapSize >& stencil           );
+	template< bool Reverse , class _FEMSystemFunctor > static void SetCentralConstraintStencils( const _FEMSystemFunctor& F , const ChildIntegrator& integrator , Stencil< Point3D< double > , OverlapSize >  stencils[2][2][2] );
+};
+
+template< int FEMDegree , BoundaryType BType >
+struct FEMSystemFunctor
+{
+	double massWeight , lapWeight , biLapWeight;
+	FEMSystemFunctor( double mWeight=0 , double lWeight=0 , double bWeight=0 ) : massWeight( mWeight ) , lapWeight( lWeight ) , biLapWeight( bWeight ) { ; }
+	double integrate( const typename SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::     Integrator& integrator , const int off1[] , const int off2[] ) const { return _integrate( integrator , off1 , off2 ); }
+	double integrate( const typename SystemCoefficients< FEMDegree , BType , FEMDegree , BType >::ChildIntegrator& integrator , const int off1[] , const int off2[] ) const { return _integrate( integrator , off1 , off2 ); }
+	bool vanishesOnConstants( void ) const { return massWeight==0; }
+protected:
+	template< class I > double _integrate( const I& integrator , const int off1[] , const int off2[] ) const;
+};
+template< int SFDegree , BoundaryType SFBType , int FEMDegree , BoundaryType FEMBType >
+struct FEMSFConstraintFunctor
+{
+	double massWeight , lapWeight , biLapWeight;
+	FEMSFConstraintFunctor( double mWeight=0 , double lWeight=0 , double bWeight=0 ) : massWeight( mWeight ) , lapWeight( lWeight ) , biLapWeight( bWeight ) { ; }
+	template< bool Reverse >
+	double integrate( const typename SystemCoefficients< Reverse ? FEMDegree : SFDegree , Reverse ? FEMBType : SFBType , Reverse ? SFDegree : FEMDegree , Reverse ? SFBType : FEMBType >::     Integrator& integrator , const int off1[] , const int off2[] ) const { return _integrate< Reverse >( integrator , off1 , off2 ); }
+	template< bool Reverse >
+	double integrate( const typename SystemCoefficients< Reverse ? FEMDegree : SFDegree , Reverse ? FEMBType : SFBType , Reverse ? SFDegree : FEMDegree , Reverse ? SFBType : FEMBType >::ChildIntegrator& integrator , const int off1[] , const int off2[] ) const { return _integrate< Reverse >( integrator , off1 , off2 ); }
+protected:
+	template< bool Reverse , class I > double _integrate( const I& integrator , const int off1[] , const int off[2] ) const;
+};
+template< int VFDegree , BoundaryType VFBType , int FEMDegree , BoundaryType FEMBType >
+struct FEMVFConstraintFunctor
+{
+	double lapWeight , biLapWeight;
+	FEMVFConstraintFunctor( double lWeight=0 , double bWeight=0 ) : lapWeight( lWeight ) , biLapWeight( bWeight ) { ; }
+	template< bool Reverse >
+	Point3D< double > integrate( const typename SystemCoefficients< Reverse ? FEMDegree : VFDegree , Reverse ? FEMBType : VFBType , Reverse ? VFDegree : FEMDegree , Reverse ? VFBType : FEMBType >::     Integrator& integrator , const int off1[] , const int off2[] ) const { return _integrate< Reverse >( integrator , off1 , off2 ); }
+	template< bool Reverse >
+	Point3D< double > integrate( const typename SystemCoefficients< Reverse ? FEMDegree : VFDegree , Reverse ? FEMBType : VFBType , Reverse ? VFDegree : FEMDegree , Reverse ? VFBType : FEMBType >::ChildIntegrator& integrator , const int off1[] , const int off2[] ) const { return _integrate< Reverse >( integrator , off1 , off2 ); }
+protected:
+	template< bool Reverse , class I > Point3D< double > _integrate( const I& integrator , const int off1[] , const int off[2] ) const;
+};
+
+inline void SetGhostFlag( OctNode< TreeNodeData >* node , bool flag ){ if( node && node->parent ) node->parent->nodeData.setGhostFlag( flag ); }
+inline bool GetGhostFlag( const OctNode< TreeNodeData >* node ){ return node==NULL || node->parent==NULL || node->parent->nodeData.getGhostFlag( ); }
+inline bool IsActiveNode( const OctNode< TreeNodeData >* node ){ return !GetGhostFlag( node ); }
+
+template< class Real >
+class Octree
+{
+	typedef OctNode< TreeNodeData > TreeOctNode;
+	static int _NodeCount;
+	static void _NodeInitializer( TreeOctNode& node ){ node.nodeData.nodeIndex = _NodeCount++; }
+public:
+#if 0
+	struct LocalDepth
+	{
+		LocalDepth( int d=0 ) : _d(d) { ; }
+		operator int&()       { return _d; }
+		operator int () const { return _d; }
+	protected:
+		int _d;
+	};
+	struct LocalOffset
+	{
+		LocalOffset( const int* off=NULL ){ if( off ) memcpy( _off , off , sizeof(_off) ) ; else memset( _off , 0 , sizeof( _off ) ); }
+		operator        int*()       { return _off; }
+		operator const  int*() const { return _off; }
+	protected:
+		int _off[3];
+	};
+#else
+	typedef int LocalDepth;
+	typedef int LocalOffset[3];
+#endif
+
+	static void ResetNodeCount( void ){ _NodeCount = 0 ; }
+	static int NodeCount( void ){ return _NodeCount; }
+	template< int FEMDegree , BoundaryType BType > void functionIndex( const TreeOctNode* node , int idx[3] ) const;
+
+	struct PointSample{ const TreeOctNode* node ; ProjectiveData< OrientedPoint3D< Real > , Real > sample; };
+
+	typedef typename TreeOctNode::     NeighborKey< 1 , 1 >      AdjacenctNodeKey;
+	typedef typename TreeOctNode::ConstNeighborKey< 1 , 1 > ConstAdjacenctNodeKey;
+
+	template< int FEMDegree , BoundaryType BType > bool isValidFEMNode( const TreeOctNode* node ) const;
+	bool isValidSpaceNode( const TreeOctNode* node ) const;
+	TreeOctNode* leaf( Point3D< Real > p );
+	const TreeOctNode* leaf( Point3D< Real > p ) const;
+
+	template< bool HasGradients >
+	struct InterpolationInfo
+	{
+		SparseNodeData< PointData< Real , HasGradients > > iData;
+		Real valueWeight , gradientWeight;
+		InterpolationInfo( const class Octree< Real >& tree , const std::vector< PointSample >& samples , Real pointValue , int adaptiveExponent , Real v , Real g ) : valueWeight(v) , gradientWeight(g)
+		{ iData = tree._densifyInterpolationInfo< HasGradients >( samples , pointValue , adaptiveExponent ); }
+		PointData< Real , HasGradients >* operator()( const OctNode< TreeNodeData >* node ){ return iData(node); }
+		const PointData< Real , HasGradients >* operator()( const OctNode< TreeNodeData >* node ) const { return iData(node); }
+	};
+
+	struct DensityEstimator : public SparseNodeData< Real>
+	{
+		DensityEstimator( int kernelDepth ) : _kernelDepth( kernelDepth ){ ; }
+		int kernelDepth( void ) const { return _kernelDepth; }
+	protected:
+		int _kernelDepth;
+	};
+protected:
+	bool _isValidSpaceNode( const TreeOctNode* node ) const { return !GetGhostFlag( node ) && ( node->nodeData.flags & TreeNodeData::SPACE_FLAG ); }
+	bool _isValidFEMNode( const TreeOctNode* node ) const { return !GetGhostFlag( node ) && ( node->nodeData.flags & TreeNodeData::FEM_FLAG ); }
+
+	TreeOctNode* _tree;
+	TreeOctNode* _spaceRoot;
+	SortedTreeNodes _sNodes;
+	LocalDepth _fullDepth , _maxDepth;
+
+	static bool _InBounds( Point3D< Real > p );
+
+	int _depthOffset;
+	int _localToGlobal( LocalDepth d ) const { return d + _depthOffset; }
+	LocalDepth _localDepth( const TreeOctNode* node ) const { return node->depth() - _depthOffset; }
+	LocalDepth _localMaxDepth( const TreeOctNode* tree ) const { return tree->maxDepth() - _depthOffset; }
+	int _localInset( LocalDepth d ) const { return _depthOffset<=1 ? 0 : 1<<( d + _depthOffset - 1 ); }
+	void _localDepthAndOffset( const TreeOctNode* node , LocalDepth& d , LocalOffset& off ) const
+	{
+		node->depthAndOffset( d , off ) ; d -= _depthOffset;
+		int inset = _localInset( d );
+		off[0] -= inset , off[1] -= inset , off[2] -= inset;
+	}
+	template< int FEMDegree , BoundaryType BType > static int _BSplineBegin( LocalDepth depth ){ return BSplineEvaluationData< FEMDegree , BType >::Begin( depth ); }
+	template< int FEMDegree , BoundaryType BType > static int _BSplineEnd  ( LocalDepth depth ){ return BSplineEvaluationData< FEMDegree , BType >::End  ( depth ); }
+	template< int FEMDegree , BoundaryType BType >
+	bool _outOfBounds( const TreeOctNode* node ) const
+	{
+		if( !node ) return true;
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		return d<0 || BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[0] ) || BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[1] ) || BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[2] );
+	}
+	int _sNodesBegin( LocalDepth d ) const { return _sNodes.begin( _localToGlobal( d ) ); }
+	int _sNodesEnd  ( LocalDepth d ) const { return _sNodes.end  ( _localToGlobal( d ) ); }
+	int _sNodesSize ( LocalDepth d ) const { return _sNodes.size ( _localToGlobal( d ) ); }
+	int _sNodesBegin( LocalDepth d , int slice ) const { return _sNodes.begin( _localToGlobal( d ) , slice + _localInset( d ) ); }
+	int _sNodesEnd  ( LocalDepth d , int slice ) const { return _sNodes.end  ( _localToGlobal( d ) , slice + _localInset( d ) ); }
+	int _sNodesSize ( LocalDepth d , int slice ) const { return _sNodes.size ( _localToGlobal( d ) , slice + _localInset( d ) ); }
+
+	template< int FEMDegree > static bool _IsInteriorlySupported( LocalDepth depth , const LocalOffset off )
+	{
+		if( depth>=0 )
+		{
+			int begin , end;
+			BSplineSupportSizes< FEMDegree >::InteriorSupportedSpan( depth , begin , end );
+			return ( off[0]>=begin && off[0]<end && off[1]>=begin && off[1]<end && off[2]>=begin && off[2]<end );
+		}
+		else return false;
+	}
+	template< int FEMDegree > bool _isInteriorlySupported( const TreeOctNode* node ) const
+	{
+		if( !node ) return false;
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		return _IsInteriorlySupported< FEMDegree >( d , off );
+	}
+	template< int FEMDegree1 , int FEMDegree2 > static bool _IsInteriorlyOverlapped( LocalDepth depth , const LocalOffset off )
+	{
+		if( depth>=0 )
+		{
+			int begin , end;
+			BSplineIntegrationData< FEMDegree1 , BOUNDARY_NEUMANN , FEMDegree2 , BOUNDARY_NEUMANN >::InteriorOverlappedSpan( depth , begin , end );
+			return ( off[0]>=begin && off[0]<end && off[1]>=begin && off[1]<end && off[2]>=begin && off[2]<end );
+		}
+		else return false;
+	}
+	template< int FEMDegree1 , int FEMDegree2 > bool _isInteriorlyOverlapped( const TreeOctNode* node ) const
+	{
+		if( !node ) return false;
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		return _IsInteriorlyOverlapped< FEMDegree1 , FEMDegree2 >( d , off );
+	}
+	void _startAndWidth( const TreeOctNode* node , Point3D< Real >& start , Real& width ) const
+	{
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		if( d>=0 ) width = Real( 1.0 / (1<<  d ) );
+		else       width = Real( 1.0 * (1<<(-d)) );
+		for( int dd=0 ; dd<DIMENSION ; dd++ ) start[dd] = Real( off[dd] ) * width;
+	}
+	void _centerAndWidth( const TreeOctNode* node , Point3D< Real >& center , Real& width ) const
+	{
+		int d , off[3];
+		_localDepthAndOffset( node , d , off );
+		width = Real( 1.0 / (1<<d) );
+		for( int dd=0 ; dd<DIMENSION ; dd++ ) center[dd] = Real( off[dd] + 0.5 ) * width;
+	}
+	int _childIndex( const TreeOctNode* node , Point3D< Real > p ) const
+	{
+		Point3D< Real > c ; Real w;
+		_centerAndWidth( node , c , w );
+		return ( p[0]<c[0] ? 0 : 1 ) | ( p[1]<c[1] ? 0 : 2 ) | ( p[2]<c[2] ? 0 : 4 );
+	}
+
+	template< int Degree , BoundaryType BType > void _setFullDepth( TreeOctNode* node , LocalDepth depth ) const;
+	template< int Degree , BoundaryType BType > void _setFullDepth( LocalDepth depth );
+
+	template< int LeftRadius , int RightRadius >
+	static typename TreeOctNode::ConstNeighbors< LeftRadius + RightRadius + 1 >& _neighbors( TreeOctNode::ConstNeighborKey< LeftRadius , RightRadius >& key , const TreeOctNode* node ){ return key.neighbors[ node->depth() ]; }
+	template< int LeftRadius , int RightRadius >
+	static typename TreeOctNode::Neighbors< LeftRadius + RightRadius + 1 >& _neighbors( TreeOctNode::NeighborKey< LeftRadius , RightRadius >& key , const TreeOctNode* node ){ return key.neighbors[ node->depth() ]; }
+	template< int LeftRadius , int RightRadius >
+	static const typename TreeOctNode::template Neighbors< LeftRadius + RightRadius + 1 >& _neighbors( const typename TreeOctNode::template NeighborKey< LeftRadius , RightRadius >& key , const TreeOctNode* node ){ return key.neighbors[ node->depth() ]; }
+	template< int LeftRadius , int RightRadius >
+	static const typename TreeOctNode::template ConstNeighbors< LeftRadius + RightRadius + 1 >& _neighbors( const typename TreeOctNode::template ConstNeighborKey< LeftRadius , RightRadius >& key , const TreeOctNode* node ){ return key.neighbors[ node->depth() ]; }
+
+public:
+	LocalDepth depth( const TreeOctNode* node ) const { return _localDepth( node ); }
+	void depthAndOffset( const TreeOctNode* node , LocalDepth& depth , LocalOffset& offset ) const { _localDepthAndOffset( node , depth , offset ); }
+
+	int nodesBegin( LocalDepth d ) const { return _sNodes.begin( _localToGlobal( d ) ); }
+	int nodesEnd  ( LocalDepth d ) const { return _sNodes.end  ( _localToGlobal( d ) ); }
+	int nodesSize ( LocalDepth d ) const { return _sNodes.size ( _localToGlobal( d ) ); }
+	int nodesBegin( LocalDepth d , int slice ) const { return _sNodes.begin( _localToGlobal( d ) , slice + _localInset( d ) ); }
+	int nodesEnd  ( LocalDepth d , int slice ) const { return _sNodes.end  ( _localToGlobal( d ) , slice + _localInset( d ) ); }
+	int nodesSize ( LocalDepth d , int slice ) const { return _sNodes.size ( _localToGlobal( d ) , slice + _localInset( d ) ); }
+	const TreeOctNode* node( int idx ) const { return _sNodes.treeNodes[idx]; }
+protected:
+
+	////////////////////////////////////
+	// System construction code       //
+	// MultiGridOctreeData.System.inl //
+	////////////////////////////////////
+	template< int FEMDegree >
+	void _setMultiColorIndices( int start , int end , std::vector< std::vector< int > >& indices ) const;
+	struct _SolverStats
+	{
+		double evaluateTime , systemTime , solveTime;
+		double bNorm2 , inRNorm2 , outRNorm2;
+	};
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	int _solveSystemGS( const FEMSystemFunctor& F , const BSplineData< FEMDegree , BType >& bsData , InterpolationInfo< HasGradients >* interpolationInfo , LocalDepth depth , DenseNodeData< Real >& solution , DenseNodeData< Real >& constraints , DenseNodeData< Real >& metSolutionConstraints , int iters , bool coarseToFine , _SolverStats& stats , bool computeNorms );
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	int _solveSystemCG( const FEMSystemFunctor& F , const BSplineData< FEMDegree , BType >& bsData , InterpolationInfo< HasGradients >* interpolationInfo , LocalDepth depth , DenseNodeData< Real >& solution , DenseNodeData< Real >& constraints , DenseNodeData< Real >& metSolutionConstraints , int iters , bool coarseToFine , _SolverStats& stats , bool computeNorms , double accuracy );
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	int _setMatrixRow( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors , Pointer( MatrixEntry< Real > ) row , int offset , const typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , const Stencil< double , BSplineO [...]
+	template< int FEMDegree , BoundaryType BType >
+	int _getMatrixRowSize( const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors ) const;
+
+	template< int FEMDegree1 , int FEMDegree2 > static void _SetParentOverlapBounds( const TreeOctNode* node , int& startX , int& endX , int& startY , int& endY , int& startZ , int& endZ );
+	// Updates the constraints @(depth) based on the solution coefficients @(depth-1)
+
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	void _updateConstraintsFromCoarser( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& neighbors , const typename TreeOctNode::Neighbors< BSplineOverlapSizes< FEMDegree , FEMDegree >::OverlapSize >& pNeighbors , TreeOctNode* node , DenseNodeData< Real >& constraints , const DenseNodeData< Real >& metSolution , const typename BSplineIntegrationData< FE [...]
+
+	// evaluate the points @(depth) using coefficients @(depth-1)
+	template< int FEMDegree , BoundaryType BType , bool HasGradients >
+	void _setPointValuesFromCoarser( InterpolationInfo< HasGradients >& interpolationInfo , LocalDepth highDepth , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients );
+
+	// Updates the cumulative integral constraints @(depth-1) based on the change in solution coefficients @(depth)
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor >
+	void _updateCumulativeIntegralConstraintsFromFiner( const FEMSystemFunctor& F ,
+		const BSplineData< FEMDegree , BType >& bsData , LocalDepth highDepth , const DenseNodeData< Real >& fineSolution , DenseNodeData< Real >& cumulativeConstraints ) const;
+	// Updates the cumulative interpolation constraints @(depth-1) based on the change in solution coefficient @(depth)
+	template< int FEMDegree , BoundaryType BType , bool HasGradients >
+	void _updateCumulativeInterpolationConstraintsFromFiner( const InterpolationInfo< HasGradients >& interpolationInfo ,
+		const BSplineData< FEMDegree , BType >& bsData , LocalDepth highDepth , const DenseNodeData< Real >& fineSolution , DenseNodeData< Real >& cumulativeConstraints ) const;
+
+	template< int FEMDegree , BoundaryType BType >
+	Real _coarserFunctionValue( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients ) const;
+	template< int FEMDegree , BoundaryType BType >
+	Point3D< Real > _coarserFunctionGradient( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& upSampledCoefficients ) const;
+	template< int FEMDegree , BoundaryType BType >
+	Real   _finerFunctionValue( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& coefficients ) const;
+	template< int FEMDegree , BoundaryType BType >
+	Point3D< Real >   _finerFunctionGradient( Point3D< Real > p , const PointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , const BSplineData< FEMDegree , BType >& bsData , const DenseNodeData< Real >& coefficients ) const;
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	int _getSliceMatrixAndUpdateConstraints( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , SparseMatrix< Real >& matrix , DenseNodeData< Real >& constraints , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template ChildIn [...]
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	int _getMatrixAndUpdateConstraints( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , SparseMatrix< Real >& matrix , DenseNodeData< Real >& constraints , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template Integrator< DERIVATIVES( FEMDegree ) , DERIVATIVES( FEMDegree ) >& integrator , typename BSplineIntegrationData< FEMDegree , BType , FEMDegree , BType >::FunctionIntegrator::template ChildIntegra [...]
+
+	// Down samples constraints @(depth) to constraints @(depth-1)
+	template< class C , int FEMDegree , BoundaryType BType > void _downSample( LocalDepth highDepth , DenseNodeData< C >& constraints ) const;
+	// Up samples coefficients @(depth-1) to coefficients @(depth)
+	template< class C , int FEMDegree , BoundaryType BType > void _upSample( LocalDepth highDepth , DenseNodeData< C >& coefficients ) const;
+	template< class C , int FEMDegree , BoundaryType BType > static void _UpSample( LocalDepth highDepth , ConstPointer( C ) lowCoefficients , Pointer( C ) highCoefficients , int threads );
+public:
+	template< class C , int FEMDegree , BoundaryType BType > DenseNodeData< C > coarseCoefficients( const  DenseNodeData< C >& coefficients ) const;
+	template< class C , int FEMDegree , BoundaryType BType > DenseNodeData< C > coarseCoefficients( const SparseNodeData< C >& coefficients ) const;
+protected:
+
+	/////////////////////////////////////////////
+	// Code for splatting point-sample data    //
+	// MultiGridOctreeData.WeightedSamples.inl //
+	/////////////////////////////////////////////
+	template< int WeightDegree >
+	void _addWeightContribution( DensityEstimator& densityWeights , TreeOctNode* node , Point3D< Real > position , PointSupportKey< WeightDegree >& weightKey , Real weight=Real(1.0) );
+	template< int WeightDegree , class PointSupportKey >
+	Real _getSamplesPerNode( const DensityEstimator& densityWeights , const TreeOctNode* node , Point3D< Real > position , PointSupportKey& weightKey ) const;
+	template< int WeightDegree, class PointSupportKey >
+	void _getSampleDepthAndWeight( const DensityEstimator& densityWeights , const TreeOctNode* node , Point3D< Real > position , PointSupportKey& weightKey , Real& depth , Real& weight ) const;
+	template< int WeightDegree, class PointSupportKey >
+	void _getSampleDepthAndWeight( const DensityEstimator& densityWeights , Point3D< Real > position , PointSupportKey& weightKey , Real& depth , Real& weight ) const;
+	template< bool CreateNodes ,                    int DataDegree , class V > void      _splatPointData( TreeOctNode* node ,                                           Point3D< Real > point , V v , SparseNodeData< V >& data ,                                              PointSupportKey< DataDegree >& dataKey                                                   );
+	template< bool CreateNodes , int WeightDegree , int DataDegree , class V > Real      _splatPointData( const DensityEstimator& densityWeights , Point3D< Real > point , V v , SparseNodeData< V >& data , PointSupportKey< WeightDegree >& weightKey , PointSupportKey< DataDegree >& dataKey , LocalDepth minDepth , LocalDepth maxDepth , int dim=DIMENSION );
+	template< bool CreateNodes , int WeightDegree , int DataDegree , class V > Real _multiSplatPointData( const DensityEstimator* densityWeights , TreeOctNode* node , Point3D< Real > point , V v , SparseNodeData< V >& data , PointSupportKey< WeightDegree >& weightKey , PointSupportKey< DataDegree >& dataKey , int dim=DIMENSION );
+	template< class V , int DataDegree , BoundaryType BType , class Coefficients > V _evaluate( const Coefficients& coefficients , Point3D< Real > p , const BSplineData< DataDegree , BType >& bsData , const ConstPointSupportKey< DataDegree >& dataKey ) const;
+public:
+	template< class V , int DataDegree , BoundaryType BType > Pointer( V ) voxelEvaluate( const DenseNodeData< V >& coefficients , int& res , Real isoValue=0.f , LocalDepth depth=-1 , bool primal=false );
+
+	template< int NormalDegree >
+	struct HasNormalDataFunctor
+	{
+		const SparseNodeData< Point3D< Real > >& normalInfo;
+		HasNormalDataFunctor( const SparseNodeData< Point3D< Real > >& ni ) : normalInfo( ni ){ ; }
+		bool operator() ( const TreeOctNode* node ) const
+		{
+			const Point3D< Real >* n = normalInfo( node );
+			if( n )
+			{
+				const Point3D< Real >& normal = *n;
+				if( normal[0]!=0 || normal[1]!=0 || normal[2]!=0 ) return true;
+			}
+			if( node->children )
+                for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+                    if( (*this)( node->children + c ) )
+                        return true;
+			return false;
+		}
+	};
+	struct TrivialHasDataFunctor{ bool operator() ( const TreeOctNode* node ) const{ return true; } };
+
+	// [NOTE] The input/output for this method is pre-scaled by weight
+	template< bool HasGradients > bool _setInterpolationInfoFromChildren( TreeOctNode* node , SparseNodeData< PointData< Real, HasGradients > >& iInfo ) const;
+	template< bool HasGradients > SparseNodeData< PointData< Real, HasGradients > > _densifyInterpolationInfo( const std::vector< PointSample >& samples , Real pointValue , int adaptiveExponent ) const;
+
+	template< int FEMDegree , BoundaryType BType > void _setValidityFlags( void );
+	template< class HasDataFunctor > void _clipTree( const HasDataFunctor& f );
+
+	template< int FEMDegree , BoundaryType BType > SparseNodeData< Real > leafValues   ( const DenseNodeData< Real >& coefficients ) const;
+	template< int FEMDegree , BoundaryType BType > SparseNodeData< Point3D< Real > > leafGradients( const DenseNodeData< Real >& coefficients ) const;
+
+	////////////////////////////////////
+	// Evaluation Methods             //
+	// MultiGridOctreeData.Evaluation //
+	////////////////////////////////////
+	static const int CHILDREN = Cube::CORNERS;
+	template< int FEMDegree , BoundaryType BType >
+	struct _Evaluator
+	{
+		typename BSplineEvaluationData< FEMDegree , BType >::Evaluator evaluator;
+		typename BSplineEvaluationData< FEMDegree , BType >::ChildEvaluator childEvaluator;
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > cellStencil;
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > cellStencils  [CHILDREN];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > edgeStencil             [Cube::EDGES  ];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > edgeStencils  [CHILDREN][Cube::EDGES  ];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > faceStencil             [Cube::FACES  ];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > faceStencils  [CHILDREN][Cube::FACES  ];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > cornerStencil           [Cube::CORNERS];
+		Stencil< double , BSplineSupportSizes< FEMDegree >::SupportSize > cornerStencils[CHILDREN][Cube::CORNERS];
+
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dCellStencil;
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dCellStencils  [CHILDREN];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dEdgeStencil             [Cube::EDGES  ];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dEdgeStencils  [CHILDREN][Cube::EDGES  ];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dFaceStencil             [Cube::FACES  ];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dFaceStencils  [CHILDREN][Cube::FACES  ];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dCornerStencil           [Cube::CORNERS];
+		Stencil< Point3D< double > , BSplineSupportSizes< FEMDegree >::SupportSize > dCornerStencils[CHILDREN][Cube::CORNERS];
+
+		void set( LocalDepth depth );
+		_Evaluator( void ){ _bsData = NULL; }
+		~_Evaluator( void ){ if( _bsData ) delete _bsData , _bsData = NULL; }
+	protected:
+		BSplineData< FEMDegree , BType >* _bsData;
+		friend Octree;
+	};
+	template< class V , int FEMDegree , BoundaryType BType >
+	V _getCenterValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node ,                     const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< class V , int FEMDegree , BoundaryType BType >
+	V _getCornerValue( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int corner        , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< class V , int FEMDegree , BoundaryType BType >
+	V _getEdgeValue  ( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int edge          , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< class V , int FEMDegree , BoundaryType BType >
+	V _getValue      ( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , Point3D< Real > p , const DenseNodeData< V >& solution , const DenseNodeData< V >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator ) const;
+
+	template< int FEMDegree , BoundaryType BType >
+	std::pair< Real , Point3D< Real > > _getCenterValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node ,                     const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< int FEMDegree , BoundaryType BType >
+	std::pair< Real , Point3D< Real > > _getCornerValueAndGradient( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int corner        , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< int FEMDegree , BoundaryType BType >
+	std::pair< Real , Point3D< Real > > _getEdgeValueAndGradient  ( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , int edge          , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator , bool isInterior ) const;
+	template< int FEMDegree , BoundaryType BType >
+	std::pair< Real , Point3D< Real > > _getValueAndGradient      ( const ConstPointSupportKey< FEMDegree >& neighborKey , const TreeOctNode* node , Point3D< Real > p , const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , const _Evaluator< FEMDegree , BType >& evaluator ) const;
+
+public:
+	template< int Degree , BoundaryType BType >
+	class MultiThreadedEvaluator
+	{
+		const Octree* _tree;
+		int _threads;
+		std::vector< ConstPointSupportKey< Degree > > _neighborKeys;
+		_Evaluator< Degree , BType > _evaluator;
+		const DenseNodeData< Real >& _coefficients;
+		DenseNodeData< Real > _coarseCoefficients;
+	public:
+		MultiThreadedEvaluator( const Octree* tree , const DenseNodeData< Real >& coefficients , int threads=1 );
+		Real value( Point3D< Real > p , int thread=0 , const TreeOctNode* node=NULL );
+		std::pair< Real , Point3D< Real > > valueAndGradient( Point3D< Real > , int thread=0 , const TreeOctNode* node=NULL );
+	};
+
+	////////////////////////////////////////
+	// Iso-Surfacing Methods              //
+	// MultiGridOctreeData.IsoSurface.inl //
+	////////////////////////////////////////
+protected:
+	struct _IsoEdge
+	{
+		long long edges[2];
+		_IsoEdge( void ){ edges[0] = edges[1] = 0; }
+		_IsoEdge( long long v1 , long long v2 ){ edges[0] = v1 , edges[1] = v2; }
+		long long& operator[]( int idx ){ return edges[idx]; }
+		const long long& operator[]( int idx ) const { return edges[idx]; }
+	};
+	struct _FaceEdges
+	{
+		_IsoEdge edges[2];
+		int count;
+	};
+	template< class Vertex >
+	struct _SliceValues
+	{
+		typename SortedTreeNodes::SliceTableData sliceData;
+		Pointer( Real ) cornerValues ; Pointer( Point3D< Real > ) cornerGradients ; Pointer( char ) cornerSet;
+		Pointer( long long ) edgeKeys ; Pointer( char ) edgeSet;
+		Pointer( _FaceEdges ) faceEdges ; Pointer( char ) faceSet;
+		Pointer( char ) mcIndices;
+		std::unordered_map< long long, std::vector< _IsoEdge > > faceEdgeMap;
+		std::unordered_map< long long, std::pair< int, Vertex > > edgeVertexMap;
+		std::unordered_map< long long, long long > vertexPairMap;
+
+		_SliceValues( void );
+		~_SliceValues( void );
+		void reset( bool nonLinearFit );
+	protected:
+		int _oldCCount , _oldECount , _oldFCount , _oldNCount;
+	};
+	template< class Vertex >
+	struct _XSliceValues
+	{
+		typename SortedTreeNodes::XSliceTableData xSliceData;
+		Pointer( long long ) edgeKeys ; Pointer( char ) edgeSet;
+		Pointer( _FaceEdges ) faceEdges ; Pointer( char ) faceSet;
+		std::unordered_map< long long, std::vector< _IsoEdge > > faceEdgeMap;
+		std::unordered_map< long long, std::pair< int, Vertex > > edgeVertexMap;
+		std::unordered_map< long long, long long > vertexPairMap;
+
+		_XSliceValues( void );
+		~_XSliceValues( void );
+		void reset( void );
+	protected:
+		int _oldECount , _oldFCount;
+	};
+	template< class Vertex >
+	struct _SlabValues
+	{
+	protected:
+		_XSliceValues< Vertex > _xSliceValues[2];
+		_SliceValues< Vertex > _sliceValues[2];
+	public:
+		_SliceValues< Vertex >& sliceValues( int idx ){ return _sliceValues[idx&1]; }
+		const _SliceValues< Vertex >& sliceValues( int idx ) const { return _sliceValues[idx&1]; }
+		_XSliceValues< Vertex >& xSliceValues( int idx ){ return _xSliceValues[idx&1]; }
+		const _XSliceValues< Vertex >& xSliceValues( int idx ) const { return _xSliceValues[idx&1]; }
+	};
+	template< class Vertex , int FEMDegree , BoundaryType BType >
+	void _setSliceIsoCorners( const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , Real isoValue , LocalDepth depth , int slice ,         std::vector< _SlabValues< Vertex > >& sValues , const _Evaluator< FEMDegree , BType >& evaluator , int threads );
+	template< class Vertex , int FEMDegree , BoundaryType BType >
+	void _setSliceIsoCorners( const DenseNodeData< Real >& solution , const DenseNodeData< Real >& coarseSolution , Real isoValue , LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& sValues , const _Evaluator< FEMDegree , BType >& evaluator , int threads );
+	template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+	void _setSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slice ,         int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& sValues , int threads );
+	template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+	void _setSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slice , int z , int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& sValues , int threads );
+	template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+	void _setXSliceIsoVertices( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , LocalDepth depth , int slab , int& vOffset , Kazhdan::Mesh& mesh , std::vector< _SlabValues< Vertex > >& sValues , int threads );
+	template< class Vertex >
+	void _setSliceIsoEdges( LocalDepth depth , int slice ,         std::vector< _SlabValues< Vertex > >& slabValues , int threads );
+	template< class Vertex >
+	void _setSliceIsoEdges( LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& slabValues , int threads );
+	template< class Vertex >
+	void _setXSliceIsoEdges( LocalDepth depth , int slice , std::vector< _SlabValues< Vertex > >& slabValues , int threads );
+	template< class Vertex >
+	void _copyFinerSliceIsoEdgeKeys( LocalDepth depth , int slice ,         std::vector< _SlabValues< Vertex > >& sValues , int threads );
+	template< class Vertex >
+	void _copyFinerSliceIsoEdgeKeys( LocalDepth depth , int slice , int z , std::vector< _SlabValues< Vertex > >& sValues , int threads );
+	template< class Vertex >
+	void _copyFinerXSliceIsoEdgeKeys( LocalDepth depth , int slab , std::vector< _SlabValues< Vertex > >& sValues , int threads );
+
+	template< class Vertex >
+	void _setIsoSurface( LocalDepth depth , int offset , const _SliceValues< Vertex >& bValues , const _SliceValues< Vertex >& fValues , const _XSliceValues< Vertex >& xValues , Kazhdan::Mesh& mesh , bool polygonMesh , bool addBarycenter , int& vOffset , int threads );
+
+	template< class Vertex >
+	static int _addIsoPolygons( Kazhdan::Mesh& mesh , std::vector< std::pair< int , Vertex > >& polygon , bool polygonMesh , bool addBarycenter , int& vOffset );
+
+	template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+	bool _getIsoVertex( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , ConstPointSupportKey< WeightDegree >& weightKey , ConstPointSupportKey< ColorDegree >& colorKey , const TreeOctNode* node , int edgeIndex , int z , const _SliceValues< Vertex >& sValues , Vertex& vertex );
+	template< int WeightDegree , int ColorDegree , BoundaryType BType , class Vertex >
+	bool _getIsoVertex( const BSplineData< ColorDegree , BType >* colorBSData , const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , Real isoValue , ConstPointSupportKey< WeightDegree >& weightKey , ConstPointSupportKey< ColorDegree >& colorKey , const TreeOctNode* node , int cornerIndex , const _SliceValues< Vertex >& bValues , const _SliceValues< Vertex >& fValues , Vertex& vertex );
+
+	void _init( TreeOctNode* node , LocalDepth maxDepth , bool (*Refine)( LocalDepth d , LocalOffset off ) );
+
+	double _maxMemoryUsage , _localMemoryUsage;
+public:
+	int threads;
+	double maxMemoryUsage( void ) const { return _maxMemoryUsage; }
+	double localMemoryUsage( void ) const { return _localMemoryUsage; }
+	void resetLocalMemoryUsage( void ){ _localMemoryUsage = 0; }
+	double memoryUsage( void );
+
+	Octree( void );
+
+	void init( LocalDepth maxDepth , bool (*Refine)( LocalDepth d , LocalOffset off ) );
+	template< class Data >
+	int init(PointSource& pointSource , LocalDepth maxDepth , bool useConfidence , std::vector< PointSample >& samples , std::vector< ProjectiveData< Data , Real > >* sampleData );
+	template< int DensityDegree >
+	typename Octree::DensityEstimator* setDensityEstimator( const std::vector< PointSample >& samples , LocalDepth splatDepth , Real samplesPerNode );
+	template< int NormalDegree , int DensityDegree >
+	SparseNodeData< Point3D< Real > > setNormalField( const std::vector< PointSample >& samples , const DensityEstimator& density , Real& pointWeightSum , bool forceNeumann );
+	template< int DataDegree , bool CreateNodes , int DensityDegree , class Data >
+	SparseNodeData< ProjectiveData< Data , Real > > setDataField( const std::vector< PointSample >& samples , std::vector< ProjectiveData< Data , Real > >& sampleData , const DensityEstimator* density );
+	template< int MaxDegree , int FEMDegree , BoundaryType FEMBType , class HasDataFunctor > void inalizeForBroodedMultigrid( LocalDepth fullDepth , const HasDataFunctor& F , std::vector< int >* map=NULL );
+
+	// Generate an empty set of constraints
+	DenseNodeData< Real > initDenseNodeData( void );
+
+	// Add finite-elements constraints (derived from a sparse scalar field)
+	template< int FEMDegree , BoundaryType FEMBType , int SFDegree , BoundaryType SFBType , class FEMSFConstraintFunctor > void addFEMConstraints( const FEMSFConstraintFunctor& F , const SparseNodeData< Real >& sfCoefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+	{ return _addFEMConstraints< FEMDegree , FEMBType , SFDegree , SFBType , FEMSFConstraintFunctor , const SparseNodeData< Real > , Real , double >( F , sfCoefficients , constraints , maxDepth ); }
+	// Add finite-elements constraints (derived from a dense scalar field)
+	template< int FEMDegree , BoundaryType FEMBType , int SFDegree , BoundaryType SFBType , class FEMSFConstraintFunctor > void addFEMConstraints( const FEMSFConstraintFunctor& F , const  DenseNodeData< Real >& sfCoefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+	{ return _addFEMConstraints< FEMDegree , FEMBType , SFDegree , SFBType , FEMSFConstraintFunctor , const  DenseNodeData< Real > , Real , double >( F , sfCoefficients , constraints , maxDepth ); }
+	// Add finite-elements constraints (derived from a sparse vector field)
+	template< int FEMDegree , BoundaryType FEMBType , int VFDegree , BoundaryType VFBType , class FEMVFConstraintFunctor > void addFEMConstraints( const FEMVFConstraintFunctor& F , const SparseNodeData< Point3D< Real > >& vfCoefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+	{ return _addFEMConstraints< FEMDegree , FEMBType , VFDegree , VFBType , FEMVFConstraintFunctor , const SparseNodeData< Point3D< Real > > , Point3D< Real > , Point3D< double > >( F , vfCoefficients , constraints , maxDepth ); }
+	// Add finite-elements constraints (derived from a dense vector field)
+	template< int FEMDegree , BoundaryType FEMBType , int VFDegree , BoundaryType VFBType , class FEMVFConstraintFunctor > void addFEMConstraints( const FEMVFConstraintFunctor& F , const  DenseNodeData< Point3D< Real > >& vfCoefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth )
+	{ return _addFEMConstraints< FEMDegree , FEMBType , VFDegree , VFBType , FEMVFConstraintFunctor , const  DenseNodeData< Point3D< Real > > , Point3D< Real > , Point3D< double > >( F , vfCoefficients , constraints , maxDepth ); }
+	// Add interpolation constraints
+	template< int FEMDegree , BoundaryType FEMBType , bool HasGradients > void addInterpolationConstraints( const InterpolationInfo< HasGradients >& interpolationInfo , DenseNodeData< Real >& constraints , LocalDepth maxDepth );
+
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor > double dot( const DotFunctor& F , const SparseNodeData< Real >& coefficients1 , const SparseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , false >( F , (const InterpolationInfo< false >*)NULL , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor > double dot( const DotFunctor& F , const SparseNodeData< Real >& coefficients1 , const DenseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , false >( F , (const InterpolationInfo< false >*)NULL , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor > double dot( const DotFunctor& F , const DenseNodeData< Real >& coefficients1 , const SparseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , false >( F , (const InterpolationInfo< false >*)NULL , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor > double dot( const DotFunctor& F , const DenseNodeData< Real >& coefficients1 , const DenseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , false >( F , (const InterpolationInfo< false >*)NULL , coefficients1 , coefficients2 ); }
+
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor , bool HasGradients > double dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const SparseNodeData< Real >& coefficients1 , const SparseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , HasGradients >( F , iInfo , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor , bool HasGradients > double dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const SparseNodeData< Real >& coefficients1 , const DenseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , HasGradients >( F , iInfo , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor , bool HasGradients > double dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const DenseNodeData< Real >& coefficients1 , const SparseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , HasGradients >( F , iInfo , coefficients1 , coefficients2 ); }
+	template< int Degree1 , BoundaryType BType1 , int Degree2 , BoundaryType BType2 , class DotFunctor , bool HasGradients > double dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const DenseNodeData< Real >& coefficients1 , const DenseNodeData< Real >& coefficients2 ) const
+	{ return _dot< Degree1 , BType1 , Degree2 , BType2 , DotFunctor , HasGradients >( F , iInfo , coefficients1 , coefficients2 ); }
+
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	void setSystemMatrix( const FEMSystemFunctor& F , const InterpolationInfo< HasGradients >* interpolationInfo , LocalDepth depth , SparseMatrix< Real >& matrix ) const;
+
+	// Solve the linear system
+	struct SolverInfo
+	{
+		// How to solve
+		LocalDepth cgDepth;
+		int iters;
+		double cgAccuracy , lowResIterMultiplier;
+		// What to output
+		bool verbose , showResidual;
+
+		SolverInfo( void ) : cgDepth(0) , iters(1), cgAccuracy(0) , lowResIterMultiplier(0) , verbose(false) , showResidual(false) { ; }
+	};
+	template< int FEMDegree , BoundaryType BType , class FEMSystemFunctor , bool HasGradients >
+	DenseNodeData< Real > solveSystem( const FEMSystemFunctor& F , InterpolationInfo< HasGradients >* iData , DenseNodeData< Real >& constraints , LocalDepth maxSolveDepth , const SolverInfo& solverInfo );
+
+	template< int FEMDegree , BoundaryType BType , int WeightDegree , int ColorDegree , class Vertex >
+	void getMCIsoSurface( const DensityEstimator* densityWeights , const SparseNodeData< ProjectiveData< Point3D< Real > , Real > >* colorData , const DenseNodeData< Real >& solution , Real isoValue , Kazhdan::Mesh& mesh , bool nonLinearFit=true , bool addBarycenter=false , bool polygonMesh=false );
+
+
+	const TreeOctNode& tree( void ) const{ return *_tree; }
+	size_t leaves( void ) const { return _tree->leaves(); }
+	size_t nodes( void ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( IsActiveNode( n ) ) count++ ; return count; }
+	size_t ghostNodes( void ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( !IsActiveNode( n ) ) count++ ; return count; }
+	inline size_t validSpaceNodes( void ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( isValidSpaceNode( n ) ) count++ ;  return count; }
+	inline size_t validSpaceNodes( LocalDepth d ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( _localDepth(n)==d && isValidSpaceNode( n ) ) count++ ; return count; }
+	template< int Degree , BoundaryType BType > size_t validFEMNodes( void ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( isValidFEMNode< Degree , BType >( n ) ) count++ ;  return count; }
+	template< int Degree , BoundaryType BType > size_t validFEMNodes( LocalDepth d ) const { int count = 0 ; for( const TreeOctNode* n=_tree->nextNode() ; n ; n=_tree->nextNode( n ) ) if( _localDepth(n)==d && isValidFEMNode< Degree , BType >( n ) ) count++ ; return count; }
+	LocalDepth depth( void ) const { return _localMaxDepth( _tree ); }
+	void resetNodeIndices( void ){ _NodeCount = 0 ; for( TreeOctNode* node=_tree->nextNode() ; node ; node=_tree->nextNode( node ) ) _NodeInitializer( *node ) , node->nodeData.flags=0; }
+
+protected:
+	template< class D > static bool _IsZero( const D& d );
+	template< class D > static Real _Dot( const D& d1 , const D& d2 );
+	template< int FEMDegree , BoundaryType FEMBType , int CDegree , BoundaryType CBType , class FEMConstraintFunctor , class Coefficients , class D , class _D >
+	void _addFEMConstraints( const FEMConstraintFunctor& F , const Coefficients& coefficients , DenseNodeData< Real >& constraints , LocalDepth maxDepth );
+	template< int FEMDegree1 , BoundaryType FEMBType1 , int FEMDegree2 , BoundaryType FEMBType2 , class DotFunctor , bool HasGradients , class Coefficients1 , class Coefficients2 >
+	double _dot( const DotFunctor& F , const InterpolationInfo< HasGradients >* iInfo , const Coefficients1& coefficients1 , const Coefficients2& coefficients2 ) const;
+};
+template< class Real > int Octree< Real >::_NodeCount = 0;
+
+
+template< class Real > void Reset( void ){ Octree< Real >::ResetNodeCount(); }
+
+
+#include "MultiGridOctreeData.inl"
+#include "MultiGridOctreeData.SortedTreeNodes.inl"
+#include "MultiGridOctreeData.WeightedSamples.inl"
+#include "MultiGridOctreeData.System.inl"
+#include "MultiGridOctreeData.IsoSurface.inl"
+#include "MultiGridOctreeData.Evaluation.inl"
+#endif // MULTI_GRID_OCTREE_DATA_INCLUDED
diff --git a/vendor/kazhdan/MultiGridOctreeData.inl b/vendor/kazhdan/MultiGridOctreeData.inl
new file mode 100644
index 0000000..c9a22ef
--- /dev/null
+++ b/vendor/kazhdan/MultiGridOctreeData.inl
@@ -0,0 +1,706 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+#ifdef FAST_SET_UP
+#include <functional>
+#endif // FAST_SET_UP
+#include <cmath>
+
+#include "MemoryUsage.h"
+#include "MyTime.h"
+
+#define MEMORY_ALLOCATOR_BLOCK_SIZE 1<<12
+//#define MEMORY_ALLOCATOR_BLOCK_SIZE 0
+
+const double MATRIX_ENTRY_EPSILON = 0;
+const double EPSILON              = 1e-6;
+const double ROUND_EPS            = 1e-5;
+
+//////////////////
+// TreeNodeData //
+//////////////////
+TreeNodeData::TreeNodeData( void ){ flags = 0; }
+TreeNodeData::~TreeNodeData( void ) { }
+
+
+////////////
+// Octree //
+////////////
+template< class Real >
+double Octree< Real >::memoryUsage( void )
+{
+	double mem = double( MemoryInfo::Usage() ) / (1<<20);
+	_maxMemoryUsage = std::max< double >( mem , _maxMemoryUsage );
+	_localMemoryUsage = std::max< double >( mem , _localMemoryUsage );
+	return mem;
+}
+
+template< class Real > Octree< Real >::Octree( void ) : _maxMemoryUsage(0) , _localMemoryUsage(0), threads(1) {
+	_tree = TreeOctNode::NewBrood( _NodeInitializer );
+	_tree->initChildren( _NodeInitializer ) , _spaceRoot = _tree->children;
+	_depthOffset = 1;
+}
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+void Octree< Real >::functionIndex( const TreeOctNode* node , int idx[3] ) const
+{
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+	for( int dd=0 ; dd<DIMENSION ; dd++ ) idx[dd] = BSplineData< FEMDegree , BType >::FunctionIndex( d , off[dd] );
+}
+
+template< class Real >
+OctNode< TreeNodeData >* Octree< Real >::leaf( Point3D< Real > p )
+{
+	if( !_InBounds( p ) ) return NULL;
+	Point3D< Real > center = Point3D< Real >( Real(0.5) , Real(0.5) , Real(0.5) );
+	Real width = Real(1.0);
+	TreeOctNode* node = _spaceRoot;
+	while( node->children )
+	{
+		int cIndex = TreeOctNode::CornerIndex( center , p );
+		node = node->children + cIndex;
+		width /= 2;
+		if( cIndex&1 ) center[0] += width/2;
+		else           center[0] -= width/2;
+		if( cIndex&2 ) center[1] += width/2;
+		else           center[1] -= width/2;
+		if( cIndex&4 ) center[2] += width/2;
+		else           center[2] -= width/2;
+	}
+	return node;
+}
+template< class Real >
+const OctNode< TreeNodeData >* Octree< Real >::leaf( Point3D< Real > p ) const
+{
+	if( !_InBounds( p ) ) return NULL;
+	Point3D< Real > center = Point3D< Real >( Real(0.5) , Real(0.5) , Real(0.5) );
+	Real width = Real(1.0);
+	TreeOctNode* node = _spaceRoot;
+	while( node->children )
+	{
+		int cIndex = TreeOctNode::CornerIndex( center , p );
+		node = node->children + cIndex;
+		width /= 2;
+		if( cIndex&1 ) center[0] += width/2;
+		else           center[0] -= width/2;
+		if( cIndex&2 ) center[1] += width/2;
+		else           center[1] -= width/2;
+		if( cIndex&4 ) center[2] += width/2;
+		else           center[2] -= width/2;
+	}
+	return node;
+}
+template< class Real > bool Octree< Real >::_InBounds( Point3D< Real > p ){ return p[0]>=Real(0.) && p[0]<=Real(1.0) && p[1]>=Real(0.) && p[1]<=Real(1.0) && p[2]>=Real(0.) && p[2]<=Real(1.0); }
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+bool Octree< Real >::isValidFEMNode( const TreeOctNode* node ) const
+{
+	if( GetGhostFlag( node ) ) return false;
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+	if( d<0 ) return false;
+	return !BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[0] ) && !BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[1] ) && !BSplineEvaluationData< FEMDegree , BType >::OutOfBounds( d , off[2] );
+}
+template< class Real >
+bool Octree< Real >::isValidSpaceNode( const TreeOctNode* node ) const
+{
+	if( !node ) return false;
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+	if( d<0 ) return false;
+	int res = 1<<d;
+	return off[0]>=0 && off[0]<res && off[1]>=0 && off[1]<res && off[2]>=0 && off[2]<res;
+}
+template< class Real >
+template< int Degree , BoundaryType BType >
+void Octree< Real >::_setFullDepth( TreeOctNode* node , LocalDepth depth ) const
+{
+	bool refine = false;
+	LocalDepth d ; LocalOffset off;
+	_localDepthAndOffset( node , d , off );
+	if( d<depth )
+    {
+		if( d<0 )
+            refine = true;
+		else if( BType==BOUNDARY_FREE && !_outOfBounds< Degree , BType >( node ) ) refine = true;
+		else if( !BSplineSupportSizes< Degree >::OutOfBounds( d , off[0] ) && !BSplineSupportSizes< Degree >::OutOfBounds( d , off[1] ) && !BSplineSupportSizes< Degree >::OutOfBounds( d , off[2] ) ) refine = true;
+    }
+	if( refine )
+	{
+		if( !node->children ) node->initChildren( _NodeInitializer );
+		for( int c=0 ; c<(int)Cube::CORNERS ; c++ ) _setFullDepth< Degree , BType >( node->children+c , depth );
+	}
+}
+template< class Real >
+template< int Degree , BoundaryType BType >
+void Octree< Real >::_setFullDepth( LocalDepth depth )
+{
+	if( !_tree->children ) _tree->initChildren( _NodeInitializer );
+	for( int c=0 ; c<(int)Cube::CORNERS ; c++ ) _setFullDepth< Degree , BType >( _tree->children+c , depth );
+}
+
+template< class Real , bool HasGradients >
+struct _PointDataAccumulator_
+{
+#if POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , HasGradients >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Point3D< Real > center , Real width , Real weight );
+#else // !POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , HasGradients >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Real weight );
+#endif // POINT_DATA_RES
+};
+template< class Real >
+struct _PointDataAccumulator_< Real , false >
+{
+#if POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , false >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Point3D< Real > center , Real width , Real weight ){ pData.addPoint( SinglePointData< Real , false >( position , value , weight ) , center , width ); }
+#else // !POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , false >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Real weight ){ pData.position += position , pData.value += value , pData.weight += weight; }
+#endif // POINT_DATA_RES
+};
+template< class Real >
+struct _PointDataAccumulator_< Real , true >
+{
+#if POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , true >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Point3D< Real > center , Real width , Real weight ){ pData.addPoint( SinglePointData< Real , true >( position , value , gradient , weight ) , center , width ); }
+#else // !POINT_DATA_RES
+	static inline void _AddToPointData_( PointData< Real , true >& pData , Point3D< Real > position , Real value , Point3D< Real > gradient , Real weight ){ pData.position += position , pData.value += value , pData.gradient += gradient , pData.weight += weight; }
+#endif // POINT_DATA_RES
+};
+
+template< class Real >
+void Octree< Real >::_init( TreeOctNode* node , LocalDepth maxDepth , bool (*Refine)( LocalDepth , LocalOffset ) )
+{
+	if( _localDepth( node )<maxDepth )
+	{
+		LocalDepth d ; LocalOffset off;
+		_localDepthAndOffset( node , d , off );
+		if( Refine( d , off ) )
+		{
+			node->initChildren( _NodeInitializer );
+			for( int c=0 ; c<Cube::CORNERS ; c++ ) _init( node->children + c , maxDepth , Refine );
+		}
+	}
+}
+template< class Real >
+void Octree< Real >::init( LocalDepth maxDepth ,
+    bool (*Refine)( LocalDepth , LocalOffset ) )
+{
+    _init( _spaceRoot , maxDepth , Refine );
+}
+
+template< class Real >
+template< class Data >
+int Octree< Real >::init(PointSource& source , LocalDepth maxDepth ,
+    bool useConfidence , std::vector< PointSample >& samples ,
+    std::vector< ProjectiveData< Data , Real > >* sampleData )
+{
+	// Add the point data
+	int outOfBoundPoints = 0;
+    int zeroLengthNormals = 0;
+    int undefinedNormals = 0;
+    int pointCount = 0;
+	{
+		std::vector< int > nodeToIndexMap;
+		Point3D< Real > p , n;
+		OrientedPoint3D<double> _p;
+        Point3D<double> _d;
+
+        while (true)
+        {
+            //ABELL - Doing this every loop is stupid, but it's proof of
+            // concept at this point.
+            try
+            {
+                ColorPointSource& colorSource =
+                    dynamic_cast<ColorPointSource &>(source);
+                if (!colorSource.nextPoint(_p, _d))
+                    break;
+            }
+            catch (std::bad_cast)
+            {
+                if (!source.nextPoint(_p))
+                    break;
+            }
+
+			p = Point3D< Real >(_p.p);
+            n = Point3D< Real >(_p.n);
+			Real len = (Real)Length( n );
+
+            //ABELL - Not sure how this would happen.  Points should
+            // be normalized when read.
+			if (!_InBounds(p))
+            {
+                outOfBoundPoints++;
+                continue;
+            }
+			if( !len )
+            {
+                zeroLengthNormals++;
+                continue;
+            }
+			if( std::isnan(len))
+            {
+                undefinedNormals++;
+                continue;
+            }
+
+            // Make a unit normal vector.
+			n /= len;
+
+			Point3D<Real> center =
+                Point3D<Real>(Real(0.5) , Real(0.5) , Real(0.5));
+			Real width = Real(1.0);
+			TreeOctNode* temp = _spaceRoot;
+			LocalDepth depth = _localDepth( temp );
+			while( depth<maxDepth )
+			{
+				if( !temp->children ) temp->initChildren( _NodeInitializer );
+				int cIndex = TreeOctNode::CornerIndex( center , p );
+				temp = temp->children + cIndex;
+				width /= 2;
+				if( cIndex&1 ) center[0] += width/2;
+				else           center[0] -= width/2;
+				if( cIndex&2 ) center[1] += width/2;
+				else           center[1] -= width/2;
+				if( cIndex&4 ) center[2] += width/2;
+				else           center[2] -= width/2;
+				depth++;
+			}
+			Real weight = (Real)( useConfidence ? len : 1. );
+			int nodeIndex = temp->nodeData.nodeIndex;
+			if( nodeIndex>=(int)nodeToIndexMap.size() ) nodeToIndexMap.resize( nodeIndex+1 , -1 );
+			int idx = nodeToIndexMap[ nodeIndex ];
+			if( idx==-1 )
+			{
+				idx = (int)samples.size();
+				nodeToIndexMap[ nodeIndex ] = idx;
+				samples.resize( idx+1 ) , samples[idx].node = temp;
+				if( sampleData ) sampleData->resize( idx+1 );
+			}
+			samples[idx].sample += ProjectiveData< OrientedPoint3D< Real > , Real >( OrientedPoint3D< Real >( p * weight , n * weight ) , weight );
+			if( sampleData ) (*sampleData)[ idx ] += ProjectiveData< Data , Real >( _d * weight , weight );
+			pointCount++;
+		}
+		source.reset();
+	}
+	if( outOfBoundPoints  ) fprintf( stderr , "[WARNING] Found out-of-bound points: %d\n" , outOfBoundPoints );
+	if( zeroLengthNormals ) fprintf( stderr , "[WARNING] Found zero-length normals: %d\n" , zeroLengthNormals );
+	if( undefinedNormals  ) fprintf( stderr , "[WARNING] Found undefined normals: %d\n" , undefinedNormals );
+
+	memoryUsage();
+	return pointCount;
+}
+
+template< class Real >
+template< int DensityDegree >
+typename Octree< Real >::DensityEstimator* Octree< Real >::setDensityEstimator( const std::vector< PointSample >& samples , LocalDepth splatDepth , Real samplesPerNode )
+{
+	LocalDepth maxDepth = _localMaxDepth( _tree );
+	splatDepth = std::max< LocalDepth >( 0 , std::min< LocalDepth >( splatDepth , maxDepth ) );
+	DensityEstimator* _density = new DensityEstimator( splatDepth );
+	DensityEstimator& density = *_density;
+	PointSupportKey< DensityDegree > densityKey;
+	densityKey.set( _localToGlobal( splatDepth ) );
+
+#ifdef FAST_SET_UP
+	std::vector< int > sampleMap( NodeCount() , -1 );
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<(int)samples.size() ; i++ )
+        if( samples[i].sample.weight>0 )
+            sampleMap[ samples[i].node->nodeData.nodeIndex ] = i;
+	std::function< ProjectiveData< OrientedPoint3D< Real > , Real > ( TreeOctNode* ) > SetDensity = [&] ( TreeOctNode* node )
+	{
+		ProjectiveData< OrientedPoint3D< Real > , Real > sample;
+		LocalDepth d = _localDepth( node );
+		int idx = node->nodeData.nodeIndex;
+		if( node->children )
+			for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+			{
+				ProjectiveData< OrientedPoint3D< Real > , Real > s = SetDensity( node->children + c );
+				if( d<=splatDepth && s.weight>0 )
+				{
+					Point3D< Real > p = s.data.p / s.weight;
+					Real w = s.weight / samplesPerNode;
+					_addWeightContribution( density , node , p , densityKey , w );
+				}
+				sample += s;
+			}
+		else if( idx<(int)sampleMap.size() && sampleMap[idx]!=-1 )
+		{
+			sample = samples[ sampleMap[ idx ] ].sample;
+			if( d<=splatDepth && sample.weight>0 )
+			{
+				Point3D< Real > p = sample.data.p / sample.weight;
+				Real w = sample.weight / samplesPerNode;
+				_addWeightContribution( density , node , p , densityKey , w );
+			}
+		}
+		return sample;
+	};
+	SetDensity( _spaceRoot );
+#else // !FAST_SET_UP
+	for( int i=0 ; i<samples.size() ; i++ )
+	{
+		const TreeOctNode* node = samples[i].node;
+		const ProjectiveData< OrientedPoint3D< Real > , Real >& sample = samples[i].sample;
+		if( sample.weight>0 )
+		{
+			Point3D< Real > p = sample.data.p / sample.weight;
+			Real w = sample.weight / samplesPerNode;
+			for( TreeOctNode* _node=(TreeOctNode*)node ; _node ; _node=_node->parent ) if( _localDepth( _node )<=splatDepth ) _addWeightContribution( density , _node , p , densityKey , w );
+		}
+	}
+#endif // FAST_SET_UP
+
+	memoryUsage();
+	return _density;
+}
+template< class Real >
+template< int NormalDegree , int DensityDegree >
+SparseNodeData< Point3D< Real > > Octree< Real >::setNormalField( const std::vector< PointSample >& samples , const DensityEstimator& density , Real& pointWeightSum , bool forceNeumann )
+{
+	LocalDepth maxDepth = _localMaxDepth( _tree );
+	PointSupportKey< DensityDegree > densityKey;
+	PointSupportKey< NormalDegree > normalKey;
+	densityKey.set( _localToGlobal( maxDepth ) ) , normalKey.set( _localToGlobal( maxDepth ) );
+
+	Real weightSum = 0;
+	pointWeightSum = 0;
+	SparseNodeData< Point3D< Real > > normalField;
+	for( int i=0 ; i<(int)samples.size() ; i++ )
+	{
+		const ProjectiveData< OrientedPoint3D< Real > , Real >& sample = samples[i].sample;
+		if( sample.weight>0 )
+		{
+			Point3D< Real > p = sample.data.p / sample.weight , n = sample.data.n;
+			weightSum += sample.weight;
+			if( !_InBounds(p) ){ fprintf( stderr , "[WARNING] Octree:setNormalField: Point sample is out of bounds\n" ) ; continue; }
+			pointWeightSum += _splatPointData< true >( density , p , n , normalField , densityKey , normalKey , 0 , maxDepth , 3 );
+		}
+	}
+	pointWeightSum /= weightSum;
+	memoryUsage();
+
+	return normalField;
+}
+template< class Real >
+template< int DataDegree , bool CreateNodes , int DensityDegree , class Data >
+SparseNodeData< ProjectiveData< Data , Real > > Octree< Real >::setDataField( const std::vector< PointSample >& samples , std::vector< ProjectiveData< Data , Real > >& sampleData , const DensityEstimator* density )
+{
+	LocalDepth maxDepth = _localMaxDepth( _tree );
+	PointSupportKey< DensityDegree > densityKey;
+	PointSupportKey< DataDegree > dataKey;
+	densityKey.set( _localToGlobal( maxDepth ) ) , dataKey.set( _localToGlobal( maxDepth ) );
+
+	SparseNodeData< ProjectiveData< Data , Real > > dataField;
+	for( int i=0 ; i<(int)samples.size() ; i++ )
+	{
+		const ProjectiveData< OrientedPoint3D< Real > , Real >& sample = samples[i].sample;
+		const ProjectiveData< Data , Real >& data = sampleData[i];
+		Point3D< Real > p = sample.weight==0 ? sample.data.p : sample.data.p / sample.weight;
+		if( !_InBounds(p) ){ fprintf( stderr , "[WARNING] Point is out of bounds: %f %f %f <- %f %f %f [%f]\n" , p[0] , p[1] , p[2] , sample.data.p[0] , sample.data.p[1] , sample.data.p[2] , sample.weight ) ; continue; }
+		_multiSplatPointData< CreateNodes >( density , const_cast<TreeOctNode*>(samples[i].node), p , data , dataField , densityKey , dataKey , 2 );
+	}
+	memoryUsage();
+	return dataField;
+}
+template< class Real >
+template< int MaxDegree , int FEMDegree , BoundaryType FEMBType , class HasDataFunctor >
+void Octree< Real >::inalizeForBroodedMultigrid( LocalDepth fullDepth , const HasDataFunctor& F , std::vector< int >* map )
+{
+	if( FEMDegree>MaxDegree ) fprintf( stderr , "[ERROR] MaxDegree must be at least as large as the FEM degree: %d <= %d\n" , FEMDegree , MaxDegree );
+	while( _localInset( 0 ) + BSplineEvaluationData< MaxDegree , BOUNDARY_FREE >::Begin( 0 )<0 || _localInset( 0 ) + BSplineEvaluationData< MaxDegree , BOUNDARY_FREE >::End( 0 )>(1<<_depthOffset) )
+	{
+		//                       +-+-+-+-+-+-+-+-+
+		//                       | | | | | | | | |
+		//                       +-+-+-+-+-+-+-+-+
+		//                       | | | | | | | | |
+		//          +-+-+-+-+    +-+-+-+-+-+-+-+-+
+		//          | | | | |    | | | | | | | | |
+		// +-+-+    +-+-+-+-+    +-+-+-+-+-+-+-+-+
+		// |*| |    | | | | |    | | | | | | | | |
+		// +-o-+ -> +-+-o-+-+ -> +-+-+-+-o-+-+-+-+
+		// | | |    | | |*| |    | | | | |*| | | |
+		// +-+-+    +-+-+-+-+    +-+-+-+-+-+-+-+-+
+		//          | | | | |    | | | | | | | | |
+		//          +-+-+-+-+    +-+-+-+-+-+-+-+-+
+		//                       | | | | | | | | |
+		//                       +-+-+-+-+-+-+-+-+
+		//                       | | | | | | | | |
+		//                       +-+-+-+-+-+-+-+-+
+
+		TreeOctNode* newSpaceRootParent = TreeOctNode::NewBrood( _NodeInitializer );
+		TreeOctNode* oldSpaceRootParent = _spaceRoot->parent;
+		int corner = _depthOffset<=1 ? Cube::CORNERS-1 : 0;
+		newSpaceRootParent[corner].children = _spaceRoot;
+		oldSpaceRootParent->children = newSpaceRootParent;
+		for( int c=0 ; c<(int)Cube::CORNERS ; c++ ) _spaceRoot[c].parent = newSpaceRootParent + corner , newSpaceRootParent[c].parent = oldSpaceRootParent;
+		_depthOffset++;
+	}
+	int d=0 , off[] = { 0 , 0 , 0 };
+	TreeOctNode::ResetDepthAndOffset( _tree , d , off );
+	_maxDepth = _localMaxDepth( _tree );
+
+	// Make the low-resolution part of the tree be complete
+	_fullDepth = std::max< LocalDepth >( 0 , std::min< LocalDepth >( _maxDepth , fullDepth ) );
+	_setFullDepth< MaxDegree , BOUNDARY_FREE >( _fullDepth );
+	// Clear all the flags and make everything that is not low-res a ghost node
+	for( TreeOctNode* node=_tree->nextNode() ; node ; node=_tree->nextNode( node ) ) node->nodeData.flags = 0 , SetGhostFlag( node , _localDepth( node )>_fullDepth );
+
+	// Set the ghost nodes for the high-res part of the tree
+	_clipTree( F );
+
+	const int OverlapRadius = -BSplineOverlapSizes< MaxDegree , MaxDegree >::OverlapStart;
+	typename TreeOctNode::NeighborKey< OverlapRadius , OverlapRadius > neighborKey;
+	neighborKey.set( _localToGlobal( _maxDepth-1 ) );
+
+	for( LocalDepth d=_maxDepth-1 ; d>=0 ; d-- )
+		for( TreeOctNode* node=_tree->nextNode() ; node ; node=_tree->nextNode( node ) ) if( _localDepth( node )==d && IsActiveNode( node->children ) )
+		{
+			neighborKey.template getNeighbors< true >( node , _NodeInitializer );
+			for( int i=0 ; i<neighborKey.Width ; i++ ) for( int j=0 ; j<neighborKey.Width ; j++ ) for( int k=0 ; k<neighborKey.Width ; k++ ) SetGhostFlag( neighborKey.neighbors[ _localToGlobal(d) ].neighbors[i][j][k] , false );
+		}
+
+	_sNodes.set( *_tree , map );
+	_setValidityFlags< FEMDegree , FEMBType >();
+	for( TreeOctNode* node=_tree->nextNode() ; node ; node=_tree->nextNode( node ) ) if( !IsActiveNode( node ) ) node->nodeData.nodeIndex = -1;
+	memoryUsage();
+}
+
+
+template< class Real >
+template< int FEMDegree , BoundaryType BType >
+void Octree< Real >::_setValidityFlags( void )
+{
+	for( int i=0 ; i<_sNodes.size() ; i++ )
+	{
+		const unsigned char MASK = ~( TreeNodeData::SPACE_FLAG | TreeNodeData::FEM_FLAG );
+		_sNodes.treeNodes[i]->nodeData.flags &= MASK;
+		if( isValidSpaceNode( _sNodes.treeNodes[i] ) ) _sNodes.treeNodes[i]->nodeData.flags |= TreeNodeData::SPACE_FLAG;
+		if( isValidFEMNode< FEMDegree , BType >( _sNodes.treeNodes[i] ) ) _sNodes.treeNodes[i]->nodeData.flags |= TreeNodeData::FEM_FLAG;
+	}
+}
+
+// Trim off the branches of the tree (finer than _fullDepth) that don't contain data
+template< class Real >
+template< class HasDataFunctor >
+void Octree< Real >::_clipTree( const HasDataFunctor& f )
+{
+	// Because we are doing things in a brooded fashion, if any of the children has data then the whole brood is active
+	for( TreeOctNode* temp=_tree->nextNode() ; temp ; temp=_tree->nextNode(temp) ) if( temp->children && _localDepth( temp )>=_fullDepth )
+	{
+		bool hasData = false;
+		for( int c=0 ; c<(int)Cube::CORNERS && !hasData ; c++ ) hasData |= f( temp->children + c );
+		for( int c=0 ; c<(int)Cube::CORNERS ; c++ ) SetGhostFlag( temp->children+c , !hasData );
+	}
+}
+
+template< class Real >
+template< bool HasGradients >
+bool Octree< Real >::_setInterpolationInfoFromChildren( TreeOctNode* node , SparseNodeData< PointData< Real , HasGradients > >& interpolationInfo ) const
+{
+	if( IsActiveNode( node->children ) )
+	{
+		bool hasChildData = false;
+		PointData< Real , HasGradients > pData;
+#if POINT_DATA_RES
+		Point3D< Real > center;
+		Real width;
+		_centerAndWidth( node , center , width );
+		for( int c=0 ; c<Cube::CORNERS ; c++ )
+			if( _setInterpolationInfoFromChildren( node->children + c , interpolationInfo ) )
+			{
+				const PointData< Real , HasGradients >& _pData = interpolationInfo[ node->children + c ];
+				for( int cc=0 ; cc<PointData< Real , HasGradients >::SAMPLES ; cc++ )
+				{
+					int x[3];
+					PointData< Real , HasGradients >::SetIndices( _pData[cc].position / _pData[cc].weight , center , width , x );
+					pData[ x[0] + x[1]*PointData< Real , HasGradients >::RES + x[2]*PointData< Real , HasGradients >::RES*PointData< Real , HasGradients >::RES ] += _pData[cc];
+				}
+				hasChildData = true;
+			}
+#else // !POINT_DATA_RES
+		for( int c=0 ; c<(int)Cube::CORNERS ; c++ )
+			if( _setInterpolationInfoFromChildren( node->children + c , interpolationInfo ) )
+			{
+				pData += interpolationInfo[ node->children + c ];
+				hasChildData = true;
+			}
+#endif // POINT_DATA_RES
+		if( hasChildData && IsActiveNode( node ) ) interpolationInfo[ node ] += pData;
+		return hasChildData;
+	}
+	else return interpolationInfo( node )!=NULL;
+}
+template< class Real >
+template< bool HasGradients >
+SparseNodeData< PointData< Real , HasGradients > > Octree< Real >::_densifyInterpolationInfo( const std::vector< PointSample >& samples , Real pointValue , int adaptiveExponent ) const
+{
+	SparseNodeData< PointData< Real , HasGradients > > iInfo;
+	for( int i=0 ; i<(int)samples.size() ; i++ )
+	{
+		const TreeOctNode* node = samples[i].node;
+		const ProjectiveData< OrientedPoint3D< Real > , Real >& pData = samples[i].sample;
+		while( !IsActiveNode( node ) ) node = node->parent;
+		if( pData.weight )
+		{
+#if POINT_DATA_RES
+			Point3D< Real > center;
+			Real width;
+			_centerAndWidth( node , center , width );
+			_PointDataAccumulator_< Real , HasGradients >::_AddToPointData_( iInfo[node] , pData.data.p , pointValue * pData.weight , pData.data.n , center , width , pData.weight );
+#else // !POINT_DATA_RES
+			_PointDataAccumulator_< Real , HasGradients >::_AddToPointData_( iInfo[node] , pData.data.p , pointValue * pData.weight , pData.data.n , pData.weight );
+#endif // POINT_DATA_RES
+		}
+	}
+
+	// Set the interior values
+	_setInterpolationInfoFromChildren( _spaceRoot, iInfo );
+#pragma omp parallel for
+	for( int i=0 ; i<(int)iInfo.size() ; i++ )
+#if POINT_DATA_RES
+		for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ )
+		{
+			Real w = iInfo[i][c].weight;
+			iInfo[i][c] /= w ; iInfo[i][c].weight = w;
+		}
+#else // !POINT_DATA_RES
+	{
+		Real w = iInfo[i].weight;
+		iInfo[i] /= w ; iInfo[i].weight = w;
+	}
+#endif // POINT_DATA_RES
+	LocalDepth maxDepth = _localMaxDepth( _tree );
+
+	// Set the average position and scale the weights
+	for( const TreeOctNode* node=_tree->nextNode() ; node ; node=_tree->nextNode(node) ) if( IsActiveNode( node ) )
+	{
+		PointData< Real , HasGradients >* pData = iInfo( node );
+		if( pData )
+		{
+			int e = _localDepth( node ) * adaptiveExponent - ( maxDepth ) * (adaptiveExponent-1);
+#if POINT_DATA_RES
+			for( int c=0 ; c<PointData< Real , HasGradients >::SAMPLES ; c++ ) if( (*pData)[c].weight )
+			{
+				if( e<0 ) (*pData)[c].weight /= Real( 1<<(-e) );
+				else      (*pData)[c].weight *= Real( 1<<  e  );
+			}
+#else // !POINT_DATA_RES
+			if( e<0 ) pData->weight /= Real( 1<<(-e) );
+			else      pData->weight *= Real( 1<<  e  );
+#endif // POINT_DATA_RES
+		}
+	}
+	return iInfo;
+}
+////////////////
+// VertexData //
+////////////////
+long long VertexData::CenterIndex( const TreeOctNode* node , int maxDepth )
+{
+	int idx[DIMENSION];
+	return CenterIndex(node,maxDepth,idx);
+}
+long long VertexData::CenterIndex(const TreeOctNode* node,int maxDepth,int idx[DIMENSION])
+{
+	int d , o[3];
+	node->depthAndOffset( d , o );
+	for( int i=0 ; i<DIMENSION ; i++ ) idx[i] = BinaryNode::CornerIndex( maxDepth+1 , d+1 , o[i]<<1 , 1 );
+	return (long long)(idx[0]) | (long long)(idx[1])<<VERTEX_COORDINATE_SHIFT | (long long)(idx[2])<<(2*VERTEX_COORDINATE_SHIFT);
+}
+long long VertexData::CenterIndex( int depth , const int offSet[DIMENSION] , int maxDepth , int idx[DIMENSION] )
+{
+	for(int i=0;i<DIMENSION;i++) idx[i]=BinaryNode::CornerIndex( maxDepth+1 , depth+1 , offSet[i]<<1 , 1 );
+	return (long long)(idx[0]) | (long long)(idx[1])<<VERTEX_COORDINATE_SHIFT | (long long)(idx[2])<<(2*VERTEX_COORDINATE_SHIFT);
+}
+long long VertexData::CornerIndex(const TreeOctNode* node,int cIndex,int maxDepth)
+{
+	int idx[DIMENSION];
+	return CornerIndex(node,cIndex,maxDepth,idx);
+}
+long long VertexData::CornerIndex( const TreeOctNode* node , int cIndex , int maxDepth , int idx[DIMENSION] )
+{
+	int x[DIMENSION];
+	Cube::FactorCornerIndex( cIndex , x[0] , x[1] , x[2] );
+	int d , o[3];
+	node->depthAndOffset( d , o );
+	for( int i=0 ; i<DIMENSION ; i++ ) idx[i] = BinaryNode::CornerIndex( maxDepth+1 , d , o[i] , x[i] );
+	return CornerIndexKey( idx );
+}
+long long VertexData::CornerIndex( int depth , const int offSet[DIMENSION] , int cIndex , int maxDepth , int idx[DIMENSION] )
+{
+	int x[DIMENSION];
+	Cube::FactorCornerIndex( cIndex , x[0] , x[1] , x[2] );
+	for( int i=0 ; i<DIMENSION ; i++ ) idx[i] = BinaryNode::CornerIndex( maxDepth+1 , depth , offSet[i] , x[i] );
+	return CornerIndexKey( idx );
+}
+long long VertexData::CornerIndexKey( const int idx[DIMENSION] )
+{
+	return (long long)(idx[0]) | (long long)(idx[1])<<VERTEX_COORDINATE_SHIFT | (long long)(idx[2])<<(2*VERTEX_COORDINATE_SHIFT);
+}
+long long VertexData::FaceIndex(const TreeOctNode* node,int fIndex,int maxDepth){
+	int idx[DIMENSION];
+	return FaceIndex(node,fIndex,maxDepth,idx);
+}
+long long VertexData::FaceIndex(const TreeOctNode* node,int fIndex,int maxDepth,int idx[DIMENSION])
+{
+	int dir,offset;
+	Cube::FactorFaceIndex(fIndex,dir,offset);
+	int d,o[3];
+	node->depthAndOffset(d,o);
+	for(int i=0;i<DIMENSION;i++){idx[i]=BinaryNode::CornerIndex(maxDepth+1,d+1,o[i]<<1,1);}
+	idx[dir]=BinaryNode::CornerIndex(maxDepth+1,d,o[dir],offset);
+	return (long long)(idx[0]) | (long long)(idx[1])<<VERTEX_COORDINATE_SHIFT | (long long)(idx[2])<<(2*VERTEX_COORDINATE_SHIFT);
+}
+long long VertexData::EdgeIndex( const TreeOctNode* node , int eIndex , int maxDepth ){ int idx[DIMENSION] ; return EdgeIndex( node , eIndex , maxDepth , idx ); }
+long long VertexData::EdgeIndex( const TreeOctNode* node , int eIndex , int maxDepth , int idx[DIMENSION] )
+{
+	int o , i1 , i2;
+	int d , off[3];
+	node->depthAndOffset( d ,off );
+	Cube::FactorEdgeIndex( eIndex , o , i1 , i2 );
+	for( int i=0 ; i<DIMENSION ; i++ ) idx[i] = BinaryNode::CornerIndex( maxDepth+1 , d+1 , off[i]<<1 , 1 );
+	switch(o)
+	{
+		case 0:
+			idx[1] = BinaryNode::CornerIndex( maxDepth+1 , d , off[1] , i1 );
+			idx[2] = BinaryNode::CornerIndex( maxDepth+1 , d , off[2] , i2 );
+			break;
+		case 1:
+			idx[0] = BinaryNode::CornerIndex( maxDepth+1 , d , off[0] , i1 );
+			idx[2] = BinaryNode::CornerIndex( maxDepth+1 , d , off[2] , i2 );
+			break;
+		case 2:
+			idx[0] = BinaryNode::CornerIndex( maxDepth+1 , d , off[0] , i1 );
+			idx[1] = BinaryNode::CornerIndex( maxDepth+1 , d , off[1] , i2 );
+			break;
+	};
+	return (long long)(idx[0]) | (long long)(idx[1])<<VERTEX_COORDINATE_SHIFT | (long long)(idx[2])<<(2*VERTEX_COORDINATE_SHIFT);
+}
diff --git a/vendor/kazhdan/MyTime.h b/vendor/kazhdan/MyTime.h
new file mode 100644
index 0000000..09c084e
--- /dev/null
+++ b/vendor/kazhdan/MyTime.h
@@ -0,0 +1,51 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef MY_TIME_INCLUDED
+#define MY_TIME_INCLUDED
+
+#include <string.h>
+#include <sys/timeb.h>
+#ifndef WIN32
+#include <sys/time.h>
+#endif // WIN32
+
+inline double Time( void )
+{
+#ifdef WIN32
+	struct _timeb t;
+	_ftime( &t );
+	return double( t.time ) + double( t.millitm ) / 1000.0;
+#else // WIN32
+	struct timeval t;
+	gettimeofday( &t , NULL );
+	return t.tv_sec + double( t.tv_usec ) / 1000000;
+#endif // WIN32
+}
+
+#endif // MY_TIME_INCLUDED
diff --git a/vendor/kazhdan/Octree.h b/vendor/kazhdan/Octree.h
new file mode 100644
index 0000000..31b4d69
--- /dev/null
+++ b/vendor/kazhdan/Octree.h
@@ -0,0 +1,184 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef OCT_NODE_INCLUDED
+#define OCT_NODE_INCLUDED
+
+#define NEW_OCTNODE_CODE
+
+#include "Allocator.h"
+#include "BinaryNode.h"
+#include "MarchingCubes.h"
+
+
+#define DIMENSION 3
+
+template< class NodeData >
+class OctNode
+{
+private:
+	static int UseAlloc;
+	unsigned long long _depthAndOffset;
+
+	const OctNode* __faceNeighbor( int dir , int off ) const;
+	const OctNode* __edgeNeighbor( int o , const int i[2] , const int idx[2] ) const;
+	OctNode* __faceNeighbor( int dir , int off , int forceChildren , void (*Initializer)( OctNode& ) );
+	OctNode* __edgeNeighbor( int o , const int i[2] , const int idx[2] , int forceChildren , void (*Initializer)( OctNode& ) );
+public:
+	static const int DepthShift , OffsetShift , OffsetShift1 , OffsetShift2 , OffsetShift3;
+	static const int DepthMask , OffsetMask;
+
+	static Allocator< OctNode > NodeAllocator;
+	static int UseAllocator( void );
+	static void SetAllocator( int blockSize );
+
+	OctNode* parent;
+	OctNode* children;
+	NodeData nodeData;
+
+	OctNode( void (*Initializer)( OctNode& )=NULL );
+	static OctNode* NewBrood( void (*initializer)( OctNode& )=NULL );
+	static void ResetDepthAndOffset( OctNode* root , int d , int off[3] );
+	~OctNode( void );
+	int initChildren( void (*Initializer)( OctNode& )=NULL );
+
+	void depthAndOffset( int& depth , int offset[DIMENSION] ) const;
+	void centerIndex( int index[DIMENSION] ) const;
+	int depth( void ) const;
+	static inline void DepthAndOffset( const long long& index , int& depth , int offset[DIMENSION] );
+	template< class Real > static inline void CenterAndWidth( const long long& index , Point3D< Real >& center , Real& width );
+	template< class Real > static inline void StartAndWidth( const long long& index , Point3D< Real >& start , Real& width );
+	static inline int Depth( const long long& index );
+	static inline void Index( int depth , const int offset[3] , short& d , short off[DIMENSION] );
+	static inline unsigned long long Index( int depth , const int offset[3] );
+	template< class Real > void centerAndWidth( Point3D<Real>& center , Real& width ) const;
+	template< class Real > void startAndWidth( Point3D< Real >& start , Real& width ) const;
+	template< class Real > bool isInside( Point3D< Real > p ) const;
+
+	size_t leaves( void ) const;
+	size_t maxDepthLeaves( int maxDepth ) const;
+	size_t nodes( void ) const;
+	int maxDepth( void ) const;
+
+	const OctNode* root( void ) const;
+
+	const OctNode* nextLeaf( const OctNode* currentLeaf=NULL ) const;
+	OctNode* nextLeaf( OctNode* currentLeaf=NULL );
+	const OctNode* nextNode( const OctNode* currentNode=NULL ) const;
+	OctNode* nextNode( OctNode* currentNode=NULL );
+	const OctNode* nextBranch( const OctNode* current ) const;
+	OctNode* nextBranch( OctNode* current );
+	const OctNode* prevBranch( const OctNode* current ) const;
+	OctNode* prevBranch( OctNode* current );
+
+	void setFullDepth( int maxDepth , void (*Initializer)( OctNode& )=NULL );
+
+	void printLeaves( void ) const;
+	void printRange( void ) const;
+
+	template< class Real > static int CornerIndex( const Point3D<Real>& center , const Point3D<Real> &p );
+
+	OctNode* faceNeighbor( int faceIndex , int forceChildren , void (*Initializer)( OctNode& )=NULL );
+	const OctNode* faceNeighbor( int faceIndex ) const;
+	OctNode* edgeNeighbor( int edgeIndex , int forceChildren , void (*Initializer)( OctNode& )=NULL );
+	const OctNode* edgeNeighbor( int edgeIndex ) const;
+	OctNode* cornerNeighbor( int cornerIndex , int forceChildren , void (*Initializer)( OctNode& )=NULL );
+	const OctNode* cornerNeighbor( int cornerIndex ) const;
+
+	int write( const char* fileName ) const;
+	int write( FILE* fp ) const;
+	int read( const char* fileName , void (*Initializer)( OctNode& )=NULL );
+	int read( FILE* fp , void (*Initializer)( OctNode& )=NULL );
+
+	template< unsigned int Width >
+	struct Neighbors
+	{
+		OctNode* neighbors[Width][Width][Width];
+		Neighbors( void );
+		void clear( void );
+	};
+	template< unsigned int Width >
+	struct ConstNeighbors
+	{
+		const OctNode* neighbors[Width][Width][Width];
+		ConstNeighbors( void );
+		void clear( void );
+	};
+
+	template< unsigned int LeftRadius , unsigned int RightRadius >
+	class NeighborKey
+	{
+		int _depth;
+	public:
+		template< int Width > using Neighbors = typename OctNode::template Neighbors< Width >;
+		static const int Width = LeftRadius + RightRadius + 1;
+		Neighbors< Width >* neighbors;
+
+		NeighborKey( void );
+		NeighborKey( const NeighborKey& key );
+		~NeighborKey( void );
+		int depth( void ) const { return _depth; }
+
+		void set( int depth );
+		template< bool CreateNodes > typename OctNode< NodeData >::template Neighbors< LeftRadius+RightRadius+1 >& getNeighbors( OctNode* node , void (*Initializer)( OctNode& )=NULL );
+		template< bool CreateNodes , unsigned int _LeftRadius , unsigned int _RightRadius > void getNeighbors( OctNode* node , Neighbors< _LeftRadius + _RightRadius + 1 >& neighbors , void (*Initializer)( OctNode& )=NULL );
+		template< bool CreateNodes > bool getChildNeighbors( int cIdx , int d , Neighbors< Width >& childNeighbors , void (*Initializer)( OctNode& )=NULL ) const;
+		template< bool CreateNodes , class Real > bool getChildNeighbors( Point3D< Real > p , int d , Neighbors< Width >& childNeighbors , void (*Initializer)( OctNode& )=NULL ) const;
+		typename OctNode< NodeData >::template Neighbors< LeftRadius+RightRadius+1 >& getNeighbors( const OctNode* node ) { return getNeighbors< false >( const_cast<OctNode*>(node), NULL ); }
+		template< unsigned int _LeftRadius , unsigned int _RightRadius > void getNeighbors( const OctNode* node , Neighbors< _LeftRadius + _RightRadius + 1 >& neighbors ){ return getNeighbors< false , _LeftRadius , _RightRadius >( (OctNode*)node , NULL ); }
+		bool getChildNeighbors( int cIdx , int d , Neighbors< Width >& childNeighbors ) const { return getChildNeighbors< false >( cIdx , d , childNeighbors , NULL ); }
+		template< class Real > bool getChildNeighbors( Point3D< Real > p , int d , Neighbors< Width >& childNeighbors ) const { return getChildNeighbors< false , Real >( p , d , childNeighbors , NULL ); }
+	};
+
+	template< unsigned int LeftRadius , unsigned int RightRadius >
+	class ConstNeighborKey
+	{
+		int _depth;
+	public:
+		template< int Width > using Neighbors = typename OctNode::template ConstNeighbors< Width >;
+		static const int Width = LeftRadius + RightRadius + 1;
+		ConstNeighbors< Width >* neighbors;
+
+		ConstNeighborKey( void );
+		ConstNeighborKey( const ConstNeighborKey& key );
+		~ConstNeighborKey( void );
+		int depth( void ) const { return _depth; }
+
+		void set( int depth );
+		typename OctNode< NodeData >::template ConstNeighbors< LeftRadius+RightRadius+1 >& getNeighbors( const OctNode* node );
+		template< unsigned int _LeftRadius , unsigned int _RightRadius > void getNeighbors( const OctNode* node , ConstNeighbors< _LeftRadius + _RightRadius + 1 >& neighbors );
+	};
+
+	void centerIndex( int maxDepth , int index[DIMENSION] ) const;
+	int width( int maxDepth ) const;
+};
+
+
+#include "Octree.inl"
+
+#endif // OCT_NODE_INCLUDED
diff --git a/vendor/kazhdan/Octree.inl b/vendor/kazhdan/Octree.inl
new file mode 100644
index 0000000..bdbabd1
--- /dev/null
+++ b/vendor/kazhdan/Octree.inl
@@ -0,0 +1,1145 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <stdlib.h>
+#include <math.h>
+#include <algorithm>
+#include <functional>
+
+/////////////
+// OctNode //
+/////////////
+template< class NodeData > const int OctNode< NodeData >::DepthShift=5;
+template< class NodeData > const int OctNode< NodeData >::OffsetShift = ( sizeof(long long)*8 - DepthShift ) / 3;
+template< class NodeData > const int OctNode< NodeData >::DepthMask=(1<<DepthShift)-1;
+template< class NodeData > const int OctNode< NodeData >::OffsetMask=(1<<OffsetShift)-1;
+template< class NodeData > const int OctNode< NodeData >::OffsetShift1=DepthShift;
+template< class NodeData > const int OctNode< NodeData >::OffsetShift2=OffsetShift1+OffsetShift;
+template< class NodeData > const int OctNode< NodeData >::OffsetShift3=OffsetShift2+OffsetShift;
+
+template< class NodeData > int OctNode< NodeData >::UseAlloc=0;
+template< class NodeData > Allocator<OctNode< NodeData > > OctNode< NodeData >::NodeAllocator;
+
+template< class NodeData >
+void OctNode< NodeData >::SetAllocator(int blockSize)
+{
+	if(blockSize>0)
+	{
+		UseAlloc=1;
+		NodeAllocator.set(blockSize);
+	}
+	else{UseAlloc=0;}
+}
+template< class NodeData > int OctNode< NodeData >::UseAllocator( void ){ return UseAlloc; }
+
+template< class NodeData >
+OctNode< NodeData >::OctNode( void (*Initializer)( OctNode& ) )
+{
+	parent = children = NULL;
+	_depthAndOffset = 0;
+	if( Initializer ) Initializer( *this );
+}
+template< class NodeData >
+OctNode< NodeData >::~OctNode( void )
+{
+	if( !UseAlloc && children ) delete[] children;
+	parent = children = NULL;
+}
+
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::NewBrood( void (*Initializer)( OctNode& ) )
+{
+	OctNode< NodeData >* brood;
+	if( UseAlloc ) brood = NodeAllocator.newElements( Cube::CORNERS );
+	else brood = new OctNode[Cube::CORNERS];
+	for( int i=0 ; i<2 ; i++ ) for( int j=0 ; j<2 ; j++ ) for( int k=0 ; k<2 ; k++ )
+	{
+		int off[] = { i , j , k };
+		int idx = Cube::CornerIndex( i , j , k );
+		if( Initializer ) Initializer( brood[idx] );
+		brood[idx]._depthAndOffset = Index( 0 , off );
+	}
+	return brood;
+}
+template< class NodeData >
+void OctNode< NodeData >::ResetDepthAndOffset( OctNode* root , int d , int off[3] )
+{
+	// Recursive lambda requires an explicit declaration
+#define PARENT_DEPTH_AND_OFFSET( d , off ) ( d-- , off[0]>>=1 , off[1]>>=1 , off[2]>>=1 )
+#define  CHILD_DEPTH_AND_OFFSET( d , off ) ( d++ , off[0]<<=1 , off[1]<<=1 , off[2]<<=1 )
+	std::function< OctNode* ( OctNode* , int& , int[] ) > _nextBranch = [&]( OctNode* current , int& d , int off[3] )
+	{
+		if( current==root ) return (OctNode*)NULL;
+		else
+		{
+			int c = (int)( current - current->parent->children );
+
+			if( c==Cube::CORNERS-1 )
+			{
+				PARENT_DEPTH_AND_OFFSET( d , off );
+				return _nextBranch( current->parent , d , off );
+			}
+			else
+			{
+				int x , y , z;
+				Cube::FactorCornerIndex( c+1 , x , y , z );
+				PARENT_DEPTH_AND_OFFSET( d , off ) ; CHILD_DEPTH_AND_OFFSET( d , off );
+				off[0] |= x , off[1] |= y , off[2] |= z;
+				return current+1;
+			}
+		}
+	};
+	auto _nextNode = [&]( OctNode* current , int& d , int off[3] )
+	{
+		if( !current ) return root;
+		else if( current->children )
+		{
+			CHILD_DEPTH_AND_OFFSET( d , off );
+			return current->children;
+		}
+		else return _nextBranch( current , d , off );
+	};
+#undef PARENT_DEPTH_AND_OFFSET
+#undef  CHILD_DEPTH_AND_OFFSET
+	for( OctNode* node=_nextNode( NULL , d , off ) ; node ; node = _nextNode( node , d , off ) ) node->_depthAndOffset = Index( d , off );
+}
+
+template< class NodeData >
+void OctNode< NodeData >::setFullDepth( int maxDepth , void (*Initializer)( OctNode& ) )
+{
+	if( maxDepth )
+	{
+		if( !children ) initChildren( Initializer );
+		for( int i=0 ; i<8 ; i++ ) children[i].setFullDepth( maxDepth-1 , Initializer );
+	}
+}
+
+template< class NodeData >
+int OctNode< NodeData >::initChildren( void (*Initializer)( OctNode& ) )
+{
+	{
+		if( UseAlloc ) children = NodeAllocator.newElements( Cube::CORNERS );
+		else
+		{
+			if( children ) delete[] children;
+			children = new OctNode[Cube::CORNERS];
+		}
+		if( !children ) fprintf( stderr , "[ERROR] OctNode::initChildren: Failed to initialize children in OctNode::initChildren\n" ) , exit(0);
+		int d , off[3];
+		depthAndOffset( d , off );
+		for( int i=0 ; i<2 ; i++ ) for( int j=0 ; j<2 ; j++ ) for( int k=0 ; k<2 ; k++ )
+		{
+			int idx=Cube::CornerIndex(i,j,k);
+			children[idx].parent = this;
+			children[idx].children = NULL;
+			if( Initializer ) Initializer( children[idx] );
+			int off2[3];
+			off2[0] = (off[0]<<1)+i;
+			off2[1] = (off[1]<<1)+j;
+			off2[2] = (off[2]<<1)+k;
+			children[idx]._depthAndOffset = Index( d+1 , off2 );
+		}
+	}
+	return 1;
+}
+template< class NodeData >
+inline void OctNode< NodeData >::Index(int depth,const int offset[3],short& d,short off[3]){
+	d=short(depth);
+	off[0]=short((1<<depth)+offset[0]-1);
+	off[1]=short((1<<depth)+offset[1]-1);
+	off[2]=short((1<<depth)+offset[2]-1);
+}
+
+template< class NodeData >
+inline void OctNode< NodeData >::depthAndOffset( int& depth , int offset[DIMENSION] ) const
+{
+	depth = int( _depthAndOffset & DepthMask );
+	offset[0] = int( (_depthAndOffset>>OffsetShift1) & OffsetMask );
+	offset[1] = int( (_depthAndOffset>>OffsetShift2) & OffsetMask );
+	offset[2] = int( (_depthAndOffset>>OffsetShift3) & OffsetMask );
+}
+template< class NodeData >
+inline void OctNode< NodeData >::centerIndex( int index[DIMENSION] ) const
+{
+	int d , off[DIMENSION];
+	depthAndOffset( d , off );
+	for( int i=0 ; i<DIMENSION ; i++ ) index[i] = BinaryNode::CenterIndex( d , off[i] );
+}
+template< class NodeData >
+inline unsigned long long OctNode< NodeData >::Index( int depth , const int offset[3] )
+{
+	unsigned long long idx=0;
+	idx |= ( ( (unsigned long long)(depth    ) ) & DepthMask  );
+	idx |= ( ( (unsigned long long)(offset[0]) ) & OffsetMask ) << OffsetShift1;
+	idx |= ( ( (unsigned long long)(offset[1]) ) & OffsetMask ) << OffsetShift2;
+	idx |= ( ( (unsigned long long)(offset[2]) ) & OffsetMask ) << OffsetShift3;
+	return idx;
+}
+template< class NodeData >
+inline int OctNode< NodeData >::depth( void ) const {return int( _depthAndOffset & DepthMask );}
+template< class NodeData >
+inline void OctNode< NodeData >::DepthAndOffset(const long long& index,int& depth,int offset[3]){
+	depth=int(index&DepthMask);
+	offset[0]=(int((index>>OffsetShift1)&OffsetMask)+1)&(~(1<<depth));
+	offset[1]=(int((index>>OffsetShift2)&OffsetMask)+1)&(~(1<<depth));
+	offset[2]=(int((index>>OffsetShift3)&OffsetMask)+1)&(~(1<<depth));
+}
+template< class NodeData >
+inline int OctNode< NodeData >::Depth(const long long& index){return int(index&DepthMask);}
+template< class NodeData >
+template< class Real >
+void OctNode< NodeData >::centerAndWidth( Point3D<Real>& center , Real& width ) const
+{
+	int depth , offset[3];
+	depthAndOffset( depth , offset );
+	width = Real( 1.0 / (1<<depth) );
+	for( int dim=0 ; dim<DIMENSION ; dim++ ) center.coords[dim] = Real( 0.5+offset[dim] ) * width;
+}
+template< class NodeData >
+template< class Real >
+void OctNode< NodeData >::startAndWidth( Point3D<Real>& start , Real& width ) const
+{
+	int depth , offset[3];
+	depthAndOffset( depth , offset );
+	width = Real( 1.0 / (1<<depth) );
+	for( int dim=0 ; dim<DIMENSION ; dim++ ) start.coords[dim] = Real( offset[dim] ) * width;
+}
+template< class NodeData >
+template< class Real >
+bool OctNode< NodeData >::isInside( Point3D< Real > p ) const
+{
+	Point3D< Real > c;
+	Real w;
+	centerAndWidth( c , w );
+	w /= 2;
+	return (c[0]-w)<p[0] && p[0]<=(c[0]+w) && (c[1]-w)<p[1] && p[1]<=(c[1]+w) && (c[2]-w)<p[2] && p[2]<=(c[2]+w);
+}
+template< class NodeData >
+template< class Real >
+inline void OctNode< NodeData >::CenterAndWidth(const long long& index,Point3D<Real>& center,Real& width){
+	int depth,offset[3];
+	depth=index&DepthMask;
+	offset[0]=(int((index>>OffsetShift1)&OffsetMask)+1)&(~(1<<depth));
+	offset[1]=(int((index>>OffsetShift2)&OffsetMask)+1)&(~(1<<depth));
+	offset[2]=(int((index>>OffsetShift3)&OffsetMask)+1)&(~(1<<depth));
+	width=Real(1.0/(1<<depth));
+	for(int dim=0;dim<DIMENSION;dim++){center.coords[dim]=Real(0.5+offset[dim])*width;}
+}
+template< class NodeData >
+template< class Real >
+inline void OctNode< NodeData >::StartAndWidth( const long long& index , Point3D< Real >& start , Real& width )
+{
+	int depth,offset[3];
+	depth = index&DepthMask;
+	offset[0] = (int((index>>OffsetShift1)&OffsetMask)+1)&(~(1<<depth));
+	offset[1] = (int((index>>OffsetShift2)&OffsetMask)+1)&(~(1<<depth));
+	offset[2] = (int((index>>OffsetShift3)&OffsetMask)+1)&(~(1<<depth));
+	width = Real(1.0/(1<<depth));
+	for( int dim=0 ; dim<DIMENSION ; dim++ ) start.coords[dim] = Real(offset[dim])*width;
+}
+
+template< class NodeData >
+int OctNode< NodeData >::maxDepth(void) const{
+	if(!children){return 0;}
+	else{
+		int c,d;
+		for(int i=0;i<(int)Cube::CORNERS;i++){
+			d=children[i].maxDepth();
+			if(!i || d>c){c=d;}
+		}
+		return c+1;
+	}
+}
+template< class NodeData >
+size_t OctNode< NodeData >::nodes( void ) const
+{
+	if( !children ) return 1;
+	else
+	{
+		size_t c=0;
+		for( int i=0 ; i<Cube::CORNERS ; i++ ) c += children[i].nodes();
+		return c+1;
+	}
+}
+template< class NodeData >
+size_t OctNode< NodeData >::leaves( void ) const
+{
+	if( !children ) return 1;
+	else
+	{
+		size_t c=0;
+		for( int i=0 ; i<Cube::CORNERS ; i++ ) c += children[i].leaves();
+		return c;
+	}
+}
+template< class NodeData >
+size_t OctNode< NodeData >::maxDepthLeaves( int maxDepth ) const
+{
+	if( depth()>maxDepth ) return 0;
+	if( !children ) return 1;
+	else
+	{
+		size_t c=0;
+		for( int i=0 ; i<Cube::CORNERS ; i++ ) c += children[i].maxDepthLeaves(maxDepth);
+		return c;
+	}
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::root(void) const{
+	const OctNode* temp=this;
+	while(temp->parent){temp=temp->parent;}
+	return temp;
+}
+
+
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::nextBranch( const OctNode* current ) const
+{
+	if( !current->parent || current==this ) return NULL;
+	if( current-current->parent->children==Cube::CORNERS-1 ) return nextBranch( current->parent );
+	else return current+1;
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::nextBranch(OctNode* current){
+	if(!current->parent || current==this){return NULL;}
+	if(current-current->parent->children==Cube::CORNERS-1){return nextBranch(current->parent);}
+	else{return current+1;}
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::prevBranch( const OctNode* current ) const
+{
+	if( !current->parent || current==this ) return NULL;
+	if( current-current->parent->children==0 ) return prevBranch( current->parent );
+	else return current-1;
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::prevBranch( OctNode* current )
+{
+	if( !current->parent || current==this ) return NULL;
+	if( current-current->parent->children==0 ) return prevBranch( current->parent );
+	else return current-1;
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::nextLeaf(const OctNode* current) const{
+	if( !current )
+	{
+		const OctNode< NodeData >* temp=this;
+		while( temp->children ) temp=&temp->children[0];
+		return temp;
+	}
+	if( current->children ) return current->nextLeaf();
+	const OctNode* temp = nextBranch(current);
+	if( !temp ) return NULL;
+	else return temp->nextLeaf();
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::nextLeaf( OctNode* current )
+{
+	if( !current )
+	{
+		OctNode< NodeData >* temp=this;
+		while(temp->children){temp=&temp->children[0];}
+		return temp;
+	}
+	if(current->children){return current->nextLeaf();}
+	OctNode* temp=nextBranch(current);
+	if(!temp){return NULL;}
+	else{return temp->nextLeaf();}
+}
+
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::nextNode( const OctNode* current ) const
+{
+	if( !current ) return this;
+	else if( current->children ) return &current->children[0];
+	else return nextBranch(current);
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::nextNode( OctNode* current )
+{
+	if( !current ) return this;
+	else if( current->children ) return &current->children[0];
+	else return nextBranch( current );
+}
+
+template< class NodeData >
+void OctNode< NodeData >::printRange(void) const
+{
+	Point3D< float > center;
+	float width;
+	centerAndWidth(center,width);
+	for(int dim=0;dim<DIMENSION;dim++){
+		printf("%[%f,%f]",center.coords[dim]-width/2,center.coords[dim]+width/2);
+		if(dim<DIMENSION-1){printf("x");}
+		else printf("\n");
+	}
+}
+
+template< class NodeData >
+template< class Real >
+int OctNode< NodeData >::CornerIndex(const Point3D<Real>& center,const Point3D<Real>& p){
+	int cIndex=0;
+	if(p.coords[0]>center.coords[0]){cIndex|=1;}
+	if(p.coords[1]>center.coords[1]){cIndex|=2;}
+	if(p.coords[2]>center.coords[2]){cIndex|=4;}
+	return cIndex;
+}
+
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::faceNeighbor( int faceIndex , int forceChildren , void (*Initializer)( OctNode& ) ){return __faceNeighbor( faceIndex>>1 , faceIndex&1 , forceChildren , Initializer ); }
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::faceNeighbor(int faceIndex) const {return __faceNeighbor(faceIndex>>1,faceIndex&1);}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::__faceNeighbor( int dir , int off , int forceChildren , void (*Initializer)( OctNode& ) )
+{
+	if(!parent){return NULL;}
+	int pIndex=int(this-parent->children);
+	pIndex^=(1<<dir);
+	if((pIndex & (1<<dir))==(off<<dir)){return &parent->children[pIndex];}
+	else{
+		OctNode* temp=parent->__faceNeighbor(dir,off,forceChildren);
+		if( !temp ) return NULL;
+		if( !temp->children )
+		{
+			if( forceChildren ) temp->initChildren( Initializer );
+			else return temp;
+		}
+		return &temp->children[pIndex];
+	}
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::__faceNeighbor(int dir,int off) const {
+	if(!parent){return NULL;}
+	int pIndex=int(this-parent->children);
+	pIndex^=(1<<dir);
+	if((pIndex & (1<<dir))==(off<<dir)){return &parent->children[pIndex];}
+	else{
+		const OctNode* temp=parent->__faceNeighbor(dir,off);
+		if(!temp || !temp->children){return temp;}
+		else{return &temp->children[pIndex];}
+	}
+}
+
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::edgeNeighbor( int edgeIndex , int forceChildren , void (*Initializer)( OctNode& ) )
+{
+	int idx[2],o,i[2];
+	Cube::FactorEdgeIndex( edgeIndex , o , i[0] , i[1] );
+	switch(o){
+		case 0:	idx[0]=1;	idx[1]=2;	break;
+		case 1:	idx[0]=0;	idx[1]=2;	break;
+		case 2:	idx[0]=0;	idx[1]=1;	break;
+	};
+	return __edgeNeighbor( o , i , idx , forceChildren , Initializer );
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::edgeNeighbor(int edgeIndex) const {
+	int idx[2],o,i[2];
+	Cube::FactorEdgeIndex(edgeIndex,o,i[0],i[1]);
+	switch(o){
+		case 0:	idx[0]=1;	idx[1]=2;	break;
+		case 1:	idx[0]=0;	idx[1]=2;	break;
+		case 2:	idx[0]=0;	idx[1]=1;	break;
+	};
+	return __edgeNeighbor(o,i,idx);
+}
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::__edgeNeighbor(int o,const int i[2],const int idx[2]) const{
+	if(!parent){return NULL;}
+	int pIndex=int(this-parent->children);
+	int aIndex,x[DIMENSION];
+
+	Cube::FactorCornerIndex(pIndex,x[0],x[1],x[2]);
+	aIndex=(~((i[0] ^ x[idx[0]]) | ((i[1] ^ x[idx[1]])<<1))) & 3;
+	pIndex^=(7 ^ (1<<o));
+	if(aIndex==1)	{	// I can get the neighbor from the parent's face adjacent neighbor
+		const OctNode* temp=parent->__faceNeighbor(idx[0],i[0]);
+		if(!temp || !temp->children){return NULL;}
+		else{return &temp->children[pIndex];}
+	}
+	else if(aIndex==2)	{	// I can get the neighbor from the parent's face adjacent neighbor
+		const OctNode* temp=parent->__faceNeighbor(idx[1],i[1]);
+		if(!temp || !temp->children){return NULL;}
+		else{return &temp->children[pIndex];}
+	}
+	else if(aIndex==0)	{	// I can get the neighbor from the parent
+		return &parent->children[pIndex];
+	}
+	else if(aIndex==3)	{	// I can get the neighbor from the parent's edge adjacent neighbor
+		const OctNode* temp=parent->__edgeNeighbor(o,i,idx);
+		if(!temp || !temp->children){return temp;}
+		else{return &temp->children[pIndex];}
+	}
+	else{return NULL;}
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::__edgeNeighbor( int o , const int i[2] , const int idx[2] , int forceChildren , void (*Initializer)( OctNode& ) )
+{
+	if(!parent){return NULL;}
+	int pIndex=int(this-parent->children);
+	int aIndex,x[DIMENSION];
+
+	Cube::FactorCornerIndex(pIndex,x[0],x[1],x[2]);
+	aIndex=(~((i[0] ^ x[idx[0]]) | ((i[1] ^ x[idx[1]])<<1))) & 3;
+	pIndex^=(7 ^ (1<<o));
+	if(aIndex==1)	{	// I can get the neighbor from the parent's face adjacent neighbor
+		OctNode* temp=parent->__faceNeighbor(idx[0],i[0],0);
+		if(!temp || !temp->children){return NULL;}
+		else{return &temp->children[pIndex];}
+	}
+	else if(aIndex==2)	{	// I can get the neighbor from the parent's face adjacent neighbor
+		OctNode* temp=parent->__faceNeighbor(idx[1],i[1],0);
+		if(!temp || !temp->children){return NULL;}
+		else{return &temp->children[pIndex];}
+	}
+	else if(aIndex==0)	{	// I can get the neighbor from the parent
+		return &parent->children[pIndex];
+	}
+	else if(aIndex==3)	{	// I can get the neighbor from the parent's edge adjacent neighbor
+		OctNode* temp=parent->__edgeNeighbor(o,i,idx,forceChildren);
+		if( !temp ) return NULL;
+		if( !temp->children )
+		{
+			if( forceChildren ) temp->initChildren( Initializer );
+			else return temp;
+		}
+		return &temp->children[pIndex];
+	}
+	else{return NULL;}
+}
+
+template< class NodeData >
+const OctNode< NodeData >* OctNode< NodeData >::cornerNeighbor(int cornerIndex) const {
+	int pIndex,aIndex=0;
+	if(!parent){return NULL;}
+
+	pIndex=int(this-parent->children);
+	aIndex=(cornerIndex ^ pIndex);	// The disagreement bits
+	pIndex=(~pIndex)&7;				// The antipodal point
+	if(aIndex==7){					// Agree on no bits
+		return &parent->children[pIndex];
+	}
+	else if(aIndex==0){				// Agree on all bits
+		const OctNode* temp=((const OctNode*)parent)->cornerNeighbor(cornerIndex);
+		if(!temp || !temp->children){return temp;}
+		else{return &temp->children[pIndex];}
+	}
+	else if(aIndex==6){				// Agree on face 0
+		const OctNode* temp=((const OctNode*)parent)->__faceNeighbor(0,cornerIndex & 1);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==5){				// Agree on face 1
+		const OctNode* temp=((const OctNode*)parent)->__faceNeighbor(1,(cornerIndex & 2)>>1);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==3){				// Agree on face 2
+		const OctNode* temp=((const OctNode*)parent)->__faceNeighbor(2,(cornerIndex & 4)>>2);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==4){				// Agree on edge 2
+		const OctNode* temp=((const OctNode*)parent)->edgeNeighbor(8 | (cornerIndex & 1) | (cornerIndex & 2) );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==2){				// Agree on edge 1
+		const OctNode* temp=((const OctNode*)parent)->edgeNeighbor(4 | (cornerIndex & 1) | ((cornerIndex & 4)>>1) );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==1){				// Agree on edge 0
+		const OctNode* temp=((const OctNode*)parent)->edgeNeighbor(((cornerIndex & 2) | (cornerIndex & 4))>>1 );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else{return NULL;}
+}
+template< class NodeData >
+OctNode< NodeData >* OctNode< NodeData >::cornerNeighbor( int cornerIndex , int forceChildren , void (*Initializer)( OctNode& ) )
+{
+	int pIndex,aIndex=0;
+	if(!parent){return NULL;}
+
+	pIndex=int(this-parent->children);
+	aIndex=(cornerIndex ^ pIndex);	// The disagreement bits
+	pIndex=(~pIndex)&7;				// The antipodal point
+	if(aIndex==7){					// Agree on no bits
+		return &parent->children[pIndex];
+	}
+	else if(aIndex==0){				// Agree on all bits
+		OctNode* temp=((OctNode*)parent)->cornerNeighbor( cornerIndex , forceChildren , Initializer );
+		if( !temp ) return NULL;
+		if( !temp->children )
+		{
+			if(forceChildren) temp->initChildren( Initializer );
+			else return temp;
+		}
+		return &temp->children[pIndex];
+	}
+	else if(aIndex==6){				// Agree on face 0
+		OctNode* temp=((OctNode*)parent)->__faceNeighbor(0,cornerIndex & 1,0);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==5){				// Agree on face 1
+		OctNode* temp=((OctNode*)parent)->__faceNeighbor(1,(cornerIndex & 2)>>1,0);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==3){				// Agree on face 2
+		OctNode* temp=((OctNode*)parent)->__faceNeighbor(2,(cornerIndex & 4)>>2,0);
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==4){				// Agree on edge 2
+		OctNode* temp=((OctNode*)parent)->edgeNeighbor(8 | (cornerIndex & 1) | (cornerIndex & 2) );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==2){				// Agree on edge 1
+		OctNode* temp=((OctNode*)parent)->edgeNeighbor(4 | (cornerIndex & 1) | ((cornerIndex & 4)>>1) );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else if(aIndex==1){				// Agree on edge 0
+		OctNode* temp=((OctNode*)parent)->edgeNeighbor(((cornerIndex & 2) | (cornerIndex & 4))>>1 );
+		if(!temp || !temp->children){return NULL;}
+		else{return & temp->children[pIndex];}
+	}
+	else{return NULL;}
+}
+
+////////////////////////
+// OctNode::Neighbors //
+////////////////////////
+template< class NodeData >
+template< unsigned int Width >
+OctNode< NodeData >::Neighbors< Width >::Neighbors( void ){ clear(); }
+template< class NodeData >
+template< unsigned int Width >
+void OctNode< NodeData >::Neighbors< Width >::clear( void )
+{
+    for( int i=0 ; i<(int)Width ; i++ )
+        for( int j=0 ; j<(int)Width ; j++ )
+            for( int k=0 ; k<(int)Width ; k++ )
+                neighbors[i][j][k]=NULL;
+}
+
+/////////////////////////////
+// OctNode::ConstNeighbors //
+/////////////////////////////
+template< class NodeData >
+template< unsigned int Width >
+OctNode< NodeData >::ConstNeighbors< Width >::ConstNeighbors( void ){ clear(); }
+template< class NodeData >
+template< unsigned int Width >
+void OctNode< NodeData >::ConstNeighbors< Width >::clear( void )
+{ for( int i=0 ; i<(int)Width ; i++ )
+    for( int j=0 ; j<(int)Width ; j++ )
+        for( int k=0 ; k<(int)Width ; k++ ) neighbors[i][j][k]=NULL;
+}
+
+//////////////////////////
+// OctNode::NeighborKey //
+//////////////////////////
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::NeighborKey( void ){ _depth=-1 , neighbors=NULL; }
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::NeighborKey( const NeighborKey& nKey )
+{
+	_depth = 0 , neighbors = NULL;
+	set( nKey._depth );
+	for( int d=0 ; d<=_depth ; d++ ) memcpy( &neighbors[d] , &nKey.neighbors[d] , sizeof( Neighbors< Width > ) );
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::~NeighborKey( void )
+{
+	if( neighbors ) delete[] neighbors;
+	neighbors = NULL;
+}
+
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+void OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::set( int d )
+{
+	if( neighbors ) delete[] neighbors;
+	neighbors = NULL;
+	_depth = d;
+	if( d<0 ) return;
+	neighbors = new Neighbors< Width >[d+1];
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+template< bool CreateNodes >
+bool OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::getChildNeighbors( int cIdx , int d , Neighbors< Width >& cNeighbors , void (*Initializer)( OctNode& ) ) const
+{
+	Neighbors< Width >& pNeighbors = neighbors[d];
+	// Check that we actuall have a center node
+	if( !pNeighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] ) return false;
+
+	// Get the indices of the child node that would contain the point (and its antipode)
+	int cx , cy , cz;
+	Cube::FactorCornerIndex( cIdx , cx , cy , cz );
+
+
+	// Iterate over the finer neighbors and set them (if you can)
+	// Here:
+	// (x,y,z) give the position of the finer nodes relative to the center,
+	// (_x,_y,_z) give a positive global position, up to an even offset, and
+	// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+	for( int z=-(int)LeftRadius ; z<=(int)RightRadius ; z++ )
+	{
+		int _z = (z+cz) + (LeftRadius<<1) , pz = ( _z>>1 ) , zz = z+LeftRadius;
+		for( int y=-(int)LeftRadius ; y<=(int)RightRadius ; y++ )
+		{
+			int _y = (y+cy) + (LeftRadius<<1) , py = ( _y>>1 ) , yy = y+LeftRadius;
+
+			int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+			for( int x=-(int)LeftRadius ; x<=(int)RightRadius ; x++ )
+			{
+				int _x = (x+cx) + (LeftRadius<<1) , px = ( _x>>1 ) , xx = x+LeftRadius;
+
+				if( CreateNodes )
+				{
+					if( pNeighbors.neighbors[px][py][pz] )
+					{
+						if( !pNeighbors.neighbors[px][py][pz]->children ) pNeighbors.neighbors[px][py][pz]->initChildren( Initializer );
+						cNeighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+					}
+					else cNeighbors.neighbors[xx][yy][zz] = NULL;
+				}
+				else
+				{
+					if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+						cNeighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+					else cNeighbors.neighbors[xx][yy][zz] = NULL;
+				}
+			}
+		}
+	}
+	return true;
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+template< bool CreateNodes , class Real >
+bool OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::getChildNeighbors( Point3D< Real > p , int d , Neighbors< Width >& cNeighbors , void (*Initializer)( OctNode& ) ) const
+{
+	Neighbors< Width >& pNeighbors = neighbors[d];
+	// Check that we actuall have a center node
+	if( !pNeighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] ) return false;
+	Point3D< Real > c;
+	Real w;
+	pNeighbors.neighbors[LeftRadius][LeftRadius][LeftRadius]->centerAndWidth( c , w );
+	return getChildNeighbors< CreateNodes >( CornerIndex( c , p ) , d , cNeighbors , Initializer );
+}
+
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+template< bool CreateNodes >
+typename OctNode< NodeData >::template Neighbors< LeftRadius+RightRadius+1 >& OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::getNeighbors( OctNode< NodeData >* node , void (*Initializer)( OctNode& ) )
+{
+	Neighbors< Width >& neighbors = this->neighbors[ node->depth() ];
+	if( node==neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] )
+	{
+		bool reset = false;
+		for( int i=0 ; i<Width ; i++ ) for( int j=0 ; j<Width ; j++ ) for( int k=0 ; k<Width ; k++ ) if( !neighbors.neighbors[i][j][k] ) reset = true;
+		if( reset ) neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] = NULL;
+	}
+	if( node!=neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] )
+	{
+		neighbors.clear();
+
+		if( !node->parent ) neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] = node;
+		else
+		{
+			Neighbors< Width >& pNeighbors = getNeighbors< CreateNodes >( node->parent , Initializer );
+
+			// Get the indices of the child node that would contain the point (and its antipode)
+			int cx , cy , cz;
+			Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+			// Iterate over the finer neighbors and set them (if you can)
+			// Here:
+			// (x,y,z) give the position of the finer nodes relative to the center,
+			// (_x,_y,_z) give a positive global position, up to an even offset, and
+			// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+			for( int z=-(int)LeftRadius ; z<=(int)RightRadius ; z++ )
+			{
+				int _z = (z+cz) + (LeftRadius<<1) , pz = ( _z>>1 ) , zz = z+LeftRadius;
+				for( int y=-(int)LeftRadius ; y<=(int)RightRadius ; y++ )
+				{
+					int _y = (y+cy) + (LeftRadius<<1) , py = ( _y>>1 ) , yy = y+LeftRadius;
+
+					int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+					for( int x=-(int)LeftRadius ; x<=(int)RightRadius ; x++ )
+					{
+						int _x = (x+cx) + (LeftRadius<<1) , px = ( _x>>1 ) , xx = x+LeftRadius;
+						if( CreateNodes )
+						{
+							if( pNeighbors.neighbors[px][py][pz] )
+							{
+								if( !pNeighbors.neighbors[px][py][pz]->children ) pNeighbors.neighbors[px][py][pz]->initChildren( Initializer );
+								neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+							}
+							else neighbors.neighbors[xx][yy][zz] = NULL;
+						}
+						else
+						{
+							if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+								neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+							else neighbors.neighbors[xx][yy][zz] = NULL;
+						}
+					}
+				}
+			}
+		}
+	}
+	return neighbors;
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+template< bool CreateNodes , unsigned int _LeftRadius , unsigned int _RightRadius >
+void OctNode< NodeData >::NeighborKey< LeftRadius , RightRadius >::getNeighbors( OctNode< NodeData >* node , Neighbors< _LeftRadius + _RightRadius + 1 >& neighbors , void (*Initializer)( OctNode& ) )
+{
+	neighbors.clear();
+	if( !node ) return;
+
+	// [WARNING] This estimate of the required radius is somewhat conservative if the radius is odd (depending on where the node is relative to its parent)
+	const unsigned int _PLeftRadius = (_LeftRadius+1)/2 , _PRightRadius = (_RightRadius+1)/2;
+	// If we are at the root of the tree, we are done
+	if( !node->parent ) neighbors.neighbors[_LeftRadius][_LeftRadius][_LeftRadius] = node;
+	// If we can get the data from the the key for the parent node, do that
+	else if( _PLeftRadius<=LeftRadius && _PRightRadius<=RightRadius )
+	{
+		getNeighbors< CreateNodes >( node->parent , Initializer );
+		const Neighbors< LeftRadius + RightRadius + 1 >& pNeighbors = this->neighbors[ node->depth()-1 ];
+		// Get the indices of the child node that would contain the point (and its antipode)
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+		// Iterate over the finer neighbors
+		// Here:
+		// (x,y,z) give the position of the finer nodes relative to the center,
+		// (_x,_y,_z) give a positive global position, up to an even offset, and
+		// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+		for( int z=-(int)_LeftRadius ; z<=(int)_RightRadius ; z++ )
+		{
+			int _z = (z+cz) + (_LeftRadius<<1) , pz = ( _z>>1 ) - _LeftRadius + LeftRadius , zz = z + _LeftRadius;
+			for( int y=-(int)_LeftRadius ; y<=(int)_RightRadius ; y++ )
+			{
+				int _y = (y+cy) + (_LeftRadius<<1) , py = ( _y>>1 ) - _LeftRadius + LeftRadius , yy = y + _LeftRadius;
+
+				int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+				for( int x=-(int)_LeftRadius ; x<=(int)_RightRadius ; x++ )
+				{
+					int _x = (x+cx) + (_LeftRadius<<1) , px = ( _x>>1 ) - _LeftRadius + LeftRadius , xx = x + _LeftRadius;
+					if( CreateNodes )
+					{
+						if( pNeighbors.neighbors[px][py][pz] )
+						{
+							if( !pNeighbors.neighbors[px][py][pz]->children ) pNeighbors.neighbors[px][py][pz]->initChildren( Initializer );
+							neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+						}
+						else neighbors.neighbors[xx][yy][zz] = NULL;
+					}
+					else
+					{
+						if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+							neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+						else neighbors.neighbors[xx][yy][zz] = NULL;
+					}
+				}
+			}
+		}
+	}
+	// Otherwise recurse
+	else
+	{
+		Neighbors< _PLeftRadius + _PRightRadius + 1 > pNeighbors;
+		getNeighbors< CreateNodes , _PLeftRadius , _PRightRadius >( node->parent , pNeighbors , Initializer );
+
+		// Get the indices of the child node that would contain the point (and its antipode)
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+		// Iterate over the finer neighbors
+		// Here:
+		// (x,y,z) give the position of the finer nodes relative to the center,
+		// (_x,_y,_z) give a positive global position, up to an even offset, and
+		// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+		for( int z=-(int)_LeftRadius ; z<=(int)_RightRadius ; z++ )
+		{
+			int _z = (z+cz) + (_LeftRadius<<1) , pz = ( _z>>1 ) - _LeftRadius + _PLeftRadius , zz = z + _LeftRadius;
+			for( int y=-(int)_LeftRadius ; y<=(int)_RightRadius ; y++ )
+			{
+				int _y = (y+cy) + (_LeftRadius<<1) , py = ( _y>>1 ) - _LeftRadius + _PLeftRadius , yy = y + _LeftRadius;
+
+				int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+				for( int x=-(int)_LeftRadius ; x<=(int)_RightRadius ; x++ )
+				{
+					int _x = (x+cx) + (_LeftRadius<<1) , px = ( _x>>1 ) - _LeftRadius + _PLeftRadius , xx = x + _LeftRadius;
+					if( CreateNodes )
+					{
+						if( pNeighbors.neighbors[px][py][pz] )
+						{
+							if( !pNeighbors.neighbors[px][py][pz]->children ) pNeighbors.neighbors[px][py][pz]->initChildren( Initializer );
+							neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+						}
+						else neighbors.neighbors[xx][yy][zz] = NULL;
+					}
+					else
+					{
+						if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+							neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+						else neighbors.neighbors[xx][yy][zz] = NULL;
+					}
+				}
+			}
+		}
+	}
+}
+
+///////////////////////////////
+// OctNode::ConstNeighborKey //
+///////////////////////////////
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::ConstNeighborKey( void ){ _depth=-1 , neighbors=NULL; }
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::ConstNeighborKey( const ConstNeighborKey& key )
+{
+	_depth = 0 , neighbors = NULL;
+	set( key._depth );
+	for( int d=0 ; d<=_depth ; d++ ) memcpy( &neighbors[d] , &key.neighbors[d] , sizeof( ConstNeighbors< Width > ) );
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::~ConstNeighborKey( void )
+{
+	if( neighbors ) delete[] neighbors;
+	neighbors=NULL;
+}
+
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+void OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::set( int d )
+{
+	if( neighbors ) delete[] neighbors;
+	neighbors = NULL;
+	_depth = d;
+	if( d<0 ) return;
+	neighbors = new ConstNeighbors< Width >[d+1];
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+typename OctNode< NodeData >::template ConstNeighbors< LeftRadius+RightRadius+1 >& OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::getNeighbors( const OctNode< NodeData >* node )
+{
+	ConstNeighbors< Width >& neighbors = this->neighbors[ node->depth() ];
+	if( node!=neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius])
+	{
+		neighbors.clear();
+
+		if( !node->parent ) neighbors.neighbors[LeftRadius][LeftRadius][LeftRadius] = node;
+		else
+		{
+			ConstNeighbors< Width >& pNeighbors = getNeighbors( node->parent );
+
+			// Get the indices of the child node that would contain the point (and its antipode)
+			int cx , cy , cz;
+			Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+			// Iterate over the finer neighbors and set them (if you can)
+			// Here:
+			// (x,y,z) give the position of the finer nodes relative to the center,
+			// (_x,_y,_z) give a positive global position, up to an even offset, and
+			// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+			for( int z=-(int)LeftRadius ; z<=(int)RightRadius ; z++ )
+			{
+				int _z = (z+cz) + (LeftRadius<<1) , pz = ( _z>>1 ) , zz = z+LeftRadius;
+				for( int y=-(int)LeftRadius ; y<=(int)RightRadius ; y++ )
+				{
+					int _y = (y+cy) + (LeftRadius<<1) , py = ( _y>>1 ) , yy = y+LeftRadius;
+
+					int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+					for( int x=-(int)LeftRadius ; x<=(int)RightRadius ; x++ )
+					{
+						int _x = (x+cx) + (LeftRadius<<1) , px = ( _x>>1 ) , xx = x+LeftRadius;
+						if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+							neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+						else
+							neighbors.neighbors[xx][yy][zz] = NULL;
+					}
+				}
+			}
+		}
+	}
+	return neighbors;
+}
+template< class NodeData >
+template< unsigned int LeftRadius , unsigned int RightRadius >
+template< unsigned int _LeftRadius , unsigned int _RightRadius >
+void OctNode< NodeData >::ConstNeighborKey< LeftRadius , RightRadius >::getNeighbors( const OctNode< NodeData >* node , ConstNeighbors< _LeftRadius+_RightRadius+1 >& neighbors )
+{
+	neighbors.clear();
+	if( !node ) return;
+
+	// [WARNING] This estimate of the required radius is somewhat conservative if the readius is odd (depending on where the node is relative to its parent)
+	const unsigned int _PLeftRadius = (_LeftRadius+1)/2 , _PRightRadius = (_RightRadius+1)/2;
+	// If we are at the root of the tree, we are done
+	if( !node->parent ) neighbors.neighbors[_LeftRadius][_LeftRadius][_LeftRadius] = node;
+	// If we can get the data from the the key for the parent node, do that
+	else if( _PLeftRadius<=LeftRadius && _PRightRadius<=RightRadius )
+	{
+		getNeighbors( node->parent );
+		const ConstNeighbors< LeftRadius + RightRadius + 1 >& pNeighbors = this->neighbors[ node->depth()-1 ];
+		// Get the indices of the child node that would contain the point (and its antipode)
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+		// Iterate over the finer neighbors
+		// Here:
+		// (x,y,z) give the position of the finer nodes relative to the center,
+		// (_x,_y,_z) give a positive global position, up to an even offset, and
+		// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+		for( int z=-(int)_LeftRadius ; z<=(int)_RightRadius ; z++ )
+		{
+			int _z = (z+cz) + (_LeftRadius<<1) , pz = ( _z>>1 ) - _LeftRadius + LeftRadius , zz = z + _LeftRadius;
+			for( int y=-(int)_LeftRadius ; y<=(int)_RightRadius ; y++ )
+			{
+				int _y = (y+cy) + (_LeftRadius<<1) , py = ( _y>>1 ) - _LeftRadius + LeftRadius , yy = y + _LeftRadius;
+
+				int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+				for( int x=-(int)_LeftRadius ; x<=(int)_RightRadius ; x++ )
+				{
+					int _x = (x+cx) + (_LeftRadius<<1) , px = ( _x>>1 ) - _LeftRadius + LeftRadius , xx = x + _LeftRadius;
+					if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+						neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+					else
+						neighbors.neighbors[xx][yy][zz] = NULL;
+				}
+			}
+		}
+	}
+	// Otherwise recurse
+	else
+	{
+		ConstNeighbors< _PLeftRadius + _PRightRadius + 1 > pNeighbors;
+		getNeighbors< _PLeftRadius , _PRightRadius >( node->parent , pNeighbors );
+
+		// Get the indices of the child node that would contain the point (and its antipode)
+		int cx , cy , cz;
+		Cube::FactorCornerIndex( (int)( node - node->parent->children ) , cx , cy , cz );
+
+
+		// Iterate over the finer neighbors
+		// Here:
+		// (x,y,z) give the position of the finer nodes relative to the center,
+		// (_x,_y,_z) give a positive global position, up to an even offset, and
+		// (px-LeftRadius,py-LeftRadius,pz-LeftRadius) give the positions of their parents relative to the parent of the center
+		for( int z=-(int)_LeftRadius ; z<=(int)_RightRadius ; z++ )
+		{
+			int _z = (z+cz) + (_LeftRadius<<1) , pz = ( _z>>1 ) - _LeftRadius + _PLeftRadius , zz = z + _LeftRadius;
+			for( int y=-(int)_LeftRadius ; y<=(int)_RightRadius ; y++ )
+			{
+				int _y = (y+cy) + (_LeftRadius<<1) , py = ( _y>>1 ) - _LeftRadius + _PLeftRadius , yy = y + _LeftRadius;
+
+				int cornerIndex = ( (_z&1)<<2 ) | ( (_y&1)<<1 );
+				for( int x=-(int)_LeftRadius ; x<=(int)_RightRadius ; x++ )
+				{
+					int _x = (x+cx) + (_LeftRadius<<1) , px = ( _x>>1 ) - _LeftRadius + _PLeftRadius , xx = x + _LeftRadius;
+
+					if( pNeighbors.neighbors[px][py][pz] && pNeighbors.neighbors[px][py][pz]->children )
+						neighbors.neighbors[xx][yy][zz] = pNeighbors.neighbors[px][py][pz]->children + ( cornerIndex | (_x&1) );
+					else
+						neighbors.neighbors[xx][yy][zz] = NULL;
+				}
+			}
+		}
+	}
+	return;
+}
+
+template< class NodeData >
+int OctNode< NodeData >::write(const char* fileName) const{
+	FILE* fp=fopen(fileName,"wb");
+	if(!fp){return 0;}
+	int ret=write(fp);
+	fclose(fp);
+	return ret;
+}
+template< class NodeData >
+int OctNode< NodeData >::write(FILE* fp) const{
+	fwrite(this,sizeof(OctNode< NodeData >),1,fp);
+	if(children){for(int i=0;i<Cube::CORNERS;i++){children[i].write(fp);}}
+	return 1;
+}
+template< class NodeData >
+int OctNode< NodeData >::read( const char* fileName , void (*Initializer)( OctNode& ) )
+{
+	FILE* fp = fopen( fileName , "rb" );
+	if( !fp ) return 0;
+	int ret = read( fp , Initializer );
+	fclose( fp );
+	return ret;
+}
+template< class NodeData >
+int OctNode< NodeData >::read( FILE* fp , void (*Initializer)( OctNode& ) )
+{
+	fread( this , sizeof( OctNode< NodeData > ) , 1 , fp );
+	parent = NULL;
+	if( children )
+	{
+		children=NULL;
+		initChildren( Initializer );
+		for( int i=0 ; i<Cube::CORNERS ; i++ ) children[i].read(fp) , children[i].parent=this;
+	}
+	return 1;
+}
+template< class NodeData >
+int OctNode< NodeData >::width(int maxDepth) const {
+	int d=depth();
+	return 1<<(maxDepth-d);
+}
+template< class NodeData >
+void OctNode< NodeData >::centerIndex(int maxDepth,int index[DIMENSION]) const
+{
+	int d,o[3];
+	depthAndOffset(d,o);
+	for(int i=0;i<DIMENSION;i++) index[i]=BinaryNode::CornerIndex( maxDepth , d+1 , o[i]<<1 , 1 );
+}
diff --git a/vendor/kazhdan/PPolynomial.h b/vendor/kazhdan/PPolynomial.h
new file mode 100644
index 0000000..1b6b1c2
--- /dev/null
+++ b/vendor/kazhdan/PPolynomial.h
@@ -0,0 +1,113 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef P_POLYNOMIAL_INCLUDED
+#define P_POLYNOMIAL_INCLUDED
+#include <vector>
+#include "Polynomial.h"
+#include "Array.h"
+
+template< int Degree >
+class StartingPolynomial
+{
+public:
+	Polynomial< Degree > p;
+	double start;
+
+	template< int Degree2 >
+	StartingPolynomial< Degree+Degree2 >  operator * ( const StartingPolynomial< Degree2 >& p ) const;
+	StartingPolynomial scale( double s ) const;
+	StartingPolynomial shift( double t ) const;
+	int operator < ( const StartingPolynomial& sp ) const;
+	static int Compare( const void* v1 , const void* v2 );
+};
+
+template< int Degree >
+class PPolynomial
+{
+public:
+	size_t polyCount;
+	Pointer( StartingPolynomial< Degree > ) polys;
+
+	PPolynomial( void );
+	PPolynomial( const PPolynomial<Degree>& p );
+	~PPolynomial( void );
+
+	PPolynomial& operator = ( const PPolynomial& p );
+
+	int size( void ) const;
+
+	void set( size_t size );
+	// Note: this method will sort the elements in sps
+	void set( Pointer( StartingPolynomial<Degree> ) sps , int count );
+	void reset( size_t newSize );
+	PPolynomial& compress( double delta=0. );
+
+
+	double operator()( double t ) const;
+	double integral( double tMin , double tMax ) const;
+	double Integral( void ) const;
+
+	template< int Degree2 > PPolynomial< Degree >& operator = ( const PPolynomial< Degree2 >& p );
+
+	PPolynomial  operator + ( const PPolynomial& p ) const;
+	PPolynomial  operator - ( const PPolynomial& p ) const;
+
+	template< int Degree2 > PPolynomial< Degree+Degree2 > operator * ( const  Polynomial< Degree2 >& p ) const;
+	template< int Degree2 >	PPolynomial< Degree+Degree2 > operator * ( const PPolynomial< Degree2 >& p) const;
+
+
+	PPolynomial& operator += ( double s );
+	PPolynomial& operator -= ( double s );
+	PPolynomial& operator *= ( double s );
+	PPolynomial& operator /= ( double s );
+	PPolynomial  operator +  ( double s ) const;
+	PPolynomial  operator -  ( double s ) const;
+	PPolynomial  operator *  ( double s ) const;
+	PPolynomial  operator /  ( double s ) const;
+
+	PPolynomial& addScaled( const PPolynomial& poly , double scale );
+
+	PPolynomial scale( double s ) const;
+	PPolynomial shift( double t ) const;
+	PPolynomial reflect( double r=0. ) const;
+
+	PPolynomial< Degree-1 > derivative(void) const;
+	PPolynomial< Degree+1 > integral(void) const;
+
+	void getSolutions( double c , std::vector< double >& roots , double EPS , double min=-DBL_MAX , double max=DBL_MAX ) const;
+
+	void printnl( void ) const;
+
+	PPolynomial< Degree+1 > MovingAverage( double radius ) const;
+	static PPolynomial BSpline( double radius=0.5 );
+
+	void write( FILE* fp , int samples , double min , double max ) const;
+};
+#include "PPolynomial.inl"
+#endif // P_POLYNOMIAL_INCLUDED
diff --git a/vendor/kazhdan/PPolynomial.inl b/vendor/kazhdan/PPolynomial.inl
new file mode 100644
index 0000000..a78ae58
--- /dev/null
+++ b/vendor/kazhdan/PPolynomial.inl
@@ -0,0 +1,470 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include "Factor.h"
+
+////////////////////////
+// StartingPolynomial //
+////////////////////////
+template<int Degree>
+template<int Degree2>
+StartingPolynomial<Degree+Degree2> StartingPolynomial<Degree>::operator * (const StartingPolynomial<Degree2>& p) const{
+	StartingPolynomial<Degree+Degree2> sp;
+	if(start>p.start){sp.start=start;}
+	else{sp.start=p.start;}
+	sp.p=this->p*p.p;
+	return sp;
+}
+template<int Degree>
+StartingPolynomial<Degree> StartingPolynomial<Degree>::scale( double s ) const
+{
+	StartingPolynomial q;
+	q.start = start*s;
+	q.p = p.scale(s);
+	return q;
+}
+template<int Degree>
+StartingPolynomial<Degree> StartingPolynomial<Degree>::shift(double s) const{
+	StartingPolynomial q;
+	q.start=start+s;
+	q.p=p.shift(s);
+	return q;
+}
+
+
+template<int Degree>
+int StartingPolynomial<Degree>::operator < (const StartingPolynomial<Degree>& sp) const{
+	if(start<sp.start){return 1;}
+	else{return 0;}
+}
+template<int Degree>
+int StartingPolynomial<Degree>::Compare(const void* v1,const void* v2){
+	double d=((StartingPolynomial*)(v1))->start-((StartingPolynomial*)(v2))->start;
+	if     ( d<0 ) return -1;
+	else if( d>0 ) return  1;
+	else           return  0;
+}
+
+/////////////////
+// PPolynomial //
+/////////////////
+template< int Degree >
+PPolynomial< Degree >::PPolynomial( void )
+{
+	polyCount = 0;
+	polys = NullPointer( StartingPolynomial< Degree > );
+}
+template< int Degree >
+PPolynomial<Degree>::PPolynomial( const PPolynomial<Degree>& p )
+{
+	polyCount = 0;
+	polys = NullPointer( StartingPolynomial< Degree > );
+	set( p.polyCount );
+	memcpy( polys , p.polys , sizeof( StartingPolynomial<Degree> ) * p.polyCount );
+}
+
+template< int Degree >
+PPolynomial< Degree >::~PPolynomial( void )
+{
+	FreePointer( polys );
+	polyCount = 0;
+}
+template< int Degree >
+void PPolynomial< Degree >::set( Pointer( StartingPolynomial< Degree > ) sps , int count )
+{
+	int c=0;
+	set( count );
+	qsort( sps , count , sizeof( StartingPolynomial< Degree > ) , StartingPolynomial< Degree >::Compare );
+	for( int i=0 ; i<count ; i++ )
+	{
+		if( !c || sps[i].start!=polys[c-1].start ) polys[c++] = sps[i];
+		else{polys[c-1].p+=sps[i].p;}
+	}
+	reset( c );
+}
+template< int Degree > int PPolynomial< Degree >::size( void ) const{ return int(sizeof(StartingPolynomial<Degree>)*polyCount); }
+
+template< int Degree >
+void PPolynomial<Degree>::set( size_t size )
+{
+	FreePointer( polys );
+	polyCount = size;
+	if( size )
+	{
+		polys = AllocPointer< StartingPolynomial< Degree > >( size );
+		memset( polys , 0 , sizeof( StartingPolynomial< Degree > )*size );
+	}
+}
+template< int Degree >
+void PPolynomial<Degree>::reset( size_t newSize )
+{
+	polyCount = newSize;
+	polys = ReAllocPointer< StartingPolynomial< Degree > >( polys , newSize );
+}
+template< int Degree >
+PPolynomial< Degree >& PPolynomial< Degree >::compress( double delta )
+{
+	int _polyCount = (int)polyCount;
+	Pointer( StartingPolynomial< Degree > ) _polys = polys;
+
+	polyCount = 1 , polys = NullPointer( StartingPolynomial< Degree > );
+	for( int i=1 ; i<_polyCount ; i++ ) if( _polys[i].start-_polys[i-1].start>delta ) polyCount++;
+	if( polyCount==_polyCount ) polys = _polys;
+	else
+	{
+		polys = AllocPointer< StartingPolynomial< Degree > >( polyCount );
+		polys[0] = _polys[0] , polyCount = 0;
+		for( int i=1 ; i<_polyCount ; i++ )
+		{
+			if( _polys[i].start-_polys[i-1].start>delta ) polys[ ++polyCount ] = _polys[i];
+			else polys[ polyCount ].p += _polys[i].p;
+		}
+		polyCount++;
+		FreePointer( _polys );
+	}
+	return *this;
+}
+
+template< int Degree >
+PPolynomial<Degree>& PPolynomial<Degree>::operator = (const PPolynomial<Degree>& p){
+	set(p.polyCount);
+	memcpy(polys,p.polys,sizeof(StartingPolynomial<Degree>)*p.polyCount);
+	return *this;
+}
+
+template<int Degree>
+template<int Degree2>
+PPolynomial<Degree>& PPolynomial<Degree>::operator  = (const PPolynomial<Degree2>& p){
+	set(p.polyCount);
+	for(int i=0;i<int(polyCount);i++){
+		polys[i].start=p.polys[i].start;
+		polys[i].p=p.polys[i].p;
+	}
+	return *this;
+}
+
+template<int Degree>
+double PPolynomial<Degree>::operator ()( double t ) const
+{
+	double v=0;
+	for( int i=0 ; i<int(polyCount) && t>polys[i].start ; i++ ) v += polys[i].p(t);
+	return v;
+}
+
+template<int Degree>
+double PPolynomial<Degree>::integral( double tMin , double tMax ) const
+{
+	int m=1;
+	double start,end,s,v=0;
+	start=tMin;
+	end=tMax;
+	if(tMin>tMax){
+		m=-1;
+		start=tMax;
+		end=tMin;
+	}
+	for(int i=0;i<int(polyCount) && polys[i].start<end;i++){
+		if(start<polys[i].start){s=polys[i].start;}
+		else{s=start;}
+		v+=polys[i].p.integral(s,end);
+	}
+	return v*m;
+}
+template<int Degree>
+double PPolynomial<Degree>::Integral(void) const{return integral(polys[0].start,polys[polyCount-1].start);}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator + (const PPolynomial<Degree>& p) const{
+	PPolynomial q;
+	int i,j;
+	size_t idx=0;
+	q.set(polyCount+p.polyCount);
+	i=j=-1;
+
+	while(idx<q.polyCount){
+		if		(j>=int(p.polyCount)-1)				{q.polys[idx]=  polys[++i];}
+		else if	(i>=int(  polyCount)-1)				{q.polys[idx]=p.polys[++j];}
+		else if(polys[i+1].start<p.polys[j+1].start){q.polys[idx]=  polys[++i];}
+		else										{q.polys[idx]=p.polys[++j];}
+		idx++;
+	}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator - (const PPolynomial<Degree>& p) const{
+	PPolynomial q;
+	int i,j;
+	size_t idx=0;
+	q.set(polyCount+p.polyCount);
+	i=j=-1;
+
+	while(idx<q.polyCount){
+		if		(j>=int(p.polyCount)-1)				{q.polys[idx]=  polys[++i];}
+		else if	(i>=int(  polyCount)-1)				{q.polys[idx].start=p.polys[++j].start;q.polys[idx].p=p.polys[j].p*(-1.0);}
+		else if(polys[i+1].start<p.polys[j+1].start){q.polys[idx]=  polys[++i];}
+		else										{q.polys[idx].start=p.polys[++j].start;q.polys[idx].p=p.polys[j].p*(-1.0);}
+		idx++;
+	}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree>& PPolynomial<Degree>::addScaled(const PPolynomial<Degree>& p,double scale){
+	int i,j;
+	StartingPolynomial<Degree>* oldPolys=polys;
+	size_t idx=0,cnt=0,oldPolyCount=polyCount;
+	polyCount=0;
+	polys=NULL;
+	set(oldPolyCount+p.polyCount);
+	i=j=-1;
+	while(cnt<polyCount){
+		if		(j>=int( p.polyCount)-1)				{polys[idx]=oldPolys[++i];}
+		else if	(i>=int(oldPolyCount)-1)				{polys[idx].start= p.polys[++j].start;polys[idx].p=p.polys[j].p*scale;}
+		else if	(oldPolys[i+1].start<p.polys[j+1].start){polys[idx]=oldPolys[++i];}
+		else											{polys[idx].start= p.polys[++j].start;polys[idx].p=p.polys[j].p*scale;}
+		if(idx && polys[idx].start==polys[idx-1].start)	{polys[idx-1].p+=polys[idx].p;}
+		else{idx++;}
+		cnt++;
+	}
+	free(oldPolys);
+	reset(idx);
+	return *this;
+}
+template<int Degree>
+template<int Degree2>
+PPolynomial<Degree+Degree2> PPolynomial<Degree>::operator * (const PPolynomial<Degree2>& p) const{
+	PPolynomial<Degree+Degree2> q;
+	StartingPolynomial<Degree+Degree2> *sp;
+	int i,j,spCount=int(polyCount*p.polyCount);
+
+	sp=(StartingPolynomial<Degree+Degree2>*)malloc(sizeof(StartingPolynomial<Degree+Degree2>)*spCount);
+	for(i=0;i<int(polyCount);i++){
+		for(j=0;j<int(p.polyCount);j++){
+			sp[i*p.polyCount+j]=polys[i]*p.polys[j];
+		}
+	}
+	q.set(sp,spCount);
+	free(sp);
+	return q;
+}
+template<int Degree>
+template<int Degree2>
+PPolynomial<Degree+Degree2> PPolynomial<Degree>::operator * (const Polynomial<Degree2>& p) const{
+	PPolynomial<Degree+Degree2> q;
+	q.set(polyCount);
+	for(int i=0;i<int(polyCount);i++){
+		q.polys[i].start=polys[i].start;
+		q.polys[i].p=polys[i].p*p;
+	}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::scale( double s ) const
+{
+	PPolynomial q;
+	q.set( polyCount );
+	for( size_t i=0 ; i<polyCount ; i++ ) q.polys[i] = polys[i].scale(s);
+	if( s<0 ) qsort( q.polys , polyCount , sizeof( StartingPolynomial< Degree > ) , StartingPolynomial< Degree >::Compare );
+	return q;
+}
+template< int Degree >
+PPolynomial< Degree > PPolynomial< Degree >::reflect( double r ) const
+{
+	PPolynomial q;
+	q.set( polyCount );
+	for( size_t i=0 ; i<polyCount ; i++ )
+	{
+		q.polys[i].scale(-1.);
+		if( r ) q.polys[i].shift( 2.*r );
+	}
+	qsort( q.polys , polyCount , sizeof( StartingPolynomial< Degree > ) , StartingPolynomial< Degree >::Compare );
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::shift( double s ) const
+{
+	PPolynomial q;
+	q.set(polyCount);
+	for(size_t i=0;i<polyCount;i++){q.polys[i]=polys[i].shift(s);}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree-1> PPolynomial<Degree>::derivative(void) const{
+	PPolynomial<Degree-1> q;
+	q.set(polyCount);
+	for(size_t i=0;i<polyCount;i++){
+		q.polys[i].start=polys[i].start;
+		q.polys[i].p=polys[i].p.derivative();
+	}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree+1> PPolynomial<Degree>::integral(void) const{
+	int i;
+	PPolynomial<Degree+1> q;
+	q.set(polyCount);
+	for(i=0;i<int(polyCount);i++){
+		q.polys[i].start=polys[i].start;
+		q.polys[i].p=polys[i].p.integral();
+		q.polys[i].p-=q.polys[i].p(q.polys[i].start);
+	}
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree>& PPolynomial<Degree>::operator  += ( double s ) {polys[0].p+=s;}
+template<int Degree>
+PPolynomial<Degree>& PPolynomial<Degree>::operator  -= ( double s ) {polys[0].p-=s;}
+template<int Degree>
+PPolynomial<Degree>& PPolynomial<Degree>::operator  *= ( double s )
+{
+	for(int i=0;i<int(polyCount);i++){polys[i].p*=s;}
+	return *this;
+}
+template<int Degree>
+PPolynomial<Degree>& PPolynomial<Degree>::operator  /= ( double s )
+{
+	for(size_t i=0;i<polyCount;i++){polys[i].p/=s;}
+	return *this;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator + ( double s ) const
+{
+	PPolynomial q=*this;
+	q+=s;
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator - ( double s ) const
+{
+	PPolynomial q=*this;
+	q-=s;
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator * ( double s ) const
+{
+	PPolynomial q=*this;
+	q*=s;
+	return q;
+}
+template<int Degree>
+PPolynomial<Degree> PPolynomial<Degree>::operator / ( double s ) const
+{
+	PPolynomial q=*this;
+	q/=s;
+	return q;
+}
+
+template<int Degree>
+void PPolynomial<Degree>::printnl(void) const{
+	Polynomial<Degree> p;
+
+	if(!polyCount){
+		Polynomial<Degree> p;
+		printf("[-Infinity,Infinity]\n");
+	}
+	else{
+		for(size_t i=0;i<polyCount;i++){
+			printf("[");
+			if		(polys[i  ].start== DBL_MAX){printf("Infinity,");}
+			else if	(polys[i  ].start==-DBL_MAX){printf("-Infinity,");}
+			else								{printf("%f,",polys[i].start);}
+			if(i+1==polyCount)					{printf("Infinity]\t");}
+			else if (polys[i+1].start== DBL_MAX){printf("Infinity]\t");}
+			else if	(polys[i+1].start==-DBL_MAX){printf("-Infinity]\t");}
+			else								{printf("%f]\t",polys[i+1].start);}
+			p=p+polys[i].p;
+			p.printnl();
+		}
+	}
+	printf("\n");
+}
+template< >
+PPolynomial< 0 > PPolynomial< 0 >::BSpline( double radius )
+{
+	PPolynomial q;
+	q.set(2);
+
+	q.polys[0].start=-radius;
+	q.polys[1].start= radius;
+
+	q.polys[0].p.coefficients[0]= 1.0;
+	q.polys[1].p.coefficients[0]=-1.0;
+	return q;
+}
+template< int Degree >
+PPolynomial< Degree > PPolynomial<Degree>::BSpline( double radius )
+{
+	return PPolynomial< Degree-1 >::BSpline().MovingAverage( radius );
+}
+template<int Degree>
+PPolynomial<Degree+1> PPolynomial<Degree>::MovingAverage( double radius ) const
+{
+	PPolynomial<Degree+1> A;
+	Polynomial<Degree+1> p;
+	Pointer( StartingPolynomial< Degree+1 > ) sps;
+	sps = AllocPointer< StartingPolynomial< Degree+1 > >( polyCount*2 );
+
+
+	for(int i=0;i<int(polyCount);i++){
+		sps[2*i  ].start=polys[i].start-radius;
+		sps[2*i+1].start=polys[i].start+radius;
+		p=polys[i].p.integral()-polys[i].p.integral()(polys[i].start);
+		sps[2*i  ].p=p.shift(-radius);
+		sps[2*i+1].p=p.shift( radius)*-1;
+	}
+	A.set( sps , int(polyCount*2) );
+	FreePointer( sps );
+	return A*1.0/(2*radius);
+}
+template<int Degree>
+void PPolynomial<Degree>::getSolutions(double c,std::vector<double>& roots,double EPS,double min,double max) const{
+	Polynomial<Degree> p;
+	std::vector<double> tempRoots;
+
+	p.setZero();
+	for(size_t i=0;i<polyCount;i++){
+		p+=polys[i].p;
+		if(polys[i].start>max){break;}
+		if(i<polyCount-1 && polys[i+1].start<min){continue;}
+		p.getSolutions(c,tempRoots,EPS);
+		for(size_t j=0;j<tempRoots.size();j++){
+			if(tempRoots[j]>polys[i].start && (i+1==polyCount || tempRoots[j]<=polys[i+1].start)){
+				if(tempRoots[j]>min && tempRoots[j]<max){roots.push_back(tempRoots[j]);}
+			}
+		}
+	}
+}
+
+template<int Degree>
+void PPolynomial<Degree>::write(FILE* fp,int samples,double min,double max) const{
+	fwrite(&samples,sizeof(int),1,fp);
+	for(int i=0;i<samples;i++){
+		double x=min+i*(max-min)/(samples-1);
+		float v=(*this)(x);
+		fwrite(&v,sizeof(float),1,fp);
+	}
+}
diff --git a/vendor/kazhdan/Ply.h b/vendor/kazhdan/Ply.h
new file mode 100644
index 0000000..c45ee35
--- /dev/null
+++ b/vendor/kazhdan/Ply.h
@@ -0,0 +1,943 @@
+/*
+
+ Header for PLY polygon files.
+
+  - Greg Turk, March 1994
+
+   A PLY file contains a single polygonal _object_.
+
+	An object is composed of lists of _elements_.  Typical elements are
+	vertices, faces, edges and materials.
+
+	 Each type of element for a given object has one or more _properties_
+	 associated with the element type.  For instance, a vertex element may
+	 have as properties three floating-point values x,y,z and three unsigned
+	 chars for red, green and blue.
+
+	  ---------------------------------------------------------------
+
+	   Copyright (c) 1994 The Board of Trustees of The Leland Stanford
+	   Junior University.  All rights reserved.
+
+		Permission to use, copy, modify and distribute this software and its
+		documentation for any purpose is hereby granted without fee, provided
+		that the above copyright notice and this permission notice appear in
+		all copies of this software and that you do not sell the software.
+
+		 THE SOFTWARE IS PROVIDED "AS IS" AND WITHOUT WARRANTY OF ANY KIND,
+		 EXPRESS, IMPLIED OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY
+		 WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
+
+*/
+
+#ifndef __PLY_H__
+#define __PLY_H__
+
+#define USE_PLY_WRAPPER 1
+
+#ifndef WIN32
+#define _strdup strdup
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <string.h>
+
+#define PLY_ASCII         1      /* ascii PLY file */
+#define PLY_BINARY_BE     2      /* binary PLY file, big endian */
+#define PLY_BINARY_LE     3      /* binary PLY file, little endian */
+#define PLY_BINARY_NATIVE 4      /* binary PLY file, same endianness as current architecture */
+
+#define PLY_OKAY    0           /* ply routine worked okay */
+#define PLY_ERROR  -1           /* error in ply routine */
+
+	/* scalar data types supported by PLY format */
+
+#define PLY_START_TYPE 0
+#define PLY_CHAR       1
+#define PLY_SHORT      2
+#define PLY_INT        3
+#define PLY_UCHAR      4
+#define PLY_USHORT     5
+#define PLY_UINT       6
+#define PLY_FLOAT      7
+#define PLY_DOUBLE     8
+#define PLY_INT_8      9
+#define PLY_UINT_8     10
+#define PLY_INT_16     11
+#define PLY_UINT_16    12
+#define PLY_INT_32     13
+#define PLY_UINT_32    14
+#define PLY_FLOAT_32   15
+#define PLY_FLOAT_64   16
+
+#define PLY_END_TYPE   17
+
+#define  PLY_SCALAR  0
+#define  PLY_LIST    1
+
+#define PLY_STRIP_COMMENT_HEADER 0
+
+typedef struct PlyProperty {    /* description of a property */
+
+	char *name;                           /* property name */
+	int external_type;                    /* file's data type */
+	int internal_type;                    /* program's data type */
+	int offset;                           /* offset bytes of prop in a struct */
+
+	int is_list;                          /* 1 = list, 0 = scalar */
+	int count_external;                   /* file's count type */
+	int count_internal;                   /* program's count type */
+	int count_offset;                     /* offset byte for list count */
+
+} PlyProperty;
+
+typedef struct PlyElement {     /* description of an element */
+	char *name;                   /* element name */
+	int num;                      /* number of elements in this object */
+	int size;                     /* size of element (bytes) or -1 if variable */
+	int nprops;                   /* number of properties for this element */
+	PlyProperty **props;          /* list of properties in the file */
+	char *store_prop;             /* flags: property wanted by user? */
+	int other_offset;             /* offset to un-asked-for props, or -1 if none*/
+	int other_size;               /* size of other_props structure */
+} PlyElement;
+
+typedef struct PlyOtherProp {   /* describes other properties in an element */
+	char *name;                   /* element name */
+	int size;                     /* size of other_props */
+	int nprops;                   /* number of properties in other_props */
+	PlyProperty **props;          /* list of properties in other_props */
+} PlyOtherProp;
+
+typedef struct OtherData { /* for storing other_props for an other element */
+	void *other_props;
+} OtherData;
+
+typedef struct OtherElem {     /* data for one "other" element */
+	char *elem_name;             /* names of other elements */
+	int elem_count;              /* count of instances of each element */
+	OtherData **other_data;      /* actual property data for the elements */
+	PlyOtherProp *other_props;   /* description of the property data */
+} OtherElem;
+
+typedef struct PlyOtherElems {  /* "other" elements, not interpreted by user */
+	int num_elems;                /* number of other elements */
+	OtherElem *other_list;        /* list of data for other elements */
+} PlyOtherElems;
+
+typedef struct PlyFile {        /* description of PLY file */
+	FILE *fp;                     /* file pointer */
+	int file_type;                /* ascii or binary */
+	float version;                /* version number of file */
+	int nelems;                   /* number of elements of object */
+	PlyElement **elems;           /* list of elements */
+	int num_comments;             /* number of comments */
+	char **comments;              /* list of comments */
+	int num_obj_info;             /* number of items of object information */
+	char **obj_info;              /* list of object info items */
+	PlyElement *which_elem;       /* which element we're currently writing */
+	PlyOtherElems *other_elems;   /* "other" elements from a PLY file */
+} PlyFile;
+
+	/* memory allocation */
+extern char *my_alloc();
+#define myalloc(mem_size) my_alloc((mem_size), __LINE__, __FILE__)
+
+#ifndef ALLOCN
+#define REALLOCN(PTR,TYPE,OLD_N,NEW_N)							\
+{										\
+	if ((OLD_N) == 0)                                           		\
+{   ALLOCN((PTR),TYPE,(NEW_N));}                            		\
+	else									\
+{								    		\
+	(PTR) = (TYPE *)realloc((PTR),(NEW_N)*sizeof(TYPE));			\
+	if (((PTR) == NULL) && ((NEW_N) != 0))					\
+{									\
+	fprintf(stderr, "Memory reallocation failed on line %d in %s\n", 	\
+	__LINE__, __FILE__);                             		\
+	fprintf(stderr, "  tried to reallocate %d->%d\n",       		\
+	(OLD_N), (NEW_N));                              		\
+	exit(-1);								\
+}									\
+	if ((NEW_N)>(OLD_N))							\
+	memset((char *)(PTR)+(OLD_N)*sizeof(TYPE), 0,			\
+	((NEW_N)-(OLD_N))*sizeof(TYPE));				\
+}										\
+}
+
+#define  ALLOCN(PTR,TYPE,N) 					\
+{ (PTR) = (TYPE *) calloc(((unsigned)(N)),sizeof(TYPE));\
+	if ((PTR) == NULL) {    				\
+	fprintf(stderr, "Memory allocation failed on line %d in %s\n", \
+	__LINE__, __FILE__);                           \
+	exit(-1);                                             \
+	}							\
+}
+
+
+#define FREE(PTR)  { free((PTR)); (PTR) = NULL; }
+#endif
+
+
+/*** delcaration of routines ***/
+
+extern PlyFile *ply_write(FILE *, int, const char **, int);
+extern PlyFile *ply_open_for_writing(char *, int, const char **, int, float *);
+extern void ply_describe_element(PlyFile *, char *, int, int, PlyProperty *);
+extern void ply_describe_property(PlyFile *, const char *, PlyProperty *);
+extern void ply_element_count(PlyFile *, const char *, int);
+extern void ply_header_complete(PlyFile *);
+extern void ply_put_element_setup(PlyFile *, const char *);
+extern void ply_put_element(PlyFile *, void *);
+extern void ply_put_comment(PlyFile *, char *);
+extern void ply_put_obj_info(PlyFile *, char *);
+extern PlyFile *ply_read(FILE *, int *, char ***);
+extern PlyFile *ply_open_for_reading( char *, int *, char ***, int *, float *);
+extern PlyProperty **ply_get_element_description(PlyFile *, char *, int*, int*);
+extern void ply_get_element_setup( PlyFile *, char *, int, PlyProperty *);
+extern int ply_get_property(PlyFile *, char *, PlyProperty *);
+extern PlyOtherProp *ply_get_other_properties(PlyFile *, char *, int);
+extern void ply_get_element(PlyFile *, void *);
+extern char **ply_get_comments(PlyFile *, int *);
+extern char **ply_get_obj_info(PlyFile *, int *);
+extern void ply_close(PlyFile *);
+extern void ply_get_info(PlyFile *, float *, int *);
+extern PlyOtherElems *ply_get_other_element (PlyFile *, char *, int);
+extern void ply_describe_other_elements ( PlyFile *, PlyOtherElems *);
+extern void ply_put_other_elements (PlyFile *);
+extern void ply_free_other_elements (PlyOtherElems *);
+extern void ply_describe_other_properties(PlyFile *, PlyOtherProp *, int);
+
+extern int equal_strings(const char *, const char *);
+
+#ifdef __cplusplus
+}
+#endif
+#include "Geometry.h"
+#include "Mesh.h"
+#include <vector>
+
+template< class Real > int PLYType( void );
+template<> inline int PLYType< int           >( void ){ return PLY_INT   ; }
+template<> inline int PLYType<          char >( void ){ return PLY_CHAR  ; }
+template<> inline int PLYType< unsigned char >( void ){ return PLY_UCHAR ; }
+template<> inline int PLYType<        float  >( void ){ return PLY_FLOAT ; }
+template<> inline int PLYType<        double >( void ){ return PLY_DOUBLE; }
+template< class Real > inline int PLYType( void ){ fprintf( stderr , "[ERROR] Unrecognized type\n" ) , exit( 0 ); }
+
+typedef struct PlyFace
+{
+	unsigned char nr_vertices;
+	int *vertices;
+	int segment;
+} PlyFace;
+static PlyProperty face_props[] =
+{
+	{ _strdup( "vertex_indices" ) , PLY_INT , PLY_INT , offsetof( PlyFace , vertices ) , 1 , PLY_UCHAR, PLY_UCHAR , offsetof(PlyFace,nr_vertices) },
+};
+
+///////////////////
+// PlyVertexType //
+///////////////////
+
+// The "Wrapper" class indicates the class to cast to/from in order to support linear operations.
+template< class Real >
+class PlyVertex
+{
+public:
+	typedef PlyVertex Wrapper;
+
+	const static int ReadComponents=3;
+	const static int WriteComponents=3;
+	static PlyProperty ReadProperties[];
+	static PlyProperty WriteProperties[];
+
+	Point3D< Real > point;
+
+	PlyVertex( void ) { ; }
+	PlyVertex( Point3D< Real > p ) { point=p; }
+	PlyVertex( Kazhdan::Point& p )
+    {
+        point.coords[0] = (Real)p.m_position[0];
+        point.coords[1] = (Real)p.m_position[1];
+        point.coords[2] = (Real)p.m_position[2];
+    }
+	PlyVertex operator + ( PlyVertex p ) const { return PlyVertex( point+p.point ); }
+	PlyVertex operator - ( PlyVertex p ) const { return PlyVertex( point-p.point ); }
+	template< class _Real > PlyVertex operator * ( _Real s ) const { return PlyVertex( point*s ); }
+	template< class _Real > PlyVertex operator / ( _Real s ) const { return PlyVertex( point/s ); }
+	PlyVertex& operator += ( PlyVertex p ) { point += p.point ; return *this; }
+	PlyVertex& operator -= ( PlyVertex p ) { point -= p.point ; return *this; }
+	template< class _Real > PlyVertex& operator *= ( _Real s ) { point *= s ; return *this; }
+	template< class _Real > PlyVertex& operator /= ( _Real s ) { point /= s ; return *this; }
+};
+template< class Real , class _Real > PlyVertex< Real > operator * ( XForm4x4< _Real > xForm , PlyVertex< Real > v ) { return PlyVertex< Real >( xForm * v.point ); }
+template< class Real > PlyProperty PlyVertex< Real >::ReadProperties[]=
+{
+	{ _strdup( "x" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real > PlyProperty PlyVertex< Real >::WriteProperties[]=
+{
+	{ _strdup( "x" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real >
+class PlyValueVertex
+{
+public:
+	typedef PlyValueVertex Wrapper;
+
+	const static int ReadComponents=4;
+	const static int WriteComponents=4;
+	static PlyProperty ReadProperties[];
+	static PlyProperty WriteProperties[];
+
+	Point3D<Real> point;
+	Real value;
+
+	PlyValueVertex( void ) : value( Real(0) ) { ; }
+	PlyValueVertex( Point3D< Real > p , Real v ) : point(p) , value(v) { ; }
+	PlyValueVertex( Kazhdan::Point& p )
+    {
+        point.coords[0] = (Real)p.m_position[0];
+        point.coords[1] = (Real)p.m_position[1];
+        point.coords[2] = (Real)p.m_position[2];
+        value = (Real)p.m_density;
+    }
+	PlyValueVertex operator + ( PlyValueVertex p ) const { return PlyValueVertex( point+p.point , value+p.value ); }
+	PlyValueVertex operator - ( PlyValueVertex p ) const { return PlyValueVertex( point-p.value , value-p.value ); }
+	template< class _Real > PlyValueVertex operator * ( _Real s ) const { return PlyValueVertex( point*s , Real(value*s) ); }
+	template< class _Real > PlyValueVertex operator / ( _Real s ) const { return PlyValueVertex( point/s , Real(value/s) ); }
+	PlyValueVertex& operator += ( PlyValueVertex p ) { point += p.point , value += p.value ; return *this; }
+	PlyValueVertex& operator -= ( PlyValueVertex p ) { point -= p.point , value -= p.value ; return *this; }
+	template< class _Real > PlyValueVertex& operator *= ( _Real s ) { point *= s , value *= Real(s) ; return *this; }
+	template< class _Real > PlyValueVertex& operator /= ( _Real s ) { point /= s , value /= Real(s) ; return *this; }
+};
+template< class Real , class _Real > PlyValueVertex< Real > operator * ( XForm4x4< _Real > xForm , PlyValueVertex< Real > v ) { return PlyValueVertex< Real >( xForm * v.point , v.value ); }
+template< class Real > PlyProperty PlyValueVertex< Real >::ReadProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "value" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , value           ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real > PlyProperty PlyValueVertex< Real >::WriteProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"     ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "value" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyValueVertex , value           ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real >
+class PlyOrientedVertex
+{
+public:
+	typedef PlyOrientedVertex Wrapper;
+
+	const static int ReadComponents=6;
+	const static int WriteComponents=6;
+	static PlyProperty ReadProperties[];
+	static PlyProperty WriteProperties[];
+
+	Point3D<Real> point , normal;
+
+	PlyOrientedVertex( void ) { ; }
+	PlyOrientedVertex( Point3D< Real > p , Point3D< Real > n ) : point(p) , normal(n) { ; }
+  	PlyOrientedVertex operator + ( PlyOrientedVertex p ) const { return PlyOrientedVertex( point+p.point , normal+p.normal ); }
+	PlyOrientedVertex operator - ( PlyOrientedVertex p ) const { return PlyOrientedVertex( point-p.value , normal-p.normal ); }
+	template< class _Real > PlyOrientedVertex operator * ( _Real s ) const { return PlyOrientedVertex( point*s , normal*s ); }
+	template< class _Real > PlyOrientedVertex operator / ( _Real s ) const { return PlyOrientedVertex( point/s , normal/s ); }
+	PlyOrientedVertex& operator += ( PlyOrientedVertex p ) { point += p.point , normal += p.normal ; return *this; }
+	PlyOrientedVertex& operator -= ( PlyOrientedVertex p ) { point -= p.point , normal -= p.normal ; return *this; }
+	template< class _Real > PlyOrientedVertex& operator *= ( _Real s ) { point *= s , normal *= s ; return *this; }
+	template< class _Real > PlyOrientedVertex& operator /= ( _Real s ) { point /= s , normal /= s ; return *this; }
+};
+template< class Real , class _Real > PlyOrientedVertex< Real > operator * ( XForm4x4< _Real > xForm , PlyOrientedVertex< Real > v ) { return PlyOrientedVertex< Real >( xForm * v.point , xForm.inverse().transpose() * v.normal ); }
+template< class Real > PlyProperty PlyOrientedVertex< Real >::ReadProperties[]=
+{
+	{ _strdup( "x"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "nx" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "ny" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "nz" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real > PlyProperty PlyOrientedVertex< Real >::WriteProperties[]=
+{
+	{ _strdup( "x"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"  ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex ,  point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "nx" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "ny" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "nz" ) , PLYType< Real >() , PLYType< Real >() , int( offsetof( PlyOrientedVertex , normal.coords[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real >
+class PlyColorVertex
+{
+public:
+	struct _PlyColorVertex
+	{
+		Point3D< Real > point , color;
+		_PlyColorVertex( void ) { ; }
+		_PlyColorVertex( Point3D< Real > p , Point3D< Real > c ) : point(p) , color(c) { ; }
+		_PlyColorVertex( PlyColorVertex< Real > p ){ point = p.point ; for( int c=0 ; c<3 ; c++ ) color[c] = (Real) p.color[c]; }
+		operator PlyColorVertex< Real > ()
+		{
+			PlyColorVertex< Real > p;
+			p.point = point;
+			for( int c=0 ; c<3 ; c++ ) p.color[c] = (unsigned char)std::max< int >( 0 , std::min< int >( 255 , (int)( color[c]+0.5 ) ) );
+			return p;
+		}
+
+	  	_PlyColorVertex operator + ( _PlyColorVertex p ) const { return _PlyColorVertex( point+p.point , color+p.color ); }
+		_PlyColorVertex operator - ( _PlyColorVertex p ) const { return _PlyColorVertex( point-p.value , color-p.color ); }
+		template< class _Real > _PlyColorVertex operator * ( _Real s ) const { return _PlyColorVertex( point*s , color*s ); }
+		template< class _Real > _PlyColorVertex operator / ( _Real s ) const { return _PlyColorVertex( point/s , color/s ); }
+		_PlyColorVertex& operator += ( _PlyColorVertex p ) { point += p.point , color += p.color ; return *this; }
+		_PlyColorVertex& operator -= ( _PlyColorVertex p ) { point -= p.point , color -= p.color ; return *this; }
+		template< class _Real > _PlyColorVertex& operator *= ( _Real s ) { point *= s , color *= s ; return *this; }
+		template< class _Real > _PlyColorVertex& operator /= ( _Real s ) { point /= s , color /= s ; return *this; }
+	};
+
+	typedef _PlyColorVertex Wrapper;
+
+	const static int ReadComponents=9;
+	const static int WriteComponents=6;
+	static PlyProperty ReadProperties[];
+	static PlyProperty WriteProperties[];
+
+	Point3D< Real > point;
+	unsigned char color[3];
+
+	operator Point3D< Real >& (){ return point; }
+	operator const Point3D< Real >& () const { return point; }
+	PlyColorVertex( void ) { point.coords[0] = point.coords[1] = point.coords[2] = 0 , color[0] = color[1] = color[2] = 0; }
+	PlyColorVertex( const Point3D<Real>& p ) { point=p; }
+	PlyColorVertex( const Point3D< Real >& p , const unsigned char c[3] ) { point = p , color[0] = c[0] , color[1] = c[1] , color[2] = c[2]; }
+	PlyColorVertex( Kazhdan::Point& p )
+    {
+        point.coords[0] = (Real)p.m_position[0];
+        point.coords[1] = (Real)p.m_position[1];
+        point.coords[2] = (Real)p.m_position[2];
+        color[0] = p.m_color[0];
+        color[1] = p.m_color[1];
+        color[2] = p.m_color[2];
+    }
+};
+
+template< class Real , class _Real > PlyColorVertex< Real > operator * ( XForm4x4< _Real > xForm , PlyColorVertex< Real > v ) { return PlyColorVertex< Real >( xForm * v.point , v.color ); }
+
+template< class Real > PlyProperty PlyColorVertex< Real >::ReadProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "red"   ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "green" ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "blue"  ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "r"     ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "g"     ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "b"     ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real > PlyProperty PlyColorVertex< Real >::WriteProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "y"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "z"     ) , PLYType<          Real >() , PLYType<          Real >(), int( offsetof( PlyColorVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "red"   ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "green" ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 },
+	{ _strdup( "blue"  ) , PLYType< unsigned char >() , PLYType< unsigned char >(), int( offsetof( PlyColorVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real >
+class PlyColorAndValueVertex
+{
+public:
+	struct _PlyColorAndValueVertex
+	{
+		Point3D< Real > point , color;
+		Real value;
+		_PlyColorAndValueVertex( void ) : value(0) { ; }
+		_PlyColorAndValueVertex( Point3D< Real > p , Point3D< Real > c , Real v ) : point(p) , color(c) , value(v) { ; }
+		_PlyColorAndValueVertex( PlyColorAndValueVertex< Real > p ){ point = p.point ; for( int c=0 ; c<3 ; c++ ) color[c] = (Real) p.color[c] ; value = p.value; }
+		operator PlyColorAndValueVertex< Real > ()
+		{
+			PlyColorAndValueVertex< Real > p;
+			p.point = point;
+			for( int c=0 ; c<3 ; c++ ) p.color[c] = (unsigned char)std::max< int >( 0 , std::min< int >( 255 , (int)( color[c]+0.5 ) ) );
+			p.value = value;
+			return p;
+		}
+
+	  	_PlyColorAndValueVertex operator + ( _PlyColorAndValueVertex p ) const { return _PlyColorAndValueVertex( point+p.point , color+p.color , value+p.value ); }
+		_PlyColorAndValueVertex operator - ( _PlyColorAndValueVertex p ) const { return _PlyColorAndValueVertex( point-p.value , color-p.color , value+p.value ); }
+		template< class _Real > _PlyColorAndValueVertex operator * ( _Real s ) const { return _PlyColorAndValueVertex( point*s , color*s , value*s ); }
+		template< class _Real > _PlyColorAndValueVertex operator / ( _Real s ) const { return _PlyColorAndValueVertex( point/s , color/s , value/s ); }
+		_PlyColorAndValueVertex& operator += ( _PlyColorAndValueVertex p ) { point += p.point , color += p.color , value += p.value ; return *this; }
+		_PlyColorAndValueVertex& operator -= ( _PlyColorAndValueVertex p ) { point -= p.point , color -= p.color , value -= p.value ; return *this; }
+		template< class _Real > _PlyColorAndValueVertex& operator *= ( _Real s ) { point *= s , color *= s , value *= (Real)s ; return *this; }
+		template< class _Real > _PlyColorAndValueVertex& operator /= ( _Real s ) { point /= s , color /= s , value /= (Real)s ; return *this; }
+	};
+
+	typedef _PlyColorAndValueVertex Wrapper;
+
+	const static int ReadComponents=10;
+	const static int WriteComponents=7;
+	static PlyProperty ReadProperties[];
+	static PlyProperty WriteProperties[];
+
+	Point3D< Real > point;
+	unsigned char color[3];
+	Real value;
+
+	operator Point3D< Real >& (){ return point; }
+	operator const Point3D< Real >& () const { return point; }
+	PlyColorAndValueVertex( void ) { point.coords[0] = point.coords[1] = point.coords[2] = (Real)0 , color[0] = color[1] = color[2] = 0 , value = (Real)0; }
+	PlyColorAndValueVertex( const Point3D< Real >& p ) { point=p; }
+	PlyColorAndValueVertex( const Point3D< Real >& p , const unsigned char c[3] , Real v) { point = p , color[0] = c[0] , color[1] = c[1] , color[2] = c[2] , value = v; }
+	PlyColorAndValueVertex( Kazhdan::Point& p )
+    {
+        point.coords[0] = (Real)p.m_position[0];
+        point.coords[1] = (Real)p.m_position[1];
+        point.coords[2] = (Real)p.m_position[2];
+        color[0] = p.m_color[0];
+        color[1] = p.m_color[1];
+        color[2] = p.m_color[2];
+        value = (Real)p.m_density;
+    }
+};
+
+template< class Real , class _Real > PlyColorAndValueVertex< Real > operator * ( XForm4x4< _Real > xForm , PlyColorAndValueVertex< Real > v ) { return PlyColorAndValueVertex< Real >( xForm * v.point , v.color , v.value ); }
+template< class Real > PlyProperty PlyColorAndValueVertex< Real >::ReadProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "y"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "z"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "value" ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex ,        value    ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "red"   ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "green" ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "blue"  ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "r"     ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "g"     ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "b"     ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 }
+};
+template< class Real > PlyProperty PlyColorAndValueVertex< Real >::WriteProperties[]=
+{
+	{ _strdup( "x"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "y"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "z"     ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex , point.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "value" ) , PLYType<          Real >() , PLYType<          Real >() , int( offsetof( PlyColorAndValueVertex ,        value    ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "red"   ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[0] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "green" ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[1] ) ) , 0 , 0 , 0 , 0 } ,
+	{ _strdup( "blue"  ) , PLYType< unsigned char >() , PLYType< unsigned char >() , int( offsetof( PlyColorAndValueVertex ,        color[2] ) ) , 0 , 0 , 0 , 0 }
+};
+
+template< class Vertex , class Real >
+int PlyWritePolygons( char* fileName , Kazhdan::Mesh& mesh , int file_type , const Point3D< float >& translate , float scale , char** comments=NULL , int commentNum=0 , XForm4x4< Real > xForm=XForm4x4< Real >::Identity() );
+
+template< class Vertex , class Real >
+int PlyWritePolygons( char* fileName , Kazhdan::Mesh& mesh, int file_type , char** comments=NULL , int commentNum=0 , XForm4x4< Real > xForm=XForm4x4< Real >::Identity() );
+
+inline bool PlyReadHeader( char* fileName , PlyProperty* properties , int propertyNum , bool* readFlags , int& file_type )
+{
+	int nr_elems;
+	char **elist;
+	float version;
+	PlyFile* ply;
+	char* elem_name;
+	int num_elems;
+	int nr_props;
+	PlyProperty** plist;
+
+	ply = ply_open_for_reading( fileName , &nr_elems , &elist , &file_type , &version );
+	if( !ply ) return false;
+
+	for( int i=0 ; i<nr_elems ; i++ )
+	{
+		elem_name = elist[i];
+		plist = ply_get_element_description( ply , elem_name , &num_elems , &nr_props );
+		if( !plist )
+		{
+			for( int i=0 ; i<nr_elems ; i++ )
+			{
+				free( ply->elems[i]->name );
+				free( ply->elems[i]->store_prop );
+				for( int j=0 ; j<ply->elems[i]->nprops ; j++ )
+				{
+					free( ply->elems[i]->props[j]->name );
+					free( ply->elems[i]->props[j] );
+				}
+				free( ply->elems[i]->props );
+			}
+			for( int i=0 ; i<nr_elems ; i++ ) free( ply->elems[i] );
+			free( ply->elems );
+			for( int i=0 ; i<ply->num_comments ; i++ ) free( ply->comments[i] );
+			free( ply->comments );
+			for( int i=0 ; i<ply->num_obj_info ; i++ ) free( ply->obj_info[i] );
+			free( ply->obj_info );
+			ply_free_other_elements( ply->other_elems );
+
+			for( int i=0 ; i<nr_elems ; i++ ) free( elist[i] );
+			free( elist );
+			ply_close( ply );
+			return 0;
+		}
+		if( equal_strings( "vertex" , elem_name ) )
+			for( int i=0 ; i<propertyNum ; i++ )
+				if( readFlags ) readFlags[i] = ply_get_property( ply , elem_name , &properties[i] )!=0;
+
+		for( int j=0 ; j<nr_props ; j++ )
+		{
+			free( plist[j]->name );
+			free( plist[j] );
+		}
+		free( plist );
+	}  // for each type of element
+
+	for( int i=0 ; i<nr_elems ; i++ )
+	{
+		free( ply->elems[i]->name );
+		free( ply->elems[i]->store_prop );
+		for( int j=0 ; j<ply->elems[i]->nprops ; j++ )
+		{
+			free( ply->elems[i]->props[j]->name );
+			free( ply->elems[i]->props[j] );
+		}
+		if( ply->elems[i]->props && ply->elems[i]->nprops ) free(ply->elems[i]->props);
+	}
+	for( int i=0 ; i<nr_elems ; i++ ) free(ply->elems[i]);
+	free( ply->elems) ;
+	for( int i=0 ; i<ply->num_comments ; i++ ) free( ply->comments[i] );
+	free( ply->comments );
+	for( int i=0 ; i<ply->num_obj_info ; i++ ) free( ply->obj_info[i] );
+	free( ply->obj_info );
+	ply_free_other_elements(ply->other_elems);
+
+
+	for( int i=0 ; i<nr_elems ; i++ ) free( elist[i] );
+	free( elist );
+	ply_close( ply );
+	return true;
+}
+inline bool PlyReadHeader( char* fileName , PlyProperty* properties , int propertyNum , bool* readFlags )
+{
+	int file_type;
+	return PlyReadHeader( fileName , properties , propertyNum , readFlags , file_type );
+}
+
+
+template<class Vertex>
+int PlyReadPolygons(char* fileName,
+					std::vector<Vertex>& vertices,std::vector<std::vector<int> >& polygons,
+					PlyProperty* properties,int propertyNum,
+					int& file_type,
+					char*** comments=NULL,int* commentNum=NULL , bool* readFlags=NULL );
+
+template<class Vertex>
+int PlyWritePolygons(char* fileName,
+					 const std::vector<Vertex>& vertices,const std::vector<std::vector<int> >& polygons,
+					 PlyProperty* properties,int propertyNum,
+					 int file_type,
+					 char** comments=NULL,const int& commentNum=0);
+
+template<class Vertex>
+int PlyWritePolygons(char* fileName,
+					 const std::vector<Vertex>& vertices , const std::vector< std::vector< int > >& polygons,
+					 PlyProperty* properties,int propertyNum,
+					 int file_type,
+					 char** comments,const int& commentNum)
+{
+	int nr_vertices=int(vertices.size());
+	int nr_faces=int(polygons.size());
+	float version;
+	const char *elem_names[] = { "vertex" , "face" };
+	PlyFile *ply = ply_open_for_writing( fileName , 2 , elem_names , file_type , &version );
+	if (!ply){return 0;}
+
+	//
+	// describe vertex and face properties
+	//
+	ply_element_count(ply, "vertex", nr_vertices);
+	for(int i=0;i<propertyNum;i++)
+		ply_describe_property(ply, "vertex", &properties[i]);
+
+	ply_element_count(ply, "face", nr_faces);
+	ply_describe_property(ply, "face", &face_props[0]);
+
+	// Write in the comments
+	if(comments && commentNum)
+		for(int i=0;i<commentNum;i++)
+			ply_put_comment(ply,comments[i]);
+
+	ply_header_complete(ply);
+
+	// write vertices
+	ply_put_element_setup(ply, "vertex");
+	for (int i=0; i < int(vertices.size()); i++)
+		ply_put_element(ply, (void *) &vertices[i]);
+
+	// write faces
+	PlyFace ply_face;
+	int maxFaceVerts=3;
+	ply_face.nr_vertices = 3;
+	ply_face.vertices = new int[3];
+
+	ply_put_element_setup(ply, "face");
+	for (int i=0; i < nr_faces; i++)
+	{
+		if(int(polygons[i].size())>maxFaceVerts)
+		{
+			delete[] ply_face.vertices;
+			maxFaceVerts=int(polygons[i].size());
+			ply_face.vertices=new int[maxFaceVerts];
+		}
+		ply_face.nr_vertices=int(polygons[i].size());
+		for(int j=0;j<ply_face.nr_vertices;j++)
+			ply_face.vertices[j]=polygons[i][j];
+		ply_put_element(ply, (void *) &ply_face);
+	}
+
+	delete[] ply_face.vertices;
+	ply_close(ply);
+	return 1;
+}
+template<class Vertex>
+int PlyReadPolygons(char* fileName,
+					std::vector<Vertex>& vertices , std::vector<std::vector<int> >& polygons ,
+					 PlyProperty* properties , int propertyNum ,
+					int& file_type ,
+					char*** comments , int* commentNum , bool* readFlags )
+{
+	int nr_elems;
+	char **elist;
+	float version;
+	int i,j,k;
+	PlyFile* ply;
+	char* elem_name;
+	int num_elems;
+	int nr_props;
+	PlyProperty** plist;
+	PlyFace ply_face;
+
+	ply = ply_open_for_reading(fileName, &nr_elems, &elist, &file_type, &version);
+	if(!ply) return 0;
+
+	if(comments)
+	{
+		(*comments)=new char*[*commentNum+ply->num_comments];
+		for(int i=0;i<ply->num_comments;i++)
+			(*comments)[i]=_strdup(ply->comments[i]);
+		*commentNum=ply->num_comments;
+	}
+
+	for (i=0; i < nr_elems; i++) {
+		elem_name = elist[i];
+		plist = ply_get_element_description(ply, elem_name, &num_elems, &nr_props);
+		if(!plist)
+		{
+			for(i=0;i<nr_elems;i++){
+				free(ply->elems[i]->name);
+				free(ply->elems[i]->store_prop);
+				for(j=0;j<ply->elems[i]->nprops;j++){
+					free(ply->elems[i]->props[j]->name);
+					free(ply->elems[i]->props[j]);
+				}
+				free(ply->elems[i]->props);
+			}
+			for(i=0;i<nr_elems;i++){free(ply->elems[i]);}
+			free(ply->elems);
+			for(i=0;i<ply->num_comments;i++){free(ply->comments[i]);}
+			free(ply->comments);
+			for(i=0;i<ply->num_obj_info;i++){free(ply->obj_info[i]);}
+			free(ply->obj_info);
+			ply_free_other_elements (ply->other_elems);
+
+			for(i=0;i<nr_elems;i++){free(elist[i]);}
+			free(elist);
+			ply_close(ply);
+			return 0;
+		}
+		if (equal_strings("vertex", elem_name))
+		{
+			for( int i=0 ; i<propertyNum ; i++)
+			{
+				int hasProperty = ply_get_property(ply,elem_name,&properties[i]);
+				if( readFlags ) readFlags[i] = (hasProperty!=0);
+			}
+			vertices.resize(num_elems);
+			for (j=0; j < num_elems; j++)	ply_get_element (ply, (void *) &vertices[j]);
+		}
+		else if (equal_strings("face", elem_name))
+		{
+			ply_get_property (ply, elem_name, &face_props[0]);
+			polygons.resize(num_elems);
+			for (j=0; j < num_elems; j++)
+			{
+				ply_get_element (ply, (void *) &ply_face);
+				polygons[j].resize(ply_face.nr_vertices);
+				for(k=0;k<ply_face.nr_vertices;k++)	polygons[j][k]=ply_face.vertices[k];
+				delete[] ply_face.vertices;
+			}  // for, read faces
+		}  // if face
+		else{ply_get_other_element (ply, elem_name, num_elems);}
+
+		for(j=0;j<nr_props;j++){
+			free(plist[j]->name);
+			free(plist[j]);
+		}
+		free(plist);
+	}  // for each type of element
+
+	for(i=0;i<nr_elems;i++){
+		free(ply->elems[i]->name);
+		free(ply->elems[i]->store_prop);
+		for(j=0;j<ply->elems[i]->nprops;j++){
+			free(ply->elems[i]->props[j]->name);
+			free(ply->elems[i]->props[j]);
+		}
+		if(ply->elems[i]->props && ply->elems[i]->nprops){free(ply->elems[i]->props);}
+	}
+	for(i=0;i<nr_elems;i++){free(ply->elems[i]);}
+	free(ply->elems);
+	for(i=0;i<ply->num_comments;i++){free(ply->comments[i]);}
+	free(ply->comments);
+	for(i=0;i<ply->num_obj_info;i++){free(ply->obj_info[i]);}
+	free(ply->obj_info);
+	ply_free_other_elements (ply->other_elems);
+
+
+	for(i=0;i<nr_elems;i++){free(elist[i]);}
+	free(elist);
+	ply_close(ply);
+	return 1;
+}
+
+template< class Vertex , class Real >
+int PlyWritePolygons( char* fileName , Kazhdan::Mesh& mesh, int file_type , const Point3D<float>& translate , float scale , char** comments , int commentNum , XForm4x4< Real > xForm )
+{
+	int i;
+	int nr_vertices=mesh.pointCount();
+	int nr_faces=mesh.polygonCount();
+	float version;
+	const char *elem_names[] = { "vertex" , "face" };
+	PlyFile *ply = ply_open_for_writing( fileName , 2 , elem_names , file_type , &version );
+	if( !ply ) return 0;
+
+	mesh.resetIterator();
+
+	//
+	// describe vertex and face properties
+	//
+	ply_element_count( ply , "vertex" , nr_vertices );
+	for( int i=0 ; i<Vertex::Components ; i++ ) ply_describe_property( ply , "vertex" , &Vertex::Properties[i] );
+
+	ply_element_count( ply , "face" , nr_faces );
+	ply_describe_property( ply , "face" , &face_props[0] );
+
+	// Write in the comments
+	for( i=0 ; i<commentNum ; i++ ) ply_put_comment( ply , comments[i] );
+
+	ply_header_complete( ply );
+
+	// write vertices
+	ply_put_element_setup( ply , "vertex" );
+	for( i=0; i<mesh.pointCount(); i++ )
+	{
+        Kazhdan::Point p;
+		mesh.nextPoint(p);
+		Vertex vertex(p);
+		vertex = xForm * ( vertex * scale +translate );
+		ply_put_element(ply, (void *) &vertex);
+	}  // for, write vertices
+
+	// write faces
+	Kazhdan::Polygon polygon;
+	ply_put_element_setup( ply , "face" );
+	for( i=0 ; i<nr_faces ; i++ )
+	{
+		//
+		// create and fill a struct that the ply code can handle
+		//
+		PlyFace ply_face;
+		mesh.nextPolygon( polygon );
+		ply_face.nr_vertices = int( polygon.size() );
+		ply_face.vertices = new int[ polygon.size() ];
+		for( int i=0 ; i<int(polygon.size()) ; i++ )
+			ply_face.vertices[i] = polygon[i];
+		ply_put_element( ply, (void *) &ply_face );
+		delete[] ply_face.vertices;
+	}  // for, write faces
+
+	ply_close( ply );
+	return 1;
+}
+template< class Vertex , class Real >
+int PlyWritePolygons( char* fileName , Kazhdan::Mesh& mesh, int file_type , char** comments , int commentNum , XForm4x4< Real > xForm )
+{
+	int i;
+	int nr_vertices=int(mesh.pointCount());
+	int nr_faces=mesh.polygonCount();
+	float version;
+	const char *elem_names[] = { "vertex" , "face" };
+	PlyFile *ply = ply_open_for_writing( fileName , 2 , elem_names , file_type , &version );
+	if( !ply ) return 0;
+
+	mesh.resetIterator();
+
+	//
+	// describe vertex and face properties
+	//
+	ply_element_count( ply , "vertex" , nr_vertices );
+	for( int i=0 ; i<Vertex::WriteComponents ; i++ ) ply_describe_property( ply , "vertex" , &Vertex::WriteProperties[i] );
+
+	ply_element_count( ply , "face" , nr_faces );
+	ply_describe_property( ply , "face" , &face_props[0] );
+
+	// Write in the comments
+	for( i=0 ; i<commentNum ; i++ ) ply_put_comment( ply , comments[i] );
+
+	ply_header_complete( ply );
+
+	// write vertices
+	ply_put_element_setup( ply , "vertex" );
+	for( i=0; i<mesh.pointCount() ; i++ )
+	{
+        Kazhdan::Point p;
+		mesh.nextPoint(p);
+        Vertex vertex(p);
+		vertex = xForm * ( vertex );
+		ply_put_element(ply, (void *) &vertex);
+	}  // for, write vertices
+
+	// write faces
+	Kazhdan::Polygon polygon;
+	ply_put_element_setup( ply , "face" );
+	for( i=0 ; i<nr_faces ; i++ )
+	{
+		//
+		// create and fill a struct that the ply code can handle
+		//
+		PlyFace ply_face;
+		mesh.nextPolygon(polygon);
+		ply_face.nr_vertices = int( polygon.size() );
+		ply_face.vertices = new int[ polygon.size() ];
+		for( int i=0 ; i<int(polygon.size()) ; i++ )
+			ply_face.vertices[i] = polygon[i];
+		ply_put_element( ply, (void *) &ply_face );
+		delete[] ply_face.vertices;
+	}  // for, write faces
+
+	ply_close( ply );
+	return 1;
+}
+inline int PlyDefaultFileType(void){return PLY_ASCII;}
+
+#endif /* !__PLY_H__ */
diff --git a/vendor/kazhdan/PoissonRecon.h b/vendor/kazhdan/PoissonRecon.h
new file mode 100644
index 0000000..abbc7bb
--- /dev/null
+++ b/vendor/kazhdan/PoissonRecon.h
@@ -0,0 +1,532 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#undef FAST_COMPILE
+#undef ARRAY_DEBUG
+#define BRUNO_LEVY_FIX
+#define FOR_RELEASE
+
+//ABELL - Necessary?
+/**
+#if defined( _WIN32 ) || defined( _WIN64 )
+#include <Windows.h>
+#include <Psapi.h>
+#endif // _WIN32 || _WIN64
+**/
+
+#include <iostream>
+#include <vector>
+#include <string>
+#ifdef _OPENMP
+#include <omp.h>
+#endif // _OPENMP
+
+#include "MultiGridOctreeData.h"
+#include "Mesh.h"
+#include "point_source/TransformedPointSource.h"
+
+constexpr BoundaryType BType = BOUNDARY_NEUMANN;
+constexpr int Degree = 2;
+
+void DumpOutput( const char* format , ... );
+void DumpOutput2( std::vector< char* >& comments , const char* format , ... );
+#include "MultiGridOctreeData.h"
+
+#define DEFAULT_FULL_DEPTH 5
+
+#define XSTR(x) STR(x)
+#define STR(x) #x
+/**
+#if DEFAULT_FULL_DEPTH
+#pragma message ( "[WARNING] Setting default full depth to " XSTR(DEFAULT_FULL_DEPTH) )
+#endif // DEFAULT_FULL_DEPTH
+**/
+
+#include <stdarg.h>
+
+template<typename Real>
+XForm4x4<Real> GetPointXForm(PointSource& source, Real scaleFactor)
+{
+	Point3D<double> min , max;
+	source.boundingBox(min, max);
+	Point3D<double> center = ( max + min ) / 2;
+	Real scale = std::max( max[0]-min[0],
+        std::max(max[1]-min[1], max[2]-min[2]));
+	scale *= scaleFactor;
+	for( int i=0 ; i<3 ; i++ )
+        center[i] -= scale/2;
+
+	XForm4x4<Real> tXForm = XForm4x4<Real>::Identity();
+    XForm4x4<Real> sXForm = XForm4x4<Real>::Identity();
+	for( int i=0 ; i<3 ; i++ )
+    {
+        sXForm(i,i) = (Real)(1./scale );
+        tXForm(3,i) = -center[i];
+    }
+	return sXForm * tXForm;
+}
+
+template<typename Real>
+using ProjData = ProjectiveData<Point3D<Real>, Real>;
+
+template<typename Real>
+using DataSample = ProjData<Real>;
+
+template<typename Real>
+using DataSampleVec = std::vector<DataSample<Real>>;
+
+template<typename Real>
+using OctreeSample = typename Octree<Real>::PointSample;
+
+template <typename Real>
+using OctreeSampleVec = std::vector<OctreeSample<Real>>;
+
+template<typename Real>
+using DensityEstimator = typename Octree<Real>::DensityEstimator;
+
+template<typename Real>
+using InterpolationInfo =
+    typename Octree<Real>::template InterpolationInfo<false>;
+
+template<typename Real>
+struct PoissonOpts
+{
+    int m_threads;
+    int m_voxelDepth;
+    bool m_primalVoxel;
+    bool m_verbose;
+    bool m_confidence;
+    bool m_hasColor;
+    Real m_color;
+    std::string m_voxelFilename;
+    std::string m_xformFilename;
+    Real m_samplesPerNode;
+    int m_depth;
+    int m_cgDepth;
+    int m_iterations;
+    bool m_showResidual;
+    Real m_lowResIterMult;
+    int m_kernelDepth;
+    int m_solveDepth; // MaxSolveDepth );
+    Real m_solverAccuracy;
+    Real m_pointWeight;
+    int m_adaptExponent; // 1
+    bool m_density;
+    bool m_linearFit;
+    bool m_nonManifold;
+    bool m_polygonMesh;
+    int m_fullDepth;
+    Real m_scale;
+
+    PoissonOpts() : m_threads(1), m_voxelDepth(-1), m_primalVoxel(false),
+        m_verbose(false), m_confidence(false), m_color(16),
+        m_samplesPerNode(1.5), m_depth(8), m_cgDepth(0), m_iterations(8),
+        m_showResidual(false), m_lowResIterMult(1), m_kernelDepth(0),
+        m_solveDepth(0), m_solverAccuracy(1e-3), m_pointWeight(4),
+        m_adaptExponent(1), m_density(false), m_linearFit(false),
+        m_nonManifold(false), m_polygonMesh(false), m_fullDepth(5),
+        m_scale(1.1)
+    {}
+
+    void dump()
+    {
+        std::cerr << "Threads = " << m_threads << "!\n";
+        std::cerr << "Voxel depth = " << m_voxelDepth << "!\n";
+        std::cerr << "Primal voxel = " << m_primalVoxel << "!\n";
+        std::cerr << "Verbose = " << m_verbose << "!\n";
+        std::cerr << "Confidence = " << m_confidence << "!\n";
+        std::cerr << "Has color = " << m_hasColor << "!\n";
+        std::cerr << "Color = " << m_color << "!\n";
+        std::cerr << "Voxel filename = " << m_voxelFilename << "!\n";
+        std::cerr << "Xform filename = " << m_xformFilename << "!\n";
+        std::cerr << "Samples per node = " << m_samplesPerNode << "!\n";
+        std::cerr << "Depth = " << m_depth << "!\n";
+        std::cerr << "CG depth = " << m_cgDepth << "!\n";
+        std::cerr << "Iterations = " << m_iterations << "!\n";
+        std::cerr << "Show residual = " << m_showResidual << "!\n";
+        std::cerr << "Low res multiplier = " << m_lowResIterMult << "!\n";
+        std::cerr << "Kernel depth = " << m_kernelDepth << "!\n";
+        std::cerr << "Solve depth = " << m_solveDepth << "!\n";
+        std::cerr << "Solver accuracy = " << m_solverAccuracy << "!\n";
+        std::cerr << "Point weight = " << m_pointWeight << "!\n";
+        std::cerr << "Adapt exponent = " << m_adaptExponent << "!\n";
+        std::cerr << "Density = " << m_density << "!\n";
+        std::cerr << "Linear fit = " << m_linearFit << "!\n";
+        std::cerr << "Non-manifold = " << m_nonManifold << "!\n";
+        std::cerr << "Poly mesh = " << m_polygonMesh << "!\n";
+        std::cerr << "Full depth = " << m_fullDepth << "!\n";
+        std::cerr << "Scale = " << m_scale << "!\n";
+    }
+};
+
+class Profiler
+{
+public:
+    void start()
+    {}
+    void dumpOutput(const std::string& s)
+        { std::cerr << s << std::endl; }
+    void dumpOutput2(std::vector<std::string>& comments, const std::string& s)
+    {
+        comments.push_back(s);
+        dumpOutput(s);
+    }
+};
+
+template<class Real>
+class PoissonRecon
+{
+public:
+    PoissonRecon(PoissonOpts<Real> opts, PointSource& pointSource) :
+        m_opts(opts), m_pointSource(pointSource),
+        m_xForm(XForm4x4<Real>::Identity()),
+        m_samples(new OctreeSampleVec<Real>), m_isoValue(0)
+    {}
+    void execute();
+    void evaluate();
+    void extractMesh(Kazhdan::Mesh& mesh);
+    std::vector<std::string> comments() const
+        { return m_comments; }
+    XForm4x4<Real> inverseTransform() const
+        { return m_iXForm; }
+
+private:
+    void readData();
+    void calcDensity();
+    void calcNormalData();
+    void readXForm(const std::string& filename);
+    void trim();
+    void addFEMConstraints();
+    void addInterpolationConstraints();
+    void solve();
+    void writeVoxels();
+
+    template<typename Vertex>
+    void writeSurface(Kazhdan::Mesh& mesh);
+
+private:
+    PoissonOpts<Real> m_opts;
+    PointSource& m_pointSource;
+    XForm4x4<Real> m_xForm;
+    XForm4x4<Real> m_iXForm; // Inverse transform.
+    Octree<Real> m_tree;
+    Profiler m_profiler;  // OctreeProfiler<Real>(tree);
+    DataSampleVec<Real> *m_sampleData;
+    OctreeSampleVec<Real> *m_samples;
+    Real m_isoValue;
+    double m_startTime;
+    DensityEstimator<Real> *m_density;
+    SparseNodeData<Point3D<Real> > m_normalInfo;
+    Real m_pointWeightSum;
+    DenseNodeData<Real> m_constraints;
+    DenseNodeData<Real> m_solution;
+    InterpolationInfo<Real> *m_interp;
+    std::vector<std::string> m_comments;
+};
+
+
+inline void writeVoxelValues(FILE *fp, size_t count, float *values)
+{
+    fwrite(values, sizeof(float), count * count * count, fp);
+}
+
+inline void writeVoxelValues(FILE *fp, size_t count, double *values)
+{
+    while (count--)
+    {
+        float f = (float) *values++;
+        fwrite(&f, sizeof(float), 1, fp);
+    }
+}
+
+
+template <typename Real>
+void PoissonRecon<Real>::writeVoxels()
+{
+    if (m_opts.m_voxelFilename.empty())
+        return;
+    FILE* fp = fopen(m_opts.m_voxelFilename.data(), "wb" );
+    if ( !fp )
+        std::cerr << "Failed to open voxel file for writing: " <<
+            m_opts.m_voxelFilename << std::endl;
+    else
+    {
+        int res = 0;
+        Pointer( Real ) values =
+            m_tree.template voxelEvaluate<Real, Degree, BType>(m_solution, res,
+            m_isoValue, m_opts.m_voxelDepth, m_opts.m_primalVoxel);
+        fwrite( &res , sizeof(int) , 1 , fp );
+        writeVoxelValues(fp, res * res * res, values);
+        fclose( fp );
+        DeletePointer( values );
+    }
+}
+
+template <typename Real>
+void PoissonRecon<Real>::extractMesh(Kazhdan::Mesh& mesh)
+{
+    if (m_opts.m_density && m_opts.m_hasColor)
+    {
+        writeSurface<PlyColorAndValueVertex<float>>(mesh);
+    }
+    else if (m_opts.m_density)
+    {
+        writeSurface<PlyValueVertex<float>>(mesh);
+    }
+    else if (m_opts.m_hasColor)
+    {
+        writeSurface<PlyColorVertex<float>>(mesh);
+    }
+    else
+    {
+        writeSurface<PlyVertex<float>>(mesh);
+    }
+}
+
+template <typename Real>
+template<typename Vertex>
+void PoissonRecon<Real>::writeSurface(Kazhdan::Mesh& mesh)
+{
+    using ColorData = SparseNodeData<ProjectiveData<Point3D<Real>, Real> >;
+
+    m_profiler.start();
+    ColorData colorData = m_tree.template setDataField<DATA_DEGREE, false,
+        WEIGHT_DEGREE>(
+        *m_samples, *m_sampleData, (DensityEstimator<Real> *)nullptr);
+    for (const OctNode<TreeNodeData>* n = m_tree.tree().nextNode(); n;
+        n = m_tree.tree().nextNode(n))
+    {
+        ProjectiveData<Point3D<Real>, Real> *color = colorData(n);
+        if (color)
+            *color *= pow(m_opts.m_color, m_tree.depth(n));
+    }
+
+    m_tree.template getMCIsoSurface<Degree, BType, WEIGHT_DEGREE, DATA_DEGREE, Vertex>
+        (m_density, &colorData, m_solution, m_isoValue, mesh,
+         !m_opts.m_linearFit, !m_opts.m_nonManifold, m_opts.m_polygonMesh);
+}
+
+template<typename Real>
+void PoissonRecon<Real>::readXForm(const std::string& filename)
+{
+    if (filename.empty())
+        return;
+
+    FILE* fp = fopen(filename.data(), "r" );
+    if( !fp )
+    {
+        fprintf( stderr , "[WARNING] Could not read x-form from: %s\n" ,
+            filename.data());
+        return;
+    }
+    for( int i=0 ; i<4 ; i++ )
+        for( int j=0 ; j<4 ; j++ )
+        {
+            float f;
+            if ( fscanf( fp , " %f " , &f )!= 1 )
+            {
+                fprintf( stderr , "[ERROR] Execute: Failed to read xform\n" );
+                exit( 0 );
+            }
+            m_xForm(i,j) = (Real)f;
+        }
+    fclose( fp );
+}
+
+template<typename Real>
+int loadOctTree(Octree<Real>& tree, XForm4x4<Real>& xForm, PointSource& source,
+    int depth, bool confidence, OctreeSampleVec<Real> *samples,
+    DataSampleVec<Real> *sampleData)
+{
+    try
+    {
+        ColorPointSource& colorSource =
+            dynamic_cast<ColorPointSource &>(source);
+
+        ColorTransformedPointSource xsource(xForm, colorSource);
+        return tree.template init< Point3D< Real >>(xsource, depth,
+            confidence, *samples, sampleData);
+    }
+    catch (std::bad_cast)
+    {}
+
+    TransformedPointSource xsource(xForm, source);
+    return tree.template init<Point3D<Real>>(xsource, depth,
+        confidence, *samples, sampleData);
+}
+
+template<typename Real>
+void PoissonRecon<Real>::readData()
+{
+    m_profiler.start();
+
+    m_sampleData = new DataSampleVec<Real>();
+    TransformedPointSource xPointSource(m_xForm, m_pointSource);
+    m_xForm = GetPointXForm(xPointSource, m_opts.m_scale) * m_xForm;
+    m_iXForm = m_xForm.inverse();
+    int pointCount = loadOctTree(m_tree, m_xForm, m_pointSource, m_opts.m_depth,
+        m_opts.m_confidence, m_samples, m_sampleData);
+#pragma omp parallel for num_threads( m_opts.m_threads)
+    for( int i=0 ; i<(int)m_samples->size() ; i++ )
+        (*m_samples)[i].sample.data.n *= (Real)-1;
+
+    m_profiler.dumpOutput2(m_comments , "# Read input into tree:");
+    m_tree.resetNodeIndices();
+}
+
+template<typename Real>
+void PoissonRecon<Real>::calcDensity()
+{
+    // Get the kernel density estimator [If discarding, compute anew.
+    // Otherwise, compute once.]
+    m_profiler.start();
+    m_density = m_tree.template setDensityEstimator<WEIGHT_DEGREE>(*m_samples,
+        m_opts.m_kernelDepth, m_opts.m_samplesPerNode);
+	m_profiler.dumpOutput2(m_comments , "#   Got kernel density:");
+}
+
+template<typename Real>
+void PoissonRecon<Real>::calcNormalData()
+{
+    // Transform the Hermite samples into a vector field.
+    m_profiler.start();
+    m_normalInfo = m_tree.template setNormalField< NORMAL_DEGREE,
+        WEIGHT_DEGREE >(*m_samples, *m_density , m_pointWeightSum ,
+        BType==BOUNDARY_NEUMANN);
+    m_profiler.dumpOutput2(m_comments , "#     Got normal field:" );
+}
+
+template<typename Real>
+void PoissonRecon<Real>::trim()
+{
+    // Trim the tree and prepare for multigrid
+    m_profiler.start();
+    std::vector<int> indexMap;
+
+    constexpr int MAX_DEGREE = NORMAL_DEGREE > Degree ?
+        NORMAL_DEGREE : Degree;
+    m_tree.template inalizeForBroodedMultigrid<MAX_DEGREE, Degree, BType>
+        (m_opts.m_fullDepth, typename Octree<Real>::template
+        HasNormalDataFunctor<NORMAL_DEGREE>( m_normalInfo ) , &indexMap);
+
+    m_normalInfo.remapIndices(indexMap);
+    if (m_density)
+        m_density->remapIndices( indexMap );
+    m_profiler.dumpOutput2(m_comments , "#       Finalized tree:" );
+}
+
+template<typename Real>
+void PoissonRecon<Real>::addFEMConstraints()
+{
+    m_profiler.start();
+
+    // This just initializes a vector of data to 0.  Blarf.
+    m_constraints = m_tree.initDenseNodeData();
+//ABELL - This is really slow!
+    m_tree.template addFEMConstraints<Degree, BType, NORMAL_DEGREE, BType>(
+        FEMVFConstraintFunctor<NORMAL_DEGREE, BType, Degree, BType >( 1., 0.),
+            m_normalInfo, m_constraints , m_opts.m_solveDepth);
+    m_profiler.dumpOutput2(m_comments , "#  Set FEM constraints:");
+}
+
+template<typename Real>
+void PoissonRecon<Real>::addInterpolationConstraints()
+{
+    m_profiler.start();
+    if (m_opts.m_pointWeight > 0)
+    {
+        m_interp = new InterpolationInfo<Real>(m_tree, *m_samples, .5,
+            m_opts.m_adaptExponent, m_pointWeightSum * m_opts.m_pointWeight, 0);
+        m_tree.template addInterpolationConstraints<Degree, BType>(*m_interp,
+            m_constraints, m_opts.m_solveDepth);
+    }
+    m_profiler.dumpOutput2(m_comments, "#Set point constraints:");
+}
+
+template<typename Real>
+void PoissonRecon<Real>::solve()
+{
+    m_profiler.start();
+    typename Octree<Real>::SolverInfo solverInfo;
+    solverInfo.cgDepth = m_opts.m_cgDepth;
+    solverInfo.iters = m_opts.m_iterations;
+    solverInfo.cgAccuracy = m_opts.m_solverAccuracy;
+    solverInfo.verbose = m_opts.m_verbose;
+    solverInfo.showResidual = m_opts.m_showResidual;
+    solverInfo.lowResIterMultiplier =
+        std::max((Real)1.0, m_opts.m_lowResIterMult);
+
+    m_solution = m_tree.template solveSystem<Degree, BType>(
+        FEMSystemFunctor<Degree, BType>(0, 1, 0), m_interp, m_constraints,
+        m_opts.m_solveDepth, solverInfo);
+}
+
+template<typename Real>
+void PoissonRecon<Real>::execute()
+{
+    readXForm(m_opts.m_xformFilename);
+    m_comments.push_back("Running Screened Poisson Reconstruction "
+        "(Version 9.01)");
+//    m_debug.dump(m_comments.back());
+    m_tree.threads = m_opts.m_threads;
+	OctNode< TreeNodeData >::SetAllocator( MEMORY_ALLOCATOR_BLOCK_SIZE );
+    readData();
+
+	Real pointWeightSum;
+    calcDensity();
+    calcNormalData();
+    trim();
+    addFEMConstraints();
+    addInterpolationConstraints();
+    solve();
+}
+
+template<typename Real>
+void PoissonRecon<Real>::evaluate()
+{
+    m_profiler.start();
+    double valueSum = 0;
+    double weightSum = 0;
+    typename Octree<Real>::template MultiThreadedEvaluator<Degree, BType>
+        evaluator(&m_tree, m_solution, m_opts.m_threads);
+    for (auto & s : *m_samples)
+    {
+        ProjectiveData<OrientedPoint3D<Real>, Real>& sample = s.sample;
+        Real w = sample.weight;
+        if (w > 0)
+        {
+            weightSum += w;
+            valueSum += evaluator.value(sample.data.p / sample.weight,
+                omp_get_thread_num(), s.node)  * w;
+        }
+    }
+    m_isoValue = valueSum / weightSum;
+
+    m_profiler.dumpOutput("Got average:");
+}
+
diff --git a/vendor/kazhdan/Polynomial.h b/vendor/kazhdan/Polynomial.h
new file mode 100644
index 0000000..397b7bd
--- /dev/null
+++ b/vendor/kazhdan/Polynomial.h
@@ -0,0 +1,100 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef POLYNOMIAL_INCLUDED
+#define POLYNOMIAL_INCLUDED
+
+#define NEW_POLYNOMIAL_CODE 1
+
+#include <vector>
+
+template< int Degree >
+class Polynomial
+{
+public:
+	double coefficients[Degree+1];
+
+	Polynomial(void);
+	template<int Degree2>
+	Polynomial(const Polynomial<Degree2>& P);
+	double operator()( double t ) const;
+	double integral( double tMin , double tMax ) const;
+
+	int operator == (const Polynomial& p) const;
+	int operator != (const Polynomial& p) const;
+	int isZero(void) const;
+	void setZero(void);
+
+	template<int Degree2>
+	Polynomial& operator  = (const Polynomial<Degree2> &p);
+	Polynomial& operator += (const Polynomial& p);
+	Polynomial& operator -= (const Polynomial& p);
+	Polynomial  operator -  (void) const;
+	Polynomial  operator +  (const Polynomial& p) const;
+	Polynomial  operator -  (const Polynomial& p) const;
+	template<int Degree2>
+	Polynomial<Degree+Degree2>  operator *  (const Polynomial<Degree2>& p) const;
+
+	Polynomial& operator += ( double s );
+	Polynomial& operator -= ( double s );
+	Polynomial& operator *= ( double s );
+	Polynomial& operator /= ( double s );
+	Polynomial  operator +  ( double s ) const;
+	Polynomial  operator -  ( double s ) const;
+	Polynomial  operator *  ( double s ) const;
+	Polynomial  operator /  ( double s ) const;
+
+	Polynomial scale( double s ) const;
+	Polynomial shift( double t ) const;
+
+	Polynomial<Degree-1> derivative(void) const;
+	Polynomial<Degree+1> integral(void) const;
+
+	void printnl(void) const;
+
+	Polynomial& addScaled(const Polynomial& p,double scale);
+
+	static void Negate(const Polynomial& in,Polynomial& out);
+	static void Subtract(const Polynomial& p1,const Polynomial& p2,Polynomial& q);
+	static void Scale(const Polynomial& p,double w,Polynomial& q);
+	static void AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,double w2,Polynomial& q);
+	static void AddScaled(const Polynomial& p1,const Polynomial& p2,double w2,Polynomial& q);
+	static void AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,Polynomial& q);
+
+	void getSolutions(double c,std::vector<double>& roots,double EPS) const;
+	int getSolutions( double c , double* roots , double EPS ) const;
+
+	// [NOTE] Both of these methods define the indexing according to DeBoor's algorithm, so that
+	// Polynomial< Degree >BSplineComponent( 0 )( 1.0 )=0 for all Degree>0.
+	static Polynomial BSplineComponent( int i );
+	static void BSplineComponentValues( double x , double* values );
+	static void BinomialCoefficients( int bCoefficients[Degree+1] );
+};
+
+#include "Polynomial.inl"
+#endif // POLYNOMIAL_INCLUDED
diff --git a/vendor/kazhdan/Polynomial.inl b/vendor/kazhdan/Polynomial.inl
new file mode 100644
index 0000000..4756ec4
--- /dev/null
+++ b/vendor/kazhdan/Polynomial.inl
@@ -0,0 +1,378 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <float.h>
+#include <math.h>
+#include <algorithm>
+#include "Factor.h"
+
+////////////////
+// Polynomial //
+////////////////
+template<int Degree>
+Polynomial<Degree>::Polynomial(void){memset(coefficients,0,sizeof(double)*(Degree+1));}
+template<int Degree>
+template<int Degree2>
+Polynomial<Degree>::Polynomial(const Polynomial<Degree2>& P){
+	memset(coefficients,0,sizeof(double)*(Degree+1));
+	for(int i=0;i<=Degree && i<=Degree2;i++){coefficients[i]=P.coefficients[i];}
+}
+
+
+template<int Degree>
+template<int Degree2>
+Polynomial<Degree>& Polynomial<Degree>::operator  = (const Polynomial<Degree2> &p){
+	int d=Degree<Degree2?Degree:Degree2;
+	memset(coefficients,0,sizeof(double)*(Degree+1));
+	memcpy(coefficients,p.coefficients,sizeof(double)*(d+1));
+	return *this;
+}
+
+template<int Degree>
+Polynomial<Degree-1> Polynomial<Degree>::derivative(void) const{
+	Polynomial<Degree-1> p;
+	for(int i=0;i<Degree;i++){p.coefficients[i]=coefficients[i+1]*(i+1);}
+	return p;
+}
+
+template<int Degree>
+Polynomial<Degree+1> Polynomial<Degree>::integral(void) const{
+	Polynomial<Degree+1> p;
+	p.coefficients[0]=0;
+	for(int i=0;i<=Degree;i++){p.coefficients[i+1]=coefficients[i]/(i+1);}
+	return p;
+}
+template<> double Polynomial< 0 >::operator() ( double t ) const { return coefficients[0]; }
+template<> double Polynomial< 1 >::operator() ( double t ) const { return coefficients[0]+coefficients[1]*t; }
+template<> double Polynomial< 2 >::operator() ( double t ) const { return coefficients[0]+(coefficients[1]+coefficients[2]*t)*t; }
+template<int Degree>
+double Polynomial<Degree>::operator() ( double t ) const{
+	double v=coefficients[Degree];
+	for( int d=Degree-1 ; d>=0 ; d-- ) v = v*t + coefficients[d];
+	return v;
+}
+template<int Degree>
+double Polynomial<Degree>::integral( double tMin , double tMax ) const
+{
+	double v=0;
+	double t1,t2;
+	t1=tMin;
+	t2=tMax;
+	for(int i=0;i<=Degree;i++){
+		v+=coefficients[i]*(t2-t1)/(i+1);
+		if(t1!=-DBL_MAX && t1!=DBL_MAX){t1*=tMin;}
+		if(t2!=-DBL_MAX && t2!=DBL_MAX){t2*=tMax;}
+	}
+	return v;
+}
+template<int Degree>
+int Polynomial<Degree>::operator == (const Polynomial& p) const{
+	for(int i=0;i<=Degree;i++){if(coefficients[i]!=p.coefficients[i]){return 0;}}
+	return 1;
+}
+template<int Degree>
+int Polynomial<Degree>::operator != (const Polynomial& p) const{
+	for(int i=0;i<=Degree;i++){if(coefficients[i]==p.coefficients[i]){return 0;}}
+	return 1;
+}
+template<int Degree>
+int Polynomial<Degree>::isZero(void) const{
+	for(int i=0;i<=Degree;i++){if(coefficients[i]!=0){return 0;}}
+	return 1;
+}
+template<int Degree>
+void Polynomial<Degree>::setZero(void){memset(coefficients,0,sizeof(double)*(Degree+1));}
+
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::addScaled(const Polynomial& p,double s){
+	for(int i=0;i<=Degree;i++){coefficients[i]+=p.coefficients[i]*s;}
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator += (const Polynomial<Degree>& p){
+	for(int i=0;i<=Degree;i++){coefficients[i]+=p.coefficients[i];}
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator -= (const Polynomial<Degree>& p){
+	for(int i=0;i<=Degree;i++){coefficients[i]-=p.coefficients[i];}
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator + (const Polynomial<Degree>& p) const{
+	Polynomial q;
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=(coefficients[i]+p.coefficients[i]);}
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator - (const Polynomial<Degree>& p) const{
+	Polynomial q;
+	for(int i=0;i<=Degree;i++)	{q.coefficients[i]=coefficients[i]-p.coefficients[i];}
+	return q;
+}
+template<int Degree>
+void Polynomial<Degree>::Scale(const Polynomial& p,double w,Polynomial& q){
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=p.coefficients[i]*w;}
+}
+template<int Degree>
+void Polynomial<Degree>::AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,double w2,Polynomial& q){
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=p1.coefficients[i]*w1+p2.coefficients[i]*w2;}
+}
+template<int Degree>
+void Polynomial<Degree>::AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,Polynomial& q){
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=p1.coefficients[i]*w1+p2.coefficients[i];}
+}
+template<int Degree>
+void Polynomial<Degree>::AddScaled(const Polynomial& p1,const Polynomial& p2,double w2,Polynomial& q){
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=p1.coefficients[i]+p2.coefficients[i]*w2;}
+}
+
+template<int Degree>
+void Polynomial<Degree>::Subtract(const Polynomial &p1,const Polynomial& p2,Polynomial& q){
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=p1.coefficients[i]-p2.coefficients[i];}
+}
+template<int Degree>
+void Polynomial<Degree>::Negate(const Polynomial& in,Polynomial& out){
+	out=in;
+	for(int i=0;i<=Degree;i++){out.coefficients[i]=-out.coefficients[i];}
+}
+
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator - (void) const{
+	Polynomial q=*this;
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=-q.coefficients[i];}
+	return q;
+}
+template<int Degree>
+template<int Degree2>
+Polynomial<Degree+Degree2> Polynomial<Degree>::operator * (const Polynomial<Degree2>& p) const{
+	Polynomial<Degree+Degree2> q;
+	for(int i=0;i<=Degree;i++){for(int j=0;j<=Degree2;j++){q.coefficients[i+j]+=coefficients[i]*p.coefficients[j];}}
+	return q;
+}
+
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator += ( double s )
+{
+	coefficients[0]+=s;
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator -= ( double s )
+{
+	coefficients[0]-=s;
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator *= ( double s )
+{
+	for(int i=0;i<=Degree;i++){coefficients[i]*=s;}
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree>& Polynomial<Degree>::operator /= ( double s )
+{
+	for(int i=0;i<=Degree;i++){coefficients[i]/=s;}
+	return *this;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator + ( double s ) const
+{
+	Polynomial<Degree> q=*this;
+	q.coefficients[0]+=s;
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator - ( double s ) const
+{
+	Polynomial q=*this;
+	q.coefficients[0]-=s;
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator * ( double s ) const
+{
+	Polynomial q;
+	for(int i=0;i<=Degree;i++){q.coefficients[i]=coefficients[i]*s;}
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::operator / ( double s ) const
+{
+	Polynomial q;
+	for( int i=0 ; i<=Degree ; i++ ) q.coefficients[i] = coefficients[i]/s;
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::scale( double s ) const
+{
+	Polynomial q=*this;
+	double s2=1.0;
+	for(int i=0;i<=Degree;i++){
+		q.coefficients[i]*=s2;
+		s2/=s;
+	}
+	return q;
+}
+template<int Degree>
+Polynomial<Degree> Polynomial<Degree>::shift( double t ) const
+{
+	Polynomial<Degree> q;
+	for(int i=0;i<=Degree;i++){
+		double temp=1;
+		for(int j=i;j>=0;j--){
+			q.coefficients[j]+=coefficients[i]*temp;
+			temp*=-t*j;
+			temp/=(i-j+1);
+		}
+	}
+	return q;
+}
+template<int Degree>
+void Polynomial<Degree>::printnl(void) const{
+	for(int j=0;j<=Degree;j++){
+		printf("%6.4f x^%d ",coefficients[j],j);
+		if(j<Degree && coefficients[j+1]>=0){printf("+");}
+	}
+	printf("\n");
+}
+
+template<int Degree>
+void Polynomial<Degree>::getSolutions(double c,
+    std::vector<double>& realRoots, double EPS) const
+{
+    double roots[3];
+    int numRoots = getSolutions(c, roots, EPS);
+    for (size_t i = 0; i < numRoots; ++i)
+        realRoots.push_back(roots[i]);
+}
+
+template<>
+int Polynomial<1>::getSolutions( double c , double* roots , double EPS ) const
+{
+	double _roots[1][2];
+	Factor(coefficients[1] , coefficients[0]-c , _roots , EPS );
+
+    int realRoots = 0;
+    if (fabs(_roots[0][1]) <= EPS)
+        roots[realRoots++] = _roots[0][0];
+    return realRoots;
+}
+
+template<>
+int Polynomial<2>::getSolutions( double c , double* roots , double EPS ) const
+{
+	double _roots[2][2];
+    Factor(coefficients[2] , coefficients[1] , coefficients[0]-c, _roots, EPS);
+
+    int realRoots = 0;
+    if (fabs(_roots[0][1]) <= EPS)
+        roots[realRoots++] = _roots[0][0];
+    if (fabs(_roots[1][1]) <= EPS)
+        roots[realRoots++] = _roots[1][0];
+    return realRoots;
+}
+
+template<>
+int Polynomial<3>::getSolutions(double c, double *roots, double EPS) const
+{
+	double _roots[3][2];
+    Factor(coefficients[3] , coefficients[2] , coefficients[1] ,
+        coefficients[0]-c , _roots , EPS );
+
+    int realRoots = 0;
+    if (fabs(_roots[0][1]) <= EPS)
+        roots[realRoots++] = _roots[0][0];
+    if (fabs(_roots[1][1]) <= EPS)
+        roots[realRoots++] = _roots[1][0];
+    if (fabs(_roots[2][1]) <= EPS)
+        roots[realRoots++] = _roots[2][0];
+    return realRoots;
+}
+
+// The 0-th order B-spline
+template< >
+Polynomial< 0 > Polynomial< 0 >::BSplineComponent( int i )
+{
+	Polynomial p;
+	p.coefficients[0] = 1.;
+	return p;
+}
+
+// The Degree-th order B-spline
+template< int Degree >
+Polynomial< Degree > Polynomial< Degree >::BSplineComponent( int i )
+{
+	// B_d^i(x) = \int_x^1 B_{d-1}^{i}(y) dy + \int_0^x B_{d-1}^{i-1} y dy
+	//          = \int_0^1 B_{d-1}^{i}(y) dy - \int_0^x B_{d-1}^{i}(y) dy + \int_0^x B_{d-1}^{i-1} y dy
+	Polynomial p;
+	if( i<Degree )
+	{
+		Polynomial< Degree > _p = Polynomial< Degree-1 >::BSplineComponent( i ).integral();
+		p -= _p;
+		p.coefficients[0] += _p(1);
+	}
+	if( i>0 )
+	{
+		Polynomial< Degree > _p = Polynomial< Degree-1 >::BSplineComponent( i-1 ).integral();
+		p += _p;
+	}
+	return p;
+}
+
+
+// The 0-th order B-spline values
+template< > void Polynomial< 0 >::BSplineComponentValues( double x , double* values ){ values[0] = 1.; }
+// The Degree-th order B-spline
+template< int Degree > void Polynomial< Degree >::BSplineComponentValues( double x , double* values )
+{
+	const double Scale = 1./Degree;
+	Polynomial< Degree-1 >::BSplineComponentValues( x , values+1 );
+	values[0] = values[1] * (1.-x) * Scale;
+	for( int i=1 ; i<Degree ; i++ )
+	{
+		double x1 = (x-i+Degree) , x2 = (-x+i+1);
+		values[i] = ( values[i]*x1 + values[i+1]*x2 ) * Scale;
+	}
+	values[Degree] *= x * Scale;
+}
+
+// Using the recurrence formulation for Pascal's triangle
+template< > void Polynomial< 0 >::BinomialCoefficients( int bCoefficients[1] ){ bCoefficients[0] = 1; }
+template< int Degree > void Polynomial< Degree >::BinomialCoefficients( int bCoefficients[Degree+1] )
+{
+	Polynomial< Degree-1 >::BinomialCoefficients( bCoefficients );
+	int leftValue = 0;
+	for( int i=0 ; i<Degree ; i++ )
+	{
+		int temp = bCoefficients[i];
+		bCoefficients[i] += leftValue;
+		leftValue = temp;
+	}
+	bCoefficients[Degree] = 1;
+}
diff --git a/vendor/kazhdan/SparseMatrix.h b/vendor/kazhdan/SparseMatrix.h
new file mode 100644
index 0000000..f133157
--- /dev/null
+++ b/vendor/kazhdan/SparseMatrix.h
@@ -0,0 +1,194 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution. 
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#ifndef __SPARSEMATRIX_HPP
+#define __SPARSEMATRIX_HPP
+
+#define NEW_SPARSE_MATRIX 1
+#define ZERO_TESTING_JACOBI 1
+
+
+#include "Array.h"
+
+template <class T>
+struct MatrixEntry
+{
+	MatrixEntry( void )		    { N =-1; Value = 0; }
+	MatrixEntry( int i )	    { N = i; Value = 0; }
+	MatrixEntry( int i , T v )	{ N = i; Value = v; }
+	int N;
+	T Value;
+};
+
+template<class T> class SparseMatrix
+{
+private:
+	bool _contiguous;
+	int _maxEntriesPerRow;
+	void _init( void );
+public:
+	int rows;
+	Pointer( int ) rowSizes;
+	Pointer( Pointer( MatrixEntry< T > ) ) m_ppElements;
+	Pointer( MatrixEntry< T > ) operator[] ( int idx ) { return m_ppElements[idx]; }
+	ConstPointer( MatrixEntry< T > ) operator[] ( int idx ) const { return m_ppElements[idx]; }
+
+	SparseMatrix( void );
+	SparseMatrix( int rows );
+	SparseMatrix( int rows , int maxEntriesPerRow );
+	void Resize( int rows );
+	void Resize( int rows , int maxEntriesPerRow );
+	void SetRowSize( int row , int count );
+	int Entries( void ) const;
+
+	SparseMatrix( const SparseMatrix& M );
+	~SparseMatrix();
+
+	void SetZero();
+
+	SparseMatrix<T>& operator = (const SparseMatrix<T>& M);
+
+	SparseMatrix<T> operator * (const T& V) const;
+	SparseMatrix<T>& operator *= (const T& V);
+
+	template< class T2 > void Multiply( ConstPointer( T2 ) in , Pointer( T2 ) out , int threads=1 ) const;
+	template< class T2 > void MultiplyAndAddAverage( ConstPointer( T2 ) in , Pointer( T2 ) out , int threads=1 ) const;
+
+	bool write( FILE* fp ) const;
+	bool write( const char* fileName ) const;
+	bool read( FILE* fp );
+	bool read( const char* fileName );
+
+	template< class T2 > void getDiagonal( Pointer( T2 ) diagonal , int threads=1 ) const;
+	template< class T2 > static int SolveJacobi( const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , Pointer( T2 ) Mx , T2 sor , int threads=1 );
+	template< class T2 > static int SolveJacobi( const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , Pointer( T2 ) Mx , T2 sor , int threads=1 );
+	template< class T2 > static int SolveGS( const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward );
+	template< class T2 > static int SolveGS( const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward );
+	template< class T2 > static int SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward , int threads=1 );
+	template< class T2 > static int SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward , int threads=1 );
+	template< class T2 > static int SolveCG( const SparseMatrix<T>& M , ConstPointer( T2 ) b , int iters , Pointer( T2 ) x , T2 eps=1e-8 , int reset=1 , bool addDCTerm=false , bool solveNormal=false , int threads=1 );
+};
+
+
+#if !NEW_SPARSE_MATRIX
+template< class T2 >
+struct MapReduceVector
+{
+private:
+	int _dim;
+public:
+	std::vector< T2* > out;
+	MapReduceVector( void ) { _dim = 0; }
+	~MapReduceVector( void )
+	{
+		if( _dim ) for( int t=0 ; t<int(out.size()) ; t++ ) delete[] out[t];
+		out.resize( 0 );
+	}
+	T2* operator[]( int t ) { return out[t]; }
+	const T2* operator[]( int t ) const { return out[t]; }
+	int threads( void ) const { return int( out.size() ); }
+	void resize( int threads , int dim )
+	{
+		if( threads!=out.size() || _dim<dim )
+		{
+			for( int t=0 ; t<int(out.size()) ; t++ ) delete[] out[t];
+			out.resize( threads );
+			for( int t=0 ; t<int(out.size()) ; t++ ) out[t] = new T2[dim];
+			_dim = dim;
+		}
+	}
+
+};
+
+template< class T >
+class SparseSymmetricMatrix : public SparseMatrix< T >
+{
+public:
+
+	template< class T2 >
+	Vector< T2 > operator * ( const Vector<T2>& V ) const;
+
+	template< class T2 >
+	Vector< T2 > Multiply( const Vector<T2>& V ) const;
+
+	template< class T2 >
+	void Multiply( const Vector<T2>& In, Vector<T2>& Out , bool addDCTerm=false ) const;
+
+	template< class T2 >
+	void Multiply( const Vector<T2>& In, Vector<T2>& Out , MapReduceVector< T2 >& OutScratch , bool addDCTerm=false ) const;
+
+	template< class T2 >
+	void Multiply( const Vector<T2>& In, Vector<T2>& Out , std::vector< T2* >& OutScratch , const std::vector< int >& bounds ) const;
+
+	template< class T2 >
+	static int SolveCG( const SparseSymmetricMatrix<T>& M , const Vector<T2>& b , int iters , Vector<T2>& x ,                                T2 eps=1e-8 , int reset=1 , int threads=0  , bool addDCTerm=false , bool solveNormal=false );
+
+	template< class T2 >
+	static int SolveCG( const SparseSymmetricMatrix<T>& M , const Vector<T2>& b , int iters , Vector<T2>& x , MapReduceVector<T2>& scratch , T2 eps=1e-8 , int reset=1 ,                  bool addDCTerm=false , bool solveNormal=false );
+#ifdef WIN32
+	template< class T2 >
+	static int SolveCGAtomic( const SparseSymmetricMatrix<T>& M , const Vector<T2>& b , int iters , Vector<T2>& x , T2 eps=1e-8 , int reset=1 , int threads=0  , bool solveNormal=false );
+#endif // WIN32
+	template< class T2 >
+	static int SolveJacobi( const SparseSymmetricMatrix<T>& M , const Vector<T2>& diagonal , const Vector<T2>& b ,             Vector<T2>& x , MapReduceVector<T2>& scratch , Vector<T2>& Mx , T2 sor        , int reset );
+	template< class T2 >
+	static int SolveJacobi( const SparseSymmetricMatrix<T>& M ,                              const Vector<T2>& b , int iters , Vector<T2>& x , MapReduceVector<T2>& scratch ,                  T2 sor=T2(1.) , int reset=1 );
+	template< class T2 >
+	static int SolveJacobi( const SparseSymmetricMatrix<T>& M , const Vector<T2>& diagonal , const Vector<T2>& b ,             Vector<T2>& x ,                                Vector<T2>& Mx , T2 sor        , int reset );
+	template< class T2 >
+	static int SolveJacobi( const SparseSymmetricMatrix<T>& M ,                              const Vector<T2>& b , int iters , Vector<T2>& x ,                                                 T2 sor=T2(1.) , int reset=1 );
+
+	enum
+	{
+		ORDERING_UPPER_TRIANGULAR ,
+		ORDERING_LOWER_TRIANGULAR ,
+		ORDERING_NONE
+	};
+	template< class T2 >
+	static int SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseSymmetricMatrix<T>& M , const Vector<T2>& diagonal , const Vector<T2>& b ,             Vector<T2>& x , MapReduceVector<T2>& scratch , Vector<T2>& Mx , Vector<T2>& dx , bool forward , int reset   );
+	template< class T2 >
+	static int SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseSymmetricMatrix<T>& M ,                              const Vector<T2>& b , int iters , Vector<T2>& x , MapReduceVector<T2>& scratch ,                                   bool forward , int reset=1 );
+
+	template< class T2 >
+	static int SolveGS( const SparseSymmetricMatrix<T>& M , const Vector<T2>& diagonal , const Vector<T2>& b ,             Vector<T2>& x , MapReduceVector<T2>& scratch , Vector<T2>& Mx , Vector<T2>& dx , bool forward , int reset   , int ordering );
+	template< class T2 >
+	static int SolveGS( const SparseSymmetricMatrix<T>& M ,                              const Vector<T2>& b , int iters , Vector<T2>& x , MapReduceVector<T2>& scratch ,                                   bool forward , int reset=1 , int ordering=ORDERING_NONE );
+	template< class T2 >
+	static int SolveGS( const SparseSymmetricMatrix<T>& M , const Vector<T2>& diagonal , const Vector<T2>& b ,             Vector<T2>& x ,                                Vector<T2>& Mx , Vector<T2>& dx , bool forward , int reset   , int ordering );
+	template< class T2 >
+	static int SolveGS( const SparseSymmetricMatrix<T>& M ,                              const Vector<T2>& b , int iters , Vector<T2>& x ,                                                                  bool forward , int reset=1 , int ordering=ORDERING_NONE );
+
+	template< class T2 >
+	void getDiagonal( Vector< T2 >& diagonal , int threads=1 ) const;
+};
+#endif // !NEW_SPARSE_MATRIX
+
+#include "SparseMatrix.inl"
+
+#endif
+
diff --git a/vendor/kazhdan/SparseMatrix.inl b/vendor/kazhdan/SparseMatrix.inl
new file mode 100644
index 0000000..2137211
--- /dev/null
+++ b/vendor/kazhdan/SparseMatrix.inl
@@ -0,0 +1,508 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <float.h>
+#include <string.h>
+
+
+///////////////////
+//  SparseMatrix //
+///////////////////
+///////////////////////////////////////
+// SparseMatrix Methods and Memebers //
+///////////////////////////////////////
+
+template< class T >
+void SparseMatrix< T >::_init( void )
+{
+	_contiguous = false;
+	_maxEntriesPerRow = 0;
+	rows = 0;
+	rowSizes = NullPointer( int );
+	m_ppElements = NullPointer( Pointer( MatrixEntry< T > ) );
+}
+
+template< class T > SparseMatrix< T >::SparseMatrix( void ){  _init(); }
+
+template< class T > SparseMatrix< T >::SparseMatrix( int rows                        ){ _init() , Resize( rows ); }
+template< class T > SparseMatrix< T >::SparseMatrix( int rows , int maxEntriesPerRow ){ _init() , Resize( rows , maxEntriesPerRow ); }
+
+template< class T >
+SparseMatrix< T >::SparseMatrix( const SparseMatrix& M )
+{
+	_init();
+	if( M._contiguous ) Resize( M.rows , M._maxEntriesPerRow );
+	else                Resize( M.rows );
+	for( int i=0 ; i<rows ; i++ )
+	{
+		SetRowSize( i , M.rowSizes[i] );
+		memcpy( (*this)[i] , M[i] , sizeof( MatrixEntry< T > ) * rowSizes[i] );
+	}
+}
+template<class T>
+int SparseMatrix<T>::Entries( void ) const
+{
+	int e = 0;
+	for( int i=0 ; i<rows ; i++ ) e += int( rowSizes[i] );
+	return e;
+}
+template<class T>
+SparseMatrix<T>& SparseMatrix<T>::operator = (const SparseMatrix<T>& M)
+{
+	if( M._contiguous ) Resize( M.rows , M._maxEntriesPerRow );
+	else                Resize( M.rows );
+	for( int i=0 ; i<rows ; i++ )
+	{
+		SetRowSize( i , M.rowSizes[i] );
+		memcpy( (*this)[i] , M[i] , sizeof( MatrixEntry< T > ) * rowSizes[i] );
+	}
+	return *this;
+}
+
+template<class T>
+SparseMatrix<T>::~SparseMatrix( void ){ Resize( 0 ); }
+
+template< class T >
+bool SparseMatrix< T >::write( const char* fileName ) const
+{
+	FILE* fp = fopen( fileName , "wb" );
+	if( !fp ) return false;
+	bool ret = write( fp );
+	fclose( fp );
+	return ret;
+}
+template< class T >
+bool SparseMatrix< T >::read( const char* fileName )
+{
+	FILE* fp = fopen( fileName , "rb" );
+	if( !fp ) return false;
+	bool ret = read( fp );
+	fclose( fp );
+	return ret;
+}
+template< class T >
+bool SparseMatrix< T >::write( FILE* fp ) const
+{
+	if( fwrite( &rows , sizeof( int ) , 1 , fp )!=1 ) return false;
+	if( fwrite( rowSizes , sizeof( int ) , rows , fp )!=rows ) return false;
+	for( int i=0 ; i<rows ; i++ ) if( fwrite( (*this)[i] , sizeof( MatrixEntry< T > ) , rowSizes[i] , fp )!=rowSizes[i] ) return false;
+	return true;
+}
+template< class T >
+bool SparseMatrix< T >::read( FILE* fp )
+{
+	int r;
+	if( fread( &r , sizeof( int ) , 1 , fp )!=1 ) return false;
+	Resize( r );
+	if( fread( rowSizes , sizeof( int ) , rows , fp )!=rows ) return false;
+	for( int i=0 ; i<rows ; i++ )
+	{
+		r = rowSizes[i];
+		rowSizes[i] = 0;
+		SetRowSize( i , r );
+		if( fread( (*this)[i] , sizeof( MatrixEntry< T > ) , rowSizes[i] , fp )!=rowSizes[i] ) return false;
+	}
+	return true;
+}
+
+
+template< class T >
+void SparseMatrix< T >::Resize( int r )
+{
+	if( rows>0 )
+	{
+		if( _contiguous ){ if( _maxEntriesPerRow ) FreePointer( m_ppElements[0] ); }
+		else for( int i=0 ; i<rows ; i++ ){ if( rowSizes[i] ) FreePointer( m_ppElements[i] ); }
+		FreePointer( m_ppElements );
+		FreePointer( rowSizes );
+	}
+	rows = r;
+	if( r )
+	{
+		rowSizes = AllocPointer< int >( r );
+		m_ppElements = AllocPointer< Pointer( MatrixEntry< T > ) >( r );
+		memset( rowSizes , 0 , sizeof( int ) * r );
+	}
+	_contiguous = false;
+	_maxEntriesPerRow = 0;
+}
+template< class T >
+void SparseMatrix< T >::Resize( int r , int e )
+{
+	if( rows>0 )
+	{
+		if( _contiguous ){ if( _maxEntriesPerRow ) FreePointer( m_ppElements[0] ); }
+		else for( int i=0 ; i<rows ; i++ ){ if( rowSizes[i] ) FreePointer( m_ppElements[i] ); }
+		FreePointer( m_ppElements );
+		FreePointer( rowSizes );
+	}
+	rows = r;
+	if( r )
+	{
+		rowSizes = AllocPointer< int >( r );
+		m_ppElements = AllocPointer< Pointer( MatrixEntry< T > ) >( r );
+		m_ppElements[0] = AllocPointer< MatrixEntry< T > >( r * e );
+		memset( rowSizes , 0 , sizeof( int ) * r );
+		for( int i=1 ; i<r ; i++ ) m_ppElements[i] = m_ppElements[i-1] + e;
+	}
+	_contiguous = true;
+	_maxEntriesPerRow = e;
+}
+
+template<class T>
+void SparseMatrix< T >::SetRowSize( int row , int count )
+{
+	if( _contiguous )
+	{
+		if( count>_maxEntriesPerRow ) fprintf( stderr , "[ERROR] Cannot set row size on contiguous matrix: %d<=%d\n" , count , _maxEntriesPerRow ) , exit( 0 );
+		rowSizes[row] = count;
+	}
+	else if( row>=0 && row<rows )
+	{
+		if( rowSizes[row] ) FreePointer( m_ppElements[row] );
+		if( count>0 ) m_ppElements[row] = AllocPointer< MatrixEntry< T > >( count );
+		// [WARNING] Why wasn't this line here before???
+		rowSizes[row] = count;
+	}
+}
+
+
+template<class T>
+void SparseMatrix<T>::SetZero()
+{
+	Resize(this->m_N, this->m_M);
+}
+
+template<class T>
+SparseMatrix<T> SparseMatrix<T>::operator * (const T& V) const
+{
+	SparseMatrix<T> M(*this);
+	M *= V;
+	return M;
+}
+
+template<class T>
+SparseMatrix<T>& SparseMatrix<T>::operator *= (const T& V)
+{
+	for( int i=0 ; i<rows ; i++ ) for( int ii=0 ; ii<rowSizes[i] ; i++ ) m_ppElements[i][ii].Value *= V;
+	return *this;
+}
+
+template< class T >
+template< class T2 >
+void SparseMatrix< T >::Multiply( ConstPointer( T2 ) in , Pointer( T2 ) out , int threads ) const
+{
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<rows ; i++ )
+	{
+		T2 _out(0);
+		ConstPointer( MatrixEntry< T > ) start = m_ppElements[i];
+		ConstPointer( MatrixEntry< T > ) end = start + rowSizes[i];
+		ConstPointer( MatrixEntry< T > ) e;
+		for( e=start ; e!=end ; e++ ) _out += in[ e->N ] * e->Value;
+		out[i] = _out;
+	}
+}
+template< class T >
+template< class T2 >
+void SparseMatrix< T >::MultiplyAndAddAverage( ConstPointer( T2 ) in , Pointer( T2 ) out , int threads ) const
+{
+#if 1
+	int count = 0;
+	T2 average = 0;
+#pragma omp parallel for num_threads( threads ) reduction( + : average , count )
+	for( int i=0 ; i<rows ; i++ ) if( rowSizes[i] ) average += in[i] , count++;
+	average /= count;
+	Multiply( in , out , threads );
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<rows ; i++ ) if( rowSizes[i] )  out[i] += average;
+#else
+	T2 average = 0;
+	for( int i=0 ; i<rows ; i++ ) average += in[i];
+	average /= rows;
+	Multiply( in , out , threads );
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<rows ; i++ ) out[i] += average;
+#endif
+}
+
+
+template< class T >
+template< class T2 >
+int SparseMatrix<T>::SolveJacobi( const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , Pointer( T2 ) Mx , T2 sor , int threads )
+{
+	M.Multiply( x , Mx , threads );
+#if ZERO_TESTING_JACOBI
+	for( int j=0 ; j<int(M.rows) ; j++ ) if( diagonal[j] ) x[j] += ( b[j]-Mx[j] ) * sor / diagonal[j];
+#else // !ZERO_TESTING_JACOBI
+	for( int j=0 ; j<int(M.rows) ; j++ ) x[j] += ( b[j]-Mx[j] ) * sor / diagonal[j];
+#endif // ZERO_TESTING_JACOBI
+	return M.rows;
+}
+template< class T >
+template< class T2 >
+int SparseMatrix<T>::SolveJacobi( const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , Pointer( T2 ) Mx , T2 sor , int threads )
+{
+	M.Multiply( x , Mx , threads );
+#if ZERO_TESTING_JACOBI
+	for( int j=0 ; j<int(M.rows) ; j++ )
+	{
+		T diagonal = M[j][0].Value;
+		if( diagonal ) x[j] += ( b[j]-Mx[j] ) * sor / diagonal;
+	}
+#else // !ZERO_TESTING_JACOBI
+	for( int j=0 ; j<int(M.rows) ; j++ ) x[j] += ( b[j]-Mx[j] ) * sor / M[j][0].Value;
+#endif // ZERO_TESTING_JACOBI
+	return M.rows;
+}
+template<class T>
+template<class T2>
+int SparseMatrix<T>::SolveGS( const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward )
+{
+#define ITERATE                                                         \
+	{                                                                   \
+		ConstPointer( MatrixEntry< T > ) start = M[j];                  \
+		ConstPointer( MatrixEntry< T > ) end = start + M.rowSizes[j];   \
+		ConstPointer( MatrixEntry< T > ) e;                             \
+		T2 _b = b[j];                                                   \
+		for( e=start ; e!=end ; e++ ) _b -= x[ e->N ] * e->Value;       \
+		x[j] += _b / diagonal[j];                                       \
+	}
+
+#if ZERO_TESTING_JACOBI
+	if( forward ) for( int j=0 ; j<int(M.rows)    ; j++ ){ if( diagonal[j] ){ ITERATE; } }
+	else          for( int j=int(M.rows)-1 ; j>=0 ; j-- ){ if( diagonal[j] ){ ITERATE; } }
+#else // !ZERO_TESTING_JACOBI
+	if( forward ) for( int j=0 ; j<int(M.rows) ; j++ ){ ITERATE; }
+	else          for( int j=int(M.rows)-1 ; j>=0 ; j-- ){ ITERATE; }
+#endif // ZERO_TESTING_JACOBI
+#undef ITERATE
+	return M.rows;
+}
+template<class T>
+template<class T2>
+int SparseMatrix<T>::SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseMatrix<T>& M , ConstPointer( T2 ) diagonal , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward , int threads )
+{
+	int sum=0;
+#ifdef _WIN32
+#define SetOMPParallel __pragma( omp parallel for num_threads( threads ) )
+#else // !_WIN32
+#define SetOMPParallel _Pragma( "omp parallel for num_threads( threads )" )
+#endif // _WIN32
+#if ZERO_TESTING_JACOBI
+#define ITERATE( indices )                                                        \
+	{                                                                             \
+SetOMPParallel                                                                    \
+		for( int k=0 ; k<int( indices.size() ) ; k++ ) if( diagonal[indices[k]] ) \
+		{                                                                         \
+			int jj = indices[k];                                                  \
+			ConstPointer( MatrixEntry< T > ) start = M[jj];                       \
+			ConstPointer( MatrixEntry< T > ) end = start + M.rowSizes[jj];        \
+			ConstPointer( MatrixEntry< T > ) e;                                   \
+			T2 _b = b[jj];                                                        \
+			for( e=start ; e!=end ; e++ ) _b -= x[ e->N ] * e->Value;             \
+			x[jj] += _b / diagonal[jj];                                           \
+		}                                                                         \
+	}
+#else // !ZERO_TESTING_JACOBI
+#define ITERATE( indices )                                                  \
+	{                                                                       \
+SetOMPParallel                                                              \
+		for( int k=0 ; k<int( indices.size() ) ; k++ )                      \
+		{                                                                   \
+			int jj = indices[k];                                            \
+			ConstPointer( MatrixEntry< T > ) start = M[jj];                 \
+			ConstPointer( MatrixEntry< T > ) end = start + M.rowSizes[jj];  \
+			ConstPointer( MatrixEntry< T > ) e;                             \
+			T2 _b = b[jj];                                                  \
+			for( e=start ; e!=end ; e++ ) _b -= x[ e->N ] * e->Value;       \
+			x[jj] += _b / diagonal[jj];                                     \
+		}                                                                   \
+	}
+#endif // ZERO_TESTING_JACOBI
+	if( forward )
+        for( int j=0 ; j<int(mcIndices.size())  ; j++ )
+            { sum += int( mcIndices[j].size() ) ; ITERATE( mcIndices[j] ); }
+	else
+        for( int j=int( mcIndices.size() )-1 ; j>=0 ; j-- )
+            { sum += int( mcIndices[j].size() ) ; ITERATE( mcIndices[j] ); }
+#undef ITERATE
+#undef SetOMPParallel
+	return sum;
+}
+template<class T>
+template<class T2>
+int SparseMatrix<T>::SolveGS( const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward )
+{
+	int start = forward ? 0 : M.rows-1 , end = forward ? M.rows : -1 , dir = forward ? 1 : -1;
+	for( int j=start ; j!=end ; j+=dir )
+	{
+		T diagonal = M[j][0].Value;
+#if ZERO_TESTING_JACOBI
+		if( diagonal )
+#endif // ZERO_TESTING_JACOBI
+		{
+			ConstPointer( MatrixEntry< T > ) start = M[j];
+			ConstPointer( MatrixEntry< T > ) end = start + M.rowSizes[j];
+			ConstPointer( MatrixEntry< T > ) e;
+			start++;
+			T2 _b = b[j];
+			for( e=start ; e!=end ; e++ ) _b -= x[ e->N ] * e->Value;
+			x[j] = _b / diagonal;
+		}
+	}
+	return M.rows;
+}
+template<class T>
+template<class T2>
+int SparseMatrix<T>::SolveGS( const std::vector< std::vector< int > >& mcIndices , const SparseMatrix<T>& M , ConstPointer( T2 ) b , Pointer( T2 ) x , bool forward , int threads )
+{
+	int sum=0 , start = forward ? 0 : int( mcIndices.size() )-1 , end = forward ? int( mcIndices.size() ) : -1 , dir = forward ? 1 : -1;
+	for( int j=start ; j!=end ; j+=dir )
+	{
+		const std::vector< int >& _mcIndices = mcIndices[j];
+		sum += int( _mcIndices.size() );
+		{
+#pragma omp parallel for num_threads( threads )
+			for( int k=0 ; k<int( _mcIndices.size() ) ; k++ )
+			{
+				int jj = _mcIndices[k];
+				T diagonal = M[jj][0].Value;
+#if ZERO_TESTING_JACOBI
+				if( diagonal )
+#endif // ZERO_TESTING_JACOBI
+				{
+					ConstPointer( MatrixEntry< T > ) start = M[jj];
+					ConstPointer( MatrixEntry< T > ) end = start + M.rowSizes[jj];
+					ConstPointer( MatrixEntry< T > ) e;
+					start++;
+					T2 _b = b[jj];
+					for( e=start ; e!=end ; e++ ) _b -= x[ e->N ] * e->Value;
+					x[jj] = _b / diagonal;
+				}
+			}
+		}
+	}
+	return sum;
+}
+
+template< class T >
+template< class T2 >
+void SparseMatrix< T >::getDiagonal( Pointer( T2 ) diagonal , int threads ) const
+{
+#pragma omp parallel for num_threads( threads )
+	for( int i=0 ; i<rows ; i++ )
+	{
+		T2 d = 0.;
+		ConstPointer( MatrixEntry< T > ) start = m_ppElements[i];
+		ConstPointer( MatrixEntry< T > ) end = start + rowSizes[i];
+		ConstPointer( MatrixEntry< T > ) e;
+		for( e=start ; e!=end ; e++ ) if( e->N==i ) d += e->Value;
+		diagonal[i] = d;
+	}
+}
+template< class T >
+template< class T2 >
+int SparseMatrix< T >::SolveCG( const SparseMatrix<T>& A , ConstPointer( T2 ) b , int iters , Pointer( T2 ) x , T2 eps , int reset , bool addDCTerm , bool solveNormal , int threads )
+{
+	eps *= eps;
+	int dim = A.rows;
+	Pointer( T2 ) r = AllocPointer< T2 >( dim );
+	Pointer( T2 ) d = AllocPointer< T2 >( dim );
+	Pointer( T2 ) q = AllocPointer< T2 >( dim );
+	Pointer( T2 ) temp = NullPointer( T2 );
+	if( reset ) memset( x , 0 , sizeof(T2)* dim );
+	if( solveNormal ) temp = AllocPointer< T2 >( dim );
+
+	double delta_new = 0 , delta_0;
+	if( solveNormal )
+	{
+		if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )x , temp , threads ) , A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )temp , r , threads ) , A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )b , temp , threads );
+		else            A.Multiply( ( ConstPointer( T2 ) )x , temp , threads ) , A.Multiply( ( ConstPointer( T2 ) )temp , r , threads ) , A.Multiply( ( ConstPointer( T2 ) )b , temp , threads );
+#pragma omp parallel for num_threads( threads ) reduction( + : delta_new )
+		for( int i=0 ; i<dim ; i++ ) d[i] = r[i] = temp[i] - r[i] , delta_new += r[i] * r[i];
+	}
+	else
+	{
+		if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )x , r , threads );
+		else            A.Multiply( ( ConstPointer( T2 ) )x , r , threads );
+#pragma omp parallel for num_threads( threads )  reduction ( + : delta_new )
+		for( int i=0 ; i<dim ; i++ ) d[i] = r[i] = b[i] - r[i] , delta_new += r[i] * r[i];
+	}
+	delta_0 = delta_new;
+	if( delta_new<eps )
+	{
+//		fprintf( stderr , "[WARNING] Initial residual too low: %g < %f\n" , delta_new , eps );
+		FreePointer( r );
+		FreePointer( d );
+		FreePointer( q );
+		FreePointer( temp );
+		return 0;
+	}
+	int ii;
+	for( ii=0 ; ii<iters && delta_new>eps*delta_0 ; ii++ )
+	{
+		if( solveNormal )
+			if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )d , temp , threads ) , A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )temp , q , threads );
+			else            A.Multiply( ( ConstPointer( T2 ) )d , temp , threads ) , A.Multiply( ( ConstPointer( T2 ) )temp , q , threads );
+		else
+			if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )d , q , threads );
+			else            A.Multiply( ( ConstPointer( T2 ) )d , q , threads );
+        double dDotQ = 0;
+#pragma omp parallel for num_threads( threads ) reduction( + : dDotQ )
+		for( int i=0 ; i<dim ; i++ ) dDotQ += d[i] * q[i];
+		T2 alpha = T2( delta_new / dDotQ );
+		double delta_old = delta_new;
+		delta_new = 0;
+		if( (ii%50)==(50-1) )
+		{
+#pragma omp parallel for num_threads( threads )
+			for( int i=0 ; i<dim ; i++ ) x[i] += d[i] * alpha;
+			if( solveNormal )
+				if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )x , temp , threads ) , A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )temp , r , threads );
+				else            A.Multiply( ( ConstPointer( T2 ) )x , temp , threads ) , A.Multiply( ( ConstPointer( T2 ) )temp , r , threads );
+			else
+				if( addDCTerm ) A.MultiplyAndAddAverage( ( ConstPointer( T2 ) )x , r , threads );
+				else            A.Multiply( ( ConstPointer( T2 ) )x , r , threads );
+#pragma omp parallel for num_threads( threads ) reduction( + : delta_new )
+			for( int i=0 ; i<dim ; i++ ) r[i] = b[i] - r[i] , delta_new += r[i] * r[i] , x[i] += d[i] * alpha;
+		}
+		else
+#pragma omp parallel for num_threads( threads ) reduction( + : delta_new )
+			for( int i=0 ; i<dim ; i++ ) r[i] -= q[i] * alpha , delta_new += r[i] * r[i] ,  x[i] += d[i] * alpha;
+
+		T2 beta = T2( delta_new / delta_old );
+#pragma omp parallel for num_threads( threads )
+		for( int i=0 ; i<dim ; i++ ) d[i] = r[i] + d[i] * beta;
+	}
+	FreePointer( r );
+	FreePointer( d );
+	FreePointer( q );
+	FreePointer( temp );
+	return ii;
+}
diff --git a/vendor/kazhdan/SurfaceTrimmer.h b/vendor/kazhdan/SurfaceTrimmer.h
new file mode 100644
index 0000000..0643078
--- /dev/null
+++ b/vendor/kazhdan/SurfaceTrimmer.h
@@ -0,0 +1,424 @@
+/*
+Copyright (c) 2013, Michael Kazhdan
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#undef ARRAY_DEBUG
+
+/**
+#include <stdio.h>
+#include <stdlib.h>
+#include <float.h>
+#ifdef _OPENMP
+#include <omp.h>
+#endif // _OPENMP
+#include <algorithm>
+#include "Geometry.h"
+#include "Ply.h"
+#include "MyTime.h"
+**/
+
+#include "MAT.h"
+
+long long EdgeKey( int key1 , int key2 )
+{
+	if( key1<key2 ) return ( ( (long long)key1 )<<32 ) | ( (long long)key2 );
+	else            return ( ( (long long)key2 )<<32 ) | ( (long long)key1 );
+}
+
+template< class Real >
+inline Point3D< Real > CrossProduct( Point3D< Real > p1 , Point3D< Real > p2 )
+{
+    return Point3D< Real >( p1[1]*p2[2]-p1[2]*p2[1] ,
+        p1[2]*p2[0]-p1[0]*p2[2] , p1[0]*p1[1]-p1[1]*p2[0] );
+}
+
+template< class Real >
+double TriangleArea( Point3D< Real > v1 , Point3D< Real > v2 ,
+    Point3D< Real > v3 )
+{
+	Point3D< Real > n = CrossProduct( v2-v1 , v3-v1 );
+	return sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] ) / 2.;
+}
+
+template <typename Vertex, typename Real>
+class SurfaceTrimmer
+{
+public:
+    typedef std::vector<int> Polygon;
+
+private:
+    float m_trim;
+    float m_islandRatio;
+    bool m_polygonMesh;
+    std::vector<Vertex>& m_vertices;
+    std::vector<Polygon>& m_polygons;
+
+public:
+    SurfaceTrimmer(std::vector<Vertex>& vertices,
+        std::vector<Polygon>& polygons, Real trim, Real islandRatio = .001,
+        bool polygonMesh = false) :
+        m_trim(trim), m_islandRatio(islandRatio), m_polygonMesh(polygonMesh),
+        m_vertices(vertices), m_polygons(polygons)
+    {}
+    int Execute();
+    void SmoothValues();
+
+private:
+    Vertex InterpolateVertices( const Vertex& v1 , const Vertex& v2 ,
+        Real value );
+    void SplitPolygon(const Polygon& polygon, std::vector<Polygon>* ltPolygons,
+        std::vector<Polygon>* gtPolygons , std::vector< bool >* ltFlags,
+        std::vector< bool >* gtFlags ,
+        std::unordered_map< long long, int >& vertexTable, Real trimValue);
+    void Triangulate( const std::vector<Polygon>& polygons ,
+        std::vector< std::vector< int > >& triangles );
+    double PolygonArea( const Polygon& polygon );
+    void RemoveHangingVertices( std::vector<Polygon>& polygons );
+    void SetConnectedComponents( const std::vector<Polygon>& polygons ,
+        std::vector< std::vector< int > >& components );
+    double calcAreas(std::vector<Polygon>& polygons,
+        std::vector<std::vector<int>>& components, std::vector<bool>& flags,
+        std::vector<double>& areas);
+    void reSortPolygons(std::vector<Polygon>& ltPolygons,
+        std::vector<std::vector<int>>& ltComponents, std::vector<bool>& ltFlags,
+        std::vector<double>& ltAreas,
+        std::vector<Polygon>& gtPolygons,
+        std::vector<std::vector<int>>& gtComponents, std::vector<bool>& gtFlags,
+        std::vector<double> gtAreas, double islandArea);
+};
+
+template <typename Vertex, typename Real>
+Vertex SurfaceTrimmer<Vertex, Real>::InterpolateVertices( const Vertex& v1 ,
+    const Vertex& v2 , Real value )
+{
+	typename Vertex::Wrapper _v1(v1) , _v2(v2);
+	if( _v1.value==_v2.value ) return Vertex( (_v1+_v2)/Real(2.) );
+
+	Real dx = ( _v1.value-value ) / ( _v1.value-_v2.value );
+	return Vertex( _v1*(1.f-dx) + _v2*dx );
+}
+
+template <typename Vertex, typename Real>
+void SurfaceTrimmer<Vertex, Real>::SmoothValues()
+{
+	std::vector< int > count( m_vertices.size() );
+	std::vector< Real > sums( m_vertices.size() , 0 );
+	for( size_t i=0 ; i<m_polygons.size() ; i++ )
+	{
+		int sz = int(m_polygons[i].size());
+		for( int j=0 ; j<sz ; j++ )
+		{
+			int j1 = j , j2 = (j+1)%sz;
+			int v1 = m_polygons[i][j1] , v2 = m_polygons[i][j2];
+			count[v1]++ , count[v2]++;
+			sums[v1] += m_vertices[v2].value , sums[v2] += m_vertices[v1].value;
+		}
+	}
+	for( size_t i=0 ; i<m_vertices.size() ; i++ )
+        m_vertices[i].value = ( sums[i] + m_vertices[i].value ) / ( count[i] + 1 );
+}
+
+template<typename Vertex , typename Real>
+void SurfaceTrimmer<Vertex, Real>::SplitPolygon
+	(
+	const Polygon& polygon ,
+	std::vector<Polygon>* ltPolygons , std::vector<Polygon>* gtPolygons ,
+	std::vector< bool >* ltFlags , std::vector< bool >* gtFlags ,
+	std::unordered_map< long long, int >& vertexTable,
+	Real trimValue
+	)
+{
+	int sz = int( polygon.size() );
+	std::vector< bool > gt( sz );
+	int gtCount = 0;
+	for( int j=0 ; j<sz ; j++ )
+	{
+		gt[j] = ( m_vertices[ polygon[j] ].value>trimValue );
+		if( gt[j] ) gtCount++;
+	}
+	if     ( gtCount==sz ){ if( gtPolygons ) gtPolygons->push_back( polygon ) ; if( gtFlags ) gtFlags->push_back( false ); }
+	else if( gtCount==0  ){ if( ltPolygons ) ltPolygons->push_back( polygon ) ; if( ltFlags ) ltFlags->push_back( false ); }
+	else
+	{
+		int start;
+		for( start=0 ; start<sz ; start++ ) if( gt[start] && !gt[(start+sz-1)%sz] ) break;
+
+		bool gtFlag = true;
+		std::vector< int > poly;
+
+		// Add the initial vertex
+		{
+			int j1 = (start+int(sz)-1)%sz , j2 = start;
+			int v1 = polygon[j1] , v2 = polygon[j2];
+			int vIdx;
+			std::unordered_map< long long, int >::iterator iter = vertexTable.find(EdgeKey(v1, v2));
+			if( iter==vertexTable.end() )
+			{
+				vertexTable[ EdgeKey( v1 , v2 ) ] = vIdx = int( m_vertices.size() );
+				m_vertices.push_back( InterpolateVertices( m_vertices[v1] , m_vertices[v2] , trimValue ) );
+			}
+			else vIdx = iter->second;
+			poly.push_back( vIdx );
+		}
+
+		for( int _j=0  ; _j<=sz ; _j++ )
+		{
+			int j1 = (_j+start+sz-1)%sz , j2 = (_j+start)%sz;
+			int v1 = polygon[j1] , v2 = polygon[j2];
+			if( gt[j2]==gtFlag ) poly.push_back( v2 );
+			else
+			{
+				int vIdx;
+				std::unordered_map< long long, int >::iterator iter = vertexTable.find(EdgeKey(v1, v2));
+				if( iter==vertexTable.end() )
+				{
+					vertexTable[ EdgeKey( v1 , v2 ) ] = vIdx = int( m_vertices.size() );
+					m_vertices.push_back( InterpolateVertices( m_vertices[v1] , m_vertices[v2] , trimValue ) );
+				}
+				else vIdx = iter->second;
+				poly.push_back( vIdx );
+				if( gtFlag ){ if( gtPolygons ) gtPolygons->push_back( poly ) ; if( ltFlags ) ltFlags->push_back( true ); }
+				else        { if( ltPolygons ) ltPolygons->push_back( poly ) ; if( gtFlags ) gtFlags->push_back( true ); }
+				poly.clear() , poly.push_back( vIdx ) , poly.push_back( v2 );
+				gtFlag = !gtFlag;
+			}
+		}
+	}
+}
+
+template<typename Vertex, typename Real>
+void SurfaceTrimmer<Vertex, Real>::Triangulate(
+    const std::vector<Polygon>& polygons,
+    std::vector< std::vector< int > >& triangles )
+{
+	triangles.clear();
+	for( size_t i=0 ; i<polygons.size() ; i++ )
+		if( polygons.size()>3 )
+		{
+			MinimalAreaTriangulation< Real > mat;
+			std::vector< Point3D< Real > > _vertices( polygons[i].size() );
+			std::vector< TriangleIndex > _triangles;
+			for( int j=0 ; j<int( polygons[i].size() ) ; j++ )
+                _vertices[j] = m_vertices[ polygons[i][j] ].point;
+			mat.GetTriangulation( _vertices , _triangles );
+
+			// Add the triangles to the mesh
+			size_t idx = triangles.size();
+			triangles.resize( idx+_triangles.size() );
+			for( int j=0 ; j<int(_triangles.size()) ; j++ )
+			{
+				triangles[idx+j].resize(3);
+				for( int k=0 ; k<3 ; k++ )
+                    triangles[idx+j][k] = polygons[i][ _triangles[j].idx[k] ];
+			}
+		}
+		else if( polygons[i].size()==3 ) triangles.push_back( polygons[i] );
+}
+
+template<typename Vertex, typename Real>
+double SurfaceTrimmer<Vertex, Real>::PolygonArea( const Polygon& polygon )
+{
+	if( polygon.size()<3 ) return 0.;
+	else if( polygon.size()==3 ) return TriangleArea( m_vertices[polygon[0]].point , m_vertices[polygon[1]].point , m_vertices[polygon[2]].point );
+	else
+	{
+		Point3D< Real > center;
+		for( size_t i=0 ; i<polygon.size() ; i++ ) center += m_vertices[ polygon[i] ].point;
+		center /= Real( polygon.size() );
+		double area = 0;
+		for( size_t i=0 ; i<polygon.size() ; i++ ) area += TriangleArea( center , m_vertices[ polygon[i] ].point , m_vertices[ polygon[ (i+1)%polygon.size() ] ].point );
+		return area;
+	}
+}
+
+template<typename Vertex, typename Real>
+void SurfaceTrimmer<Vertex, Real>::RemoveHangingVertices(
+    std::vector<Polygon>& polygons )
+{
+	std::unordered_map< int, int > vMap;
+	std::vector< bool > vertexFlags( m_vertices.size() , false );
+	for( size_t i=0 ; i<polygons.size() ; i++ ) for( size_t j=0 ; j<polygons[i].size() ; j++ ) vertexFlags[ polygons[i][j] ] = true;
+	int vCount = 0;
+	for( int i=0 ; i<int(m_vertices.size()) ; i++ ) if( vertexFlags[i] ) vMap[i] = vCount++;
+	for( size_t i=0 ; i<polygons.size() ; i++ ) for( size_t j=0 ; j<polygons[i].size() ; j++ ) polygons[i][j] = vMap[ polygons[i][j] ];
+
+	std::vector< Vertex > _vertices( vCount );
+	for( int i=0 ; i<int(m_vertices.size()) ; i++ )
+        if( vertexFlags[i] ) _vertices[ vMap[i] ] = m_vertices[i];
+	m_vertices = _vertices;
+}
+
+template<typename Vertex, typename Real>
+void SurfaceTrimmer<Vertex, Real>::SetConnectedComponents(
+    const std::vector<Polygon>& polygons ,
+    std::vector< std::vector< int > >& components )
+{
+	std::vector< int > polygonRoots( polygons.size() );
+	for( size_t i=0 ; i<polygons.size() ; i++ ) polygonRoots[i] = int(i);
+	std::unordered_map< long long, int > edgeTable;
+	for( size_t i=0 ; i<polygons.size() ; i++ )
+	{
+		int sz = int( polygons[i].size() );
+		for( int j=0 ; j<sz ; j++ )
+		{
+			int j1 = j , j2 = (j+1)%sz;
+			int v1 = polygons[i][j1] , v2 = polygons[i][j2];
+			long long eKey = EdgeKey( v1 , v2 );
+			std::unordered_map< long long, int >::iterator iter = edgeTable.find(eKey);
+			if( iter==edgeTable.end() ) edgeTable[ eKey ] = int(i);
+			else
+			{
+				int p = iter->second;
+				while( polygonRoots[p]!=p )
+				{
+					int temp = polygonRoots[p];
+					polygonRoots[p] = int(i);
+					p = temp;
+				}
+				polygonRoots[p] = int(i);
+			}
+		}
+	}
+	for( size_t i=0 ; i<polygonRoots.size() ; i++ )
+	{
+		int p = int(i);
+		while( polygonRoots[p]!=p ) p = polygonRoots[p];
+		int root = p;
+		p = int(i);
+		while( polygonRoots[p]!=p )
+		{
+			int temp = polygonRoots[p];
+			polygonRoots[p] = root;
+			p = temp;
+		}
+	}
+	int cCount = 0;
+	std::unordered_map< int , int > vMap;
+	for( int i= 0 ; i<int(polygonRoots.size()) ; i++ ) if( polygonRoots[i]==i ) vMap[i] = cCount++;
+	components.resize( cCount );
+	for( int i=0 ; i<int(polygonRoots.size()) ; i++ ) components[ vMap[ polygonRoots[i] ] ].push_back(i);
+}
+
+template <typename Vertex, typename Real>
+double SurfaceTrimmer<Vertex, Real>::calcAreas(std::vector<Polygon>& polygons,
+    std::vector<std::vector<int>>& components, std::vector<bool>& flags,
+    std::vector<double>& areas)
+{
+    double area = 0;
+    for (size_t i = 0; i < components.size() ; i++)
+    {
+        for (size_t j=0 ; j<components[i].size() ; j++)
+        {
+            areas[i] += PolygonArea(polygons[ components[i][j] ] );
+            flags[i] = ( flags[i] || flags[ components[i][j] ] );
+        }
+        area += areas[i];
+    }
+    return area;
+}
+
+template<typename Vertex, typename Real>
+void SurfaceTrimmer<Vertex, Real>::reSortPolygons(
+    std::vector<Polygon>& ltPolygons,
+    std::vector<std::vector<int>>& ltComponents, std::vector<bool>& ltFlags,
+    std::vector<double>& ltAreas,
+    std::vector<Polygon>& gtPolygons,
+    std::vector<std::vector<int>>& gtComponents, std::vector<bool>& gtFlags,
+    std::vector<double> gtAreas, double islandArea)
+{
+    std::vector<Polygon> _ltPolygons , _gtPolygons;
+
+    for( size_t i=0 ; i<ltComponents.size() ; i++ )
+    {
+        if( ltAreas[i] < islandArea && ltFlags[i] )
+            for( size_t j=0 ; j<ltComponents[i].size() ; j++ )
+                _gtPolygons.push_back( ltPolygons[ ltComponents[i][j] ] );
+        else
+            for( size_t j=0 ; j<ltComponents[i].size() ; j++ )
+                _ltPolygons.push_back( ltPolygons[ ltComponents[i][j] ] );
+    }
+
+    for (size_t i=0 ; i<gtComponents.size() ; i++ )
+    {
+        if( gtAreas[i] < islandArea && gtFlags[i] )
+            for( size_t j=0 ; j<gtComponents[i].size() ; j++ )
+                _ltPolygons.push_back( gtPolygons[ gtComponents[i][j] ] );
+        else
+            for( size_t j=0 ; j<gtComponents[i].size() ; j++ )
+                _gtPolygons.push_back( gtPolygons[ gtComponents[i][j] ] );
+    }
+    ltPolygons = _ltPolygons;
+    gtPolygons = _gtPolygons;
+}
+
+template<typename Vertex, typename Real>
+int SurfaceTrimmer<Vertex, Real>::Execute()
+{
+	std::unordered_map<long long, int> vertexTable;
+	std::vector<Polygon> ltPolygons, gtPolygons;
+	std::vector<bool> ltFlags , gtFlags;
+
+    for (Polygon& poly : m_polygons)
+	    SplitPolygon( poly, &ltPolygons , &gtPolygons , &ltFlags , &gtFlags ,
+            vertexTable , m_trim);
+
+	if(m_islandRatio >0)
+	{
+		std::vector<std::vector<int>> ltComponents , gtComponents;
+		SetConnectedComponents( ltPolygons , ltComponents );
+		SetConnectedComponents( gtPolygons , gtComponents );
+
+		std::vector< double > ltAreas( ltComponents.size() , 0. );
+        std::vector<double> gtAreas( gtComponents.size() , 0. );
+		std::vector<bool> ltComponentFlags( ltComponents.size() , false );
+        std::vector<bool> gtComponentFlags( gtComponents.size() , false );
+
+        double area = 0;
+        area += calcAreas(ltPolygons, ltComponents, ltFlags, ltAreas);
+        area += calcAreas(gtPolygons, gtComponents, gtFlags, gtAreas);
+
+        reSortPolygons(ltPolygons, ltComponents, ltFlags, ltAreas,
+            gtPolygons, gtComponents, gtFlags, gtAreas,
+            area * m_islandRatio);
+    }
+
+	if( !m_polygonMesh)
+	{
+        std::vector<Polygon> polys = ltPolygons;
+        Triangulate(ltPolygons , polys );
+        ltPolygons = polys;
+
+        polys = gtPolygons;
+        Triangulate(gtPolygons , polys );
+        gtPolygons = polys;
+    }
+
+	RemoveHangingVertices(gtPolygons );
+    m_polygons = gtPolygons;
+
+	return EXIT_SUCCESS;
+}
diff --git a/vendor/kazhdan/SurfaceTrimmerMain.cpp b/vendor/kazhdan/SurfaceTrimmerMain.cpp
new file mode 100644
index 0000000..b4b761f
--- /dev/null
+++ b/vendor/kazhdan/SurfaceTrimmerMain.cpp
@@ -0,0 +1,220 @@
+/*
+Copyright (c) 2013, Michael Kazhdan
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#undef ARRAY_DEBUG
+
+#include <iostream>
+#include <string>
+
+#include "CmdLineParser.h"
+#include "Ply.h"
+#include "MyTime.h"
+
+#include "SurfaceTrimmer.h"
+
+/**
+#include <stdio.h>
+#include <stdlib.h>
+#include <float.h>
+#ifdef _OPENMP
+#include <omp.h>
+#endif // _OPENMP
+#include <algorithm>
+#include "Geometry.h"
+#include "MAT.h"
+**/
+
+cmdLineString In( "in" ) , Out( "out" );
+cmdLineInt Smooth( "smooth" , 5 );
+cmdLineFloat Trim( "trim" ) , IslandAreaRatio( "aRatio" , 0.001f );
+cmdLineReadable PolygonMesh( "polygonMesh" );
+
+typedef std::vector<int> Polygon;
+
+cmdLineReadable* params[] =
+{
+	&In , &Out , &Trim , &PolygonMesh , &Smooth , &IslandAreaRatio
+};
+
+void ShowUsage( char* ex )
+{
+	printf( "Usage: %s\n" , ex );
+	printf( "\t --%s <input polygon mesh>\n" , In.name );
+	printf( "\t[--%s <trimming value>]\n" , Trim.name );
+	printf( "\t[--%s <ouput polygon mesh>]\n" , Out.name );
+	printf( "\t[--%s <smoothing iterations>=%d]\n" ,
+        Smooth.name , Smooth.value );
+	printf( "\t[--%s <relative area of islands>=%f]\n" ,
+        IslandAreaRatio.name , IslandAreaRatio.value );
+	printf( "\t[--%s]\n" , PolygonMesh.name );
+}
+
+template <typename Vertex>
+void readData(std::vector<Vertex>& vertices, std::vector<Polygon>& polygons,
+    std::vector<std::string> comments)
+{
+    int fileType = 0;
+    char **cComments;
+    int numComments = 0;
+    PlyReadPolygons(In.value, vertices, polygons, Vertex::ReadProperties,
+          Vertex::ReadComponents, fileType, &cComments, &numComments);
+    for (auto i = 0; i < numComments; ++i)
+    {
+        std::string c = cComments[i];
+        comments.push_back(c);
+        free(cComments[i]);
+    }
+}
+
+template <typename Vertex>
+void writeData(std::vector<Vertex>& vertices, std::vector<Polygon>& polygons,
+    std::vector<std::string> comments)
+{
+    if (!Out.set)
+        return;
+
+    int fileType = 0;
+
+    char **cComments = new char *[comments.size()];
+    for (size_t i = 0; i < comments.size(); ++i)
+        cComments[i] = strdup(comments[i].data());
+
+    PlyWritePolygons(Out.value, vertices, polygons, Vertex::WriteProperties,
+          Vertex::WriteComponents, fileType, cComments, comments.size());
+
+    for (size_t i = 0; i < comments.size(); ++i)
+        free(cComments[i]);
+    delete [] cComments;
+}
+
+
+void addComments(std::vector<std::string> comments)
+{
+    std::string leader("\t--");
+
+    comments.push_back("Running Surface Trimmer (V5)");
+    if (In.set)
+        comments.push_back(leader + In.name + " " + In.value);
+    if (Out.set)
+        comments.push_back(leader + Out.name + " " + Out.value);
+    if (Trim.set)
+        comments.push_back(leader + Trim.name + " " +
+            std::to_string(Trim.value));
+    if (Smooth.set)
+        comments.push_back(leader + IslandAreaRatio.name + " " +
+            std::to_string(IslandAreaRatio.value));
+    if (PolygonMesh.set)
+        comments.push_back(leader + PolygonMesh.name);
+}
+
+
+template <typename Vertex>
+void printVertexValues(std::vector<Vertex>& vertices)
+{
+    if (vertices.empty())
+        return;
+
+    float min = vertices[0].value;
+    float max = vertices[0].value;
+
+    for (Vertex& v : vertices)
+    {
+        min = std::min<float>(min, v.value);
+        max = std::max<float>(min, v.value);
+    }
+    std::cout << "Value Range: [" << min << "," << max << "]\n";
+}
+
+
+template <typename Vertex>
+int execute()
+{
+    float min;
+    float max;
+
+    using ST = SurfaceTrimmer<Vertex, float>;
+
+    std::vector<Vertex> vertices;
+    std::vector<typename ST::Polygon> polygons;
+    std::vector<std::string> comments;
+
+    readData(vertices, polygons, comments);
+    addComments(comments);
+
+    ST trimmer(vertices, polygons, Trim.value,
+        IslandAreaRatio.value, PolygonMesh.set);
+
+    while (Smooth.value--)
+        trimmer.SmoothValues();
+    printVertexValues(vertices);
+
+    double t = Time();
+
+    int result = trimmer.Execute();
+
+    comments.push_back("#Trimmed In " +  std::to_string((Time() - t)) +
+        " (s)");
+    writeData(vertices, polygons, comments);
+    return result;
+}
+
+
+int main( int argc , char* argv[] )
+{
+	int paramNum = sizeof(params)/sizeof(cmdLineReadable*);
+	cmdLineParse( argc-1 , &argv[1] , paramNum , params , 0 );
+
+	if( !In.set || !Trim.set )
+	{
+		ShowUsage( argv[0] );
+		return EXIT_FAILURE;
+	}
+	bool readFlags[ PlyColorAndValueVertex< float >::ReadComponents ];
+	if (!PlyReadHeader(In.value, PlyColorAndValueVertex<float>::ReadProperties,
+         PlyColorAndValueVertex<float>::ReadComponents, readFlags))
+    {
+        fprintf(stderr , "[ERROR] Failed to read ply header: %s\n" , In.value);
+        exit( 0 );
+    }
+
+	bool hasValue = readFlags[3];
+	bool hasColor = ( readFlags[4] || readFlags[7] ) &&
+        ( readFlags[5] || readFlags[8] ) && ( readFlags[6] || readFlags[9] );
+
+	if( !hasValue )
+    {
+        fprintf( stderr , "[ERROR] Ply file does not contain values\n" );
+        exit( 0 );
+    }
+
+	if ( hasColor)
+        return execute<PlyColorAndValueVertex<float>>();
+	else
+        return execute<PlyValueVertex<float>>();
+}
+
diff --git a/vendor/kazhdan/point_source/AsciiPointSource.h b/vendor/kazhdan/point_source/AsciiPointSource.h
new file mode 100644
index 0000000..3f7811b
--- /dev/null
+++ b/vendor/kazhdan/point_source/AsciiPointSource.h
@@ -0,0 +1,57 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "PointSource.h"
+
+class ASCIIPointSource : public PointSource
+{
+private:
+	FILE *m_fp;
+public:
+	ASCIIPointSource(const std::string& filename);
+	~ASCIIPointSource();
+
+	void reset();
+	bool nextPoint(Point& p);
+};
+
+class ColorASCIIPointSource : public ColorPointSource
+{
+private:
+	FILE* m_fp;
+public:
+	ColorASCIIPointSource(const std::string& filename);
+	~ColorASCIIPointSource();
+
+	void reset();
+	bool nextPoint(Point& point, Point3D<double>& color);
+};
+
+#include "AsciiPointSource.inl"
diff --git a/vendor/kazhdan/point_source/AsciiPointSource.inl b/vendor/kazhdan/point_source/AsciiPointSource.inl
new file mode 100644
index 0000000..2cbee91
--- /dev/null
+++ b/vendor/kazhdan/point_source/AsciiPointSource.inl
@@ -0,0 +1,103 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <iostream>
+
+///////////////////////////////
+// ASCIIPointSource          //
+///////////////////////////////
+ASCIIPointSource::ASCIIPointSource(const std::string& filename)
+{
+    m_fp = fopen(filename.data(), "r");
+    if (!m_fp)
+    {
+        std::cerr << "Failed to open file for reading: " <<
+            filename << std::endl;
+        exit(0);
+    }
+}
+
+ASCIIPointSource::~ASCIIPointSource()
+{
+    fclose(m_fp);
+}
+
+void ASCIIPointSource::reset()
+{
+    fseek(m_fp, SEEK_SET, 0);
+}
+
+bool ASCIIPointSource::nextPoint(Point& p)
+{
+    double c[6];
+
+    if (fscanf(m_fp , " %lf %lf %lf %lf %lf %lf ",
+        &p.p[0], &p.p[1], &p.p[2], &p.n[0], &p.n[1], &p.n[2]) != 6)
+        return false;
+    return true;
+}
+
+///////////////////////////////
+// ColorASCIIPointSource     //
+///////////////////////////////
+ColorASCIIPointSource::ColorASCIIPointSource(const std::string& filename)
+{
+    m_fp = fopen(filename.data(), "r");
+    if (!m_fp)
+    {
+        std::cerr << "Failed to open file for reading: " <<
+            filename << std::endl;
+        exit(0);
+    }
+}
+
+ColorASCIIPointSource::~ColorASCIIPointSource()
+{
+    fclose(m_fp);
+}
+
+void ColorASCIIPointSource::reset()
+{
+    fseek(m_fp, SEEK_SET, 0);
+}
+
+bool ColorASCIIPointSource::nextPoint(Point& p, Point3D<double>& color)
+{
+    if (fscanf(m_fp , " %lf %lf %lf %lf %lf %lf ",
+        &p.p[0] , &p.p[1] , &p.p[2] , &p.n[0], &p.n[1], &p.n[2]) != 6)
+         return false;
+    char c[3];
+    if (fscanf(m_fp, " %c %c %c ", &c[0], &c[1], &c[2]) != 3)
+        return false;
+    color.coords[0] = c[0];
+    color.coords[1] = c[1];
+    color.coords[2] = c[2];
+    return true;
+}
+
+
diff --git a/vendor/kazhdan/point_source/BinaryPointSource.h b/vendor/kazhdan/point_source/BinaryPointSource.h
new file mode 100644
index 0000000..4fba7d4
--- /dev/null
+++ b/vendor/kazhdan/point_source/BinaryPointSource.h
@@ -0,0 +1,61 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "PointSource.h"
+
+class BinaryPointSource : public PointSource
+{
+private:
+    FILE *m_fp;
+    std::vector<Point> m_points;
+    size_t m_current;
+public:
+    BinaryPointSource(const std::string& filename);
+    ~BinaryPointSource();
+
+    void reset();
+    bool nextPoint(Point& point);
+};
+
+class ColorBinaryPointSource : public ColorPointSource
+{
+private:
+    FILE *m_fp;
+    std::vector<PointPair> m_points;
+    size_t m_current;
+public:
+    ColorBinaryPointSource(const std::string& filename);
+    ~ColorBinaryPointSource();
+
+    void reset();
+    bool nextPoint(Point& point, Point3D<double>& color);
+};
+
+#include "BinaryPointSource.inl"
diff --git a/vendor/kazhdan/point_source/BinaryPointSource.inl b/vendor/kazhdan/point_source/BinaryPointSource.inl
new file mode 100644
index 0000000..2ae7099
--- /dev/null
+++ b/vendor/kazhdan/point_source/BinaryPointSource.inl
@@ -0,0 +1,129 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <iostream>
+
+//////////////////////////
+// BinaryPointSource    //
+//////////////////////////
+BinaryPointSource::BinaryPointSource(const std::string& filename) : m_current(0)
+{
+    m_fp = fopen(filename.data(), "rb");
+    if (!m_fp)
+    {
+        std::cerr << "Failed to open file for reading: " <<
+            filename << std::endl;
+        exit(0);
+    }
+}
+
+BinaryPointSource::~BinaryPointSource()
+{
+    fclose(m_fp);
+}
+
+void BinaryPointSource::reset()
+{
+    fseek(m_fp, SEEK_SET, 0);
+    m_current = 0;
+    m_points.clear();
+}
+
+bool BinaryPointSource::nextPoint(Point& p)
+{
+    if (m_current < m_points.size())
+    {
+        p = m_points[m_current++];
+        return true;
+    }
+    else
+    {
+        m_current = 0;
+        m_points.resize(1024);
+        size_t count = fread(m_points.data(), sizeof(Point),
+            m_points.size(), m_fp);
+        m_points.resize(count);
+
+        if (count == 0)
+            return false;
+        else
+            return nextPoint(p);
+    }
+}
+
+///////////////////////////////
+// ColorBinaryPointSource    //
+///////////////////////////////
+ColorBinaryPointSource::ColorBinaryPointSource(const std::string& filename) :
+    m_current(0)
+{
+    m_fp = fopen(filename.data(), "rb");
+    if (!m_fp)
+    {
+        std::cerr << "Failed to open file for reading: " <<
+            filename << std::endl;
+        exit(0);
+    }
+}
+
+ColorBinaryPointSource::~ColorBinaryPointSource()
+{
+    fclose(m_fp);
+}
+
+void ColorBinaryPointSource::reset()
+{
+    fseek(m_fp, SEEK_SET, 0);
+    m_current = 0;
+    m_points.clear();
+}
+
+bool ColorBinaryPointSource::nextPoint(Point& p, Point3D<double>& color)
+{
+    if (m_current < m_points.size())
+    {
+        p = m_points[m_current].first;
+        color = m_points[m_current].second;
+        m_current++;
+        return true;
+    }
+    else
+    {
+        m_current = 0;
+        m_points.resize(1024);
+        size_t count = fread(m_points.data(), sizeof(Point),
+            m_points.size(), m_fp);
+        m_points.resize(count);
+
+        if (count == 0)
+            return false;
+        else
+            return nextPoint(p, color);
+    }
+}
+
diff --git a/vendor/kazhdan/point_source/MemoryPointSource.h b/vendor/kazhdan/point_source/MemoryPointSource.h
new file mode 100644
index 0000000..4f512d9
--- /dev/null
+++ b/vendor/kazhdan/point_source/MemoryPointSource.h
@@ -0,0 +1,79 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "PointSource.h"
+
+class MemoryPointSource : public PointSource
+{
+private:
+    const Point *m_points;
+    size_t m_pointCount;
+    size_t m_current;
+public:
+    MemoryPointSource(size_t pointCount, const Point *points) :
+        m_points(points), m_pointCount(pointCount), m_current(0)
+    {}
+
+    virtual void reset()
+        { m_current = 0; }
+
+    virtual bool nextPoint(Point& p)
+    {
+        if (m_current >= m_pointCount)
+            return false;
+        p = m_points[m_current++];
+        return true;
+    }
+};
+
+class ColorMemoryPointSource : public ColorPointSource
+{
+private:
+    const PointPair *m_points;
+    size_t m_pointCount;
+    size_t m_current;
+public:
+    ColorMemoryPointSource(size_t pointCount, const PointPair *points) :
+        m_points(points), m_pointCount(pointCount), m_current(0)
+    {}
+
+    virtual bool nextPoint(Point& p, Point3D<double>& color)
+    {
+        if (m_current >= m_pointCount)
+            return false;
+        const PointPair& pp(m_points[m_current++]);
+        p = pp.first;
+        color = pp.second;
+        return true;
+    }
+};
+
+
+#include "PointSource.inl"
diff --git a/vendor/kazhdan/point_source/PlyPointSource.h b/vendor/kazhdan/point_source/PlyPointSource.h
new file mode 100644
index 0000000..8c7a2e6
--- /dev/null
+++ b/vendor/kazhdan/point_source/PlyPointSource.h
@@ -0,0 +1,80 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "PointSource.h"
+#include "../Ply.h"
+
+class PLYPointSource : public PointSource
+{
+    struct Vertex
+    {
+        Point3D<double> point;
+        Point3D<double> normal;
+    };
+
+    std::string m_filename;
+	PlyFile *m_ply;
+	int m_numElements;
+    int m_numInstances;
+	char **m_elements;
+	int m_current;
+
+	void _free( void );
+public:
+	PLYPointSource(const std::string& filename);
+	~PLYPointSource();
+	void reset();
+	bool nextPoint(Point& p);
+};
+
+class ColorPLYPointSource : public ColorPointSource
+{
+    struct Vertex
+    {
+        Point3D<double> point;
+        Point3D<double> normal;
+        Point3D<double> color;
+    };
+
+	std::string m_filename;
+	PlyFile *m_ply;
+	int m_numElements;
+    int m_numInstances;
+	char **m_elements;
+	int m_current;
+	void _free( void );
+public:
+	ColorPLYPointSource(const std::string& namefile);
+	~ColorPLYPointSource();
+	void reset();
+	bool nextPoint(Point& p, Point3D<double>& color);
+};
+
+#include "PlyPointSource.inl"
diff --git a/vendor/kazhdan/point_source/PlyPointSource.inl b/vendor/kazhdan/point_source/PlyPointSource.inl
new file mode 100644
index 0000000..31434af
--- /dev/null
+++ b/vendor/kazhdan/point_source/PlyPointSource.inl
@@ -0,0 +1,311 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#include <iostream>
+
+//////////////////////
+// PLYPointSource   //
+//////////////////////
+PLYPointSource::PLYPointSource(const std::string& filename) :
+    m_filename(filename), m_ply(nullptr)
+{
+    reset();
+}
+
+PLYPointSource::~PLYPointSource()
+{
+    _free();
+}
+
+void PLYPointSource::reset()
+{
+    int fileType;
+    float version;
+
+    // The _strdup looks leaky, but I don't think I care.
+    static PlyProperty requiredProps[] =
+    {
+        { _strdup("x") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("y") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("z") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("nx") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("ny") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("nz") , PLY_DOUBLE, PLY_DOUBLE }
+    };
+    const int numRequiredProps = sizeof(requiredProps) / sizeof(PlyProperty);
+
+    Vertex v;
+    requiredProps[0].offset = (char *)&v.point.coords[0] - (char *)&v;
+    requiredProps[1].offset = (char *)&v.point.coords[1] - (char *)&v;
+    requiredProps[2].offset = (char *)&v.point.coords[2] - (char *)&v;
+    requiredProps[3].offset = (char *)&v.normal.coords[0] - (char *)&v;
+    requiredProps[4].offset = (char *)&v.normal.coords[1] - (char *)&v;
+    requiredProps[5].offset = (char *)&v.normal.coords[2] - (char *)&v;
+
+    if (m_ply)
+        _free();
+    m_ply = ply_open_for_reading(const_cast<char *>(m_filename.data()),
+        &m_numElements, &m_elements, &fileType, &version);
+    if (!m_ply)
+    {
+        std::cerr << "[ERROR] Failed to open ply file for reading: " <<
+            m_filename << std::endl;
+        exit(0);
+    }
+    m_current = 0;
+
+    PlyProperty** plist;
+    bool foundVertices = false;
+    for(int i = 0; i < m_numElements; ++i)
+    {
+        int numProperties;
+        char* elementName = m_elements[i];
+        plist = ply_get_element_description(m_ply , elementName,
+            &m_numInstances, &numProperties);
+        if (!plist)
+        {
+            std::cerr << "[ERROR] Failed to get element description: " <<
+                elementName << std::endl;
+            exit(0);
+        }
+
+        if (equal_strings("vertex", elementName))
+        {
+            foundVertices = true;
+            for (int prop = 0; prop < numRequiredProps; ++prop)
+                if (!ply_get_property(m_ply, elementName,
+                    &(requiredProps[prop])))
+                {
+                    std::cerr << "[ERROR] Failed to find property in "
+                        "ply file: " << requiredProps[prop].name << std::endl;
+                    exit(0);
+                }
+        }
+        for(size_t j = 0 ; j < numProperties; ++j)
+        {
+            free(plist[j]->name);
+            free(plist[j]);
+        }
+        free(plist);
+        if (foundVertices)
+            break;
+    }
+    if (!foundVertices)
+    {
+        std::cerr << "[ERROR] Could not find vertices in ply file" << std::endl;
+        exit(0);
+    }
+}
+
+void PLYPointSource::_free()
+{
+    if (m_ply)
+        ply_close(m_ply);
+    m_ply = NULL;
+    if (m_elements)
+    {
+        for (int i =0; i < m_numElements; ++i)
+            free(m_elements[i]);
+        free(m_elements);
+    }
+}
+
+bool PLYPointSource::nextPoint(Point& p)
+{
+    if (m_current >= m_numInstances)
+        return false;
+
+    Vertex op;
+    ply_get_element(m_ply, (void *)&op);
+    p.p = op.point;
+    p.n = op.normal;
+    m_current++;
+    return true;
+}
+
+///////////////////////////
+// ColorPLYPointSource   //
+///////////////////////////
+
+ColorPLYPointSource::ColorPLYPointSource(const std::string& filename) :
+    m_filename(filename), m_ply(nullptr)
+{
+    reset();
+}
+
+void ColorPLYPointSource::reset()
+{
+    int fileType;
+    float version;
+    PlyProperty** plist;
+
+    // The _strdup looks leaky, but I don't think I care.
+    static PlyProperty requiredProps[] =
+    {
+        { _strdup("x") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("y") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("z") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("nx") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("ny") , PLY_DOUBLE, PLY_DOUBLE },
+        { _strdup("nz") , PLY_DOUBLE, PLY_DOUBLE }
+    };
+    const int numRequiredProps = sizeof(requiredProps) / sizeof(PlyProperty);
+
+    Vertex v;
+    requiredProps[0].offset = (char *)&v.point.coords[0] - (char *)&v;
+    requiredProps[1].offset = (char *)&v.point.coords[1] - (char *)&v;
+    requiredProps[2].offset = (char *)&v.point.coords[2] - (char *)&v;
+    requiredProps[3].offset = (char *)&v.normal.coords[0] - (char *)&v;
+    requiredProps[4].offset = (char *)&v.normal.coords[1] - (char *)&v;
+    requiredProps[5].offset = (char *)&v.normal.coords[2] - (char *)&v;
+
+    PlyProperty reqDataProps[] =
+    {
+        { "r"     ,  PLY_UCHAR, PLY_DOUBLE },
+        { "g"     , PLY_UCHAR, PLY_DOUBLE },
+        { "b"     , PLY_UCHAR, PLY_DOUBLE },
+        { "red"   , PLY_UCHAR, PLY_DOUBLE },
+        { "green" ,PLY_UCHAR, PLY_DOUBLE },
+        { "blue"  , PLY_UCHAR, PLY_DOUBLE }
+    };
+    const int numReqDataProps = sizeof(reqDataProps) / sizeof(PlyProperty);
+
+    reqDataProps[0].offset = (char *)&v.color.coords[0] - (char *)&v;
+    reqDataProps[1].offset = (char *)&v.color.coords[1] - (char *)&v;
+    reqDataProps[2].offset = (char *)&v.color.coords[2] - (char *)&v;
+    reqDataProps[3].offset = (char *)&v.color.coords[0] - (char *)&v;
+    reqDataProps[4].offset = (char *)&v.color.coords[1] - (char *)&v;
+    reqDataProps[5].offset = (char *)&v.color.coords[2] - (char *)&v;
+
+    if (m_ply)
+        _free();
+    m_ply = ply_open_for_reading(const_cast<char *>(m_filename.data()),
+        &m_numElements, &m_elements, &fileType, &version);
+    if (!m_ply)
+    {
+        std::cerr << "[ERROR] Failed to open ply file for reading: " <<
+            m_filename << std::endl;
+        exit(0);
+    }
+
+    m_current = 0;
+    bool foundVertices = false;
+    for (size_t i = 0; i < m_numElements; ++i)
+    {
+        int numProperties;
+        char* elementName = m_elements[i];
+        plist = ply_get_element_description(m_ply, elementName,
+            &m_numInstances, &numProperties);
+        if (!plist)
+        {
+            std::cerr << "[ERROR] Failed to get element description: " <<
+                elementName << std::endl;
+            exit(0);
+        }
+
+        if (equal_strings("vertex", elementName))
+        {
+            foundVertices = true;
+
+            for (int prop = 0; prop < numRequiredProps; ++prop)
+                if (!ply_get_property(m_ply, elementName,
+                    &(requiredProps[prop])))
+                {
+                    std::cerr << "[ERROR] Failed to find property in "
+                        "ply file: " << requiredProps[prop].name << std::endl;
+                    exit( 0 );
+                }
+
+            int propIndicator = 0;
+            for (size_t prop = 0; prop < numReqDataProps; ++prop)
+            {
+                // The properties r g b/red green blue are represented by
+                // the low 3 bits.  When the propIndicator is 7, we know
+                // we found all three.
+                int bit = pow(2, prop % 3);
+                PlyProperty& property(reqDataProps[prop]);
+                if (ply_get_property(m_ply, elementName, &property))
+                    propIndicator |= bit;
+            }
+            if (propIndicator != 7)
+            {
+                std::cerr << "[ERROR] Missing at least one of red/gree/blue "
+                    "in vertex property list." << std::endl;
+                exit(0);
+            }
+        }
+        for (int j=0; j < numProperties; ++j)
+        {
+            free(plist[j]->name);
+            free(plist[j]);
+        }
+        free(plist);
+        if (foundVertices)
+            break;
+    }
+    if (!foundVertices)
+    {
+        std::cerr << "[ERROR] Could not find vertices in ply file" << std::endl;
+        exit(0);
+    }
+}
+
+void ColorPLYPointSource::_free()
+{
+    if (m_ply)
+    {
+        ply_close(m_ply);
+        m_ply = nullptr;
+    }
+    if (m_elements)
+    {
+        for(int i = 0; i< m_numElements; ++i)
+            free(m_elements[i]);
+        free(m_elements);
+        m_elements = nullptr;
+    }
+}
+
+ColorPLYPointSource::~ColorPLYPointSource()
+{
+    _free();
+}
+
+bool ColorPLYPointSource::nextPoint(Point& p, Point3D<double>& color)
+{
+    if (m_current >= m_numInstances)
+        return false;
+
+    Vertex op;
+    ply_get_element(m_ply, (void *)&op);
+    p.p = op.point;
+    p.n = op.normal;
+    color = op.color;
+    m_current++;
+    return true;
+}
diff --git a/vendor/kazhdan/point_source/PointSource.h b/vendor/kazhdan/point_source/PointSource.h
new file mode 100644
index 0000000..8268ff1
--- /dev/null
+++ b/vendor/kazhdan/point_source/PointSource.h
@@ -0,0 +1,77 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "../Geometry.h"
+
+class PointSource
+{
+protected:
+    using Point = OrientedPoint3D<double>; // Contains Normals
+
+public:
+    virtual ~PointSource()
+    {}
+
+    virtual void reset() = 0;
+    virtual bool nextPoint(Point& point) = 0;
+    void boundingBox(Point3D<double>& min, Point3D<double>& max)
+	{
+        for (size_t i = 0; i < 3; ++i)
+        {
+            min[i] = std::numeric_limits<double>::max();
+            max[i] = std::numeric_limits<double>::lowest();
+        }
+
+        Point p;
+		while (nextPoint(p))
+		{
+			for( int i=0 ; i<3 ; i++ )
+			{
+                min[i] = std::min(min[i], p.p[i]);
+                max[i] = std::max(max[i], p.p[i]);
+			}
+		}
+		reset();
+	}
+};
+typedef std::unique_ptr<PointSource> PointSourcePtr;
+
+class ColorPointSource : public PointSource
+{
+protected:
+    using PointPair = std::pair<Point, Point3D<double>>;
+public:
+    virtual bool nextPoint(Point& p, Point3D<double>& color) = 0;
+    virtual bool nextPoint(Point& p)
+    {
+        Point3D<double> color;
+        return nextPoint(p, color);
+    }
+};
diff --git a/vendor/kazhdan/point_source/TransformedPointSource.h b/vendor/kazhdan/point_source/TransformedPointSource.h
new file mode 100644
index 0000000..ef970ac
--- /dev/null
+++ b/vendor/kazhdan/point_source/TransformedPointSource.h
@@ -0,0 +1,88 @@
+/*
+Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior writften permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+*/
+
+#pragma once
+
+#include "PointSource.h"
+
+class TransformedPointSource : public PointSource
+{
+    XForm4x4<double> m_xForm;
+    XForm3x3<double> m_normalXForm;
+    PointSource& m_stream;
+
+public:
+    TransformedPointSource(const XForm4x4<double>& xForm, PointSource& stream) :
+        m_xForm(xForm), m_stream(stream)
+    {
+        for (size_t i = 0; i < 3; ++i)
+            for (size_t j = 0; j < 3; ++j)
+                m_normalXForm(i, j) = m_xForm(i, j);
+        m_normalXForm = m_normalXForm.transpose().inverse();
+    }
+
+    virtual void reset()
+        { m_stream.reset(); }
+
+	virtual bool nextPoint(Point& p)
+	{
+		bool ret = m_stream.nextPoint(p);
+		p.p = m_xForm * p.p;
+        p.n = m_normalXForm * p.n;
+		return ret;
+	}
+};
+
+class ColorTransformedPointSource : public ColorPointSource
+{
+private:
+    XForm4x4<double> m_xForm;
+    XForm3x3<double> m_normalXForm;
+    ColorPointSource& m_stream;
+
+public:
+    ColorTransformedPointSource(const XForm4x4<double>& xForm,
+        ColorPointSource& stream) : m_xForm(xForm), m_stream(stream)
+    {
+        for (size_t i = 0; i < 3; ++i)
+            for (size_t j = 0; j < 3; ++j)
+                m_normalXForm(i, j) = m_xForm(i, j);
+        m_normalXForm = m_normalXForm.transpose().inverse();
+    }
+
+    virtual void reset()
+        { m_stream.reset(); }
+
+	virtual bool nextPoint(Point& p, Point3D<double>& color)
+	{
+		bool ret = m_stream.nextPoint(p, color);
+		p.p = m_xForm * p.p;
+        p.n = m_normalXForm * p.n;
+		return ret;
+	}
+};
diff --git a/vendor/rply/LICENSE b/vendor/rply/LICENSE
deleted file mode 100644
index ca893cb..0000000
--- a/vendor/rply/LICENSE
+++ /dev/null
@@ -1,20 +0,0 @@
-RPly 1.1.4 license
-Copyright � 2003-2015 Diego Nehab.
-
-Permission is hereby granted, free of charge, to any person obtaining a
-copy of this software and associated documentation files (the "Software"),
-to deal in the Software without restriction, including without limitation
-the rights to use, copy, modify, merge, publish, distribute, sublicense,
-and/or sell copies of the Software, and to permit persons to whom the
-Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
diff --git a/vendor/rply/etc/convert.c b/vendor/rply/etc/convert.c
deleted file mode 100644
index e87ac09..0000000
--- a/vendor/rply/etc/convert.c
+++ /dev/null
@@ -1,130 +0,0 @@
-#include <stdio.h> 
-#include <stdlib.h> 
-#include <string.h> 
-#include <stdarg.h> 
-#include "rply.h"
-
-/* internal function prototypes */
-static void error(const char *fmt, ...);
-static void help(void);
-static void parse_arguments(int argc, char **argv, 
-        e_ply_storage_mode *storage_mode, 
-        const char **iname, const char **oname);
-static void setup_callbacks(p_ply iply, p_ply oply);
-
-/* given a format mode, an input file name and an output file name,
- * convert input file to output in given format mode */
-int main(int argc, char **argv) {
-    const char *value = NULL;
-    e_ply_storage_mode storage_mode = PLY_LITTLE_ENDIAN;
-    const char *iname = NULL, *oname = NULL;
-    p_ply iply = NULL, oply = NULL;
-    /* parse command line arguments */
-    parse_arguments(argc, argv, &storage_mode, &iname, &oname);
-    /* open input file and make sure we parsed its header */
-    iply = ply_open(iname, NULL, 0, NULL);
-    if (!iply) error("Unable to open file '%s'", iname);
-    if (!ply_read_header(iply)) error("Failed reading '%s' header", iname);
-    /* create output file */
-    oply = ply_create(oname, storage_mode, NULL, 0, NULL);
-    if (!oply) error("Unable to create file '%s'", oname);
-    /* create elements and properties in output file and 
-     * setup callbacks for them in input file */
-    setup_callbacks(iply, oply); 
-    /* pass comments and obj_infos from input to output */
-    value = NULL;
-    while ((value = ply_get_next_comment(iply, value)))
-        if (!ply_add_comment(oply, value))
-            error("Failed adding comments");
-    value = NULL;
-    while ((value = ply_get_next_obj_info(iply, value)))
-        if (!ply_add_obj_info(oply, value))
-            error("Failed adding comments");
-    /* write output header */
-    if (!ply_write_header(oply)) error("Failed writing '%s' header", oname);
-    /* read input file generating callbacks that pass data to output file */
-    if (!ply_read(iply)) error("Conversion failed");
-    /* close up, we are done */
-    if (!ply_close(iply)) error("Error closing file '%s'", iname);
-    if (!ply_close(oply)) error("Error closing file '%s'", oname);
-    return 0;
-}
-
-/* prints an error message and exits */
-static void error(const char *fmt, ...) {   
-    va_list ap;
-    va_start(ap, fmt);
-    vfprintf(stderr, fmt, ap);
-    va_end(ap);
-    fprintf(stderr, "\n");
-    exit(1);
-}               
-
-/* prints the help message and exits */
-static void help(void) {
-    error("Usage:\n"  
-            "    convert <option> <input> <output>\n"
-            "Options:\n"
-            "    -a, --ascii: convert to ascii format\n"
-            "    -b, --big-endian: convert to big-endian format\n"
-            "    -l, --little-endian: convert to little-endian format\n");
-}
-
-/* parse command line parameters */
-static void parse_arguments(int argc, char **argv, 
-        e_ply_storage_mode *storage_mode, 
-        const char **iname, const char **oname) {
-    if (argc < 4) help();
-    if (strcmp(argv[1], "--ascii") == 0 || 
-            strcmp(argv[1], "-a") == 0)
-        *storage_mode = PLY_ASCII;
-    else if (strcmp(argv[1], "--little-endian") == 0 || 
-            strcmp(argv[1], "-l") == 0) 
-        *storage_mode = PLY_LITTLE_ENDIAN;
-    else if (strcmp(argv[1], "--big-endian") == 0 || 
-            strcmp(argv[1], "-b") == 0) 
-        *storage_mode = PLY_BIG_ENDIAN;
-    else help(); 
-    *iname = argv[2];
-    *oname = argv[3];
-}
-
-/* read callback */
-static int callback(p_ply_argument argument) {
-    void *pdata;
-    /* just pass the value from the input file to the output file */
-    ply_get_argument_user_data(argument, &pdata, NULL);
-    ply_write((p_ply) pdata, ply_get_argument_value(argument));
-    return 1;
-}
-
-/* prepares the conversion */
-static void setup_callbacks(p_ply iply, p_ply oply) {
-    p_ply_element element = NULL;
-    /* iterate over all elements in input file */
-    while ((element = ply_get_next_element(iply, element))) {
-        p_ply_property property = NULL;
-        long ninstances = 0;
-        const char *element_name;
-        ply_get_element_info(element, &element_name, &ninstances);
-        /* add this element to output file */
-        if (!ply_add_element(oply, element_name, ninstances))
-            error("Unable to add output element '%s'", element_name);
-        /* iterate over all properties of current element */
-        while ((property = ply_get_next_property(element, property))) {
-            const char *property_name;
-            e_ply_type type, length_type, value_type;
-            ply_get_property_info(property, &property_name, &type, 
-                    &length_type, &value_type);
-            /* setup input callback for this property */
-            if (!ply_set_read_cb(iply, element_name, property_name, callback, 
-                    oply, 0))
-                error("Unable to setup input callback for property '%s'", 
-                        property_name);
-            /* add this property to output file */
-            if (!ply_add_property(oply, property_name, type, length_type, 
-                    value_type))
-                error("Unable to add output property '%s'", property_name);
-        }
-    }
-}
diff --git a/vendor/rply/etc/dump.c b/vendor/rply/etc/dump.c
deleted file mode 100644
index 1c84e32..0000000
--- a/vendor/rply/etc/dump.c
+++ /dev/null
@@ -1,44 +0,0 @@
-#include <stdio.h> 
-#include "rply.h"
-
-static int vertex_cb(p_ply_argument argument) {
-    long eol;
-    ply_get_argument_user_data(argument, NULL, &eol);
-    printf("%g", ply_get_argument_value(argument));
-    if (eol) printf("\n");
-    else printf(" ");
-    return 1;
-}
-
-static int face_cb(p_ply_argument argument) {
-    long length, value_index;
-    ply_get_argument_property(argument, NULL, &length, &value_index);
-    switch (value_index) {
-        case 0:
-        case 1: 
-            printf("%g ", ply_get_argument_value(argument));
-            break;
-        case 2:
-            printf("%g\n", ply_get_argument_value(argument));
-            break;
-        default: 
-            break;
-    }
-    return 1;
-}
-
-int main(void) {
-    long nvertices, ntriangles;
-    p_ply ply = ply_open("input.ply", NULL, 0, NULL);
-    if (!ply) return 1;
-    if (!ply_read_header(ply)) return 1;
-    nvertices = ply_set_read_cb(ply, "vertex", "x", vertex_cb, NULL, 0);
-    ply_set_read_cb(ply, "vertex", "y", vertex_cb, NULL, 0);
-    ply_set_read_cb(ply, "vertex", "z", vertex_cb, NULL, 1);
-    ntriangles = ply_set_read_cb(ply, "face", "vertex_indices", face_cb, NULL, 0);
-    printf("%ld\n%ld\n", nvertices, ntriangles);
-    if (!ply_read(ply)) return 1;
-    ply_close(ply);
-    return 0;
-}
-
diff --git a/vendor/rply/etc/input.ply b/vendor/rply/etc/input.ply
deleted file mode 100644
index 87ba854..0000000
--- a/vendor/rply/etc/input.ply
+++ /dev/null
@@ -1,16 +0,0 @@
-ply
-format ascii 1.0
-comment this is our first comment
-element vertex 3
-property float x
-property float y
-property float z
-element face 1
-property list uchar int vertex_indices
-comment this is our last comment
-end_header
--1 0 0 
-000 1 0 
-1 0000 0
-3 1 00000 2
-3 1 0 2
diff --git a/vendor/rply/etc/sconvert.c b/vendor/rply/etc/sconvert.c
deleted file mode 100644
index 22d10df..0000000
--- a/vendor/rply/etc/sconvert.c
+++ /dev/null
@@ -1,64 +0,0 @@
-#include <stdio.h> 
-#include "rply.h"
-
-static int callback(p_ply_argument argument) {
-    void *pdata;
-    /* just pass the value from the input file to the output file */
-    ply_get_argument_user_data(argument, &pdata, NULL);
-    ply_write((p_ply) pdata, ply_get_argument_value(argument));
-    return 1;
-}
-
-static int setup_callbacks(p_ply iply, p_ply oply) {
-    p_ply_element element = NULL;
-    /* iterate over all elements in input file */
-    while ((element = ply_get_next_element(iply, element))) {
-        p_ply_property property = NULL;
-        long ninstances = 0;
-        const char *element_name;
-        ply_get_element_info(element, &element_name, &ninstances);
-        /* add this element to output file */
-        if (!ply_add_element(oply, element_name, ninstances)) return 0;
-        /* iterate over all properties of current element */
-        while ((property = ply_get_next_property(element, property))) {
-            const char *property_name;
-            e_ply_type type, length_type, value_type;
-            ply_get_property_info(property, &property_name, &type, 
-                    &length_type, &value_type);
-            /* setup input callback for this property */
-            ply_set_read_cb(iply, element_name, property_name, callback, 
-                oply, 0);
-            /* add this property to output file */
-            if (!ply_add_property(oply, property_name, type, length_type, 
-                    value_type)) return 0;
-        }
-    }
-    return 1;
-}
-
-int main(int argc, char *argv[]) {
-    const char *value;
-    p_ply iply, oply; 
-    (void) argc; (void) argv;
-    iply = ply_open("input.ply", NULL, 0, NULL);
-    if (!iply) return 1; 
-    if (!ply_read_header(iply)) return 1; 
-    oply = ply_create("output.ply", PLY_LITTLE_ENDIAN, NULL, 0, NULL);
-    if (!oply) return 1;
-    if (!setup_callbacks(iply, oply)) return 1; 
-    /* pass comments and obj_infos from input to output */
-    value = NULL;
-    while ((value = ply_get_next_comment(iply, value)))
-        if (!ply_add_comment(oply, value)) return 1; 
-    value = NULL;
-    while ((value = ply_get_next_obj_info(iply, value)))
-        if (!ply_add_obj_info(oply, value)) return 1;;
-    /* write output header */
-    if (!ply_write_header(oply)) return 1; 
-    /* read input file generating callbacks that pass data to output file */
-    if (!ply_read(iply)) return 1; 
-    /* close up, we are done */
-    if (!ply_close(iply)) return 1; 
-    if (!ply_close(oply)) return 1;
-    return 0;
-}
diff --git a/vendor/rply/manual/manual.html b/vendor/rply/manual/manual.html
deleted file mode 100644
index fa8e9f5..0000000
--- a/vendor/rply/manual/manual.html
+++ /dev/null
@@ -1,1137 +0,0 @@
-<html>
-
-<head>
-<meta name="description" content="The RPly Homepage">
-<meta name="keywords" content="open source, C, Library, PLY, file format,
-input, output, tools">
-<title>
-RPly: ANSI C library for PLY file format input and output
-</title>
-<link rel="stylesheet" href="reference.css" type="text/css">
-</head>
-
-<body>
-
-<!-- header +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<div class=header>
-<hr>
-<center>
-<table summary="RPly logo">
-<tr><td align=center>
-<img border=0 alt="RPly" src="rply.png">
-</td></tr>
-<tr><td align=center valign=top>ANSI C Library for PLY file format input and output
-</td></tr>
-</table>
-</center>
-<hr>
-</div>
-
-
-<!-- Introduction +++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<h1>Introduction</h1>
-
-<p>RPly is a library that lets applications read and write PLY files.  The
-PLY file format is widely used to store geometric information, such as 3D
-models, but is general enough to be useful for other purposes.
-</p>
-
-<p>There are other libraries out there, of course. I tried using them and
-finally decided to write my own. The result is RPly, and I
-hope you are as happy with it as I am. </p>
-
-<p>RPly is easy to use, well documented, small, free,
-open-source, ANSI C, efficient, and well tested. I will keep supporting it
-for a while because all my tools use the library for input/output. The highlights are: </p>
-<ul>
-<li> A callback mechanism that makes PLY file input straightforward;
-<li> Support for the full range of numeric formats though the user only
-deals with doubles;
-<li> Binary (big and little endian) and text modes are fully supported;
-<li> Input and output are buffered for efficiency;
-<li> Available under the
-<a href=http://www.opensource.org/licenses/mit-license.html>MIT license</a>
-for added freedom.
-</ul>
-
-<p>
-The format was developed at <a
-href=http://graphics.stanford.edu/data/3Dscanrep/>Stanford University</a>
-for use with their 3D scanning projects. Greg Turk's PLY library, available
-from <a href=http://www.cc.gatech.edu/projects/large_models>
-Georgia Institute of Technology</a>, seems to be the standard reference
-to the PLY file format, although there are some variations out there.
-</p>
-
-<p> Whatever documentation and examples were found, were taken into
-consideration to create RPly. In theory, since RPly doesn't try to interpret
-the meaning of the data in a PLY file, it should be able to read any PLY file.
-In practice, the library works with all PLY files that I could find.  </p>
-
-<h2>Download</h2>
-
-<p>
-Version 1.1.4 of RPly is available for download in source
-code from <a href=rply-1.1.4.tar.gz>this link</a>. Examples and documentation
-are packed inside the tarball. Have fun!
-</p>
-
-<p>
-Copyright © 2003-2015 Diego Nehab. All rights reserved. <br>
-Author: <A href="http://www.impa.br/~diego">Diego Nehab</a>
-</p>
-
-<h2>What's new?</h2>
-
-<ul>
-<li> Fixed bug that prevented reading of ASCII files that
-are not terminated by a whitespace;
-<li> Added <tt>ply_open_from_file</tt> and
-<tt>ply_create_to_file</tt> variants to <tt>ply_open</tt>
-and <tt>ply_create</tt>, respectively, that receive file
-pointers instead of file names.
-</ul>
-
-<h2> RPly's idea of what a PLY file is </h2>
-
-<p> A PLY file contains the description of one object. This object is
-composed by <em>elements</em>, each element type
-being defined by a group of <em>properties</em>.  The PLY file
-format specifies a syntax for the description of element types and the
-properties that compose them, as well as comments and meta-information.
-</p>
-
-<p> The element type descriptions come in a header, which is followed by
-element instances. Element instances come grouped by their type, in the
-order of declaration. Each element instance is defined by the value
-of its properties. Properties values also appear in the order of their
-declaration. Here is a sample PLY file describing a triangle: </p>
-
-<pre class=example>
-ply
-format ascii 1.0
-comment this is a simple file
-obj_info any data, in one line of free form text
-element vertex 3
-property float x
-property float y
-property float z
-element face 1
-property list uchar int vertex_indices
-end_header
--1 0 0
- 0 1 0
- 1 0 0
-3 0 1 2
-</pre>
-
-<p> The header goes from the first line to the line marked by
-<tt>end_header</tt>.  The first line contains only <tt>ply\n</tt> and is
-used to detect whether a file is in PLY format or not (RPly
-also accepts files that start with <tt>ply\r\n</tt>, in
-which case the end-of-line terminator is assumed to be
-<tt>\r\n</tt> throughout.)  The second line
-specifies the <tt>format</tt> number (which is always <tt>1.0</tt>) and the
-storage mode (<tt>ascii</tt>, <tt>binary_big_endian</tt> or
-<tt>binary_little_endian</tt>).  </p>
-
-<p> Lines that start with <tt>comment</tt> are just comments, of course.
-Lines that start with <tt>obj_info</tt> contain meta-information about the
-object.  <tt>Comment</tt>s and <tt>obj_info</tt>s are optional and their
-relative order in the header is irrelevant. </p>
-
-<p> In the sample PLY file, the first element type is declared with name
-<tt>vertex</tt>, and on the same line we learn that there will be 3
-instances of this element type.  The properties following describe what a
-<tt>vertex</tt> element looks like.  Each <tt>vertex</tt> is declared to
-consist of 3 scalar properties, named <tt>x</tt>, <tt>y</tt> and
-<tt>z</tt>.  Each scalar property is declared to be of type <tt>float</tt>.
-</p>
-
-<p> Scalar types can be any of the following: <tt>int8</tt>,
-<tt>uint8</tt>, <tt>int16</tt>, <tt>uint16</tt>, <tt>int32</tt>,
-<tt>uint32</tt>, <tt>float32</tt>, <tt>float64</tt>, <tt>char</tt>,
-<tt>uchar</tt>, <tt>short</tt>, <tt>ushort</tt>, <tt>int</tt>,
-<tt>uint</tt>, <tt>float</tt>, <tt>double</tt>. They consist of signed
-and unsigned integer types of sizes 8, 16 and 32 bits, as well as floating
-point types of 32 and 64bits.
-
-<p> Next, the <tt>face</tt> element type is declared, of which only 1
-instance will be given. This element consists of a <tt>list</tt> property,
-named <tt>vertex_indices</tt>. Lists are sequences on which the
-first value, the <em>length</em>, gives the number of remaining values. List properties are described by the scalar
-type of their length field and the scalar type of the remaining fields.
-In the case of <tt>vertex_indices</tt>, the length field
-is of type <tt>uchar</tt> and the remaining values are of type
-<tt>int</tt>. </p>
-
-<p> Following the header, come the elements, in the order they were
-declared in the header.  First come the 3 elements of type <tt>vertex</tt>,
-each represented by the value of their properties <tt>x</tt>, <tt>y</tt>
-and <tt>z</tt>. Then comes the single <tt>face</tt> element, composed by a
-single list of type <tt>vertex_indices</tt> containing 3 values
-(0 1 2).</p>
-
-<h2> How to read a file with RPly </h2>
-
-<p> Most users that want to read a PLY file already know which elements and
-properties they are interested in. In the following example, we will
-implement a simple program that dumps the contents of a PLY file to the
-terminal, in a different, simpler format that only works for triangles.
-</p>
-
-<p> This simple format has a header that gives the number of vertices in the
-first line and the number of triangles in the second line. Following the
-header come the vertices, and finally the triangles. Here is the sample
-code for the program:</p>
-
-<pre class=example>
-#include <stdio.h>
-#include "rply.h"
-
-static int vertex_cb(p_ply_argument argument) {
-    long eol;
-    ply_get_argument_user_data(argument, NULL, &eol);
-    printf("%g", ply_get_argument_value(argument));
-    if (eol) printf("\n");
-    else printf(" ");
-    return 1;
-}
-
-static int face_cb(p_ply_argument argument) {
-    long length, value_index;
-    ply_get_argument_property(argument, NULL, &length, &value_index);
-    switch (value_index) {
-        case 0:
-        case 1:
-            printf("%g ", ply_get_argument_value(argument));
-            break;
-        case 2:
-            printf("%g\n", ply_get_argument_value(argument));
-            break;
-        default:
-            break;
-    }
-    return 1;
-}
-
-int main(void) {
-    long nvertices, ntriangles;
-    p_ply ply = ply_open("input.ply", NULL, 0, NULL);
-    if (!ply) return 1;
-    if (!ply_read_header(ply)) return 1;
-    nvertices = ply_set_read_cb(ply, "vertex", "x", vertex_cb, NULL, 0);
-    ply_set_read_cb(ply, "vertex", "y", vertex_cb, NULL, 0);
-    ply_set_read_cb(ply, "vertex", "z", vertex_cb, NULL, 1);
-    ntriangles = ply_set_read_cb(ply, "face", "vertex_indices", face_cb, NULL, 0);
-    printf("%ld\n%ld\n", nvertices, ntriangles);
-    if (!ply_read(ply)) return 1;
-    ply_close(ply);
-    return 0;
-}
-</pre>
-
-<p> RPly uses callbacks to pass data to an application. Independent callbacks
-can be  associated with each property of each element. For scalar
-properties, the callback is invoked once for each instance. For list
-properties, the callback is invoked first with the number of
-entries in the instance, and then once for each of the data entries.
-<em>This is exactly the order in which the data items appear in the
-file.</em></p>
-
-<p> To keep things simple, values are always passed as <tt>double</tt>,
-regardless of how they are stored in the file. From its parameters,
-callbacks can find out exactly which part of the file is being processed
-(including the actual type of the value), plus access custom information
-provided by the user in the form of a pointer and an integer constant. </p>
-
-<p> In our example, we start with a call to <tt>ply_open</tt> to open a
-file for reading. Then we get RPly to parse it's header, with a call to
-<tt>ply_read_header</tt>.  After the header is parsed, RPly knows which
-element types and properties are available. We then set callbacks for each
-of the <tt>vertex</tt> element properties and the <tt>face</tt> property
-(using <tt>ply_set_read_cb</tt>). Finally, we invoke the main RPly reading
-function, <tt>ply_read</tt>. This function reads all data in the file,
-passing the data to the appropriate callbacks.  After all reading is done,
-we call <tt>ply_close</tt> to release any resources used by RPly.</p>
-
-<p>There are some details, of course. <tt>Ply_set_read_cb</tt> returns the
-number of instances of the target property (which is the same as the number
-of element instances).  This is how the program obtains the number of
-vertices and faces in the file. </p>
-
-<p>RPly lets us associate one pointer <em>and</em> one integer to each
-callback.  We are free to use either or both to link some context to our
-callbacks. Our example uses the integer placeholder to tell
-<tt>vertex_cb</tt> that it has to break the line after the <tt>z</tt>
-property (notice the last argument of <tt>ply_set_read_cb</tt>).</p>
-
-<p><tt>Vertex_cb</tt> gets the user data and the property value from it's
-argument and prints accordingly.  The <tt>face_cb</tt> callback is a bit
-more complicated because lists are more complicated.  Since the
-simple file format only supports triangles, it only prints the first
-3 list values, after which it breaks the line. </p>
-
-<p> The output of the program, as expected, is: </p>
-
-<pre class=example>
-3
-1
--1 0 0
-0 1 0
-1 0 0
-0 1 2
-</pre>
-
-<h2> Writing files with RPly </h2>
-
-<p> The next example is somewhat more involved. We will create a program
-that converts our simple PLY file to binary mode. Besides showing how to
-write a PLY file, this example also illustrates the query functions. We
-do not know a priori which elements and properties, comments and obj_infos
-will be in the input file, so we need a way to find out. Although our simple
-program would work on any PLY file, a better version of this program is
-available from the RPly distribution. For simplicity, the simple version
-omits error messages and command line parameter processing. </p>
-
-<p> In practice, writing a file is even easier than reading one. First we
-create a file in binary mode, with a call to <tt>ply_create</tt> (notice
-the argument <tt>PLY_LITTLE_ENDIAN</tt> that gives the storage mode).  Then,
-we define the elements using <tt>ply_add_element</tt>. After each element, we
-define its properties using <tt>ply_add_scalar_property</tt> or
-<tt>ply_add_list_property</tt>. When we are done with elements and
-properties, we add comments and obj_infos. We then write the header with
-<tt>ply_write_header</tt> and send all data items. The data items are sent
-one by one, with calls to <tt>ply_write</tt>, <em>in the same order they
-are to appear in the file</em>.  Again, to simplify things, this function
-receives data as <tt>double</tt> and performs the needed conversion. Here
-is the code for the example: </p>
-
-<pre class=example>
-#include <stdio.h>
-#include "rply.h"
-
-static int callback(p_ply_argument argument) {
-    void *pdata;
-    /* just pass the value from the input file to the output file */
-    ply_get_argument_user_data(argument, &pdata, NULL);
-    ply_write((p_ply) pdata, ply_get_argument_value(argument));
-    return 1;
-}
-
-static int setup_callbacks(p_ply iply, p_ply oply) {
-    p_ply_element element = NULL;
-    /* iterate over all elements in input file */
-    while ((element = ply_get_next_element(iply, element))) {
-        p_ply_property property = NULL;
-        long ninstances = 0;
-        const char *element_name;
-        ply_get_element_info(element, &element_name, &ninstances);
-        /* add this element to output file */
-        if (!ply_add_element(oply, element_name, ninstances)) return 0;
-        /* iterate over all properties of current element */
-        while ((property = ply_get_next_property(element, property))) {
-            const char *property_name;
-            e_ply_type type, length_type, value_type;
-            ply_get_property_info(property, &property_name, &type,
-                    &length_type, &value_type);
-            /* setup input callback for this property */
-            if (!ply_set_read_cb(iply, element_name, property_name, callback,
-                    oply, 0)) return 0;
-            /* add this property to output file */
-            if (!ply_add_property(oply, property_name, type, length_type,
-                    value_type)) return 0;
-        }
-    }
-    return 1;
-}
-
-int main(int argc, char *argv[]) {
-    const char *value;
-    p_ply iply, oply;
-    iply = ply_open("input.ply", NULL, 0, NULL);
-    if (!iply) return 1;
-    if (!ply_read_header(iply)) return 1;
-    oply = ply_create("output.ply", PLY_LITTLE_ENDIAN, NULL, 0, NULL);
-    if (!oply) return 1;
-    if (!setup_callbacks(iply, oply)) return 1;
-    /* pass comments and obj_infos from input to output */
-    value = NULL;
-    while ((value = ply_get_next_comment(iply, value)))
-        if (!ply_add_comment(oply, value)) return 1;
-    value = NULL;
-    while ((value = ply_get_next_obj_info(iply, value)))
-        if (!ply_add_obj_info(oply, value)) return 1;;
-    /* write output header */
-    if (!ply_write_header(oply)) return 1;
-    /* read input file generating callbacks that pass data to output file */
-    if (!ply_read(iply)) return 1;
-    /* close up, we are done */
-    if (!ply_close(iply)) return 1;
-    if (!ply_close(oply)) return 1;
-    return 0;
-}
-</pre>
-
-<p> RPly uses iterators to let the user loop over a PLY file header. A
-function is used to  get the first item of a given class (element, property
-etc). Passing the last returned item to the same function produces the next
-item, until there are no more items. Examples of iterator use can be seen
-in the <tt>main</tt> function, which uses them to loop over comments and
-obj_infos, and in the <tt>setup_callbacks</tt> function, which loops over
-elements and properties. </p>
-
-<p> In the <tt>setup_callbacks</tt> function, for each element in the
-input, an equivalent element is defined in the output. For each property in
-each element, an equivalent property is defined in the output. Notice that
-the same callback is specified for all properties. It is given the output
-PLY handle as the context pointer. Each time it is called, it  passes the
-received value to <tt>ply_write</tt> on the output handle. It is as simple
-as that. </p>
-
-<h2> A note on locale </h2>
-
-<p> ASCII PLY files are supposed to use the <tt>C</tt>
-locale for numeric formatting. RPly relies on library
-functions (such as <tt>fprintf</tt> and <tt>strtod</tt>)
-that are affected by the current locale. If your software
-modifies the locale (or if it uses another library/toolkit that
-does) and you use RPly under the modified locale, you may be
-unable to read or write properly formatted ASCII PLY files.
-</p>
-
-<p> Modifying RPly internally to hedge against different
-locales would be complicated, particularly in multi-threaded
-applications.  Therefore, RPly leaves this as your
-responsibility. To protect against locale problems in the
-simplest scenario, you should bracket RPly I/O as follows: </p>
-
-<pre class="example">
-#include <locale.h>
-/* Save application locale */
-const char *old_locale = setlocale(LC_NUMERIC, NULL);
-/* Change to PLY standard */
-setlocale(LC_NUMERIC, "C");
-/* Use the RPly library */
-...
-
-/* Restore application locale when done */
-setlocale(LC_NUMERIC, old_locale);
-</pre>
-
-<h1>Reference Manual</h1>
-
-<!-- ply_open ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_open>
-p_ply <b>ply_open</b>(const char *name, p_ply_error_cb error_cb, long idata, void *pdata)
-</p>
-
-<p class=description>
-Opens a PLY file for reading, checks if it is a valid PLY file
-and returns a handle to it.
-</p>
-
-<p class=arguments>
-<tt>Name</tt> is the file name, and <tt>error_cb</tt> is a function to
-be called when an error is found.
-Arguments <tt>idata</tt>
-and <tt>pdata</tt> are available to the error callback via the
-<a href=#ply_get_ply_user_data><tt>ply_get_ply_user_data</tt></a>
-function.
-If <tt>error_cb</tt> is NULL, the default
-error callback is used. It prints a message to the standard error stream.
-</p>
-
-<p class=return>
-Returns a handle to the file or NULL on error.
-</p>
-
-<p class=note>
-Note: <tt>Error_cb</tt> is of type <tt>void
-    (*p_ply_error_cb)(p_ply ply, const char *message)</tt>.
-</p>
-
-<!-- ply_open_from_file ++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_open_from_file>
-p_ply <b>ply_open_from_file</b>(FILE *file_pointer, p_ply_error_cb error_cb, long idata, void *pdata)
-</p>
-
-<p class=description>
-Checks if the FILE pointer points to a valid PLY file and returns a
-handle to it. The handle can be used wherever a handle returned by <a
-href=#ply_open><tt>ply_open</tt></a> is accepted.
-</p>
-
-<p class=arguments>
-<tt>File_pointer</tt> is the FILE pointer open for reading, and <tt>error_cb</tt> is a function to be called when an error is found.
-Arguments <tt>idata</tt>
-and <tt>pdata</tt> are available to the error callback via the
-<a href=#ply_get_ply_user_data><tt>ply_get_ply_user_data</tt></a>
-function.
-If <tt>error_cb</tt> is NULL, the default
-error callback is used. It prints a message to the standard error stream.
-</p>
-
-<p class=return>
-Returns a handle to the file or NULL on error.
-</p>
-
-<p class=note>
-Note: <tt>Error_cb</tt> is of type <tt>void
-    (*p_ply_error_cb)(p_ply ply, const char *message)</tt>.
-</p>
-
-<p class=note>
-Note: This function is declared in header <tt>rplyfile.h</tt>.
-</p>
-
-<!-- ply_get_ply_user_data ++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_ply_user_data>
-int <b>ply_get_ply_user_data</b>(p_ply_ply ply, void *pdata, long *idata)
-</p>
-
-<p class=description>
-Retrieves user data from the ply handle.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is the handle passed to the error callback.
-<tt>Pdata</tt> receives the user data pointer.
-<tt>Idata</tt> receives the user data integer.
-<tt>Pdata</tt> and <tt>idata</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-
-<!-- ply_read_header +++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_read_header>
-int <b>ply_read_header</b>(p_ply ply)
-</p>
-
-<p class=description>
-Reads and parses the header of a PLY file.
-After a call to this function, the query functions
-<a href=#ply_get_next_element><tt>ply_get_next_element</tt></a>,
-<a href=#ply_get_next_property><tt>ply_get_next_property</tt></a>,
-<a href=#ply_get_next_comment><tt>ply_get_next_comment</tt></a>, and
-<a href=#ply_get_next_obj_info><tt>ply_get_next_obj_info</tt></a> can be
-called. Callbacks can also be set with the
-<a href=#ply_set_read_cb><tt>ply_set_read_cb</tt></a> function.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a
-href=#ply_open><tt>ply_open</tt></a>.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_set_read_cb +++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_set_read_cb>
-long <b>ply_set_read_cb</b>(<br>
-   p_ply ply,<br>
-   const char *element_name,<br>
-   const char *property_name,<br>
-   p_ply_read_cb read_cb,<br>
-   void *pdata,<br>
-   long idata<br>
-)
-</p>
-
-<p class=description>
-Sets up the callback to be invoked when the value of a property is read.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a href=#ply_open><tt>ply_open</tt></a>.
-<tt>Element_name</tt> and <tt>property_name</tt> are the names of the
-element and property of interest. <tt>Read_cb</tt> is the callback
-function.  <tt>Pdata</tt> and <tt>idata</tt> are user data to be passed to
-the callback function.
-</p>
-
-<p class=return>
-Returns the number of instances of the element of interest.
-</p>
-
-<p class=note>
-Note: <tt>Read_cb</tt> is of type
-<tt>int (*p_ply_read_cb)(p_ply_argument argument)</tt>.
-The callback should return 1 to continue the reading process,
-or return 0 to abort.
-
-<!-- ply_get_argument_element ++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_argument_element>
-int <b>ply_get_argument_element</b>(<br>
-   p_ply_argument argument,<br>
-   p_ply_element *element,<br>
-   long *instance_index<br>
-)
-</p>
-
-<p class=description>
-Retrieves element information from the callback argument.
-</p>
-
-<p class=arguments>
-<tt>Argument</tt> is the handle passed to the callback.
-<tt>Element</tt> receives a handle to the element
-originating the callback. <tt>Instance_index</tt> receives
-the index of the instance of the element
-being read. <tt>Element</tt> and <tt>instance_index</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<p class=note>
-Note: further information can be obtained from <tt>element</tt> with a
-call to <a href=#ply_get_element_info>ply_get_element_info</a>.
-</p>
-
-<!-- ply_get_argument_property +++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_argument_property>
-int <b>ply_get_argument_property</b>(<br>
-   p_ply_argument argument,<br>
-   p_ply_property *property,<br>
-   long *length,<br>
-   long *value_index<br>
-)
-</p>
-
-<p class=description>
-Retrieves property information from the callback argument.
-</p>
-
-<p class=arguments>
-<tt>Argument</tt> is the handle passed to the callback.
-<tt>Property</tt> receives a handle to the property
-originating the callback. <tt>Length</tt> receives the number
-of values in the list property (1 for scalar properties).
-<tt>Value_index</tt> receives the index of the current property entry (0 for
-scalar properties, -1 for the first value of a list property, the one that
-gives the number of entries). <tt>Property</tt>, <tt>length</tt> and
-<tt>value_index</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<p class=note>
-Note: further information can be obtained from <tt>property</tt> with a
-call to <a href=#ply_get_property_info>ply_get_property_info</a>.
-</p>
-
-<!-- ply_get_argument_user_data +++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_argument_user_data>
-int <b>ply_get_argument_user_data</b>(p_ply_argument argument, void *pdata,
-        long *idata)
-</p>
-
-<p class=description>
-Retrieves the user data from the callback argument.
-</p>
-
-<p class=arguments>
-<tt>Argument</tt> is the handle passed to the callback.
-<tt>Pdata</tt> receives the user data pointer.
-<tt>Idata</tt> receives the user data integer.
-<tt>Pdata</tt> and <tt>idata</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_get_argument_value +++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_argument_value>
-double <b>ply_get_argument_value</b>(p_ply_argument argument)
-</p>
-
-<p class=description>
-Retrieves the property value from the callback argument.
-</p>
-
-<p class=arguments>
-<tt>Argument</tt> is the handle passed to the callback.
-</p>
-
-<p class=return>
-Returns the property value.
-</p>
-
-<!-- ply_read +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_read>
-int <b>ply_read</b>(p_ply ply)
-</p>
-
-<p class=description>
-Reads all data in file, calling appropriate callbacks.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a href=#ply_open><tt>ply_open</tt></a>.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_get_next_element ++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_next_element>
-p_ply_element <b>ply_get_next_element</b>(p_ply ply, p_ply_element last)
-</p>
-
-<p class=description>
-Iterates over all elements on the header of a PLY file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a href=#ply_open><tt>ply_open</tt></a>.
-<a href=#ply_read_header><tt>Ply_read_header</tt></a> must have been called
-on the handle otherwise no elements will be found.
-<tt>Last</tt> is NULL to retrieve the first element, and an element to
-retrieve the next element.
-</p>
-
-<p class=return>
-Returns the next element, or NULL if no more elements.
-</p>
-
-<p class=note>
-Note: further information can be obtained from an element with a
-call to <a href=#ply_get_element_info>ply_get_element_info</a>.
-</p>
-
-<!-- ply_get_next_property +++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_next_property>
-p_ply_property <b>ply_get_next_property</b>(p_ply_element element, p_ply_property last)
-</p>
-
-<p class=description>
-Iterates over all properties of an element.
-</p>
-
-<p class=arguments>
-<tt>Element</tt> is an element handle.
-<tt>Last</tt> is NULL to retrieve the first property, and a property to
-retrieve the next property.
-</p>
-
-<p class=return>
-Returns the next property, or NULL if no more properties.
-</p>
-
-<p class=note>
-Note: further information can be obtained from a property with a
-call to <a href=#ply_get_property_info>ply_get_property_info</a>.
-</p>
-
-<!-- ply_get_next_comment ++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_next_comment>
-const char *<b>ply_get_next_comment</b>(p_ply ply, const char *last)
-</p>
-
-<p class=description>
-Iterates over all comments on the header of a PLY file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a href=#ply_open><tt>ply_open</tt></a>.
-<a href=#ply_read_header><tt>Ply_read_header</tt></a> must have been called
-on the handle otherwise no comments will be found.
-<tt>Last</tt> is NULL to retrieve the first comment, and a comment to
-retrieve the next comment.
-</p>
-
-<p class=return>
-Returns the next comment, or NULL if no more comments.
-</p>
-
-<!-- ply_get_next_obj_info +++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_next_obj_info>
-const char *<b>ply_get_next_obj_info</b>(p_ply ply, const char *last)
-</p>
-
-<p class=description>
-Iterates over all obj_infos on the header of a PLY file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by <a href=#ply_open><tt>ply_open</tt></a>.
-<a href=#ply_read_header><tt>Ply_read_header</tt></a> must have been called
-on the handle otherwise no obj_infos will be found.
-<tt>Last</tt> is NULL to retrieve the first obj_info, and a obj_info to
-retrieve the next obj_info.
-</p>
-
-<p class=return>
-Returns the next obj_info, or NULL if no more obj_infos.
-</p>
-
-<!-- ply_get_element_info ++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_element_info>
-int <b>ply_get_element_info</b>(p_ply_element element, const char** name,
-        long *ninstances)
-</p>
-
-<p class=description>
-Retrieves information from an element handle.
-</p>
-
-<p class=arguments>
-<tt>Element</tt> is the handle of the element of interest.
-<tt>Name</tt> receives the internal copy of the element name.
-<tt>Ninstances</tt> receives the number of instances of this element
-in the file. Both <tt>name</tt> and <tt>ninstances</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_get_property_info +++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_get_property_info>
-int <b>ply_get_property_info</b>(<br>
-   p_ply_property property,<br>
-   const char** name,<br>
-   e_ply_type *type,<br>
-   e_ply_type *length_type,<br>
-   e_ply_type *value_type<br>
-)
-</p>
-
-<p class=description>
-Retrieves information from a property handle.
-</p>
-
-<p class=arguments>
-<tt>Property</tt> is the handle of the property of interest.
-<tt>Name</tt> receives the internal copy of the property name.
-<tt>Type</tt> receives the property type.
-<tt>Length_type</tt> receives the scalar type of the first entry
-in a list property (the one that gives the number of entries).
-<tt>Value_type</tt> receives the scalar type of the remaining list entries.
-<tt>Name</tt>, <tt>type</tt>, <tt>length_type</tt>, and
-<tt>value_type</tt> can be NULL.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<p class=note>
-Note: <tt>Length_type</tt> and <tt>value_type</tt> can
-receive any of the constants for scalar types defined in
-<tt>e_ply_type</tt>. <tt>Type</tt> can, in addition, be <tt>PLY_LIST</tt>,
-in which case the property is a list property and the fields
-<tt>length_type</tt> and <tt>value_type</tt> become meaningful.
-</p>
-
-<!-- ply_create ++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_create>
-p_ply <b>ply_create</b>(const char *name, e_ply_storage_mode storage_mode,
-        p_ply_error_cb error_cb)
-</p>
-
-<p class=description>
-Creates a PLY file for writing.
-</p>
-
-<p class=arguments>
-<tt>Name</tt> is the file name, <tt>storage_mode</tt> is the file storage mode
-(<tt>PLY_ASCII</tt>, <tt>PLY_LITTLE_ENDIAN</tt>,
-<tt>PLY_BIG_ENDIAN</tt>, or <tt>PLY_DEFAULT</tt> to
-automatically detect host endianess).
-<tt>Error_cb</tt> is a function to be called when an error is found.
-Arguments <tt>idata</tt>
-and <tt>pdata</tt> are available to the error callback via the
-<a href=#ply_get_ply_user_data><tt>ply_get_ply_user_data</tt></a>
-function.
-If <tt>error_cb</tt> is NULL, the default
-error callback is used. It prints a message to the standard error stream.
-</p>
-
-<p class=return>
-Returns a handle to the file or NULL on error.
-</p>
-
-<p class=note>
-Note: <tt>Error_cb</tt> is of type <tt>void
-    (*p_ply_error_cb)(const char *message)</tt>
-</p>
-
-<!-- ply_create_to_file ++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_create_to_file>
-p_ply <b>ply_create_to_file</b>(FILE *file_pointer, e_ply_storage_mode storage_mode, p_ply_error_cb error_cb)
-</p>
-
-<p class=description>
-Creates a PLY file to be written to a FILE pointer and
-returns a handle to it.
-The handle can be used wherever a handle returned by <a
-href=#ply_create><tt>ply_create</tt></a> is accepted.
-</p>
-
-<p class=arguments>
-<tt>File_pointer</tt> a pointer to a file open for writing, <tt>storage_mode</tt> is the file storage mode
-(<tt>PLY_ASCII</tt>, <tt>PLY_LITTLE_ENDIAN</tt>,
-<tt>PLY_BIG_ENDIAN</tt>, or <tt>PLY_DEFAULT</tt> to
-automatically detect host endianess).
-<tt>Error_cb</tt> is a function to be called when an error is found.
-Arguments <tt>idata</tt>
-and <tt>pdata</tt> are available to the error callback via the
-<a href=#ply_get_ply_user_data><tt>ply_get_ply_user_data</tt></a>
-function.
-If <tt>error_cb</tt> is NULL, the default
-error callback is used. It prints a message to the standard error stream.
-</p>
-
-<p class=return>
-Returns a handle to the file or NULL on error.
-</p>
-
-<p class=note>
-Note: <tt>Error_cb</tt> is of type <tt>void
-    (*p_ply_error_cb)(const char *message)</tt>
-</p>
-
-<p class=note>
-Note: This function is declared in header <tt>rplyfile.h</tt>.
-</p>
-
-<!-- ply_add_element +++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_element>
-int <b>ply_add_element</b>(p_ply ply, const char *name, long ninstances)
-</p>
-
-<p class=description>
-Adds a new element to the ply file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a>, <tt>name</tt> is the element
-name and <tt>ninstances</tt> is the number of instances of this element that
-will be written to the file.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_add_property ++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_property>
-int <b>ply_add_property</b>(<br>
-   p_ply ply,<br>
-   const char *name,<br>
-   e_ply_type type,<br>
-   e_ply_type length_type,<br>
-   e_ply_type value_type<br>
-)
-</p>
-
-<p class=description>
-Adds a new property to the last element added to the ply file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> and <tt>name</tt> is the
-property name.
-<tt>Type</tt> is the property type.
-<tt>Length_type</tt> is the scalar type of the first entry
-in a list property (the one that gives the number of entries).
-<tt>Value_type</tt> is the scalar type of the remaining list entries.
-If <tt>type</tt> is not <tt>PLY_LIST</tt>, <tt>length_type</tt> and
-<tt>value_type</tt> are ignored.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<p class=note>
-Note: <tt>Length_type</tt> and <tt>value_type</tt> can
-be any of the constants for scalar types defined in
-<tt>e_ply_type</tt>. <tt>Type</tt> can, in addition, be <tt>PLY_LIST</tt>,
-in which case the property is a list property and the fields
-<tt>length_type</tt> and <tt>value_type</tt> become meaningful.
-</p>
-
-<!-- ply_add_list_property ++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_list_property>
-int <b>ply_add_list_property</b>(<br>
-   p_ply ply,<br>
-   const char *name,<br>
-   e_ply_type length_type,<br>
-   e_ply_type value_type<br>
-)
-</p>
-
-<p class=description>
-Same as <a href=#ply_add_property><tt>ply_add_property</tt></a> if
-<tt>type</tt> is <tt>PLY_LIST</tt>.
-</p>
-
-<!-- ply_add_scalar_property +++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_scalar_property>
-int <b>ply_add_scalar_property</b>(p_ply ply, const char *name, e_ply_type type)
-</p>
-
-<p class=description>
-Same as <a href=#ply_add_property><tt>ply_add_property</tt></a> if
-<tt>type</tt> is <em>not</em> <tt>PLY_LIST</tt>.
-</p>
-
-<!-- ply_add_comment +++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_comment>
-int <b>ply_add_comment</b>(p_ply ply, const char *comment);
-</p>
-
-<p class=description>
-Adds a comment to a PLY file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> and <tt>comment</tt> is the
-comment text.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_add_obj_info ++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_add_obj_info>
-int <b>ply_add_obj_info</b>(p_ply ply, const char *obj_info);
-</p>
-
-<p class=description>
-Adds a obj_info to a PLY file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> and <tt>obj_info</tt> is the
-obj_info text.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_write_header ++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_write_header>
-int <b>ply_write_header</b>(p_ply ply);
-</p>
-
-<p class=description>
-Writes the PLY file header to disk, after all elements, properties,
-comments and obj_infos have been added to the handle.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> and <tt>comment</tt> is the
-comment text.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_write +++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_write>
-int <b>ply_write</b>(p_ply ply, double value);
-</p>
-
-<p class=description>
-Passes a value to be stored in the PLY file.
-Values must be passed in the order they will appear in the file.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> and <tt>value</tt> is the
-value to be stored.  For simplicity, values are always passed as
-<tt>double</tt> and conversion is performed as needed.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- ply_close +++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<p class=name id=ply_close>
-int <b>ply_close</b>(p_ply ply);
-</p>
-
-<p class=description>
-Closes the handle and ensures that all resources have been freed and data
-have been written.
-</p>
-
-<p class=arguments>
-<tt>Ply</tt> is a handle returned by
-<a href=#ply_create><tt>ply_create</tt></a> or by
-<a href=#ply_open><tt>ply_open</tt></a>.
-</p>
-
-<p class=return>
-Returns 1 in case of success, 0 otherwise.
-</p>
-
-<!-- footer ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->
-
-<div class=footer>
-<hr>
-<center>
-<p>
-<small>
-Last modified by Diego Nehab on <br>
-Fri Aug 21 17:11:09 BRT 2015
-</small>
-</p>
-</center>
-</div>
-
-</body>
-</html>
diff --git a/vendor/rply/manual/reference.css b/vendor/rply/manual/reference.css
deleted file mode 100644
index 0d39ead..0000000
--- a/vendor/rply/manual/reference.css
+++ /dev/null
@@ -1,54 +0,0 @@
-body { 
-    margin-left: 1em; 
-    margin-right: 1em; 
-    font-family: "Verdana", sans-serif; 
-}
-
-tt {
-    font-family: "Andale Mono", monospace; 
-}
-
-h1, h2, h3, h4 { margin-left: 0em; }
-
-
-h3 { padding-top: 1em; }
-
-p { margin-left: 1em; }
-
-p.name { 
-    font-family: "Andale Mono", monospace; 
-    padding-top: 1em;
-    margin-left: 0em; 
-}
-
-a[href] { color: #7f0000; }
-
-blockquote { margin-left: 3em; }
-
-pre.example {
-    background: #cbb;
-    padding: 1em;
-    margin-left: 1em;
-    font-family: "Andale Mono", monospace; 
-    font-size: small;
-}
-
-hr { 
-    margin-left: 0em;
-	background: #7f0000; 
-	border: 0px;
-	height: 1px;
-}
-
-ul { list-style-type: disc; }
-
-table.index { border: 1px #7f0000; }
-table.index td { text-align: left; vertical-align: top; }
-table.index ul { padding-top: 0em; margin-top: 0em; }
-
-h1:first-letter, 
-h2:first-letter, 
-h2:first-letter, 
-h3:first-letter { color: #7f0000; }
-
-div.header, div.footer { margin-left: 0em; }
diff --git a/vendor/rply/manual/rply.png b/vendor/rply/manual/rply.png
deleted file mode 100644
index e27e44f..0000000
Binary files a/vendor/rply/manual/rply.png and /dev/null differ
diff --git a/vendor/rply/rply.c b/vendor/rply/rply.c
deleted file mode 100644
index c4105ef..0000000
--- a/vendor/rply/rply.c
+++ /dev/null
@@ -1,1616 +0,0 @@
-/* ----------------------------------------------------------------------
- * RPly library, read/write PLY files
- * Diego Nehab, IMPA
- * http://www.impa.br/~diego/software/rply
- *
- * This library is distributed under the MIT License. See notice
- * at the end of this file.
- * ---------------------------------------------------------------------- */
-#include <stdio.h>
-#include <ctype.h>
-#include <assert.h>
-#include <string.h>
-#include <limits.h>
-#include <float.h>
-#include <stdarg.h>
-#include <stdlib.h>
-#include <stddef.h>
-
-#include "rply.h"
-#include "rplyfile.h"
-
-/* ----------------------------------------------------------------------
- * Make sure we get our integer types right
- * ---------------------------------------------------------------------- */
-#if defined(_MSC_VER) && (_MSC_VER < 1600)
-/* C99 stdint.h only supported in MSVC++ 10.0 and up */
-typedef __int8 t_ply_int8;
-typedef __int16 t_ply_int16;
-typedef __int32 t_ply_int32;
-typedef unsigned __int8 t_ply_uint8;
-typedef unsigned __int16 t_ply_uint16;
-typedef unsigned __int32 t_ply_uint32;
-#define PLY_INT8_MAX (127)
-#define PLY_INT8_MIN (-PLY_INT8_MAX-1)
-#define PLY_INT16_MAX (32767)
-#define PLY_INT16_MIN (-PLY_INT16_MAX-1)
-#define PLY_INT32_MAX (2147483647)
-#define PLY_INT32_MIN (-PLY_INT32_MAX-1)
-#define PLY_UINT8_MAX (255)
-#define PLY_UINT16_MAX (65535)
-#define PLY_UINT32_MAX  (4294967295)
-#else
-#include <stdint.h>
-typedef int8_t t_ply_int8;
-typedef int16_t t_ply_int16;
-typedef int32_t t_ply_int32;
-typedef uint8_t t_ply_uint8;
-typedef uint16_t t_ply_uint16;
-typedef uint32_t t_ply_uint32;
-#define PLY_INT8_MIN INT8_MIN
-#define PLY_INT8_MAX INT8_MAX
-#define PLY_INT16_MIN INT16_MIN
-#define PLY_INT16_MAX INT16_MAX
-#define PLY_INT32_MIN INT32_MIN
-#define PLY_INT32_MAX INT32_MAX
-#define PLY_UINT8_MAX UINT8_MAX
-#define PLY_UINT16_MAX UINT16_MAX
-#define PLY_UINT32_MAX UINT32_MAX
-#endif
-
-/* ----------------------------------------------------------------------
- * Constants
- * ---------------------------------------------------------------------- */
-#define WORDSIZE 256
-#define LINESIZE 1024
-#define BUFFERSIZE (8*1024)
-
-typedef enum e_ply_io_mode_ {
-    PLY_READ,
-    PLY_WRITE
-} e_ply_io_mode;
-
-static const char *const ply_storage_mode_list[] = {
-    "binary_big_endian", "binary_little_endian", "ascii", NULL
-};     /* order matches e_ply_storage_mode enum */
-
-static const char *const ply_type_list[] = {
-    "int8", "uint8", "int16", "uint16",
-    "int32", "uint32", "float32", "float64",
-    "char", "uchar", "short", "ushort",
-    "int", "uint", "float", "double",
-    "list", NULL
-};     /* order matches e_ply_type enum */
-
-/* ----------------------------------------------------------------------
- * Property reading callback argument
- *
- * element: name of element being processed
- * property: name of property being processed
- * nelements: number of elements of this kind in file
- * instance_index: index current element of this kind being processed
- * length: number of values in current list (or 1 for scalars)
- * value_index: index of current value int this list (or 0 for scalars)
- * value: value of property
- * pdata/idata: user data defined with ply_set_cb
- *
- * Returns handle to PLY file if succesful, NULL otherwise.
- * ---------------------------------------------------------------------- */
-typedef struct t_ply_argument_ {
-    p_ply_element element;
-    long instance_index;
-    p_ply_property property;
-    long length, value_index;
-    double value;
-    void *pdata;
-    long idata;
-} t_ply_argument;
-
-/* ----------------------------------------------------------------------
- * Property information
- *
- * name: name of this property
- * type: type of this property (list or type of scalar value)
- * length_type, value_type: type of list property count and values
- * read_cb: function to be called when this property is called
- *
- * Returns 1 if should continue processing file, 0 if should abort.
- * ---------------------------------------------------------------------- */
-typedef struct t_ply_property_ {
-    char name[WORDSIZE];
-    e_ply_type type, value_type, length_type;
-    p_ply_read_cb read_cb;
-    void *pdata;
-    long idata;
-} t_ply_property;
-
-/* ----------------------------------------------------------------------
- * Element information
- *
- * name: name of this property
- * ninstances: number of elements of this type in file
- * property: property descriptions for this element
- * nproperty: number of properties in this element
- *
- * Returns 1 if should continue processing file, 0 if should abort.
- * ---------------------------------------------------------------------- */
-typedef struct t_ply_element_ {
-    char name[WORDSIZE];
-    long ninstances;
-    p_ply_property property;
-    long nproperties;
-} t_ply_element;
-
-/* ----------------------------------------------------------------------
- * Input/output driver
- *
- * Depending on file mode, different functions are used to read/write
- * property fields. The drivers make it transparent to read/write in ascii,
- * big endian or little endian cases.
- * ---------------------------------------------------------------------- */
-typedef int (*p_ply_ihandler)(p_ply ply, double *value);
-typedef int (*p_ply_ichunk)(p_ply ply, void *anydata, size_t size);
-typedef struct t_ply_idriver_ {
-    p_ply_ihandler ihandler[16];
-    p_ply_ichunk ichunk;
-    const char *name;
-} t_ply_idriver;
-typedef t_ply_idriver *p_ply_idriver;
-
-typedef int (*p_ply_ohandler)(p_ply ply, double value);
-typedef int (*p_ply_ochunk)(p_ply ply, void *anydata, size_t size);
-typedef struct t_ply_odriver_ {
-    p_ply_ohandler ohandler[16];
-    p_ply_ochunk ochunk;
-    const char *name;
-} t_ply_odriver;
-typedef t_ply_odriver *p_ply_odriver;
-
-/* ----------------------------------------------------------------------
- * Ply file handle.
- *
- * io_mode: read or write (from e_ply_io_mode)
- * storage_mode: mode of file associated with handle (from e_ply_storage_mode)
- * element: elements description for this file
- * nelement: number of different elements in file
- * comment: comments for this file
- * ncomments: number of comments in file
- * obj_info: obj_info items for this file
- * nobj_infos: number of obj_info items in file
- * fp: file pointer associated with ply file
- * rn: skip extra char after end_header?
- * buffer: last word/chunck of data read from ply file
- * buffer_first, buffer_last: interval of untouched good data in buffer
- * buffer_token: start of parsed token (line or word) in buffer
- * idriver, odriver: input driver used to get property fields from file
- * argument: storage space for callback arguments
- * welement, wproperty: element/property type being written
- * winstance_index: index of instance of current element being written
- * wvalue_index: index of list property value being written
- * wlength: number of values in list property being written
- * error_cb: error callback
- * pdata/idata: user data defined with ply_open/ply_create
- * ---------------------------------------------------------------------- */
-typedef struct t_ply_ {
-    e_ply_io_mode io_mode;
-    e_ply_storage_mode storage_mode;
-    p_ply_element element;
-    long nelements;
-    char *comment;
-    long ncomments;
-    char *obj_info;
-    long nobj_infos;
-    FILE *fp;
-    int own_fp;
-    int rn;
-    char buffer[BUFFERSIZE];
-    size_t buffer_first, buffer_token, buffer_last;
-    p_ply_idriver idriver;
-    p_ply_odriver odriver;
-    t_ply_argument argument;
-    long welement, wproperty;
-    long winstance_index, wvalue_index, wlength;
-    p_ply_error_cb error_cb;
-    void *pdata;
-    long idata;
-} t_ply;
-
-/* ----------------------------------------------------------------------
- * I/O functions and drivers
- * ---------------------------------------------------------------------- */
-static t_ply_idriver ply_idriver_ascii;
-static t_ply_idriver ply_idriver_binary;
-static t_ply_idriver ply_idriver_binary_reverse;
-static t_ply_odriver ply_odriver_ascii;
-static t_ply_odriver ply_odriver_binary;
-static t_ply_odriver ply_odriver_binary_reverse;
-
-static int ply_read_word(p_ply ply);
-static int ply_check_word(p_ply ply);
-static void ply_finish_word(p_ply ply, size_t size);
-static int ply_read_line(p_ply ply);
-static int ply_check_line(p_ply ply);
-static int ply_read_chunk(p_ply ply, void *anybuffer, size_t size);
-static int ply_read_chunk_reverse(p_ply ply, void *anybuffer, size_t size);
-static int ply_write_chunk(p_ply ply, void *anybuffer, size_t size);
-static int ply_write_chunk_reverse(p_ply ply, void *anybuffer, size_t size);
-static void ply_reverse(void *anydata, size_t size);
-
-/* ----------------------------------------------------------------------
- * String functions
- * ---------------------------------------------------------------------- */
-static int ply_find_string(const char *item, const char* const list[]);
-static p_ply_element ply_find_element(p_ply ply, const char *name);
-static p_ply_property ply_find_property(p_ply_element element,
-        const char *name);
-
-/* ----------------------------------------------------------------------
- * Header parsing
- * ---------------------------------------------------------------------- */
-static int ply_read_header_magic(p_ply ply);
-static int ply_read_header_format(p_ply ply);
-static int ply_read_header_comment(p_ply ply);
-static int ply_read_header_obj_info(p_ply ply);
-static int ply_read_header_property(p_ply ply);
-static int ply_read_header_element(p_ply ply);
-
-/* ----------------------------------------------------------------------
- * Error handling
- * ---------------------------------------------------------------------- */
-static void ply_error_cb(p_ply ply, const char *message);
-static void ply_ferror(p_ply ply, const char *fmt, ...);
-
-/* ----------------------------------------------------------------------
- * Memory allocation and initialization
- * ---------------------------------------------------------------------- */
-static void ply_init(p_ply ply);
-static void ply_element_init(p_ply_element element);
-static void ply_property_init(p_ply_property property);
-static p_ply ply_alloc(void);
-static p_ply_element ply_grow_element(p_ply ply);
-static p_ply_property ply_grow_property(p_ply ply, p_ply_element element);
-static void *ply_grow_array(p_ply ply, void **pointer, long *nmemb, long size);
-
-/* ----------------------------------------------------------------------
- * Special functions
- * ---------------------------------------------------------------------- */
-static e_ply_storage_mode ply_arch_endian(void);
-static int ply_type_check(void);
-
-/* ----------------------------------------------------------------------
- * Auxiliary read functions
- * ---------------------------------------------------------------------- */
-static int ply_read_element(p_ply ply, p_ply_element element,
-        p_ply_argument argument);
-static int ply_read_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument);
-static int ply_read_list_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument);
-static int ply_read_scalar_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument);
-
-/* ----------------------------------------------------------------------
- * Buffer support functions
- * ---------------------------------------------------------------------- */
-/* pointers to tokenized word and line in buffer */
-#define BWORD(p) (p->buffer + p->buffer_token)
-#define BLINE(p) (p->buffer + p->buffer_token)
-
-/* pointer to start of untouched bytes in buffer */
-#define BFIRST(p) (p->buffer + p->buffer_first)
-
-/* number of bytes untouched in buffer */
-#define BSIZE(p) (p->buffer_last - p->buffer_first)
-
-/* consumes data from buffer */
-#define BSKIP(p, s) (p->buffer_first += s)
-
-/* refills the buffer */
-static int BREFILL(p_ply ply) {
-    /* move untouched data to beginning of buffer */
-    size_t size = BSIZE(ply);
-    memmove(ply->buffer, BFIRST(ply), size);
-    ply->buffer_last = size;
-    ply->buffer_first = ply->buffer_token = 0;
-    /* fill remaining with new data */
-    size = fread(ply->buffer+size, 1, BUFFERSIZE-size-1, ply->fp);
-    /* increase size to account for new data */
-    ply->buffer_last += size;
-    /* place sentinel so we can use str* functions with buffer */
-    ply->buffer[ply->buffer_last] = '\0';
-    /* check if read failed */
-    return size > 0;
-}
-
-/* We don't care about end-of-line, generally, because we
- * separate words by any white-space character.
- * Unfortunately, in binary mode, right after 'end_header',
- * we have to know *exactly* how many characters to skip */
-/* We use the end-of-line marker after the 'ply' magic
- * number to figure out what to do */
-static int ply_read_header_magic(p_ply ply) {
-    char *magic = ply->buffer;
-    if (!BREFILL(ply)) {
-        ply->error_cb(ply, "Unable to read magic number from file");
-        return 0;
-    }
-    /* check if it is ply */
-    if (magic[0] != 'p' || magic[1] != 'l' || magic[2] != 'y'
-            || !isspace(magic[3])) {
-        ply->error_cb(ply, "Wrong magic number. Expected 'ply'");
-        return 0;
-    }
-    /* figure out if we have to skip the extra character
-     * after header when we reach the binary part of file */
-    ply->rn = magic[3] == '\r' && magic[4] == '\n';
-    BSKIP(ply, 3);
-    return 1;
-}
-
-/* ----------------------------------------------------------------------
- * Exported functions
- * ---------------------------------------------------------------------- */
-/* ----------------------------------------------------------------------
- * Read support functions
- * ---------------------------------------------------------------------- */
-p_ply ply_open(const char *name, p_ply_error_cb error_cb,
-        long idata, void *pdata) {
-    FILE *fp;
-    p_ply ply;
-    if (error_cb == NULL) error_cb = ply_error_cb;
-    assert(name);
-    fp = fopen(name, "rb");
-    if (!fp) {
-        error_cb(NULL, "Unable to open file");
-        return NULL;
-    }
-    ply = ply_open_from_file(fp, error_cb, idata, pdata);
-    if (ply) ply->own_fp = 1;
-    else fclose(fp);
-    return ply;
-}
-
-p_ply ply_open_from_file(FILE *fp, p_ply_error_cb error_cb,
-        long idata, void *pdata) {
-    p_ply ply;
-    if (error_cb == NULL) error_cb = ply_error_cb;
-    assert(fp);
-    if (!ply_type_check()) {
-        error_cb(ply, "Incompatible type system");
-        return NULL;
-    }
-    ply = ply_alloc();
-    if (!ply) {
-        error_cb(NULL, "Out of memory");
-        return NULL;
-    }
-    ply->idata = idata;
-    ply->pdata = pdata;
-    ply->io_mode = PLY_READ;
-    ply->error_cb = error_cb;
-    ply->fp = fp;
-    ply->own_fp = 0;
-    return ply;
-}
-
-int ply_read_header(p_ply ply) {
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    if (!ply_read_header_magic(ply)) return 0;
-    if (!ply_read_word(ply)) return 0;
-    /* parse file format */
-    if (!ply_read_header_format(ply)) {
-        ply_ferror(ply, "Invalid file format");
-        return 0;
-    }
-    /* parse elements, comments or obj_infos until the end of header */
-    while (strcmp(BWORD(ply), "end_header")) {
-        if (!ply_read_header_comment(ply) &&
-                !ply_read_header_element(ply) &&
-                !ply_read_header_obj_info(ply)) {
-            ply_ferror(ply, "Unexpected token '%s'", BWORD(ply));
-            return 0;
-        }
-    }
-    /* skip extra character? */
-    if (ply->rn) {
-        if (BSIZE(ply) < 1 && !BREFILL(ply)) {
-            ply_ferror(ply, "Unexpected end of file");
-            return 0;
-        }
-        BSKIP(ply, 1);
-    }
-    return 1;
-}
-
-long ply_set_read_cb(p_ply ply, const char *element_name,
-        const char* property_name, p_ply_read_cb read_cb,
-        void *pdata, long idata) {
-    p_ply_element element = NULL;
-    p_ply_property property = NULL;
-    assert(ply && element_name && property_name);
-    element = ply_find_element(ply, element_name);
-    if (!element) return 0;
-    property = ply_find_property(element, property_name);
-    if (!property) return 0;
-    property->read_cb = read_cb;
-    property->pdata = pdata;
-    property->idata = idata;
-    return (int) element->ninstances;
-}
-
-int ply_read(p_ply ply) {
-    long i;
-    p_ply_argument argument;
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    argument = &ply->argument;
-    /* for each element type */
-    for (i = 0; i < ply->nelements; i++) {
-        p_ply_element element = &ply->element[i];
-        argument->element = element;
-        if (!ply_read_element(ply, element, argument))
-            return 0;
-    }
-    return 1;
-}
-
-/* ----------------------------------------------------------------------
- * Write support functions
- * ---------------------------------------------------------------------- */
-p_ply ply_create(const char *name, e_ply_storage_mode storage_mode,
-        p_ply_error_cb error_cb, long idata, void *pdata) {
-    p_ply ply = NULL;
-    FILE *fp = NULL;
-    assert(name && storage_mode <= PLY_DEFAULT);
-    if (error_cb == NULL) error_cb = ply_error_cb;
-    fp = fopen(name, "wb");
-    if (!fp) {
-        error_cb(ply, "Unable to create file");
-        return NULL;
-    }
-    ply = ply_create_to_file(fp, storage_mode, error_cb, idata, pdata);
-    if (ply) ply->own_fp = 1;
-    else fclose(fp);
-    return ply;
-}
-
-p_ply ply_create_to_file(FILE *fp, e_ply_storage_mode storage_mode,
-        p_ply_error_cb error_cb, long idata, void *pdata) {
-    p_ply ply;
-    assert(fp && storage_mode <= PLY_DEFAULT);
-    if (!ply_type_check()) {
-        error_cb(ply, "Incompatible type system");
-        return NULL;
-    }
-    ply = ply_alloc();
-    if (!ply) {
-        error_cb(NULL, "Out of memory");
-        return NULL;
-    }
-    ply->idata = idata;
-    ply->pdata = pdata;
-    ply->io_mode = PLY_WRITE;
-    if (storage_mode == PLY_DEFAULT) storage_mode = ply_arch_endian();
-    if (storage_mode == PLY_ASCII) ply->odriver = &ply_odriver_ascii;
-    else if (storage_mode == ply_arch_endian())
-        ply->odriver = &ply_odriver_binary;
-    else ply->odriver = &ply_odriver_binary_reverse;
-    ply->storage_mode = storage_mode;
-    ply->fp = fp;
-    ply->own_fp = 0;
-    ply->error_cb = error_cb;
-    return ply;
-}
-
-
-int ply_add_element(p_ply ply, const char *name, long ninstances) {
-    p_ply_element element = NULL;
-    assert(ply && ply->fp && ply->io_mode == PLY_WRITE);
-    assert(name && strlen(name) < WORDSIZE && ninstances >= 0);
-    if (strlen(name) >= WORDSIZE || ninstances < 0) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    element = ply_grow_element(ply);
-    if (!element) return 0;
-    strcpy(element->name, name);
-    element->ninstances = ninstances;
-    return 1;
-}
-
-int ply_add_scalar_property(p_ply ply, const char *name, e_ply_type type) {
-    p_ply_element element = NULL;
-    p_ply_property property = NULL;
-    assert(ply && ply->fp && ply->io_mode == PLY_WRITE);
-    assert(name && strlen(name) < WORDSIZE);
-    assert(type < PLY_LIST);
-    if (strlen(name) >= WORDSIZE || type >= PLY_LIST) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    element = &ply->element[ply->nelements-1];
-    property = ply_grow_property(ply, element);
-    if (!property) return 0;
-    strcpy(property->name, name);
-    property->type = type;
-    return 1;
-}
-
-int ply_add_list_property(p_ply ply, const char *name,
-        e_ply_type length_type, e_ply_type value_type) {
-    p_ply_element element = NULL;
-    p_ply_property property = NULL;
-    assert(ply && ply->fp && ply->io_mode == PLY_WRITE);
-    assert(name && strlen(name) < WORDSIZE);
-    if (strlen(name) >= WORDSIZE) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    assert(length_type < PLY_LIST);
-    assert(value_type < PLY_LIST);
-    if (length_type >= PLY_LIST || value_type >= PLY_LIST) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    element = &ply->element[ply->nelements-1];
-    property = ply_grow_property(ply, element);
-    if (!property) return 0;
-    strcpy(property->name, name);
-    property->type = PLY_LIST;
-    property->length_type = length_type;
-    property->value_type = value_type;
-    return 1;
-}
-
-int ply_add_property(p_ply ply, const char *name, e_ply_type type,
-        e_ply_type length_type, e_ply_type value_type) {
-    if (type == PLY_LIST)
-        return ply_add_list_property(ply, name, length_type, value_type);
-    else
-        return ply_add_scalar_property(ply, name, type);
-}
-
-int ply_add_comment(p_ply ply, const char *comment) {
-    char *new_comment = NULL;
-    assert(ply && comment && strlen(comment) < LINESIZE);
-    if (!comment || strlen(comment) >= LINESIZE) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    new_comment = (char *) ply_grow_array(ply, (void **) &ply->comment,
-            &ply->ncomments, LINESIZE);
-    if (!new_comment) return 0;
-    strcpy(new_comment, comment);
-    return 1;
-}
-
-int ply_add_obj_info(p_ply ply, const char *obj_info) {
-    char *new_obj_info = NULL;
-    assert(ply && obj_info && strlen(obj_info) < LINESIZE);
-    if (!obj_info || strlen(obj_info) >= LINESIZE) {
-        ply_ferror(ply, "Invalid arguments");
-        return 0;
-    }
-    new_obj_info = (char *) ply_grow_array(ply, (void **) &ply->obj_info,
-            &ply->nobj_infos, LINESIZE);
-    if (!new_obj_info) return 0;
-    strcpy(new_obj_info, obj_info);
-    return 1;
-}
-
-int ply_write_header(p_ply ply) {
-    long i, j;
-    assert(ply && ply->fp && ply->io_mode == PLY_WRITE);
-    assert(ply->element || ply->nelements == 0);
-    assert(!ply->element || ply->nelements > 0);
-    if (fprintf(ply->fp, "ply\nformat %s 1.0\n",
-                ply_storage_mode_list[ply->storage_mode]) <= 0) goto error;
-    for (i = 0; i < ply->ncomments; i++)
-        if (fprintf(ply->fp, "comment %s\n", ply->comment + LINESIZE*i) <= 0)
-            goto error;
-    for (i = 0; i < ply->nobj_infos; i++)
-        if (fprintf(ply->fp, "obj_info %s\n", ply->obj_info + LINESIZE*i) <= 0)
-            goto error;
-    for (i = 0; i < ply->nelements; i++) {
-        p_ply_element element = &ply->element[i];
-        assert(element->property || element->nproperties == 0);
-        assert(!element->property || element->nproperties > 0);
-        if (fprintf(ply->fp, "element %s %ld\n", element->name,
-                    element->ninstances) <= 0) goto error;
-        for (j = 0; j < element->nproperties; j++) {
-            p_ply_property property = &element->property[j];
-            if (property->type == PLY_LIST) {
-                if (fprintf(ply->fp, "property list %s %s %s\n",
-                            ply_type_list[property->length_type],
-                            ply_type_list[property->value_type],
-                            property->name) <= 0) goto error;
-            } else {
-                if (fprintf(ply->fp, "property %s %s\n",
-                            ply_type_list[property->type],
-                            property->name) <= 0) goto error;
-            }
-        }
-    }
-    return fprintf(ply->fp, "end_header\n") > 0;
-error:
-    ply_ferror(ply, "Error writing to file");
-    return 0;
-}
-
-int ply_write(p_ply ply, double value) {
-    p_ply_element element = NULL;
-    p_ply_property property = NULL;
-    int type = -1;
-    int breakafter = 0;
-    int spaceafter = 1;
-    if (ply->welement > ply->nelements) return 0;
-    element = &ply->element[ply->welement];
-    if (ply->wproperty > element->nproperties) return 0;
-    property = &element->property[ply->wproperty];
-    if (property->type == PLY_LIST) {
-        if (ply->wvalue_index == 0) {
-            type = property->length_type;
-            ply->wlength = (long) value;
-        } else type = property->value_type;
-    } else {
-        type = property->type;
-        ply->wlength = 0;
-    }
-    if (!ply->odriver->ohandler[type](ply, value)) {
-        ply_ferror(ply, "Failed writing %s of %s %d (%s: %s)",
-                    property->name, element->name,
-                    ply->winstance_index,
-                    ply->odriver->name, ply_type_list[type]);
-        return 0;
-    }
-    ply->wvalue_index++;
-    if (ply->wvalue_index > ply->wlength) {
-        ply->wvalue_index = 0;
-        ply->wproperty++;
-    }
-    if (ply->wproperty >= element->nproperties) {
-        ply->wproperty = 0;
-        ply->winstance_index++;
-        breakafter = 1;
-        spaceafter = 0;
-    }
-    if (ply->winstance_index >= element->ninstances) {
-        ply->winstance_index = 0;
-        do {
-            ply->welement++;
-            element = &ply->element[ply->welement];
-        } while (ply->welement < ply->nelements && !element->ninstances);
-    }
-    if (ply->storage_mode == PLY_ASCII) {
-        return (!spaceafter || putc(' ', ply->fp) > 0) &&
-               (!breakafter || putc('\n', ply->fp) > 0);
-    } else {
-        return 1;
-    }
-}
-
-int ply_close(p_ply ply) {
-    long i;
-    assert(ply && ply->fp);
-    assert(ply->element || ply->nelements == 0);
-    assert(!ply->element || ply->nelements > 0);
-    /* write last chunk to file */
-    if (ply->io_mode == PLY_WRITE &&
-      fwrite(ply->buffer, 1, ply->buffer_last, ply->fp) < ply->buffer_last) {
-        ply_ferror(ply, "Error closing up");
-        return 0;
-    }
-    if (ply->own_fp) fclose(ply->fp);
-    /* free all memory used by handle */
-    if (ply->element) {
-        for (i = 0; i < ply->nelements; i++) {
-            p_ply_element element = &ply->element[i];
-            if (element->property) free(element->property);
-        }
-        free(ply->element);
-    }
-    if (ply->obj_info) free(ply->obj_info);
-    if (ply->comment) free(ply->comment);
-    free(ply);
-    return 1;
-}
-
-/* ----------------------------------------------------------------------
- * Query support functions
- * ---------------------------------------------------------------------- */
-p_ply_element ply_get_next_element(p_ply ply,
-        p_ply_element last) {
-    assert(ply);
-    if (!last) return ply->element;
-    last++;
-    if (last < ply->element + ply->nelements) return last;
-    else return NULL;
-}
-
-int ply_get_element_info(p_ply_element element, const char** name,
-        long *ninstances) {
-    assert(element);
-    if (name) *name = element->name;
-    if (ninstances) *ninstances = (long) element->ninstances;
-    return 1;
-}
-
-p_ply_property ply_get_next_property(p_ply_element element,
-        p_ply_property last) {
-    assert(element);
-    if (!last) return element->property;
-    last++;
-    if (last < element->property + element->nproperties) return last;
-    else return NULL;
-}
-
-int ply_get_property_info(p_ply_property property, const char** name,
-        e_ply_type *type, e_ply_type *length_type, e_ply_type *value_type) {
-    assert(property);
-    if (name) *name = property->name;
-    if (type) *type = property->type;
-    if (length_type) *length_type = property->length_type;
-    if (value_type) *value_type = property->value_type;
-    return 1;
-
-}
-
-const char *ply_get_next_comment(p_ply ply, const char *last) {
-    assert(ply);
-    if (!last) return ply->comment;
-    last += LINESIZE;
-    if (last < ply->comment + LINESIZE*ply->ncomments) return last;
-    else return NULL;
-}
-
-const char *ply_get_next_obj_info(p_ply ply, const char *last) {
-    assert(ply);
-    if (!last) return ply->obj_info;
-    last += LINESIZE;
-    if (last < ply->obj_info + LINESIZE*ply->nobj_infos) return last;
-    else return NULL;
-}
-
-/* ----------------------------------------------------------------------
- * Callback argument support functions
- * ---------------------------------------------------------------------- */
-int ply_get_argument_element(p_ply_argument argument,
-        p_ply_element *element, long *instance_index) {
-    assert(argument);
-    if (!argument) return 0;
-    if (element) *element = argument->element;
-    if (instance_index) *instance_index = argument->instance_index;
-    return 1;
-}
-
-int ply_get_argument_property(p_ply_argument argument,
-        p_ply_property *property, long *length, long *value_index) {
-    assert(argument);
-    if (!argument) return 0;
-    if (property) *property = argument->property;
-    if (length) *length = argument->length;
-    if (value_index) *value_index = argument->value_index;
-    return 1;
-}
-
-int ply_get_argument_user_data(p_ply_argument argument, void **pdata,
-        long *idata) {
-    assert(argument);
-    if (!argument) return 0;
-    if (pdata) *pdata = argument->pdata;
-    if (idata) *idata = argument->idata;
-    return 1;
-}
-
-double ply_get_argument_value(p_ply_argument argument) {
-    assert(argument);
-    if (!argument) return 0.0;
-    return argument->value;
-}
-
-int ply_get_ply_user_data(p_ply ply, void **pdata, long *idata) {
-    assert(ply);
-    if (!ply) return 0;
-    if (pdata) *pdata = ply->pdata;
-    if (idata) *idata = ply->idata;
-    return 1;
-}
-
-/* ----------------------------------------------------------------------
- * Internal functions
- * ---------------------------------------------------------------------- */
-static int ply_read_list_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument) {
-    int l;
-    p_ply_read_cb read_cb = property->read_cb;
-    p_ply_ihandler *driver = ply->idriver->ihandler;
-    /* get list length */
-    p_ply_ihandler handler = driver[property->length_type];
-    double length;
-    if (!handler(ply, &length)) {
-        ply_ferror(ply, "Error reading '%s' of '%s' number %d",
-                property->name, element->name, argument->instance_index);
-        return 0;
-    }
-    /* invoke callback to pass length in value field */
-    argument->length = (long) length;
-    argument->value_index = -1;
-    argument->value = length;
-    if (read_cb && !read_cb(argument)) {
-        ply_ferror(ply, "Aborted by user");
-        return 0;
-    }
-    /* read list values */
-    handler = driver[property->value_type];
-    /* for each value in list */
-    for (l = 0; l < (long) length; l++) {
-        /* read value from file */
-        argument->value_index = l;
-        if (!handler(ply, &argument->value)) {
-            ply_ferror(ply, "Error reading value number %d of '%s' of "
-                    "'%s' number %d", l+1, property->name,
-                    element->name, argument->instance_index);
-            return 0;
-        }
-        /* invoke callback to pass value */
-        if (read_cb && !read_cb(argument)) {
-            ply_ferror(ply, "Aborted by user");
-            return 0;
-        }
-    }
-    return 1;
-}
-
-static int ply_read_scalar_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument) {
-    p_ply_read_cb read_cb = property->read_cb;
-    p_ply_ihandler *driver = ply->idriver->ihandler;
-    p_ply_ihandler handler = driver[property->type];
-    argument->length = 1;
-    argument->value_index = 0;
-    if (!handler(ply, &argument->value)) {
-        ply_ferror(ply, "Error reading '%s' of '%s' number %d",
-                property->name, element->name, argument->instance_index);
-        return 0;
-    }
-    if (read_cb && !read_cb(argument)) {
-        ply_ferror(ply, "Aborted by user");
-        return 0;
-    }
-    return 1;
-}
-
-static int ply_read_property(p_ply ply, p_ply_element element,
-        p_ply_property property, p_ply_argument argument) {
-    if (property->type == PLY_LIST)
-        return ply_read_list_property(ply, element, property, argument);
-    else
-        return ply_read_scalar_property(ply, element, property, argument);
-}
-
-static int ply_read_element(p_ply ply, p_ply_element element,
-        p_ply_argument argument) {
-    long j, k;
-    /* for each element of this type */
-    for (j = 0; j < element->ninstances; j++) {
-        argument->instance_index = j;
-        /* for each property */
-        for (k = 0; k < element->nproperties; k++) {
-            p_ply_property property = &element->property[k];
-            argument->property = property;
-            argument->pdata = property->pdata;
-            argument->idata = property->idata;
-            if (!ply_read_property(ply, element, property, argument))
-                return 0;
-        }
-    }
-    return 1;
-}
-
-static int ply_find_string(const char *item, const char* const list[]) {
-    int i;
-    assert(item && list);
-    for (i = 0; list[i]; i++)
-        if (!strcmp(list[i], item)) return i;
-    return -1;
-}
-
-static p_ply_element ply_find_element(p_ply ply, const char *name) {
-    p_ply_element element;
-    int i, nelements;
-    assert(ply && name);
-    element = ply->element;
-    nelements = ply->nelements;
-    assert(element || nelements == 0);
-    assert(!element || nelements > 0);
-    for (i = 0; i < nelements; i++)
-        if (!strcmp(element[i].name, name)) return &element[i];
-    return NULL;
-}
-
-static p_ply_property ply_find_property(p_ply_element element,
-        const char *name) {
-    p_ply_property property;
-    int i, nproperties;
-    assert(element && name);
-    property = element->property;
-    nproperties = element->nproperties;
-    assert(property || nproperties == 0);
-    assert(!property || nproperties > 0);
-    for (i = 0; i < nproperties; i++)
-        if (!strcmp(property[i].name, name)) return &property[i];
-    return NULL;
-}
-
-static int ply_check_word(p_ply ply) {
-    size_t size = strlen(BWORD(ply));
-    if (size >= WORDSIZE) {
-        ply_ferror(ply, "Word too long");
-        return 0;
-    } else if (size == 0) {
-        ply_ferror(ply, "Unexpected end of file");
-        return 0;
-    }
-    return 1;
-}
-
-static int ply_read_word(p_ply ply) {
-    size_t t = 0;
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    /* skip leading blanks */
-    while (1) {
-        t = strspn(BFIRST(ply), " \n\r\t");
-        /* check if all buffer was made of blanks */
-        if (t >= BSIZE(ply)) {
-            if (!BREFILL(ply)) {
-                ply_ferror(ply, "Unexpected end of file");
-                return 0;
-            }
-        } else break;
-    }
-    BSKIP(ply, t);
-    /* look for a space after the current word */
-    t = strcspn(BFIRST(ply), " \n\r\t");
-    /* if we didn't reach the end of the buffer, we are done */
-    if (t < BSIZE(ply)) {
-        ply_finish_word(ply, t);
-        return ply_check_word(ply);
-    }
-    /* otherwise, try to refill buffer */
-    if (!BREFILL(ply)) {
-        /* if we reached the end of file, try to do with what we have */
-        ply_finish_word(ply, t);
-        return ply_check_word(ply);
-        /* ply_ferror(ply, "Unexpected end of file"); */
-        /* return 0; */
-    }
-    /* keep looking from where we left */
-    t += strcspn(BFIRST(ply) + t, " \n\r\t");
-    /* check if the token is too large for our buffer */
-    if (t >= BSIZE(ply)) {
-        ply_ferror(ply, "Token too large");
-        return 0;
-    }
-    /* we are done */
-    ply_finish_word(ply, t);
-    return ply_check_word(ply);
-}
-
-static void ply_finish_word(p_ply ply, size_t size) {
-    ply->buffer_token = ply->buffer_first;
-    BSKIP(ply, size);
-    *BFIRST(ply) = '\0';
-    BSKIP(ply, 1);
-}
-
-static int ply_check_line(p_ply ply) {
-    if (strlen(BLINE(ply)) >= LINESIZE) {
-        ply_ferror(ply, "Line too long");
-        return 0;
-    }
-    return 1;
-}
-
-static int ply_read_line(p_ply ply) {
-    const char *end = NULL;
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    /* look for a end of line */
-    end = strchr(BFIRST(ply), '\n');
-    /* if we didn't reach the end of the buffer, we are done */
-    if (end) {
-        ply->buffer_token = ply->buffer_first;
-        BSKIP(ply, end - BFIRST(ply));
-        *BFIRST(ply) = '\0';
-        BSKIP(ply, 1);
-        return ply_check_line(ply);
-    } else {
-        end = ply->buffer + BSIZE(ply);
-        /* otherwise, try to refill buffer */
-        if (!BREFILL(ply)) {
-            ply_ferror(ply, "Unexpected end of file");
-            return 0;
-        }
-    }
-    /* keep looking from where we left */
-    end = strchr(end, '\n');
-    /* check if the token is too large for our buffer */
-    if (!end) {
-        ply_ferror(ply, "Token too large");
-        return 0;
-    }
-    /* we are done */
-    ply->buffer_token = ply->buffer_first;
-    BSKIP(ply, end - BFIRST(ply));
-    *BFIRST(ply) = '\0';
-    BSKIP(ply, 1);
-    return ply_check_line(ply);
-}
-
-static int ply_read_chunk(p_ply ply, void *anybuffer, size_t size) {
-    char *buffer = (char *) anybuffer;
-    size_t i = 0;
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    assert(ply->buffer_first <= ply->buffer_last);
-    while (i < size) {
-        if (ply->buffer_first < ply->buffer_last) {
-            buffer[i] = ply->buffer[ply->buffer_first];
-            ply->buffer_first++;
-            i++;
-        } else {
-            ply->buffer_first = 0;
-            ply->buffer_last = fread(ply->buffer, 1, BUFFERSIZE, ply->fp);
-            if (ply->buffer_last <= 0) return 0;
-        }
-    }
-    return 1;
-}
-
-static int ply_write_chunk(p_ply ply, void *anybuffer, size_t size) {
-    char *buffer = (char *) anybuffer;
-    size_t i = 0;
-    assert(ply && ply->fp && ply->io_mode == PLY_WRITE);
-    assert(ply->buffer_last <= BUFFERSIZE);
-    while (i < size) {
-        if (ply->buffer_last < BUFFERSIZE) {
-            ply->buffer[ply->buffer_last] = buffer[i];
-            ply->buffer_last++;
-            i++;
-        } else {
-            ply->buffer_last = 0;
-            if (fwrite(ply->buffer, 1, BUFFERSIZE, ply->fp) < BUFFERSIZE)
-                return 0;
-        }
-    }
-    return 1;
-}
-
-static int ply_write_chunk_reverse(p_ply ply, void *anybuffer, size_t size) {
-    int ret = 0;
-    ply_reverse(anybuffer, size);
-    ret = ply_write_chunk(ply, anybuffer, size);
-    ply_reverse(anybuffer, size);
-    return ret;
-}
-
-static int ply_read_chunk_reverse(p_ply ply, void *anybuffer, size_t size) {
-    if (!ply_read_chunk(ply, anybuffer, size)) return 0;
-    ply_reverse(anybuffer, size);
-    return 1;
-}
-
-static void ply_reverse(void *anydata, size_t size) {
-    char *data = (char *) anydata;
-    char temp;
-    size_t i;
-    for (i = 0; i < size/2; i++) {
-        temp = data[i];
-        data[i] = data[size-i-1];
-        data[size-i-1] = temp;
-    }
-}
-
-static void ply_init(p_ply ply) {
-    ply->element = NULL;
-    ply->nelements = 0;
-    ply->comment = NULL;
-    ply->ncomments = 0;
-    ply->obj_info = NULL;
-    ply->nobj_infos = 0;
-    ply->idriver = NULL;
-    ply->odriver = NULL;
-    ply->buffer[0] = '\0';
-    ply->buffer_first = ply->buffer_last = ply->buffer_token = 0;
-    ply->welement = 0;
-    ply->wproperty = 0;
-    ply->winstance_index = 0;
-    ply->wlength = 0;
-    ply->wvalue_index = 0;
-}
-
-static void ply_element_init(p_ply_element element) {
-    element->name[0] = '\0';
-    element->ninstances = 0;
-    element->property = NULL;
-    element->nproperties = 0;
-}
-
-static void ply_property_init(p_ply_property property) {
-    property->name[0] = '\0';
-    property->type = -1;
-    property->length_type = -1;
-    property->value_type = -1;
-    property->read_cb = (p_ply_read_cb) NULL;
-    property->pdata = NULL;
-    property->idata = 0;
-}
-
-static p_ply ply_alloc(void) {
-    p_ply ply = (p_ply) calloc(1, sizeof(t_ply));
-    if (!ply) return NULL;
-    ply_init(ply);
-    return ply;
-}
-
-static void *ply_grow_array(p_ply ply, void **pointer,
-        long *nmemb, long size) {
-    void *temp = *pointer;
-    long count = *nmemb + 1;
-    if (!temp) temp = malloc(count*size);
-    else temp = realloc(temp, count*size);
-    if (!temp) {
-        ply_ferror(ply, "Out of memory");
-        return NULL;
-    }
-    *pointer = temp;
-    *nmemb = count;
-    return (char *) temp + (count-1) * size;
-}
-
-static p_ply_element ply_grow_element(p_ply ply) {
-    p_ply_element element = NULL;
-    assert(ply);
-    assert(ply->element || ply->nelements == 0);
-    assert(!ply->element || ply->nelements > 0);
-    element = (p_ply_element) ply_grow_array(ply, (void **) &ply->element,
-            &ply->nelements, sizeof(t_ply_element));
-    if (!element) return NULL;
-    ply_element_init(element);
-    return element;
-}
-
-static p_ply_property ply_grow_property(p_ply ply, p_ply_element element) {
-    p_ply_property property = NULL;
-    assert(ply);
-    assert(element);
-    assert(element->property || element->nproperties == 0);
-    assert(!element->property || element->nproperties > 0);
-    property = (p_ply_property) ply_grow_array(ply,
-            (void **) &element->property,
-            &element->nproperties, sizeof(t_ply_property));
-    if (!property) return NULL;
-    ply_property_init(property);
-    return property;
-}
-
-static int ply_read_header_format(p_ply ply) {
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    if (strcmp(BWORD(ply), "format")) return 0;
-    if (!ply_read_word(ply)) return 0;
-    ply->storage_mode = ply_find_string(BWORD(ply), ply_storage_mode_list);
-    if (ply->storage_mode == (e_ply_storage_mode) (-1)) return 0;
-    if (ply->storage_mode == PLY_ASCII) ply->idriver = &ply_idriver_ascii;
-    else if (ply->storage_mode == ply_arch_endian())
-        ply->idriver = &ply_idriver_binary;
-    else ply->idriver = &ply_idriver_binary_reverse;
-    if (!ply_read_word(ply)) return 0;
-    if (strcmp(BWORD(ply), "1.0")) return 0;
-    if (!ply_read_word(ply)) return 0;
-    return 1;
-}
-
-static int ply_read_header_comment(p_ply ply) {
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    if (strcmp(BWORD(ply), "comment")) return 0;
-    if (!ply_read_line(ply)) return 0;
-    if (!ply_add_comment(ply, BLINE(ply))) return 0;
-    if (!ply_read_word(ply)) return 0;
-    return 1;
-}
-
-static int ply_read_header_obj_info(p_ply ply) {
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    if (strcmp(BWORD(ply), "obj_info")) return 0;
-    if (!ply_read_line(ply)) return 0;
-    if (!ply_add_obj_info(ply, BLINE(ply))) return 0;
-    if (!ply_read_word(ply)) return 0;
-    return 1;
-}
-
-static int ply_read_header_property(p_ply ply) {
-    p_ply_element element = NULL;
-    p_ply_property property = NULL;
-    /* make sure it is a property */
-    if (strcmp(BWORD(ply), "property")) return 0;
-    element = &ply->element[ply->nelements-1];
-    property = ply_grow_property(ply, element);
-    if (!property) return 0;
-    /* get property type */
-    if (!ply_read_word(ply)) return 0;
-    property->type = ply_find_string(BWORD(ply), ply_type_list);
-    if (property->type == (e_ply_type) (-1)) return 0;
-    if (property->type == PLY_LIST) {
-        /* if it's a list, we need the base types */
-        if (!ply_read_word(ply)) return 0;
-        property->length_type = ply_find_string(BWORD(ply), ply_type_list);
-        if (property->length_type == (e_ply_type) (-1)) return 0;
-        if (!ply_read_word(ply)) return 0;
-        property->value_type = ply_find_string(BWORD(ply), ply_type_list);
-        if (property->value_type == (e_ply_type) (-1)) return 0;
-    }
-    /* get property name */
-    if (!ply_read_word(ply)) return 0;
-    strcpy(property->name, BWORD(ply));
-    if (!ply_read_word(ply)) return 0;
-    return 1;
-}
-
-static int ply_read_header_element(p_ply ply) {
-    p_ply_element element = NULL;
-    long dummy;
-    assert(ply && ply->fp && ply->io_mode == PLY_READ);
-    if (strcmp(BWORD(ply), "element")) return 0;
-    /* allocate room for new element */
-    element = ply_grow_element(ply);
-    if (!element) return 0;
-    /* get element name */
-    if (!ply_read_word(ply)) return 0;
-    strcpy(element->name, BWORD(ply));
-    /* get number of elements of this type */
-    if (!ply_read_word(ply)) return 0;
-    if (sscanf(BWORD(ply), "%ld", &dummy) != 1) {
-        ply_ferror(ply, "Expected number got '%s'", BWORD(ply));
-        return 0;
-    }
-    element->ninstances = dummy;
-    /* get all properties for this element */
-    if (!ply_read_word(ply)) return 0;
-    while (ply_read_header_property(ply) ||
-        ply_read_header_comment(ply) || ply_read_header_obj_info(ply))
-        /* do nothing */;
-    return 1;
-}
-
-static void ply_error_cb(p_ply ply, const char *message) {
-    (void) ply;
-    fprintf(stderr, "RPly: %s\n", message);
-}
-
-static void ply_ferror(p_ply ply, const char *fmt, ...) {
-    char buffer[1024];
-    va_list ap;
-    va_start(ap, fmt);
-    vsprintf(buffer, fmt, ap);
-    va_end(ap);
-    ply->error_cb(ply, buffer);
-}
-
-static e_ply_storage_mode ply_arch_endian(void) {
-    unsigned long i = 1;
-    unsigned char *s = (unsigned char *) &i;
-    if (*s == 1) return PLY_LITTLE_ENDIAN;
-    else return PLY_BIG_ENDIAN;
-}
-
-static int ply_type_check(void) {
-    assert(sizeof(t_ply_int8) == 1);
-    assert(sizeof(t_ply_uint8) == 1);
-    assert(sizeof(t_ply_int16) == 2);
-    assert(sizeof(t_ply_uint16) == 2);
-    assert(sizeof(t_ply_int32) == 4);
-    assert(sizeof(t_ply_uint32) == 4);
-    assert(sizeof(float) == 4);
-    assert(sizeof(double) == 8);
-    if (sizeof(t_ply_int8) != 1) return 0;
-    if (sizeof(t_ply_uint8) != 1) return 0;
-    if (sizeof(t_ply_int16) != 2) return 0;
-    if (sizeof(t_ply_uint16) != 2) return 0;
-    if (sizeof(t_ply_int32) != 4) return 0;
-    if (sizeof(t_ply_uint32) != 4) return 0;
-    if (sizeof(float) != 4) return 0;
-    if (sizeof(double) != 8) return 0;
-    return 1;
-}
-
-/* ----------------------------------------------------------------------
- * Output handlers
- * ---------------------------------------------------------------------- */
-static int oascii_int8(p_ply ply, double value) {
-    if (value > PLY_INT8_MAX || value < PLY_INT8_MIN) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_int8) value) > 0;
-}
-
-static int oascii_uint8(p_ply ply, double value) {
-    if (value > PLY_UINT8_MAX || value < 0) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_uint8) value) > 0;
-}
-
-static int oascii_int16(p_ply ply, double value) {
-    if (value > PLY_INT16_MAX || value < PLY_INT16_MIN) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_int16) value) > 0;
-}
-
-static int oascii_uint16(p_ply ply, double value) {
-    if (value > PLY_UINT16_MAX || value < 0) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_uint16) value) > 0;
-}
-
-static int oascii_int32(p_ply ply, double value) {
-    if (value > PLY_INT32_MAX || value < PLY_INT32_MIN) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_int32) value) > 0;
-}
-
-static int oascii_uint32(p_ply ply, double value) {
-    if (value > PLY_UINT32_MAX || value < 0) return 0;
-    return fprintf(ply->fp, "%d", (t_ply_uint32) value) > 0;
-}
-
-static int oascii_float32(p_ply ply, double value) {
-    if (value < -FLT_MAX || value > FLT_MAX) return 0;
-    return fprintf(ply->fp, "%g", (float) value) > 0;
-}
-
-static int oascii_float64(p_ply ply, double value) {
-    if (value < -DBL_MAX || value > DBL_MAX) return 0;
-    return fprintf(ply->fp, "%g", value) > 0;
-}
-
-static int obinary_int8(p_ply ply, double value) {
-    t_ply_int8 int8 = (t_ply_int8) value;
-    if (value > PLY_INT8_MAX || value < PLY_INT8_MIN) return 0;
-    return ply->odriver->ochunk(ply, &int8, sizeof(int8));
-}
-
-static int obinary_uint8(p_ply ply, double value) {
-    t_ply_uint8 uint8 = (t_ply_uint8) value;
-    if (value > PLY_UINT8_MAX || value < 0) return 0;
-    return ply->odriver->ochunk(ply, &uint8, sizeof(uint8));
-}
-
-static int obinary_int16(p_ply ply, double value) {
-    t_ply_int16 int16 = (t_ply_int16) value;
-    if (value > PLY_INT16_MAX || value < PLY_INT16_MIN) return 0;
-    return ply->odriver->ochunk(ply, &int16, sizeof(int16));
-}
-
-static int obinary_uint16(p_ply ply, double value) {
-    t_ply_uint16 uint16 = (t_ply_uint16) value;
-    if (value > PLY_UINT16_MAX || value < 0) return 0;
-    return ply->odriver->ochunk(ply, &uint16, sizeof(uint16));
-}
-
-static int obinary_int32(p_ply ply, double value) {
-    t_ply_int32 int32 = (t_ply_int32) value;
-    if (value > PLY_INT32_MAX || value < PLY_INT32_MIN) return 0;
-    return ply->odriver->ochunk(ply, &int32, sizeof(int32));
-}
-
-static int obinary_uint32(p_ply ply, double value) {
-    t_ply_uint32 uint32 = (t_ply_uint32) value;
-    if (value > PLY_UINT32_MAX || value < 0) return 0;
-    return ply->odriver->ochunk(ply, &uint32, sizeof(uint32));
-}
-
-static int obinary_float32(p_ply ply, double value) {
-    float float32 = (float) value;
-    if (value > FLT_MAX || value < -FLT_MAX) return 0;
-    return ply->odriver->ochunk(ply, &float32, sizeof(float32));
-}
-
-static int obinary_float64(p_ply ply, double value) {
-    return ply->odriver->ochunk(ply, &value, sizeof(value));
-}
-
-/* ----------------------------------------------------------------------
- * Input  handlers
- * ---------------------------------------------------------------------- */
-static int iascii_int8(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_INT8_MAX || *value < PLY_INT8_MIN) return 0;
-    return 1;
-}
-
-static int iascii_uint8(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_UINT8_MAX || *value < 0) return 0;
-    return 1;
-}
-
-static int iascii_int16(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_INT16_MAX || *value < PLY_INT16_MIN) return 0;
-    return 1;
-}
-
-static int iascii_uint16(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_UINT16_MAX || *value < 0) return 0;
-    return 1;
-}
-
-static int iascii_int32(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_INT32_MAX || *value < PLY_INT32_MIN) return 0;
-    return 1;
-}
-
-static int iascii_uint32(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtol(BWORD(ply), &end, 10);
-    if (*end || *value > PLY_UINT32_MAX || *value < 0) return 0;
-    return 1;
-}
-
-static int iascii_float32(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtod(BWORD(ply), &end);
-    if (*end || *value < -FLT_MAX || *value > FLT_MAX) return 0;
-    return 1;
-}
-
-static int iascii_float64(p_ply ply, double *value) {
-    char *end;
-    if (!ply_read_word(ply)) return 0;
-    *value = strtod(BWORD(ply), &end);
-    if (*end || *value < -DBL_MAX || *value > DBL_MAX) return 0;
-    return 1;
-}
-
-static int ibinary_int8(p_ply ply, double *value) {
-    t_ply_int8 int8;
-    if (!ply->idriver->ichunk(ply, &int8, 1)) return 0;
-    *value = int8;
-    return 1;
-}
-
-static int ibinary_uint8(p_ply ply, double *value) {
-    t_ply_uint8 uint8;
-    if (!ply->idriver->ichunk(ply, &uint8, 1)) return 0;
-    *value = uint8;
-    return 1;
-}
-
-static int ibinary_int16(p_ply ply, double *value) {
-    t_ply_int16 int16;
-    if (!ply->idriver->ichunk(ply, &int16, sizeof(int16))) return 0;
-    *value = int16;
-    return 1;
-}
-
-static int ibinary_uint16(p_ply ply, double *value) {
-    t_ply_uint16 uint16;
-    if (!ply->idriver->ichunk(ply, &uint16, sizeof(uint16))) return 0;
-    *value = uint16;
-    return 1;
-}
-
-static int ibinary_int32(p_ply ply, double *value) {
-    t_ply_int32 int32;
-    if (!ply->idriver->ichunk(ply, &int32, sizeof(int32))) return 0;
-    *value = int32;
-    return 1;
-}
-
-static int ibinary_uint32(p_ply ply, double *value) {
-    t_ply_uint32 uint32;
-    if (!ply->idriver->ichunk(ply, &uint32, sizeof(uint32))) return 0;
-    *value = uint32;
-    return 1;
-}
-
-static int ibinary_float32(p_ply ply, double *value) {
-    float float32;
-    if (!ply->idriver->ichunk(ply, &float32, sizeof(float32))) return 0;
-    *value = float32;
-    return 1;
-}
-
-static int ibinary_float64(p_ply ply, double *value) {
-    return ply->idriver->ichunk(ply, value, sizeof(double));
-}
-
-/* ----------------------------------------------------------------------
- * Constants
- * ---------------------------------------------------------------------- */
-static t_ply_idriver ply_idriver_ascii = {
-    {   iascii_int8, iascii_uint8, iascii_int16, iascii_uint16,
-        iascii_int32, iascii_uint32, iascii_float32, iascii_float64,
-        iascii_int8, iascii_uint8, iascii_int16, iascii_uint16,
-        iascii_int32, iascii_uint32, iascii_float32, iascii_float64
-    }, /* order matches e_ply_type enum */
-    NULL,
-    "ascii input"
-};
-
-static t_ply_idriver ply_idriver_binary = {
-    {   ibinary_int8, ibinary_uint8, ibinary_int16, ibinary_uint16,
-        ibinary_int32, ibinary_uint32, ibinary_float32, ibinary_float64,
-        ibinary_int8, ibinary_uint8, ibinary_int16, ibinary_uint16,
-        ibinary_int32, ibinary_uint32, ibinary_float32, ibinary_float64
-    }, /* order matches e_ply_type enum */
-    ply_read_chunk,
-    "binary input"
-};
-
-static t_ply_idriver ply_idriver_binary_reverse = {
-    {   ibinary_int8, ibinary_uint8, ibinary_int16, ibinary_uint16,
-        ibinary_int32, ibinary_uint32, ibinary_float32, ibinary_float64,
-        ibinary_int8, ibinary_uint8, ibinary_int16, ibinary_uint16,
-        ibinary_int32, ibinary_uint32, ibinary_float32, ibinary_float64
-    }, /* order matches e_ply_type enum */
-    ply_read_chunk_reverse,
-    "reverse binary input"
-};
-
-static t_ply_odriver ply_odriver_ascii = {
-    {   oascii_int8, oascii_uint8, oascii_int16, oascii_uint16,
-        oascii_int32, oascii_uint32, oascii_float32, oascii_float64,
-        oascii_int8, oascii_uint8, oascii_int16, oascii_uint16,
-        oascii_int32, oascii_uint32, oascii_float32, oascii_float64
-    }, /* order matches e_ply_type enum */
-    NULL,
-    "ascii output"
-};
-
-static t_ply_odriver ply_odriver_binary = {
-    {   obinary_int8, obinary_uint8, obinary_int16, obinary_uint16,
-        obinary_int32, obinary_uint32, obinary_float32, obinary_float64,
-        obinary_int8, obinary_uint8, obinary_int16, obinary_uint16,
-        obinary_int32, obinary_uint32, obinary_float32, obinary_float64
-    }, /* order matches e_ply_type enum */
-    ply_write_chunk,
-    "binary output"
-};
-
-static t_ply_odriver ply_odriver_binary_reverse = {
-    {   obinary_int8, obinary_uint8, obinary_int16, obinary_uint16,
-        obinary_int32, obinary_uint32, obinary_float32, obinary_float64,
-        obinary_int8, obinary_uint8, obinary_int16, obinary_uint16,
-        obinary_int32, obinary_uint32, obinary_float32, obinary_float64
-    }, /* order matches e_ply_type enum */
-    ply_write_chunk_reverse,
-    "reverse binary output"
-};
-
-/* ----------------------------------------------------------------------
- * Copyright (C) 2003-2015 Diego Nehab.  All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- * ---------------------------------------------------------------------- */
diff --git a/vendor/rply/rply.h b/vendor/rply/rply.h
deleted file mode 100644
index 8675050..0000000
--- a/vendor/rply/rply.h
+++ /dev/null
@@ -1,378 +0,0 @@
-#ifndef RPLY_H
-#define RPLY_H
-/* ----------------------------------------------------------------------
- * RPly library, read/write PLY files
- * Diego Nehab, IMPA
- * http://www.impa.br/~diego/software/rply
- *
- * This library is distributed under the MIT License. See notice
- * at the end of this file.
- * ---------------------------------------------------------------------- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define RPLY_VERSION   "RPly 1.1.4"
-#define RPLY_COPYRIGHT "Copyright (C) 2003-2015 Diego Nehab"
-#define RPLY_AUTHORS   "Diego Nehab"
-
-/* ----------------------------------------------------------------------
- * Types
- * ---------------------------------------------------------------------- */
-/* structures are opaque */
-typedef struct t_ply_ *p_ply;
-typedef struct t_ply_element_ *p_ply_element;
-typedef struct t_ply_property_ *p_ply_property;
-typedef struct t_ply_argument_ *p_ply_argument;
-
-/* ply format mode type */
-typedef enum e_ply_storage_mode_ {
-    PLY_BIG_ENDIAN,
-    PLY_LITTLE_ENDIAN,
-    PLY_ASCII,
-    PLY_DEFAULT      /* has to be the last in enum */
-} e_ply_storage_mode; /* order matches ply_storage_mode_list */
-
-/* ply data type */
-typedef enum e_ply_type {
-    PLY_INT8, PLY_UINT8, PLY_INT16, PLY_UINT16,
-    PLY_INT32, PLY_UINT32, PLY_FLOAT32, PLY_FLOAT64,
-    PLY_CHAR, PLY_UCHAR, PLY_SHORT, PLY_USHORT,
-    PLY_INT, PLY_UINT, PLY_FLOAT, PLY_DOUBLE,
-    PLY_LIST    /* has to be the last in enum */
-} e_ply_type;   /* order matches ply_type_list */
-
-/* ----------------------------------------------------------------------
- * Error callback prototype
- *
- * message: error message
- * ply: handle returned by ply_open or ply_create
- * ---------------------------------------------------------------------- */
-typedef void (*p_ply_error_cb)(p_ply ply, const char *message);
-
-/* ----------------------------------------------------------------------
- * Gets user data from within an error callback
- *
- * ply: handle returned by ply_open or ply_create
- * idata,pdata: contextual information set in ply_open or ply_create
- * ---------------------------------------------------------------------- */
-int ply_get_ply_user_data(p_ply ply, void **pdata, long *idata);
-
-/* ----------------------------------------------------------------------
- * Opens a PLY file for reading (fails if file is not a PLY file)
- *
- * name: file name
- * error_cb: error callback function
- * idata,pdata: contextual information available to users
- *
- * Returns 1 if successful, 0 otherwise
- * ---------------------------------------------------------------------- */
-p_ply ply_open(const char *name, p_ply_error_cb error_cb, long idata,
-        void *pdata);
-
-/* ----------------------------------------------------------------------
- * Reads and parses the header of a PLY file returned by ply_open
- *
- * ply: handle returned by ply_open
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_read_header(p_ply ply);
-
-/* ----------------------------------------------------------------------
- * Property reading callback prototype
- *
- * argument: parameters for property being processed when callback is called
- *
- * Returns 1 if should continue processing file, 0 if should abort.
- * ---------------------------------------------------------------------- */
-typedef int (*p_ply_read_cb)(p_ply_argument argument);
-
-/* ----------------------------------------------------------------------
- * Sets up callbacks for property reading after header was parsed
- *
- * ply: handle returned by ply_open
- * element_name: element where property is
- * property_name: property to associate element with
- * read_cb: function to be called for each property value
- * pdata/idata: user data that will be passed to callback
- *
- * Returns 0 if no element or no property in element, returns the
- * number of element instances otherwise.
- * ---------------------------------------------------------------------- */
-long ply_set_read_cb(p_ply ply, const char *element_name,
-        const char *property_name, p_ply_read_cb read_cb,
-        void *pdata, long idata);
-
-/* ----------------------------------------------------------------------
- * Returns information about the element originating a callback
- *
- * argument: handle to argument
- * element: receives a the element handle (if non-null)
- * instance_index: receives the index of the current element instance
- *     (if non-null)
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_get_argument_element(p_ply_argument argument,
-        p_ply_element *element, long *instance_index);
-
-/* ----------------------------------------------------------------------
- * Returns information about the property originating a callback
- *
- * argument: handle to argument
- * property: receives the property handle (if non-null)
- * length: receives the number of values in this property (if non-null)
- * value_index: receives the index of current property value (if non-null)
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_get_argument_property(p_ply_argument argument,
-        p_ply_property *property, long *length, long *value_index);
-
-/* ----------------------------------------------------------------------
- * Returns user data associated with callback
- *
- * pdata: receives a copy of user custom data pointer (if non-null)
- * idata: receives a copy of user custom data integer (if non-null)
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_get_argument_user_data(p_ply_argument argument, void **pdata,
-        long *idata);
-
-/* ----------------------------------------------------------------------
- * Returns the value associated with a callback
- *
- * argument: handle to argument
- *
- * Returns the current data item
- * ---------------------------------------------------------------------- */
-double ply_get_argument_value(p_ply_argument argument);
-
-/* ----------------------------------------------------------------------
- * Reads all elements and properties calling the callbacks defined with
- * calls to ply_set_read_cb
- *
- * ply: handle returned by ply_open
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_read(p_ply ply);
-
-/* ----------------------------------------------------------------------
- * Iterates over all elements by returning the next element.
- * Call with NULL to return handle to first element.
- *
- * ply: handle returned by ply_open
- * last: handle of last element returned (NULL for first element)
- *
- * Returns element if successfull or NULL if no more elements
- * ---------------------------------------------------------------------- */
-p_ply_element ply_get_next_element(p_ply ply, p_ply_element last);
-
-/* ----------------------------------------------------------------------
- * Iterates over all comments by returning the next comment.
- * Call with NULL to return pointer to first comment.
- *
- * ply: handle returned by ply_open
- * last: pointer to last comment returned (NULL for first comment)
- *
- * Returns comment if successfull or NULL if no more comments
- * ---------------------------------------------------------------------- */
-const char *ply_get_next_comment(p_ply ply, const char *last);
-
-/* ----------------------------------------------------------------------
- * Iterates over all obj_infos by returning the next obj_info.
- * Call with NULL to return pointer to first obj_info.
- *
- * ply: handle returned by ply_open
- * last: pointer to last obj_info returned (NULL for first obj_info)
- *
- * Returns obj_info if successfull or NULL if no more obj_infos
- * ---------------------------------------------------------------------- */
-const char *ply_get_next_obj_info(p_ply ply, const char *last);
-
-/* ----------------------------------------------------------------------
- * Returns information about an element
- *
- * element: element of interest
- * name: receives a pointer to internal copy of element name (if non-null)
- * ninstances: receives the number of instances of this element (if non-null)
- *
- * Returns 1 if successfull or 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_get_element_info(p_ply_element element, const char** name,
-        long *ninstances);
-
-/* ----------------------------------------------------------------------
- * Iterates over all properties by returning the next property.
- * Call with NULL to return handle to first property.
- *
- * element: handle of element with the properties of interest
- * last: handle of last property returned (NULL for first property)
- *
- * Returns element if successfull or NULL if no more properties
- * ---------------------------------------------------------------------- */
-p_ply_property ply_get_next_property(p_ply_element element,
-        p_ply_property last);
-
-/* ----------------------------------------------------------------------
- * Returns information about a property
- *
- * property: handle to property of interest
- * name: receives a pointer to internal copy of property name (if non-null)
- * type: receives the property type (if non-null)
- * length_type: for list properties, receives the scalar type of
- *     the length field (if non-null)
- * value_type: for list properties, receives the scalar type of the value
- *     fields  (if non-null)
- *
- * Returns 1 if successfull or 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_get_property_info(p_ply_property property, const char** name,
-        e_ply_type *type, e_ply_type *length_type, e_ply_type *value_type);
-
-/* ----------------------------------------------------------------------
- * Creates new PLY file
- *
- * name: file name
- * storage_mode: file format mode
- * error_cb: error callback function
- * idata,pdata: contextual information available to users
- *
- * Returns handle to PLY file if successfull, NULL otherwise
- * ---------------------------------------------------------------------- */
-p_ply ply_create(const char *name, e_ply_storage_mode storage_mode,
-        p_ply_error_cb error_cb, long idata, void *pdata);
-
-/* ----------------------------------------------------------------------
- * Adds a new element to the PLY file created by ply_create
- *
- * ply: handle returned by ply_create
- * name: name of new element
- * ninstances: number of element of this time in file
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_element(p_ply ply, const char *name, long ninstances);
-
-/* ----------------------------------------------------------------------
- * Adds a new property to the last element added by ply_add_element
- *
- * ply: handle returned by ply_create
- * name: name of new property
- * type: property type
- * length_type: scalar type of length field of a list property
- * value_type: scalar type of value fields of a list property
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_property(p_ply ply, const char *name, e_ply_type type,
-        e_ply_type length_type, e_ply_type value_type);
-
-/* ----------------------------------------------------------------------
- * Adds a new list property to the last element added by ply_add_element
- *
- * ply: handle returned by ply_create
- * name: name of new property
- * length_type: scalar type of length field of a list property
- * value_type: scalar type of value fields of a list property
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_list_property(p_ply ply, const char *name,
-        e_ply_type length_type, e_ply_type value_type);
-
-/* ----------------------------------------------------------------------
- * Adds a new property to the last element added by ply_add_element
- *
- * ply: handle returned by ply_create
- * name: name of new property
- * type: property type
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_scalar_property(p_ply ply, const char *name, e_ply_type type);
-
-/* ----------------------------------------------------------------------
- * Adds a new comment item
- *
- * ply: handle returned by ply_create
- * comment: pointer to string with comment text
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_comment(p_ply ply, const char *comment);
-
-/* ----------------------------------------------------------------------
- * Adds a new obj_info item
- *
- * ply: handle returned by ply_create
- * comment: pointer to string with obj_info data
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_add_obj_info(p_ply ply, const char *obj_info);
-
-/* ----------------------------------------------------------------------
- * Writes the PLY file header after all element and properties have been
- * defined by calls to ply_add_element and ply_add_property
- *
- * ply: handle returned by ply_create
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_write_header(p_ply ply);
-
-/* ----------------------------------------------------------------------
- * Writes one property value, in the order they should be written to the
- * file. For each element type, write all elements of that type in order.
- * For each element, write all its properties in order. For scalar
- * properties, just write the value. For list properties, write the length
- * and then each of the values.
- *
- * ply: handle returned by ply_create
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_write(p_ply ply, double value);
-
-/* ----------------------------------------------------------------------
- * Closes a PLY file handle. Releases all memory used by handle
- *
- * ply: handle to be closed.
- *
- * Returns 1 if successfull, 0 otherwise
- * ---------------------------------------------------------------------- */
-int ply_close(p_ply ply);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* RPLY_H */
-
-/* ----------------------------------------------------------------------
- * Copyright (C) 2003-2015 Diego Nehab. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- * ---------------------------------------------------------------------- */
diff --git a/vendor/rply/rplyfile.h b/vendor/rply/rplyfile.h
deleted file mode 100644
index 206e716..0000000
--- a/vendor/rply/rplyfile.h
+++ /dev/null
@@ -1,68 +0,0 @@
-#ifndef RPLY_FILE_H
-#define RPLY_FILE_H
-/* ----------------------------------------------------------------------
- * RPly library, read/write PLY files
- * Diego Nehab, IMPA
- * http://www.impa.br/~diego/software/rply
- *
- * This library is distributed under the MIT License. See notice
- * at the end of this file.
- * ---------------------------------------------------------------------- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* ----------------------------------------------------------------------
- * Opens a PLY file for reading (fails if file is not a PLY file)
- *
- * file_pointer: FILE * to file open for reading
- * error_cb: error callback function
- * idata,pdata: contextual information available to users
- *
- * Returns 1 if successful, 0 otherwise
- * ---------------------------------------------------------------------- */
-p_ply ply_open_from_file(FILE *file_pointer, p_ply_error_cb error_cb,
-    long idata, void *pdata);
-
-/* ----------------------------------------------------------------------
- * Creates new PLY file
- *
- * file_pointer: FILE * to a file open for writing
- * storage_mode: file format mode
- * error_cb: error callback function
- * idata,pdata: contextual information available to users
- *
- * Returns handle to PLY file if successfull, NULL otherwise
- * ---------------------------------------------------------------------- */
-p_ply ply_create_to_file(FILE *file_pointer, e_ply_storage_mode storage_mode,
-        p_ply_error_cb error_cb, long idata, void *pdata);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* RPLY_FILE_H */
-
-/* ----------------------------------------------------------------------
- * Copyright (C) 2003-2015 Diego Nehab. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- * ---------------------------------------------------------------------- */

-- 
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/pkg-grass/pdal.git



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